GB/T 38630-2020Information technology—Real-time positioning—Multi-source fusion positioning data interface (English PDF)

3.1 Intelligent Terminal

With embedded software and hardware systems, terminal products for the personal consumer market.

3.2 Real-time positioning terminal

An intelligent terminal that collects and sends position signals on targets attached to assets (articles, human bodies, etc.).

Note. The real-time positioning terminal sends information including the unique identification of the asset, and can provide various statuses of the terminal's environment (such as the received Wi-Fi signal) information.

3.3 Positioning engine

Software or components that calculate the real-time location of the terminal.

3.4 Fusion positioning engine

A module that optimizes the results of multiple sub-positioning engines based on the fusion algorithm to obtain better positioning results.

Note. For example, a fusion positioning engine that integrates Wi-Fi sub-positioning engine and PDR sub-positioning engine.

3.5 Sub-positioning engine

A positioning engine capable of independently providing positioning results.

3.6 Asynchronous call

A method that allows the operation to continue without waiting for the return value of the called function.

3.7 Circular probability error

With the true position as the center of the circle, the dispersion radius of the two-site position with a probability of 50% deviation from the center of the circle.

3.8 positioning accuracy

The standard deviation between the positioning result and the true position.

3.9 XML markup

Identifier of legal content in XML document.

[GB/T 30996.1-2014, definition 3.5]

6.1 Fusion engine positioning interface

The positioning client sends a request to obtain positioning results to the fusion positioning engine, and uses asynchronous calls to receive the fusion positioning engine returned.

Align the positioning results. The positioning client encapsulates the real-time sensor data samples collected by the client according to the sensor parameter definition of this standard, and sends it to the fusion

The positioning engine sends a fusion positioning request. After receiving the request, the fusion positioning engine checks whether there is a fusion positioning result, and returns immediately if it exists.

The positioning result is merged back, otherwise the failed positioning result is returned, as shown in Figure 3.

6.2 Sub-positioning engine positioning interface

The fusion positioning engine forwards the positioning request to the sub-positioning engine, and uses asynchronous calls to receive the positioning result response returned by the sub-positioning engine.

After the fusion positioning engine receives the positioning request from the positioning client, it encapsulates the sensor data and the latest fusion positioning result as the positioning of the sub-positioning engine.

Bit request, sent to all sub-positioning engines. There is no limit to the number of sub-positioning engines, which can be multiple sub-positioning engines or only one.

If the positioning of the sub-positioning engine is successful, the positioning result of the sub-positioning engine is merged with the positioning results of other existing sub-positioning engines, and the fusion is updated

Positioning results. The interaction sequence of the fusion positioning engine and the single sub-positioning engine is shown in Figure 4.

Figure 4 Interaction sequence diagram of the fusion positioning engine and a single sub-positioning engine

The Java description of the sub-positioning engine positioning request interface definition is as follows.

7.1 Definition of sensor parameters

The definition of sensor parameters is shown in Table 1.Each seed positioning engine analyzes one or more sensor data items to determine according to its own needs

Bit. For example, the magnetic positioning engine can analyze magnetic force and acceleration sensor data, and inertial navigation only needs to analyze the acceleration sensor data.

Appendix A (Informative appendix)

Examples of integrated positioning strategies

A.1 Weighted fusion strategy

Each positioning engine is given a specific weight for the positioning result, and the weighted sum of multiple results is used as the result of the fusion positioning engine. Common weight calculation

Methods include the reciprocal of the circular probability error of the positioning result, manual assignment and deep learning methods.

A.2 Voting integration strategy

It is suitable for the fusion of enumerated type positioning information such as building identification and floor judgment. Each positioning engine output result counts one vote, with the highest number of votes

As a result of fusion. If multiple fusion results have the same number of votes, one is randomly selected as the fusion result.

A.3 Separate isolation strategy

Fusion of positioning results suitable for system debugging purposes. That is, only select one positioning engine result output, and exclude other engine results interference,

Observe the role of specific engines.