CN103630915B - A method of carrying out navigator fix using digital frequency modulation broadcast - Google Patents
A method of carrying out navigator fix using digital frequency modulation broadcast Download PDFInfo
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- CN103630915B CN103630915B CN201210303350.6A CN201210303350A CN103630915B CN 103630915 B CN103630915 B CN 103630915B CN 201210303350 A CN201210303350 A CN 201210303350A CN 103630915 B CN103630915 B CN 103630915B
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- 238000000034 method Methods 0.000 title claims abstract description 63
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- 238000005259 measurement Methods 0.000 claims description 20
- 238000001914 filtration Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 8
- 230000004807 localization Effects 0.000 claims description 8
- 231100000572 poisoning Toxicity 0.000 claims description 2
- 230000000607 poisoning effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 15
- 230000002708 enhancing effect Effects 0.000 abstract description 8
- 238000004364 calculation method Methods 0.000 abstract description 3
- 238000012937 correction Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 230000001419 dependent effect Effects 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000003416 augmentation Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
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- 229910052741 iridium Inorganic materials 0.000 description 1
- GKOZUEZYRPOHIO-UHFFFAOYSA-N iridium atom Chemical compound [Ir] GKOZUEZYRPOHIO-UHFFFAOYSA-N 0.000 description 1
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- 239000005436 troposphere Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A method of navigator fix being carried out using digital frequency modulation broadcast, belongs to wireless navigation field.The method for carrying out navigator fix using digital frequency modulation broadcast, includes the following steps：Time synchronization is realized between frequency-modulated broadcast transmitter；Frequency-modulated broadcast transmitter broadcast carries navigation message and can be used for the wireless signal RF (t) of ranging；Fm broadcast receiver receives the wireless signal RF (t) of multiple frequency-modulated broadcast transmitter broadcast, parses the navigation message in RF (t)；Fm broadcast receiver carries out positioning calculation using the navigation message and the own signal time of reception and obtains self-position.Compared with the prior art it has the advantage that：The transmission power of frequency-modulated broadcast transmitter is big, and in-door covering ability is stronger compared with space-based navigation and space-based navigation enhancing technology；The bandwidth of frequency modulation broadcasting is small, and Receiver Complexity is low, therefore at low cost, easy to spread.
Description
Technical field
It is especially a kind of using digital frequency modulation broadcast navigate calmly the present invention relates to a kind of navigation locating method and system
The method and system of position, belongs to wireless navigation technical field.
Background technology
Currently, the digitized process of whole world radio and television is tentatively completed.Digital terrestrial television, mobile TV into
Enter the stable development stage, and the digitlization of cable television is commercial for many years.Digitlization brings more high-quality program making, sends
With reception, simultaneously so that user has enjoyed more good user experience.In many media such as film, TV, cellphone multimedia
When digitlization obtains notable achievement, the digitlization of audio broadcasting, which seems, to relatively lag behind, but this also brings a development opportunity,
That is the digitlization in audio broadcasting field is well worth doing.Digital technology, which is applied to audio broadcasting, can bring the reception of high stable to imitate
The sound quality of fruit and high-fidelity, meanwhile, can supporting text information, program of radio station information, stock information etc., many both pictures and texts are excellent
Broadcast data business, the development taken on a completely new look to make audio broadcasting industry obtain.
Most important two parts of digital audio broadcasting are digitlization and the amplitude modulation (AM) of frequency modulation (FM) frequency band audio broadcast
The digitlization of frequency band audio broadcast.In the U.S., HD Radio technologies have obtained commercialization, and in Europe, digital Audio Broadcasting two
Big standard DAB and DRM, which have been promoted, to come.
In FM frequency ranges, usable spectrum resource is 88~108Mhz, which is further divided into the integral multiple of 100Khz
Channel distributes to each broadcasting station.In the U.S., the frequency spectrum of 400Khz is assigned in each broadcasting station.In China, often
200Khz frequency spectrums are assigned in one broadcasting station.Since stereo fm signal actual bandwidth within 150Khz and is broadcasted
Spectrum intervals gap between radio station has many frequency spectrum cavity-pocket resources can be in fact, the availability of frequency spectrum of FM frequency ranges is not high
It is further employed.The HDRadio in the U.S. realizes digital audio while being exactly using FM frequency spectrum cavity-pockets compatibility tradition FM signals
Broadcast.
