阅读说明：本技术 渐进式全球定位系统及其方法 (Progressive global positioning system and method thereof ) 是由 刘镇崇 刘睿彬 于 2020-11-20 设计创作，主要内容包括：本发明公开了一种渐进式全球定位系统以及一种渐进式全球定位方法,具体为一种用于建立大量可用且具「位置学习能力」的无线通信节点的全球定位服务的系统和方法。每个通讯节点通过从相邻通讯节点采集位置信息来得知其地理坐标。通过多次执行距离测量并实施一精确指数计分方式,每个通讯节点都可以持续维护其地理坐标,并使精度随着时间的推移逐渐提高。(The invention discloses a progressive global positioning system and a progressive global positioning method, in particular to a system and a method for establishing global positioning service of a large number of available wireless communication nodes with position learning capability. Each communication node learns its geographical coordinates by collecting location information from neighboring communication nodes. By performing distance measurements multiple times and implementing an accurate index scoring, each communication node can maintain its geographic coordinates continuously and have its accuracy gradually improved over time.)

1. A progressive global positioning system, comprising:

a plurality of communication nodes carrying geographic coordinates and precise indexes are distributed in a space and are adjacent to each other; and

a first hub communication node carrying geographic coordinates and accurate indexes and adjacent to the plurality of communication nodes;

the communication node of the plurality of communication nodes, which is to determine the geographical coordinates and the accurate index, and the first hub communication node perform a relative positioning algorithm operation to determine the geographical coordinates and the accurate index of the communication node.

2. The system of claim 1, wherein when at least one of the plurality of communication nodes performs the relative positioning algorithm with a second hub communication node carrying geographic coordinates and precision indices to calculate the geographic coordinates and precision indices of the communication node, the communication node compares the geographic coordinates and precision indices of the communication node with the geographic coordinates and precision indices obtained last time and selects a geographic coordinate with a higher precision index.

3. The GPS of claim 1, wherein if the calculation of the relative positioning algorithm makes the communication node obtain the geographic coordinates with higher accuracy index, the corresponding node submits operation data of the relative positioning algorithm to a block chain to start executing a first intelligent contract of the block chain, the acceptance condition of the first intelligent contract includes that the first hub communication node already exists in the book of the blockchain, and the geographic coordinate and the accurate index obtained by the communication node are analyzed according to the operation data of the relative positioning algorithm submitted by the communication node and the geographic coordinate and the accurate index recorded by the account book of which the first hub communication node already exists in the block chain, so as to meet the physical and mathematical limits, and after the acceptance condition of the first intelligent contract passes, the book record of the block chain comprises the geographic coordinate and the accurate index which are obtained by the communication node and have higher accurate indexes.

4. The system of claim 3, wherein any of the communication nodes obtains the geographic coordinates and the precision index of the communication node from an external resource, and the communication node submits the geographic coordinates and the precision index and a public trust certificate to the blockchain to start executing a second intelligent contract, the acceptance condition of the second intelligent contract includes that the external resource has a public trust certificate, and after the acceptance condition of the second intelligent contract passes, the book of the blockchain records the geographic coordinates and the precision index obtained by the communication node.

5. The system of claim 3, wherein the book record of the blockchain includes unique identifiers of the corresponding node and the first hub communication node.

6. The system of claim 3, wherein the communication node obtains geographic coordinates and accuracy index of the first hub communication node from the book of block chains according to a unique identifier of the first hub communication node for performing the relative positioning algorithm.

7. The GPS of claim 1, wherein if the operation of the relative positioning algorithm makes the communication node obtain the geographic coordinates with higher accuracy index, the communication node submits the operation data of the relative positioning algorithm to a first verification procedure, the acceptance condition of the first authentication procedure includes that the first pivotal communication node already exists in the log of the first authentication procedure, and the geographic coordinate and the precise index obtained by the communication node are analyzed according to the operation data of the relative positioning algorithm submitted by the communication node and the geographic coordinate and the precise index recorded by the log of the first hub communication node existing in the first verification program, which accord with the physical and mathematical limitations, and after the acceptance condition of the first verification program passes, the log record of the first authentication procedure includes the geographical coordinates and the precise index with higher precise index obtained by the communication node.

8. The gps of claim 7, wherein when any one of the communication nodes obtains the geographic coordinates and the precision index of the communication node from an external resource, the communication node submits the geographic coordinates and the precision index and a public trust certificate to a second verification process, the acceptance condition of the second verification process includes that the external resource has a public trust certificate, and after the acceptance condition of the second verification process passes, the log record of the first verification process includes the geographic coordinates and the precision index obtained by the communication node.

9. The system of claim 1, wherein each of the communication nodes calculates its accuracy index based on a plurality of error factors, the plurality of error factors including the accuracy index of the first hub communication node and the inaccuracy of the distance between the communication node and the first hub communication node obtained by the relative positioning algorithm executed by the communication node.

10. The gps-based system of claim 9, wherein each communication node performs a statistical analysis of geographic coordinates according to the historical record of geographic coordinates of the communication node to improve the accuracy of the geographic coordinates of the communication node and the accuracy index thereof.

11. The system of claim 1, wherein at least one of the plurality of communication nodes is a mobile device and transmits the geographic location of the mobile device to another application to display the geographic coordinates thereof or to a tracking server, and the tracking server provides the geographic coordinates of the mobile device to an electronic device.

12. The system of claim 1, wherein at least one of the communication nodes participating in the calculation of the relative positioning algorithm transmits an alert message to an alerting communication node to another communication node or an internet location designated by the alerting communication node.

13. The system of claim 1, wherein when at least one of the corresponding nodes participating in the calculation of the relative positioning algorithm has an actuator and decrypts an identity information encrypted by a private key of a mobile communication node by using a unique identifier of the mobile communication node through a digital signature technique, the corresponding node determines whether to activate the actuator to control a controlled device according to the identity information.

14. The system of claim 1, wherein the plurality of communication nodes are distributed in an interior space of a moving vehicle, and the first hub communication node is disposed at a fixed location outside the vehicle, and the communication node participates in the execution of the relative positioning algorithm of a mobile device inside the vehicle after determining its geographic coordinates and accuracy index by the relative positioning algorithm.

15. A method for progressive global positioning, comprising:

distributing a plurality of communication nodes carrying geographic coordinates and precise indexes in a space, wherein the communication nodes are adjacent to each other; and

and the communication node which is to determine the geographical coordinate and the accurate index of the communication nodes and a first hub communication node which carries the geographical coordinate and the accurate index and is adjacent to the communication nodes are subjected to operation of a relative positioning algorithm to determine the geographical coordinate and the accurate index of the communication node.

16. The method of claim 15, further comprising:

when at least one of the communication nodes and a second hub communication node carrying the geographic coordinate and the accurate index calculate the geographic coordinate and the accurate index of the communication node by the relative positioning algorithm again, the communication node compares the geographic coordinate and the accurate index of the communication node with the geographic coordinate and the accurate index obtained last time and selects the geographic coordinate with the higher accurate index.

17. The method of claim 15, further comprising:

if the operation of the relative positioning algorithm enables the communication node to obtain the geographic coordinate with a higher precision index, the communication node submits the operation data of the relative positioning algorithm to a block chain to start executing a first intelligent contract of the block chain, wherein the acceptance condition of the first intelligent contract comprises that the first hub communication node already exists in an account book of the block chain, the geographic coordinate and the precision index obtained by the communication node accord with physical and mathematical limits according to the operation data of the relative positioning algorithm submitted by the communication node and the geographic coordinate and the precision index recorded by the account book of the first hub communication node already existing in the block chain, and after the acceptance condition of the first intelligent contract passes, the account book record of the block chain comprises the geographic coordinate and the precision index obtained by the communication node with the higher precision index.

18. The method as claimed in claim 17, wherein any one of the communication nodes obtains the geographic coordinates and the precision index of the communication node from an external resource, the communication node submits the geographic coordinates and the precision index and a public trust certificate to the blockchain to start executing a second intelligent contract, the acceptance condition of the second intelligent contract includes that the external resource has a public trust certificate, and after the acceptance condition of the second intelligent contract passes, the book of the blockchain records the geographic coordinates and the precision index obtained by the communication node.

19. The method of claim 17, wherein the book record of the blockchain includes unique identifiers of the corresponding node and the first hub communication node.

20. The method as claimed in claim 17, wherein the communication node obtains the geographic coordinates and precision index of the first hub communication node from the book of the block chain according to a unique identifier of the first hub communication node, so as to perform the calculation of the relative positioning algorithm.

21. The method of claim 15, further comprising:

if the operation of the relative positioning algorithm enables the communication node to obtain the geographic coordinate with a higher precision index, the communication node submits the operation data of the relative positioning algorithm to a first verification program, the receiving condition of the first verification program comprises the log of the first hub communication node existing in the first verification program, the geographic coordinate and the precision index obtained by the communication node are analyzed to be in accordance with physical and mathematical limits according to the operation data of the relative positioning algorithm submitted by the communication node and the geographic coordinate and the precision index recorded by the log of the first hub communication node existing in the first verification program, and after the receiving condition of the first verification program passes, the log record of the first verification program comprises the geographic coordinate and the precision index with the higher precision index obtained by the communication node.

