北斗/超宽带组合定位的室内外过渡区无缝链接方法

室内外无缝导航定位是万物互联之基石，具有广阔的市场前景和应用价值. 但目前对于室内外过渡区的无缝组合导航技术，仍存在诸多棘手问题亟待解决. 对此，从三个方面对BDS/UWB组合定位的室内外无缝链接方法进行了改进:一是提出了一种基于内引法和外引法的室内信标绝对定位方法，以解决室内外定位结果的坐标基准统一问题；二是提出了一种基于位置精度因子(PDOP)平稳变化的室内信标优化布局方案，以提高过渡区域的导航定位精度与信标可用性；三是提出引入自适应权重因子，来解决BDS/UWB组合定位的观测值合理定权问题. 通过具体实验验证:1) 利用基于内引法和外引法的室内信标绝对定位方法，可实现室内外坐标基准的统一，显著提高了用户使用的便捷性；2) 采用所提信标优化布局方案，可有效提高过渡区定位精度，相比无超宽带(UWB)信标，BDS/UWB组合定位的平均定位精度至少提高 355%；3) 自适应权重因子可实时调节不同时间、不同类型观测值的权比，增强了观测信息利用效率，相比北斗卫星导航系统(BDS)空旷区域，定位精度可至少提高22.5%. 

Seamless link method of indoor and outdoor transition zone for Beidou /UWB combination positioning

Indoor and outdoor seamless navigation and positioning is the cornerstone of everything is interconnected, and it has broad market prospects and application value. However, there are still many knotty problems for the seamless integrated navigation of indoor and outdoor transition area. In order to solve those problems, this article improves the indoor and outdoor seamless linking method of Beidou satellite navigation system Ultra-wideband (BDS/UWB) combined positioning from three aspects: The first is to propose an indoor beacon absolute positioning method based on internal and external citation methods, which to solve the problem of the coordinate reference unification of indoor and outdoor positioning results; the second is to propose an optimal layout scheme of indoor beacon based on PDOP stable change, which to improve the positioning accuracy and beacon availability in the transition area; the third is to introduce an adaptive weight factor to solve the reasonable weighting problem of observations of BDS/ UWB combined positioning. It is verified through specific experiments: 1) using the indoor beacon absolute positioning method based on indoor guidance and outdoor guidance method, it is possible to achieve the indoor and outdoor coordinate reference unification, which significantly improves the convenience of users; 2) the optimal layout scheme of indoor beacon can effectively improve the positioning accuracy of the transition area. compared with and without UWB beacons, the BDS/UWB combined positioning accuracy can be improved by at least 355%; 3) the adaptive weight factor can adjust the observation weight ratio of different time and different types in real-time, and it enhances the efficiency of observation information utilization. Compared with BDS in open area, its positioning accuracy can be improved by at least 22.5%.