Since FM is located at lower frequency range, FM itself has the spy that propagation distance is remote, diffraction and transmittability are strong
Point realizes that navigation or navigation enhancing just become a potential new application of FM frequency ranges using this feature of FM.To space-based
Most common form is ground pseudo satellite, pseudolite in the Enhancement Method of navigation signal.Pseudo satellite, pseudolite is synchronous with space-based navigation satellite, and in day
Frequency range where the base navigation satellite broadcast positioning signals in a manner of CDMA.In receiver, in addition pseudo satellite, pseudolite is exactly
One navigation satellite.In addition, there is the airmanship of some characteristics, they are operated in special frequency range, therefore different from tradition
Pseudo satellite, pseudolite, one of example is Locata technologies (http://www.locatacorp.com), it is worked using TDMA modes,
All area navigation transmitters are mutually in step using wireless mode, the transmitter after synchronizing while emitting navigation signal, and navigation connects
The positioning principle of receipts machine is identical as general navigation neceiver.Locata technologies itself can also be independently of space-based navigation system such as
GPS works.Another navigation enhancing technology is to carry out navigation enhancing, such as United States Patent (USP) using low orbit satellite (such as U.S.'s iridium satellite)
US7,489,926(LEO-based positioning system for indoor and stand-alone
Navigation the technology disclosed in), terrestrial user receiver and reference receiver receive low orbit satellite navigation enhancing letter simultaneously
Number, reference receiver generates reference carrier phase and is broadcast to receiver user by the communication link of low orbit satellite and corrected
Clock present in pseudo- square, ionosphere, troposphere and low orbit satellite track equal error, the node is similar in the ground segment of GPS
The node that ground injection station is necessarily present is extension of the conventional navigation enhancing technology on low orbit satellite.Digital ground without
After line tv broadcasting technology grows up, also it is proposed that regarding the side that broadcast carries out wireless location based on terrestrial digital radio
Method, but since single channel TV can not be positioned, and TV signal is wider, while receiving electricity of the multichannel from different launching towers
It is larger depending on signal receiver cost, therefore can not yet promote.
The invention discloses a kind of method and systems of new navigator fix, and the core with prior art is the difference is that it is sharp
The frequency spectrum or digital broadcast signal not yet made full use of with frequency modulation (FM) frequency range carries out navigation signal and navigation information broadcast, is
A kind of novel navigation system.Compared with the prior art it has the advantage that：
The transmission power of FM is big, and in-door covering ability is stronger compared with space-based navigation and space-based navigation enhancing technology；
The bandwidth of FM is small, although the error that directly puppet square measures is slightly larger, Receiver Complexity is low, therefore cost
It is low, it is easy to spread.
The frequency spectrum or digital broadcast signal that are not yet made full use of due to the use of frequency modulation (FM) frequency range carry out navigation signal and
Navigation information is broadcasted, and therefore, the present invention is compared with other airmanships, in the acquisition pattern, navigation wireless signal and biography of pseudo- square
It is also different in terms of the signal broadcast mode for wireless frequency modulation signal coexistence of uniting.
Invention content
The invention discloses a kind of method and systems of navigator fix.The present invention is not yet made full use of using frequency modulation frequency range
Spectrum broadcast navigation information, wide, the indoor penetration capacity of signal cover is strong, can be in space-based navigation system and navigation augmentation system
The positioning to user's navigation neceiver is independently realized when unavailable, or is realized jointly with space-based navigation system and user's navigation is connect
The positioning of receipts machine.
A kind of method carrying out navigator fix using digital frequency modulation broadcast, includes the following steps：
Time synchronization is realized between step 11) frequency-modulated broadcast transmitter；
The broadcast of step 12) frequency-modulated broadcast transmitter carries navigation message and can be used for the wireless signal RF (t) of ranging；
Step 13) fm broadcast receiver receives the wireless signal RF (t) of multiple frequency-modulated broadcast transmitter broadcast, solution
The navigation message in RF (t) is precipitated；
Step 14) fm broadcast receiver carries out position using the navigation message and the own signal time of reception to be determined
Position, which resolves, obtains self-position.
A kind of method carrying out navigator fix using digital frequency modulation broadcast further includes the known reference in a position
Receiver, reference receiver receive the frequency-modulated broadcast transmitter broadcast and carry navigation message and can be used for the wireless signal of ranging
RF (t), and monitor the clocking error between broadcast transmitter；The clocking error is passed to described by special communication link
Frequency-modulated broadcast transmitter, and the fm broadcast receiver is issued in the form of navigation message；Described in fm broadcast receiver use
Clocking error carries out pseudo- square amendment.