22. The method of claim 21, wherein when any of the communication nodes obtains the geographic coordinates and the accuracy index of the communication node from an external resource, the communication node submits the geographic coordinates and the accuracy index and a trust certificate to a second verification process, the acceptance condition of the second verification process includes the external resource having a trust certificate, and after the acceptance condition of the second verification process passes, the log of the first verification process records the geographic coordinates and the accuracy index obtained by the communication node.

23. The method of claim 15, further comprising:

calculating the accurate index of each communication node according to a plurality of error factors, wherein the error factors comprise the accurate index of the first hub communication node and the inaccuracy of the distance between the communication node and the first hub communication node, which is obtained by the communication node executing the relative positioning algorithm.

24. The method of claim 23, further comprising:

and performing geographic coordinate statistical analysis on each communication node according to the geographic coordinate historical record of the communication node so as to improve the accuracy and the accurate index of the geographic coordinate of the communication node.

25. The method of claim 15, wherein at least one of the plurality of communication nodes is a mobile device, and the geographic location of the mobile device is transmitted to another application program to display the geographic coordinates thereof, or the geographic location of the mobile device is transmitted to a tracking server, and the tracking server provides the geographic coordinates of the mobile device to an electronic device.

26. The method of claim 15, further comprising:

an alert message is transmitted from an alerting communication node to another communication node or an internet location designated by the alerting communication node via at least one of the communication nodes participating in the calculation of the relative positioning algorithm.

27. The method of claim 15, further comprising:

when at least one of the communication nodes participating in the calculation of the relative positioning algorithm has an actuator and decrypts an identity information encrypted by a private key of a mobile communication node by using a unique identifier of the mobile communication node through a digital signature technology, the communication node determines whether to activate the actuator to control a controlled device according to the identity information.

28. The method of claim 15, wherein the plurality of communication nodes are distributed in an interior space of a moving vehicle, and the first hub communication node is disposed at a fixed location outside the vehicle, and the communication node participates in the execution of the relative positioning algorithm of a mobile device inside the vehicle after determining its geographic coordinates and accuracy index through the operation of the relative positioning algorithm.

Technical Field

The invention relates to a method for constructing a global positioning service network, which is particularly provided for indoor environment, by utilizing a data acquisition mode to reuse geographic coordinate data and accurate indexes of adjacent communication nodes.

Background

There are many techniques available for global positioning of goods and people. The use of low orbit satellites to continuously transmit "beacon" signals embedded in the geographic coordinates of the satellites and an accurate time reference helps the receiving device determine its position by trilateration. Currently, there are many such sets of Global Navigation Satellite Systems (GNSS) in operation, which have enabled hundreds of millions of devices with "location awareness" capabilities. Today, everyone owns a smart phone equipped with GNSS so that the holder can determine his location. However, GNSS signals may quickly disappear indoors. Therefore, if reliable satellite signals are not available indoors, GNSS cannot be used to determine indoor position.

If there are multiple indoor "satellites-like" broadcasting their geographical location coordinates in a manner similar to GNSS satellites, indoor wireless positioning can be performed. However, this approach would require a lot of manpower to measure all "satellite-like" positions, and thus cannot be generalized globally.

In recent years, with the popularity of WiFi signals, wireless indoor location technology has turned to any WiFi "footprint" that can be used. For example, a WiFi wireless network name (SSID) may reasonably represent the geographical location of a WiFi AP (access point). In the case of weak or unreliable GNSS signals, the operating system of the smartphone recognizes the handset location as a public secret simply by comparing against the SSID (and possibly MAC address) database.

Another useful WiFi "signature" is the signal strength of the WiFi AP. Assume that a site has multiple WiFi devices, including a fixed AP and its client devices (e.g., handsets). First, the radio signal strength of these fixed APs is measured "fingerprint" point by point in advance throughout the indoor location. Any mobile client device in the indoor location can then determine the most likely location of the device in the indoor location by simply measuring the received signal strengths of the APs and comparing the readings to those previously measured values.

There are also recent techniques to use Channel State Information (CSI) values of LTE/WiFi signals instead of signal strength. Only the CSI values are measured in advance, a fingerprint database can be created for the indoor location. This fingerprint database can then be used to identify the location of the mobile device in the venue. Because the error rate of (position) identification is low, the precision of 1cm can be realized if Artificial Intelligence (AI) is used as an auxiliary material. The disadvantage of fingerprint matching is the need for advanced measurements, which is a prerequisite. The prior point-by-point measurement on site, whether performed by an automated device or not, is an unavoidable step.

Disclosure of Invention

According to an embodiment of the present invention, a progressive global positioning system is provided, which includes a plurality of communication nodes carrying absolute coordinates (hereinafter referred to as "geographical coordinates") of geographical locations, or Cartesian coordinates (Cartesian coordinates), and precision indices, the plurality of communication nodes being distributed in a space and adjacent to each other. For convenience of illustration, embodiments of the present invention represent geographic coordinates in cartesian space (x, y, z), however, practical applications will use geographic coordinates in a geospatial format (i.e., latitude, longitude, and altitude). The term "adjacent" is not limited to distance, and all areas within radio communication reach of the communication node are adjacent. One of the communication nodes may not know its geographical coordinates or determine whether its geographical coordinates are correct (e.g., once powered off and then powered on), and determine its geographical coordinates and precise index from the neighboring communication nodes. At this time, the communication node that wants to determine its geographical coordinates and the neighboring communication node (referred to as "first hub communication node") can perform a relative positioning algorithm to determine the geographical coordinates and the precise index of the communication node.

According to another embodiment of the present invention, a progressive global positioning method is provided, which comprises the following steps: distributing a plurality of communication nodes carrying geographic coordinates and precise indexes in a space, wherein the communication nodes are adjacent to each other; and enabling the communication node of the plurality of communication nodes, which is to determine the geographical coordinate and the accurate index of the communication node, and the first hub communication node which carries the geographical coordinate and the accurate index and is adjacent to the plurality of communication nodes to perform calculation of a relative positioning algorithm so as to determine the geographical coordinate and the accurate index of the communication node.

As described above, the present invention provides a system and method for cooperating peer-to-peer radio communication nodes to share geographical coordinates and improve their accuracy by ranking and rating. The wireless ranging device is designed to participate in acquisition and hub forwarding of geographical location information. The participating radios operate under the same or different communication standards. Although the method of the present invention is mainly discussed in terms of WiFi devices, the method is also applicable to other radio standards. The aforementioned communication node may be an AP or a client. The Mesh network (Mesh) or Ad-hoc network, which is not a prerequisite for the present invention, can assist the communication nodes to link to the internet by connecting a plurality of participating communication nodes in series with each other. Linking each communication node to the internet facilitates data authentication and the use of location data, as will be described later. The communication nodes in a general household may comprise 3-5 APs and some smart phones. The invention acquires the geographical coordinates from other nodes by executing the firmware of the AP and the application program of the smart phone, measures the distance between the AP and other nodes, and determines the geographical coordinates of the AP according to a relative positioning algorithm.

The invention also occasionally refers to Bluetooth (Bluetooth) devices. Through network bridging (Bridge) of bluetooth and WiFi, a bluetooth device can be connected with a WiFi node to become a member of a cooperative (peer) communication node. A mesh network may be formed between the bluetooth devices. The Bluetooth device also has a plurality of ranging and positioning functions in the indoor positioning field. In the invention, the Bluetooth device can not only be used for detecting nearby Bluetooth devices which are mutually cooperated, but also can carry out trilateration with the Bluetooth devices which are nearby and have known geographic coordinates so as to determine the geographic coordinates. Bluetooth has the advantages of low power consumption and durable use. Bluetooth has even the "advantage" of being able to operate only over short distances, and therefore the position error is relatively low. By utilizing the characteristics of the Bluetooth device, the Bluetooth device and the WiFi nodes which are bridged with the Bluetooth device can exchange geographic coordinates and distance measurement results, and then the position of the Bluetooth device is confirmed by using a trilateration method. This can be applied when an item is lost. Other radio technologies are also suitable for use as the communication node, including but not limited to LTE, 5G, UWB, LoRa, Zigbee, and the like.

There are many existing techniques for measuring the distance between two radio nodes, such as signal strength and Time-of-flight (Time-of-flight). However, these radio ranging techniques are subject to errors due to blocking, reflection, etc. of objects and to varying degrees of inaccuracy. The inaccuracy of ranging is therefore evaluated at the same time each time a radio fix is made. The present invention will include the error of radio ranging when evaluating the Accuracy index (AM) of the communication node, which will be explained in detail in the embodiments of the present specification.

Drawings

Fig. 1A is a first schematic diagram of a progressive global positioning system according to a first embodiment of the present invention.

Fig. 1B is a second schematic diagram of a progressive global positioning system according to an embodiment of the invention.

Fig. 2 is a third schematic diagram of a progressive global positioning system according to an embodiment of the present invention.

FIG. 3 is a flowchart illustrating an exemplary method for performing an accurate index estimation in trilateration in a GPS-based system according to the present invention.

Fig. 4 is a first flowchart of a progressive global positioning method according to an embodiment of the present invention.

Fig. 5 is a second flowchart of a progressive global positioning method according to an embodiment of the present invention.

