基于北斗和蓝牙的室内外协同定位系统  

Indoor and outdoor collaborative positioning system based on Beidou and Bluetooth

作　　者：罗华峰 王刘旺 左浩然 赵华 石瑞达 LUO Huafeng;WANG Liuwang;ZUO Haoran;ZHAO Hua;SHI Ruida(State Grid Electric Power Research Institute,Hangzhou 310011,China;NARI Group Corporation/State Grid Electric Power Research Institute,Nanjing 211106,China;NARI Information&Communication Technology Co.,Ltd.,Nanjing 211106,China)

机构地区：[1]国网浙江省电力有限公司电力科学研究院,杭州310011 [2]南瑞集团有限公司(国网电力科学研究院有限公司),南京211106 [3]南京南瑞信息通信科技有限公司,南京211106

出　　处：《集成电路与嵌入式系统》2025年第3期73-79,共7页Integrated Circuits and Embedded Systems

基　　金：国家电网浙江电力有限公司科技项目资助—复合定位追踪技术装置的研究与应用(5211DS230009)。

摘　　要：目前,单一的定位技术无法在室内外同时得得较好的定位结果,例如北斗定位技术在室外可以取得较高精度的定位结果,但是在室内定位表现较差。而蓝牙在室内定位具有较高的定位精度,但是在室外却差强人意。基于以上现状,提出了一种基于北斗和蓝牙的室内外协同定位技术,将北斗与蓝牙定位系统统一到同一坐标系,通过改进型BP神经网络实现全场景下的无缝切换,同时针对室内外缓冲区域,引入定位融合策略提高定位精度。实验结果表明,在全场景下,相比于单一定位系统,协同定位系统的定位平均误差分别提升了0.7%、31.7%和2.4%,证明了本方法的有效性和准确性。At present,a single positioning technology cannot achieve good positioning results both indoors and outdoors simultaneously.For example,Beidou positioning technology can achieve high accuracy in outdoor positioning,but its performance in indoor positioning is poor.Bluetooth has high positioning accuracy in indoor positioning but is less effetive in outdoor positioning.Based on the above situation,this paper proposes an indoor and outdoor collaborative positioning technology based on Beidou and Bluetooth positioning.The Beidou and Bluetooth positioning systems are unified in the same coordinate system,and an improved BP neural network is used to achieve seamless switching in all scenarios.At the same time,a positioning fusion strategy is introduced for indoor and outdoor buffer areas to improve positioning accuracy.The experiment results show that in all scenarios,the average positioning error of the collaborative positioning system has increased by 0.7%,31.7%and 2.4%compared to a single positioning system,respectively,proving the effectiveness and accuracy of the method.

关 键 词：室内外协同定位 北斗定位 蓝牙定位 BP神经网络 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]