Fig. 6A is a first schematic diagram of a vehicle positioning application of the progressive global positioning system according to an embodiment of the present invention.

Fig. 6B is a second schematic diagram of a vehicle positioning application of the progressive gps according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of an advanced application of the progressive gps according to an embodiment of the present invention.

Description of reference numerals: 1-progressive global positioning system; n is a radical of₀,N₁,N₂,N_Ha,N_HbA communication node; n is a radical of_A,N_B,N_C-a first hub communication node; n is a radical of_D,N_E-a second hub communication node; n is a radical of_J,N_K,N_L,N_M,N_F,N_v-a hub communication node; a, B-node clusters; n is a radical of_i-intelligenceAn energy type mobile phone (mobile communication node); WS-alert Server; an M-mobile phone; l-missing items; a T-train; c-automobile; (x)₀,y₀,z₀),(x₁,y₁,z₁),(x_A,y_A,z_A),(x_B,y_B,z_B),(x_C,y_C,z_C),(x_D,y_D,z_D),(x_E,y_E,z_E),(x_i,y_i,z_i),(x_J,y_J,z_J),(x_K,y_K,z_K),(x_L,y_L,z_L),(x_M,y_M,z_M) -geographic coordinates; AM (amplitude modulation)₀,AM_A,AM_B,AM_C,AM_D,AM_E,AM_J,AM_K,AM_L,AM_M,AM_i-a precision index; d_A,d_B,d_C,d_D,d_E,d_J,d_K,d_M,d_L-a distance; fr-alarm information; S31-S35, S41-S44, S431-S432, S51-S54, S521-step flow.

Detailed Description

Embodiments of the gps and method according to the present invention will be described with reference to the accompanying drawings, in which parts may be shown exaggerated or reduced in size or scale for clarity and convenience in the drawing. In the following description and/or claims, when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present; when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present, and other words used to describe the relationship between the elements or layers should be interpreted in the same manner. For ease of understanding, like elements in the following embodiments are illustrated with like reference numerals.

Please refer to fig. 1A, which is a first schematic diagram of a progressive global positioning system according to an embodiment of the present invention. As shown, the GPS 1 comprises a plurality of communication channels for carrying geographic coordinates and precision indexesCommunication node N₀、N₁And a first hub communication node (first anchor node or first change node) N_A、N_BAnd N_C. The embodiment is merely an example, the number of the communication nodes and the first hub communication nodes is not limited to the number in the figure, and the gps 1 may include more communication nodes and first hub communication nodes. In addition, if the communication node N₀、N₁In an initial state (i.e. the communication node N)₀、N₁Installed in a location for the first time and never used before), and also has its preset geographic coordinates and precision index.

The plurality of communication nodes N₀、N₁To one or more first hub communication nodes N_A、N_BAnd N_CAnd performing operation of a relative positioning algorithm to determine or update the geographic coordinates and the precision index of the geographic coordinates.

A plurality of communication nodes N are described below₀、N₁How to calculate from the first pivot communication node N by the relative positioning algorithm_A、N_BAnd N_CA set of geographic coordinates is obtained. The operation of a relative positioning algorithm includes retrieving geographic coordinates of the neighboring first hub communication node, measuring a distance to the neighboring first hub communication node, and determining the geographic coordinates using trilateration as described below. 3 first hub communication nodes N not forming a straight line_A、N_B、N_CWith known geographical coordinates (x)_i，y_i，z_i). Wherein, the first hub communication node N_AThe geographic coordinates and the precision index of (x) are respectively_A,y_A,z_A) And AM_A(ii) a First pivot communication node N_BThe geographic coordinates and the precision index of (x) are respectively_B,y_B,z_B) And AM_B(ii) a First pivot communication node N_CThe geographic coordinates and the precision index of (x) are respectively_C,y_C,z_C) And AM_C(ii) a Communication node N₀Respectively, and the precise index thereof is (x)₀,y₀,z₀) And AM₀(ii) a Communication node N₁Respectively, and the precise index thereof is (x)₁,y₁,z₁) And AM₁. At the first hub communication node N_A、N_B、N_COf a communication node N within radio range₀To determine their geographic coordinates. According to the geometric principle, if the communication node N₀Communicate with the first hub node N_A、N_B、N_CDistance d of_A、d_B、d_CIf known, the communication node N₀Geographical coordinates (x) in a three-dimensional space (x, y, z)₀,y₀,z₀) Can be determined by Trilateration (Trilateration). Communicate with the first hub node N_A、N_B、N_CDistance d of_A、d_B、d_CIn fact, the first node N is provided₀Relative or offset position and coordinates of (c); then, the addition and subtraction are used to obtain the communication node N₀Geographic coordinates (x) of₀,y₀,z₀). This operation also gives each communication node an accurate index of its geographical coordinates so that it can include both the ranging measurement error and the error inherited from its hub communication node, which will be defined in detail later. That is, at least one communication node (e.g., communication node N) whose geographic coordinates and precision index are to be determined₀) Communicate with the plurality of first hub communication nodes N_A、N_B、N_CThe operations of the relative positioning algorithm are performed to determine its geographic coordinates and precision index.

In three-dimensional space geometry, if only three first pivot communication nodes not forming a straight line are used to perform the algorithm of relative positioning, the communication node N₀Obtained (x)₀,y₀,z₀) A mirrored ambiguous location (ambiguous location) is generated. At this time, another hub communication node can be added or the first hub communication node N can be made to be the same_A、N_B、N_CTo determine the correct (x) by slightly shifting any of them₀,y₀,z₀) However, this is a polygonal geometry problem and is not within the scope of the present invention. Furthermore, in three-dimensional space, even if onlyOne or two first hub communication nodes can still be communication nodes N₀Obtained (x)₀,y₀,z₀) But the error is larger. In the present embodiment, the term "trilateration" is used to indicate the application of such a relative positioning algorithm, but other relative positioning algorithms such as triangulation (triangulation) and angle of arrival (AoA) are also included; these other related relative positioning algorithms require different mathematical operation models and different common operation modes of the communication nodes.

The 802.11mc standard is a ranging tool that is currently available. WiFi devices (including APs and smartphones) that support 802.11mc are becoming more and more popular. Devices employing 802.11mc can be defined as either an initiator or a responder. As shown in FIG. 1A, a communication node N₀、N₁、N_A、N_B、N_CEither of which may be an initiator or a responder. Using Fine Time Measurement (FTM) of Round Trip Time (RTT) between an initiator and a responder, the distance between 2 nodes can be determined by the Time-of-flight ranging principle, as disclosed in some prior art documents. It is common practice to deploy multiple APs, which obtain geographic coordinates through geographic measurements and employ 802.11mc as responders, in a single space. A smart phone supporting 802.11mc would be the initiator. By measuring the distances to these respondents through the 802.11mc ranging mechanism and retrieving the known geographic coordinates of the respondents, the smart phone can obtain its geographic coordinates by trilateration. In addition to the time-of-flight ranging used by 802.11mc, a Relative Signal Strength Indicator (RSSI) of a wireless device can be used by the communication node as N₀、N₁From N_A、N_B、N_CThe strength of the received signals determines the distance to them. The ranging techniques used in the present invention include signal strength, time of flight ranging and all other possible handAnd (4) section.

The approach of this embodiment is to claim that not all responders need to make geographical measurements in advance. AP (communication node N as in FIG. 1A)₀、N₁) Can be selected from an AP (e.g. first hub communication node N) with known geographic coordinates and precise index_A、N_B、N_C) To obtain its geographic coordinates. Thereafter, the AP (e.g., the communication node N of FIG. 1A) will appear as any node with a higher precision index₀、N₁) Trilateration will be resumed and seek to improve the accuracy of its geographic coordinates.

Please refer to fig. 1B, which is a second schematic diagram of a progressive global positioning system according to an embodiment of the present invention. As shown, when any second hub communication node (second Anchor node or second Change node) N with higher precision index appears_D、N_EAP (communication node N)₀Or a communication node N₁) Will re-trilaterate and seek to improve the accuracy of its geographical coordinates (correspondent node N)₀Communicate with the second hub node N_D、N_EAre respectively d_DAnd d_E). Wherein, the second hub communication node N_DThe geographic coordinates and the precision index of (x) are respectively_D,y_D,z_D) And AM_D(ii) a Second pivot communication node N_EThe geographic coordinates and the precision index of (x) are respectively_E,y_E,z_E) And AM_E. Communication node N₀Except for the originally used first pivot communication node N_A、N_B、N_CIn which N with higher precision index is selected_CBesides, the second pivot communication node N is used_D、N_ETrilateration is performed in an attempt to obtain more accurate geographical coordinates. Communication node N₀The geographic coordinates and the precision index obtained this time are compared with those obtained previously, and the highest precision index is used.

The firmware of the AP and the application in the smart phone may be programmed to allow the responder to exchange distance measurement data with the initiator. For example, GoogleOne API is a ranging request (ranging request), which can be used to connect multiple APs participating in ranging to each other(also an industry standard) the corresponding node is listed in a mutual ranging collaboration list. A plurality of AP or Wi-Fi Aware cooperative communication nodes can be specified in a ranging request. After execution, the API will reply with the measured distances for all devices. In addition, geospatial format geographic coordinate information (e.g., latitude, longitude, and altitude) may be embedded in 802.11mc into LCI information (see below) of the FTM frame. These coordinate information, in addition to the distance measured by the time-of-flight ranging described above, may allow an 802.11mc AP (e.g., the communication node N in FIG. 1A) to be turned on₀Or N₁) Its geographical coordinates are obtained via trilateration.

The problem is how to find communication nodes with reliable geographic coordinates in the same space where the AP is located to cooperate with each other to participate in positioning measurement and calculation. In the present invention, the precise coordinates obtained by the professional geographic measurement will be assigned with the highest precision index, and become a "super hub node". Other solutions can be as simple as having one or more smartphones as hub communication nodes in the same radio field domain and placed where GPS signals can be received. When the receiving times of the GPS signals are increased in the same place, accurate geographic coordinates with high reliability can be obtained through statistical operation, and a reliable accurate index is obtained. Some advanced distance measurement tools of smart phones, such as UWB or LiDAR, may be used to improve the accuracy of short-range ranging. If GPS is not available, inertial navigation as set forth below may be utilized, but accuracy may drop rapidly as travel distance increases. In addition, Wi-Fi Aware helps to search for nearby APs that can cooperate with each other, so that there is an opportunity to find more hub communication nodes (anchor or change nodes). Each time a radio measurement is performed, the accuracy index is reduced by adding a measurement error, so that the communication node "behind" will continue to inherit the error in front, resulting in a reduction in the accuracy index. Therefore, as long as all the nodes implement a commonly used standard to define the accurate index, the AP can continuously search for better mutually cooperative hub communication nodes to participate in the measurement, gradually fine-tune the geographic coordinates of the nodes to better accuracy, and make the nodes become hub communication nodes which are sufficiently trusted by others.

For convenience of explanation, the present embodiment also follows with the term "initiator" (e.g., the corresponding node N)₀Or N₁Or a mobile smart phone N_iAs shown in fig. 2) to indicate the communication node that needs the initial or improved geographical location, and to indicate the participating hub communication node (e.g., the first hub communication node N) with the "responder_A、N_B、N_COr a second hub communication node N_D、N_E)。

If there are 3 hub communication nodes nearby and the distances to these hub communication nodes can be measured, an independent initiator communication node can be calculated to know its geographical coordinates. By "independent" is meant that the initiator and responder only need limited radio communication. For example, three hub communication nodes must be able to "broadcast" their geographic coordinates (one-way communication). In addition, the communication node needs to measure the distance, and if the signal strength is the signal strength, one-way or two-way communication needs to be carried out; if the time-of-flight ranging is adopted, two-way communication is required. If the hub communication node can also move (for example, a mobile phone, please refer to the following text), the hub communication node can also provide individual geographic coordinate data at different points of the moving track at different times, so that the initiating communication node can measure the distance successively. It is sufficient that the point-by-point geographic coordinate data and the measurement data are acquired simultaneously. That is, no wireless collaboration such as mesh or synchronization is required between the participating nodes other than broadcast coordinate and distance measurements. Even if the Android RangingRequest API is used, the listed cooperating AP or Wi-Fi Aware devices do not need to enter a mesh network link. The participating smartphones do not need to associate with the AP "WiFi" nor do they need to time synchronize. If other relative positioning algorithms are considered, such as triangulation or reception angle, more radio cooperation may be required.

Inertial navigation facilitates the "transportation" of geographic location data from one known geographic coordinate location to another. The smartphone can acquire its geographic coordinates by using a nearby hub communication node or simply by receiving gnss (gps) signals. Then, when the smart phone moves, according to the principle of inertial navigation, the position, direction and speed of the smart phone can be continuously identified by integrating the information received by the motion sensor (such as an accelerometer and a gyroscope). If the smart phone moves to a space where an initiator communication node needing to obtain the geographic coordinates of the smart phone is located, a point on the moving track of the smart phone can serve as a temporary hub communication node. Assuming that 3 position samples that are not in a straight line are selected on the movement trace, the originator communication node can determine its geographical coordinates by trilateration. Inertial navigation suffers from the disadvantage of accumulating errors in the calculations for each position lapse, but many techniques are available to improve accuracy, believing that the near future will necessarily provide more accurate results in hardware or software.

Please refer to fig. 2, which is a third schematic diagram of a progressive global positioning system according to an embodiment of the present invention. Fig. 2 shows how a hub communication node with reliable geographical coordinates provides location services to other nodes. In a usage scenario, such as a home or public place, a (first or second) hub communication node N with reliable geographical coordinates may be provided_J、N_K、N_L、N_MLet like smart phone N_iThe mobile communication nodes are used as the initiator, and the geographic coordinates of the mobile communication nodes are identified through a relative positioning algorithm. Wherein, the hub communication node N_JThe geographic coordinates and the precision index of (x) are respectively_J,y_J,z_J) And AM_J(ii) a Pivot communication node N_KThe geographic coordinates and the precision index of (x) are respectively_K,y_K,z_K) And AM_K(ii) a Pivot communication node N_LThe geographic coordinates and the precision index of (x) are respectively_L,y_L,z_L) And AM_L(ii) a Pivot communication node N_MThe geographic coordinates and the precision index of (x) are respectively_M,y_M,z_M) AndAM_M(ii) a Communication node N_iThe geographic coordinates and the precision index of (smart phone) are respectively (x)_i,y_i,z_i) And AM_i(Smart phone N)_iCommunication node N with pivot_J、N_K、N_L、N_MAre respectively d_J、d_K、d_LAnd d_M). Intelligent mobile phone N_iAfter obtaining their geographic coordinates with a relative positioning algorithm, their newly obtained location information may be used in various applications. For example, the location data may be sent to an online mapping service, such that the smartphone N_iIts position can be displayed on the map. The location data may also be sent to a third party device through a cloud tracking server to inform the carrying of the smart phone N_iThe position of the person. Or it may be sent to the game server to obtain location-specific game responses. Namely, the smart phone N_iThe location data may be utilized by a location data consumer. That is, the communication node N_iIs a mobile device which can transmit a mobile device (communication node N)_i) To another application program to display its geographical coordinates, or to transmit the mobile device (communication node N)_i) To the tracking server, and the tracking server provides the mobile device (communication node N)_i) To an electronic device.

In order to make the positioning algorithm of the communication nodes traceable, each communication node is assigned a unique identifier, which can be realized by hardware or software. Examples of hardware means are serializing the chip or programming a serial number to flash memory. It may also be registered with a public key mechanism by using private/public key cryptography (pkc) as is well known in the art. A communication node can randomly generate and secretly hold a private key, and each communication node generates a unique public key as a unique identifier thereof for public identification based on the private key. The conversion from private key to public key is done by the ECDSA or Elliptic Curve Digital Signature Algorithm (Elliptic current Digital Signature Algorithm), or "Digital Signature", techniques known in the art. In each digital signature algorithm, the private key encoding space is typically very large, and anyone cannot computationally guess or select the same private key. Also, the public key space is large, so the probability of duplication is almost zero. Therefore, the public key is regarded as a unique (hereinafter also referred to as "unique public key") and can be used as a serial number (serial number) as an identifier of a correspondent node. Once enabled, other correspondent nodes can identify the correspondent node by the unique public key.

The design of the precision index (AM) is intended to provide an easily understandable index for the user of the location data, and the value of the precision index can be easily designed to be 0 to 5, where 5 represents the highest precision for a "super-hub node" with professional trust authentication (detailed below) and 0 for a communication node that cannot provide adequate left-handed evidence. Please refer to table 1 for an exemplary precise index and error range (i.e., coordinate inaccuracy) mapping. Please note that Table 1 only demonstrates the approximate corresponding E in terms of integer AM values_C(coordinate error) range; the AM value varies continuously from 0 to 5, not just an integer; e_CThe value is continuously changed correspondingly. A pivot communication node N_iIf it has been given an accurate index AM_iThe error value according to Table 1 can be N_iSpatial coordinates (x)_i,y_i,z_i) Drawing an error range sphere around the communication node N_iNative inaccuracy of (2). Please refer to fig. 3, which is a flowchart illustrating a precise index estimation performed by the gps system according to an embodiment of the present invention when performing trilateration. Fig. 3 illustrates how the trilateration process is performed to evaluate the accuracy index (AM). Initiator communication node N₀From the first hub communication node N_A、N_B、N_C(as shown in fig. 1A and 1B) receiving the data of the geographic coordinates and the precise index, and measuring to the first hub communication node N_A、N_B、N_CDistance d of_A、d_B、d_C. Among them are many error factors. d_A、d_B、d_CIs affected by the radio bandwidth and data rate. Errors can also result if blocked by objects, such as walls and furniture. This results in one to threeIn side measuring operation d_A、d_B、d_CAlso, the end points of (a) have their error range spheres, which must be reflected in the exact index of the geographical coordinates obtained by trilateration. As known from the related documents, the communication node N₀And a first pivot communication node N_A、N_B、N_CThe resulting tilted triangular pyramid may result in greater trilateration errors than a regular shaped pyramid. Also, if the communication node N_ARatio of exact indices N_B、N_CMuch higher, calculate N₀In the geographic coordinates of (1), because of N_B,N_CTwo points of the original "" error range "" sphere are larger, for N_B,N_CThe error Sensitivity (Sensitivity) of two points will be compared with N_AThe dots are much higher. In order not to be interfered by too many variables, the following formula (1) is only ideal, such as the precise index of the participating pivotal communication nodes, and N₀Is close to each other and is N₀The triangular pyramid shaped end timing is configured to provide an exemplary formula:

wherein E is_CRepresents the Coordinate (Coordinate) uncertainty, converted from the AM value according to table 1; e_RRepresenting a range measurement (Radio Ranging) inaccuracy. Subscript 0 denotes initiator N₀The index i includes all participating hub communication nodes, here the first hub communication node N_A、N_B、N_C. The upper horizontal line represents the average value taken from the i cases. E_CAIs from AM according to Table 1_AConversion; e_CBIs from AM_BConversion, and the like. Degree of coordinate inaccuracy E_CAnd by no means the least significant digit disparity. E_CAReflect (x)_A,y_A,z_A) How accurate and using AM_AAnd (4) representing. In the detailed positioning operation, different error intervals of the three axes x, y and z are distinguished and expressed by variance (variance), and the variance is only represented by the average value of the variance of each axis. As previously describedAM (a)_AAnd is the first pivot communication node N_AThe previous "best" relative positioning algorithm is defined by the execution of the procedure (i.e. the first pivot communication node N)_APreviously, as the initiator communication node, the method performs a relative positioning algorithm many times to select the one with the highest accuracy index, as shown in the embodiment of fig. 1B). Thus, E_CThe error in the execution of all previous optimal relative positioning algorithms is inherited continuously with the AM. As for the distance measurement inaccuracy E_RIt is related to the physical limitations determined by radio bandwidth, data rate, frequency of use and physical blockage. E_RThe evaluation of (a) is rather complex but can still be managed by a standard ranging inaccuracy Look-up Table (Look-up Table) based on theoretical and empirical data. The upper and lower horizontal lines in equation (1) represent simple averages taken from the i cases, but in practice if tilted triangular pyramids are encountered, or if mixed measurement techniques are used (e.g. d)_A、d_BUsing FTM measurements and d_CUsing RSSI measurements, as described in the following paragraph), equation (1) will be replaced by another non-simple averaging equation. Initiator communication node N₀Degree of coordinate inaccuracy E_C0Inheriting error E from the plurality of hub communication nodes_CiAnd also accumulates error E in each distance measurement_Ri. Obviously, the initiator communication node N₀Is used for evaluating the accuracy index ofThere are mathematical constraints. In terms of ranging, if the smart phone is equipped with UWB or LiDAR, then E_RMay be greatly improved. As mentioned above, the communication node N₀An accuracy index is calculated based on a plurality of error factors. The error factor includes the first pivot communication node N_A、N_B、N_CPrecision index and communication node N₀Communication node N obtained by executing relative positioning algorithm₀Communicate with the first hub node N_A、N_B、N_CThe distance of (a). Table 1 below illustrates the precision index and error E_CThe relationship of (1):

TABLE 1

Precision index (AM)	ECError range (meters)
		5	0.1 public trust certification with profession
4	0.3
		3	1
2	5
		1	25
0	Untrustworthy (untrustworthy)

To support the aforementioned calculations, the communication node N₀And a first pivot communication node N_A、N_B、N_CThe measurement-related information carried by the radio signal may include, but is not limited to: (1) a public key; (2) current geographic coordinates (x)_i,y_i,z_i) (ii) a (3) Precision index AM_i(ii) a (4) Flight ranging response; and (5) other network connectivity and synchronization information. The IEEE 802.11-2016 standard has defined how to provide an indication of geographical coordinates and accuracy, and its Location Configuration Information (LCI) includes latitude, longitude, altitude, and its uncertainty (quantization error).In addition, there is a Location public representation (LCR or CIVIC), which can provide a "Civic" address in a standardized format for easy identification by the public.

The present embodiment comprises the following steps:

step S31: communication node N₀From the first hub communication node N_A、N_B、N_CReceiving the geographic coordinates and the accurate index and measuring the node N with the first pivot communication node_A、N_B、N_CDistance d of_A、d_B、d_C。

Step S32: reading a first hub communication node N_AAM of_AThe second pivot communication node N_BAM of_BAnd a third pivot communication node N_CAM of_C。

Step S33: obtaining distance d from inaccuracy look-up table_ADegree of inaccuracy of (d), distance d_BDegree of inaccuracy of (D) and distance d_COf the optical system.

Step S34: the scoring formula (1) is executed.

Step S35: obtaining a communication node N₀New precision index AM₀。

Please refer to fig. 4, which is a first flowchart illustrating a method for progressive global positioning according to an embodiment of the present invention. Fig. 4 illustrates a method of gradually improving the accuracy index of a communication node. Each correspondent node attempts to improve its accuracy index to provide more reliable geographical coordinates for later shared use of location data. Each communication node can do this by continuously looking for any indication of the proximity of the new hub communication node that is available. If a hub communication node with a higher accuracy index level within the radio range is identified, the relative positioning algorithm adds more "weight" to the geographical coordinates of the hub communication node in trilateration. This can be done by eliminating the participating communication nodes with a lower precision index rating, such as the first hub communication node N in FIG. 1B_A、N_BOr may be done by other statistical means. Any hub with higher precision index ratingThe communication nodes will be used to perform another relative positioning algorithm, although any hub communication node with a similar precision index rating is equally important. This is because the inaccuracy of radio measurements is statistically random. Multiple measurements of hub communication nodes with similar precision index levels can ultimately help the geographic coordinates of the communication nodes converge to a statistically significant higher precision index level. In this operation, statistical methods may include Mean (Mean), Variance analysis (Variance analysis), Kalman filtering (Kalman filtering), Linear least squares estimation (Linear least-squares estimation), iterative reweighed least squares estimation (iterative reweighed least-squares estimation), Non-Linear least squares technique (Non-Linear least-squares technique), and all other known methods. Although statistical approaches are still subject to many mathematical constraints, careful use of statistical approaches will generally reduce the inaccuracy and increase the initiator correspondent node N₀Is used as an index of accuracy. That is, each communication node can perform geographic coordinate statistical analysis on the geographic coordinate historical record of the communication node to obtain a more accurate geographic coordinate and a better accurate index of the communication node.

In summary, the precision index is a composite index. First, the initiating communication node needs to introduce its own global geographical coordinates from other approved hub communication nodes with global geographical coordinates to evaluate the precision index, so the precision index has traceability. Compared with the initiator communication node adjacent to the hub communication node positioned by the GPS method, the initiator communication node nearby the super hub node can obtain a higher accuracy index in nature. The accuracy index also includes the evaluation of coordinate and distance measurement inaccuracies in a single relative positioning calculation (i.e., the evaluation of the coordinate and distance measurement inaccuraciesAccumulation of error) in which E_CAnd errors in the execution process of the previous optimal relative positioning algorithm of all the hub communication nodes are continuously inherited. Moreover, after the number of execution times of the relative positioning calculation increases, the coordinate data accumulatesThe product yields a statistically significant convergence, E_CThe value decreases and the precision index also improves. The accurate index integrates the traceability of the global geographic position coordinate and the accuracy in the progressive positioning of the embodiment of the invention, and the occurrence, succession and statistical improvement of errors become a unique numerical index of the quality of the geographic coordinate. While it may not be universally possible to make extremely fine, accurate comparisons, it provides the impetus for the entire progressive global positioning system to improve geographic coordinate accuracy for a long time. If the system is positively assisted, more than one accurate index is set according to the principle, for example, the reliability of the geographic position is evaluated according to the number and the number of layers of inherited communication nodes, and geometric errors, inaccuracy of wireless measurement, or statistical errors formed by the nodes from the hub are distinguished, and the like, which belong to the methods claimed by the invention.

The present embodiment comprises the following steps:

step S41: communication node N₀From the first hub communication node N_A、N_B、N_CReceiving the geographic coordinates and the accurate index and measuring the node N with the first pivot communication node_A、N_B、N_CDistance d of_A、d_B、d_CAnd proceeds to step S42.

Step S42: communication node N₀Its geographical coordinates are trilaterated and an accurate index along with the set of geographical coordinates is evaluated and step S43 is entered.

Step S43: communication node N₀Is the accuracy index improved? If yes, go to step S44; if not, go to step S431; if so, the process proceeds to step S432.

Step S431: communication node N₀Discarding the set of geographic coordinates.

Step S432: communication node N₀And performing statistical analysis according to the geographic coordinates and the historical records of the accurate indexes, and returning to the step S43.

Step S44: communication node N₀An accurate exponential grade-up procedure is initiated.

If the initiator communication node N₀Encounter a plurality of pivots with accurate index grades superior to the accurate indexWhen communicating nodes, trilateration may be performed to produce a set of more accurate or more exponentially ranked geographical coordinates. In fig. 4, a "refined index level boost" is caused by the converged geographic coordinates from statistical analysis of past logs, or by the higher refined index rating obtained from trilateration. This is very important not only for the communication node, but also for the communication nodes in its radio coverage area. Therefore, the precise index grade rise must be strictly inspected.

Please refer to fig. 5, which is a second flowchart of a method for progressive global positioning according to an embodiment of the present invention. Figure 5 illustrates an innovative method of maintaining a record of transactions for precise index grade elevation (a transaction refers to a fair determination of a precise index grade elevation event). To prevent malicious users from corrupting the precise exponential rating up event, the operational data of the transaction must be verified by a fair third party. And checking the past accuracy index upgrading history and the calculation effectiveness of the participants by a fair third party, and approving after confirming that the geographical coordinates and the accuracy index inheritance relationship of each communication node are correct. The communication node formally obtains accurate exponential grade promotion. The block chain adopts a distributed ledger (distributed ledger), has the characteristic of being not falsifiable, and can assist the system to confirm the geographic coordinate and the precise index inheritance relationship between the communication nodes. Using blockchain techniques, fair third party verification may be accomplished through smart contracts. In FIG. 5, the communication node N₀Is the initiator who wants to obtain accurate index grade promotion approval. Communication node N₀The operational data of this transaction is submitted to the intelligent contract for review. Intelligent contract is Ether houseComputer programs running on the internet or a service cloud (service cloud) by the blockchain platforms. Intelligent contracts are used to perform, control and record events and actions according to the contract terms. For preventing false from imitating communication node N₀Identity of (2), N₀The operation data provided to the intelligent contract needs to be encrypted by a private key through a digital signature method and then encrypted by the intelligenceCan contract by N₀The public key is decrypted and identified. The intelligent contract determines whether to accept the application of the accurate index grade elevation according to the prescheduled precondition or clause. The executed smart contracts clearly keep the participating communication nodes of the trilateration performed this time to index level up and the resulting accurate index levels and detailed information in the distributed ledger (hereinafter "ledger") of the blockchain. Due to the nature of the blockchain, any new intelligent contracts can be tracked and cannot be altered. The final geographic coordinates of each participating communication node not only become more accurate gradually, but also have the characteristic of tamper resistance.

In FIG. 5, the communication node N₀The provided operational data comprises the geographical coordinates and the accurate index before and after the trilateration operation, the judgment basis of the new accurate index and the communication node N₀And a first pivot communication node N_A、N_B、N_CIs identified by the unique identifier of (1). The judgment basis in the operation data further includes: the improvement being from traceable E in the ledger_C(degree of coordinate inaccuracy), or from the communication node N₀Look-up table pair E according to standard range inaccuracy_ROr just one statistically improved result, or a combination thereof, and supporting data thereof. The operation data further includes a communication node N₀Such as VID/DID described below and/or the frequency and bandwidth used for distance measurements with the first hub communication node. The acceptance condition (contract clause) of the intelligent contract comprises (1) the hub communication node can trace back; the geographic coordinate and the accurate index of the first hub communication node are pre-stored in an account book of the block chain; (2) communication node N₀The trilateration performed was error free. The hub communication node can be traced, and the intelligent contract can be inquired by an account book; with respect to (2) the communication node N₀The executed trilateration method is error-free, and the intelligent contract can check the communication node N₀And the submitted accurate index grade is improved, and the records can be inquired from the book. For example, if the communication node N₀Claim improvement is from traceable E_CThe intelligent contract can depend on the first hub communication node N_A、N_B、N_CThe unique identifier is from E of each first hub communication node in the account book_CConfirming; if the communication node N₀The declared improvement is a result from statistical improvement, and the intelligent contract can be validated against its supporting data. The support data for statistical improvement may include the number of samples, key statistical parameters, length of measurement period, etc. the intelligent contract may still be checked by statistical validity and checking if the statement is verifiable in the ledger. If the communication node N₀The asserted improvement is from the inaccuracy lookup table pair E_RIf so, the intelligent contract needs to depend on the communication node N₀The wireless measurement physical limit of (2) is determined. As previously mentioned, the standard ranging inaccuracy look-up table is based on theoretical and empirical data related to radio operating frequency, bandwidth, etc.; thus, these inaccuracies are dependent on the wireless measurement physical limitations of the device. The identifiable Vendor Identifiers (VIDs) and Device identifiers (Device IDs, DIDs) widely used in the networking industry may be used to identify limitations in the radio technology, radio bandwidth, data rate, and frequency being used by each communicating node. The model of a smart phone is identified by the Type Allocation Code (TAC) in its IMEI number as the manufacturer. The smart contracts may be designed to view the VID/DID previously provided by the correspondent node with a unique identifier so that the technology used by the hub correspondent node is available from the VID/DID data of the hub correspondent node in the ledger. According to the communication node N₀And a technique used by a hub communication node, an initiator communication node N₀Make it impossible to beautify E_R0The value of (c).

If the communication node with the improved accuracy index grade can selectively pay the price for the hub communication node which participates in the relative positioning algorithm and has a higher accuracy index grade, the progressive global positioning system 1 can be very successful. This mechanism also encourages the willingness of the correspondent nodes with a higher accuracy index to contribute. If there is enough motivation, better inertial navigation algorithms, techniques for more accurate evaluation of GNSS signals, and mobile communication nodes with more accurate ranging methods will be developed. TheseCan help to increase the effectiveness and popularity of the progressive gps system 1. As shown in FIG. 5, after confirming the calculation of the precision index upgrade, as part of the intelligent contract, the price is paid from the correspondent node N according to a predetermined rule₀Transfer to the first pivotal communication node N with contribution_A、N_B、N_C。

In summary, the event of the relative positioning algorithm causes the communication node N to perform₀Benefit to obtain geographical coordinates with higher accuracy, the communication node N₀The operation data of the relative positioning algorithm is submitted to a block chain to start executing a first intelligent contract of the block chain (as shown in fig. 5). The acceptance conditions (i.e., precise index rating promotion pass terms of the contract) of this first intelligent contract include: (1) the geographic coordinate and the accurate index of the first hub communication node are pre-stored in an account book of the block chain; (2) and according to the operation data of the relative positioning algorithm submitted by the communication node and the geographic coordinate and accurate index data of the account book record, judging that the geographic coordinate and the accurate index obtained by the communication node are in accordance with physical and mathematical limitations. The first intelligent contract may be determined by the physical limitations of the currently known correspondent node or, more specifically, by the VID/DID. The mathematical constraints comprising calculationsOf (c) is determined. For example, the first intelligent contract may determine whether the mathematical constraint is met based on the principle that the inaccuracy of the initiating communication node is not better than that of the hub communication node. The mathematical limits may also include the limits of the statistical methods used, which may be determined, for example, by the number of samples considered and by how long the measurement time is. Finally, if the acceptance condition of the first intelligent contract is met, the first intelligent contract passes through the communication node N₀The precision index is upgraded and the ledger will generate a corresponding record including the obtained geographical coordinates and the precision index. According to the characteristics of the intelligent contract, even if the acceptance condition is not passed, the account book generates a corresponding record, wherein the record comprises the unique identifier of the communication node participating in the communication. In addition, the communication node N to be benefited₀Transfer ofThe cost for the second hub communication node is also recorded in the book. Communication node N₀The geographic coordinates and the precision index of the first intelligent contract can be officially updated when the first intelligent contract is known from the API or the first intelligent contract is known to pass through from the inquiry of the ledger. According to the above process, the communication node N₀Obtaining a set of less accurate geographic coordinates, i.e., a smart contract located in the service cloud calibrates (calibrated) correspondent node N₀The geographic coordinates of (a). If the calculation of the relative positioning algorithm is combined, the communication node N is enabled₀Obtaining a geographical coordinate with a higher precision index, then the communication node N₀The operational data of the relative positioning algorithm is submitted to the block chain to start a first intelligent contract for executing the block chain. Wherein, the acceptance condition of the first intelligent contract comprises the plurality of first hub communication nodes N_A、N_B、N_CAccount book already existing in block chain, and communication node N₀The obtained geographic coordinate and the accurate index are according to the communication node N₀The operation data of the submitted relative positioning algorithm and the first pivot communication node N_A、N_B、N_CThe analysis of the geographic coordinates and the precise index recorded by the ledger, which already exists in the blockchain, conforms to physical and mathematical constraints. In addition, after the acceptance condition of the first intelligent contract passes, the account book record of the block chain comprises the communication node N₀And obtaining the geographic coordinates with higher precision index and the precision index.

The present embodiment comprises the following steps:

step S51: communication node N₀Judging the geographical coordinates, the accurate indexes and the new accurate indexes before and after the trilateration method operation, and the communication node N₀And a first pivot communication node N_A、N_B、N_CEnters the first intelligent contract and proceeds to step S52.

Step S52: the first intelligent contract accepts the input data and determines whether the acceptance condition is met? If yes, go to step S53; if not, the process proceeds to step S521. Wherein, the acceptance condition of the first intelligent contract may include the first hub communication node N_A、N_B、N_CGeography of the pastThe coordinates and the precision index are valid and the basis for the judgment of the new precision index is valid.

Step S521: first intelligent contract negation communication node N₀The accuracy of the index is improved.

Step S53: the first intelligent contract passes through the communication node N₀Improving the grade of the precision index and connecting the communication node N₀The obtained geographic coordinates and the accurate indexes are stored in a distributed account book of the block chain, and the price is saved from the communication node N₀Transfer to the first hub communication node N_A、N_B、N_CAnd proceeds to step S54.

Step S54: communication node N₀And updating the geographic coordinates and the accurate index of the mobile terminal.

In the etherhouse blockchain platform, the record of each execution of the smart contract can be retrieved by the public key of the initiator. Past transactions may be retrieved and checked from the published ledger. Each transaction message contained in the ledger includes, but is not limited to, a unique identifier of a participating communication node, communication node N₀Geographic coordinates, precision index rating, running time, VID/DID, and delivered price, etc. Retrieval of the communication node N₀And checking whether the new hub communication node is credible in advance. If the hub communication node is not credible, the execution of the relative positioning algorithm and the request for upgrading the accurate index of the intelligent contract can be completely skipped, so that resources are saved. In EthereumIn this case, either the Transaction hash value (Transaction hash) or the Address hash value (Address hash) may be used to retrieve the executed smart contract. The address is a unique value converted from a unique public key and cannot be repeated; the conversion formula from the unique public key to the address should be known to one of ordinary skill in the art. That is, the book record of the block chain includes the unique identifier of each communication node, and a sender communication node can obtain the geographic coordinates and the precise index of the first hub communication node from the book of the block chain according to the unique identifier of the first hub communication node to perform the operation of the relative positioning algorithm。

A communication node deep in a building or tunnel may perform trilateration without having to make a geographic measurement, but by a junction communication node adjacent to it. The adjacent communication nodes may be pivotally connected to other communication nodes. In this case, since a plurality of timesThe inaccuracy is accumulated continuously. The exact index rating takes longer to stabilize, and the statistical approach is extremely important. The use of blockchain technology is more important in this multiple-pivot situation because it can successively verify the accuracy index grade improvement, avoid any deceptive communication node in these communication nodes, and ensure reliability.

As previously mentioned, the wireless connection between the communication nodes may be unidirectional or bidirectional. The 802.11mc communication protocol may be performed without a wireless network connection (association) and still allow the exchange of geographic coordinates and distances between the communicating nodes. Parameters not included in the communication protocol standard, such as precision indices and public keys, may be communicated via Location public representation (Location Civic Report) frames or via network connections. On the other hand, as the account book can be accessed in a public mode, the geographic coordinates and the accurate index of the hub communication node can be obtained through the account book in the cloud as long as the only public key of the hub communication node can be obtained, and local IP network connection is avoided. If the initiator has any doubt, confirmation and check can be performed from the ledger.

Continuing with the foregoing discussion, the system can obtain geographic coordinates and an accurate index of a (first or second) hub communication node from the ledger of the blockchain in terms of the unique identifier. In most blockchain platforms the ledger is a publicly searchable database. If the initiator requests, the latest geographic coordinates, the accurate index and the effective time/date of the hub communication node can be immediately obtained by using the unique ID of the hub communication node. Since the unique identifier of the correspondent node can be broadcast publicly by SSID (or bluetooth Beacon) or in LCR, querying the ledger becomes a very powerful tool from the viewpoint of being compatible with various ranging methods. The initiating communication node (e.g., smart phone or AP) may measure the distance to the adjacent hub communication node by using any ranging means such as FTM, UWB and LiDAR, and query the geographical coordinates of these communication nodes from the book, i.e., find the geographical coordinates by trilateration. If a hub communication node fails to broadcast its unique identifier as its SSID (or bluetooth beacon), it can still use the cooperative conversion server to query the SSID and bluetooth beacon database in a small area (e.g. which small area the originator communication node belongs to determined by its location), and it can also use MAC address identification to convert it into the unique identifier of the hub communication node.

As shown in fig. 2, a user of location data (here, a smart phone) enters a space in which a plurality of hub communication nodes having geographical coordinates with a specific precision index level are located. Due to the inaccuracy of distance measurement, the smart phone can obtain a group of geographic coordinates with an accuracy index lower than that of the pivot communication node. The use of such consumption-level location data, if not related to accurate exponential rating increases, typically results in no or only a few price transactions. However, the smart phone can also submit the operation data of the relative positioning algorithm to a blockchain to start executing the first smart contract of the blockchain, and record the geographic coordinates and the precision index in the book. As mentioned above, the smart phone can also be used as a temporary hub communication node when necessary.

After multiple calculations of the relative positioning algorithm, the communication node can reach a higher accurate index level. However, this system is designed to provide location services for all people that are globally available. The fixed communication node must not "move" or its exact index level must be cancelled. Therefore, the firmware of the communication node must be designed to detect the change of its location. The ultra-high precision communication node may need to detect whether its position is moved through hardware. The communication nodes need to execute relative positioning calculation frequently or after power failure, and the unique identifiers, the measured distances and the geographic coordinates of the communication nodes cooperating with each other in the same area and the past are taken as the identifiersComparing the historical records of the position sensor to confirm that the position is not changed; if the distance variation significantly exceeds E_RA value indicating that the position has moved. At this time, the firmware needs to trigger the execution of the first intelligent contract to obtain the new geographic coordinates and the accurate index, and thus the previous geographic coordinates and the accurate index are invalidated in the account book.

Several GPS signal generators may be used to broadcast the forged GPS coordinates. Thus, a rule may be defined to avoid forging geographical coordinates, for example, during the validation of an accurate index step-up, any GPS signals present must be validated for simultaneous co-existence in the space with other communication nodes having good accurate index step-up records.

An amateur geographic measurer can use a smart phone to refer to in the case that the GPS position is validThe coordinates can be used to mark the geographic coordinates of a hub communication node. The application program of the smart phone can verify the validity of the GPS position and the wireless link with the labeled pivot communication node to obtain at least public trust authentication, and many existing documents can estimate the measurement error of the GPS, and the accurate index can be converted by using the table 1. Besides GPS, the geographic coordinates obtained by other positioning systems can also be used as the reference hub communication node under the verified condition. A hub communication node located by an amateur geographic measurer may adopt a 'progressive observation' mechanism. For example, if the correspondent node can perform trilateration calculations with nearby hub correspondent nodes (via smart phones) that have been validated for the smart contract, its precise index level can be obtained via approval of the first smart contract. In this case, because other positioning systems such as GPS have no previous record in the account book, the first smart contract can only use the communication node that has been verified by the smart contract and the public trust authentication provided by the application program of the smart phone as the basis for the determination. As more communication nodes verified by the intelligent contract become mutually cooperative communication nodes and the calculation of the trilateration method is gradually stable, the accurate index of the communication node isFurther lifting is possible. The method of using the GPS location to mark the geographic coordinates can also convert a conventional WiFi AP without the capability of relative positioning algorithm into a "" quasi "" hub communication node. As long as its SSID is set to its unique ID, nearby geographic information consumers query from the public ledger, their geographic coordinates and precise indices can be queried. Compared with a normal pivot communication node, the wireless distance measurement can not be started, but the function of representing the geographic position and the accurate index is complete. The "quasi" hub communication node converted from the conventional WiFi AP may also use the aforementioned "progressive observation" mechanism to obtain a higher accuracy index, but may suffer from insufficient ranging capability, and the obtained accuracy index is not too high.

The design of the system can incorporate a junction communication node which obtains high-precision geographical position in an actual geographical measurement mode. The geographic coordinates obtained by geographic measurement, satellite positioning or other positioning system are referred to as the geographic coordinates obtained by "external resources". For nodes with geographic coordinates input by professional or non-professional measurement, a special "reference junction node" or "super junction node" second intelligent contract can be triggered under a supervised mechanism, and an accuracy index level can be created according to the accuracy degree of the external resource. Therefore, the acceptance condition of this second intelligent contract must include a provable signer, i.e., the external resource and its obtained precise index are to have a fair power certification. The signature with public trust authentication can be realized by using restrictive access control (restricted access control) of a smart contract in block chain practice; or multiple-signature contract (multiple-signature contract), i.e., requiring multiple signatures from different addresses to execute a transaction. That is, the communication node can obtain its geographic coordinate and its precise index from the external resource, and then the communication node submits its geographic coordinate and its precise index and its public trust authentication to the block chain to start executing the second intelligent contract. In this way, the second intelligent contract is triggered to execute, and the acceptance condition of the second intelligent contract includes the certifiable signatory, i.e., the external resource has public trust certification. And after the acceptance condition of the second intelligent contract is passed, the block chain book records the geographic coordinate and the accurate index obtained by the communication node.

The first intelligent contract and the second intelligent contract of the foregoing embodiments may also replace and execute the verification program with a computer program served in a cloud. That is, the communication node N₀Communicate with the first hub node N_A、N_B、N_CThe calculation of the relative positioning algorithm is carried out to enable the communication node N₀Obtaining the geographic coordinates with higher precision index, the communication node submits the operation data of the relative positioning algorithm to a first verification program, and the acceptance condition of the first verification program comprises the first hub communication node N_A、N_B、N_CHas existed in the log of the first verification procedure, and the communication node N₀The obtained geographic coordinate and the accurate index are according to the communication node N₀The operation data of the submitted relative positioning algorithm and the first pivot communication node N_A、N_B、N_CThe geographic coordinate and the precise index analysis recorded by the log which has existed in the first verification program conform to the physical and mathematical limits, and after the receiving condition of the first verification program passes, the log record of the first verification program comprises the communication node N₀Obtaining geographic coordinates with higher precision index, precision index and optional communication node payment to the first hub communication node N_A、N_B、N_CThe price of (2). In addition, any communication node, e.g. communication node N₀Obtaining the geographic coordinates and the accurate index from the external resource, the communication node N₀Submitting the geographic coordinate, the accurate index and the public trust authentication to a second verification program, wherein the acceptance condition of the second verification program comprises the public trust authentication of the external resource, and after the acceptance condition of the second verification program passes, the log record communication node N of the first verification program₀The obtained geographic coordinates and the accurate index. Similarly, the log record of the first authentication procedure may also include the corresponding node N₀And a first pivot communication node N_A、N_B、N_CIs identified by the unique identifier of (1). Communication node N₀According to the first pivot communication node N_A、N_B、N_CA unique identifier ofObtaining the first pivot communication node N from the log record of the first verification procedure_A、N_B、N_CThe geographic coordinates and the precision index of the positioning system, so as to carry out the operation of a relative positioning algorithm.

Please refer to fig. 6A and 6B, which are a first schematic diagram and a second schematic diagram of a vehicle positioning application of a progressive global positioning system according to an embodiment of the present invention. Fig. 6A and 6B illustrate the application of the progressive global positioning method in the vehicle interior space. A plurality of communication nodes N_vWill be located on the vehicle. These communication nodes N_vThe geographic coordinates of the vehicle are obtained in real time when the vehicle moves, and the geographic coordinates are used as a junction communication node of a user of the vehicle interior position information. Multiple vehicle communication nodes N_vArranged on the train T and the automobile C; in another embodiment, the vehicle communication nodes N_vIt can also be arranged on buses and other various vehicles. These vehicle communication nodes are fixed to the road edge at first_FAnd (the first hub communication node) executes a relative positioning algorithm to obtain the absolute geographic coordinate and the accurate index of the first hub communication node. Then, these vehicle communication nodes N_vCan be used as a pivot communication node of a portable device on a vehicle so as to be convenient for utilizing the position data. In this way, the onboard device on the vehicle can know its precise location even without a GPS or internet connection. An application on a portable device (such as a smart phone) can not only identify its position on a geographical map by means of absolute position, but also know its reference position in the vehicle. Thus, in some application examples, a passenger may be directed to a certain seat or find a walking train conductor. Inertial motion sensor (e.g., accelerometer and gyroscope) data collected on a vehicle may further be used to improve vehicle communication node N_vAccuracy of absolute geographic coordinates. This may be done by a known trajectory of the vehicle and a known position of the starting point of this trajectory. Using inertial navigation assistance, even if the roadside fixed hub communication node N is temporarily unavailable_FAssisted by vehicle communication node N_vThe service can be continuously provided. That is, a plurality of communication nodes N_vDistributed in moving vehiclesFixed pivot communication node N_F(first junction communication node) is arranged at a fixed position outside the vehicle, and after the geographic coordinate and the accurate index are obtained through the operation of a relative positioning algorithm, the communication node N_vExecution of a relative positioning algorithm for a mobile device participating in the interior of the vehicle.

In another aspect, the invention also relates to a communication node for vehicle collision avoidance. Vehicle mountable communication node N for adjacent vehicles on road_vThus, inter-vehicle ranging can be performed to find the relative position between the running vehicles. The radio interference between adjacent vehicles is less and the signal attenuation is less due to the short distance; a high accuracy of the relative positioning can be obtained within a very short cooperation time. Thus, whether internet connection is available or not, collision avoidance mechanisms can be designed between vehicles. If IEEE802.11ax WiFi is used for this collision avoidance network, the Latency (Latency) when OFDMA is turned on can be as low as 7.6mS, as described in some prior references; in addition, even if the vehicle runs at a speed of 70Km/h, the reaction accuracy of the vehicle will reach the Sub-meter level.

In another aspect, the invention also relates to the use of proximity sensing; the communication node (which has participated in the calculation of the relative positioning algorithm) may include an actuator (activator) to trigger the movement of an object. This application will help the entrance guard of the building. The method comprises the following steps: when a mobile communication node (such as a smart phone) approaches a building, a hub communication node of a building entrance with an actuator requests authentication. The mobile communication node can encrypt the identity information, such as a plaintext "" i is three "" with its private key, and the hub communication node decrypts the identity information by using the unique public key (i.e. unique identifier) of the mobile communication node, so long as the decrypted identity information (such as the plaintext) is identifiable, the authentication is successful; on the contrary, if the unique public key of the mobile communication node is copied maliciously, but the malicious communication node which performs the copying does not have the private key of the original public key holder, no matter what private key is used to encrypt the identity information, meaningful plaintext cannot be obtained through the unique public key. This is known as "digital signature" technology. Through the unique public key of the identity information, the pivot communication node can decrypt and obtain identifiable identity information, and therefore the actuator is started to trigger the movement of the door so as to open the door. If the mobile communication node is installed in a car and has a recognizable unique public key, the mobile communication node can enter and exit the parking lot in a similar manner. Actuators are used to open the doors of buildings or parking lots. Although the above-mentioned terminal communication node of building entrance guard requires authentication and cipher text transmission, it is not within the scope of the simple communication rule of one-way broadcast and two-way time-of-flight ranging commonly used in the relative positioning algorithm, but can still transmit information through the frame of "location mass representation" or through network connection. That is, when at least one of the communication nodes participating in the calculation of the relative positioning algorithm (i.e., the aforementioned gateway communication node) has an actuator and decrypts the identity information encrypted by the private key of the mobile communication node by using the unique identifier of the mobile communication node through the digital signature technology, the communication node determines whether to activate the actuator to control the controlled device according to the identity information.

Please refer to fig. 7, which is a diagram illustrating an advanced application of the gps according to an embodiment of the present invention. Fig. 7 illustrates how the invention can be extended to High Availability and High security applications. If the adjacent nodes agree to enter a mutual aid mechanism, the communication nodes can identify other parties through the unique public key to exchange information with each other besides exchanging geographic coordinates and accurate indexes. The delivery of mutual assistance information is not within the scope of the simple communication rules of one-way broadcasting and two-way time-of-flight ranging commonly used in the relative positioning algorithm, but the information can still be delivered through the frame of the "location mass representation" or through network connection. An alert communication node, such as a mobile phone M used by a user who wants to send a distress signal or a lost item L (e.g., luggage) equipped with a Bluetooth Low Energy (BLE) tag, enters an area served by a group of mutually cooperating nodes (hereinafter referred to as a "node group") a. The node group A is composed of a plurality of communication nodes N_HaIn part, with a Bluetooth bridge. The encrypted alarm information Fr can be passed on to another communication node N in the node group B_Hb(in the radio range) of the mobile station,it can also be passed to the alert server WS in the internet, which can be done as usual even when the internet connection of the node group a has been disconnected. Using adjacent communication nodes (e.g. adjacent communication nodes N in the figure)_Ha、N_Hb) This is helpful for system reliability, high availability and security considerations. A communication node N_HaCan bypass the normal internet connection and is adjacent to the communication node N_HbWith the help of which an online break, an alarm or an emergency help signal is reported (if the alarm information Fr does represent the destination of the alarm information Fr). An alert may also be formed if a high accuracy index level of neighboring communication nodes disappears. If the geographical location data is an important part of the alert, the unique identifier or geographical coordinates of the hub communication node may also be forwarded. The battery-powered bluetooth low energy communication node is very suitable for keeping a warning state for a long time when power is interrupted. If the missing item L has installed the firmware of the cooperating communication node, it may be found in a covert manner. That is, at least one communication node (e.g., any one of the node groups a) participating in the calculation of the relative positioning algorithm may transmit the alarm message Fr for warning the communication node (e.g., the mobile phone M or the lost article L) to another communication node (e.g., any one of the node groups B) or to an internet location designated by the warning communication node.

The alarm information Fr may be designed to express evidence of Undeniable presence at a certain location (Undeniable presence). As shown in fig. 7, a communication node in node group B (or node group a if node group B does not maintain internet connectivity) may trigger execution of a "Null" relative positioning algorithm and a first intelligent contract for precision index level increase after detecting the alert. The purpose of the request is not to pass the intelligent contract because there is no new hub communication node with a higher precision index rating. Its design objective is to keep a record in the account book to indicate the time when it coexists with the device in alert state. This may require multiple correspondent nodes to perform the relative positioning algorithm and the "invalid" precision index escalation smart contract request in order for the device in the alert state to at least participate in one of them. Since the records in the ledger are undeniable, the location of the device that is in the alert state at a particular time is also undeniable. In addition, the exact location where the alarm information occurs may also be marked in the record of the ledger. That is, a mobile device can selectively trigger execution of a first intelligent contract of a block chain, and mark the true place when the alarm information occurs according to the record reserved in the account book. At this time, the alarm information Fr only needs to contain the unique identifier of the warning communication node, and the addressee receiving the Fr can check the undeniable position of the warning communication node from the account book.

The foregoing is by way of example only, and not limiting. Any other equivalent modifications or variations without departing from the spirit and scope of the present invention should be included in the protection scope of the present application.