The described frequency-modulated broadcast transmitter broadcast carry navigation message and can be used for ranging wireless signal RF (t) it is corresponding
Baseband signal format is S (t)=FM (t)+p (t), and wherein FM (t) is the baseband form of traditional FM signal, and p (t) is additional number
The baseband form of word broadcast singal carries navigation message on additional character broadcast singal.
The navigation message includes the specific location and additional character broadcast singal p (t) of this frequency-modulated broadcast transmitter
Launch time.
The fm broadcast receiver carries out position resolving using the navigation message and the own signal time of reception, real
The method of existing self poisoning, which is characterized in that emit from three frequency modulation broadcastings when fm broadcast receiver is merely able to receive
When the wireless signal RF (t) of machine, the height of itself is estimated according to the height coordinate of fm broadcast receiver in navigation message.
The fm broadcast receiver estimates itself according to the height coordinate of fm broadcast receiver in navigation message
The method of height is h=(H1+H2+H3)/3, and wherein h is to estimate the height of itself, and H1, H2 and H3 are the frequency modulation that can be received
The height of broadcasting receiver.
The additional character broadcast singal p (t) is digital spread spectrum navigation signal, and general expression is：Wherein di(t) it is i+1 transmission data, PN (t) is spreading code
Sequence, length N, additional data bit is identical on continuous N frequency expansion sequence.
Another form of the additional character broadcast singal p (t) is believed for orthogonal multiple carrier frequency division multiplexing (OFDM)
Number.
Localization method when p (t) is orthogonal multiple carrier frequency division multiplexing (OFDM) signal is as follows：
Step 91) fm broadcast receiver receives and detaches ofdm signal p (t) and frequency-modulated signals FM (t), demodulates OFDM
Navigation message in signal p (t)；
Step 92) fm broadcast receiver obtains the launch time of ofdm signal according to general OFDM localization methods；
Step 93) fm broadcast receiver is obtained according to the launch time and fm broadcast receiver local zone time of ofdm signal
Pseudo- square is obtained, and pseudo- square amendment is carried out according to navigation message；
Step 94) fm broadcast receiver is squared by receiver intermediate-freuqncy signal, and again using 2 frequencys multiplication of intermediate-freuqncy signal as
Center carries out bandpass filtering and tracks using the frequency and phase of phase lock loop locks filtered output signals and measure the carrier phase
Obtain first carrier phase measurement；
Step 95) fm broadcast receiver will utilize first carrier phase measurement, and the pseudo- square of progress is smooth, after obtaining smoothly
Pseudo- square；
Step 96) fm broadcast receiver is solved using the navigation message in the pseudo- square and ofdm signal p (t) after smooth
It calculates and obtains own location information.
In a kind of method carrying out navigator fix using digital frequency modulation broadcast, fm broadcast receiver is combined
The method of navigator fix is：
The positioning of step 101) fm broadcast receiver obtains itself initial position
Step 102) fm broadcast receiver receives and detaches ofdm signal p (t) and frequency-modulated signals FM (t), demodulates
Navigation message in ofdm signal p (t)；
Step 103) fm broadcast receiver obtains the launch time of ofdm signal according to general OFDM localization methods；
Launch time and fm broadcast receiver local zone time of the step 104) fm broadcast receiver according to ofdm signal
Pseudo- square is obtained, and pseudo- square amendment is carried out according to navigation message；
Step 105) fm broadcast receiver is squared by receiver intermediate-freuqncy signal, and is made again with 2 frequencys multiplication of intermediate-freuqncy signal
Centered on carry out bandpass filtering, using the frequency and phase of phase lock loop locks filtered output signals, track and measure the carrier wave phase
Position obtains first carrier phase measurement；
Step 106) fm broadcast receiver is demodulated at least from navigation message in the p (t) of a frequency-modulated broadcast transmitter
Entrained carrier phase update information carries out carrier phase amendment to first carrier phase measurement and obtains the second carrier phase
Measured value；
Step 107) fm broadcast receiver utilizes the second carrier-phase measurement, itself initial position and inertial navigation list
The initial position that the measured value of member obtains modified position and resolved as position next time；
It is current location that step 108), which exports modified position,.
The method according to the present invention for carrying out navigator fix using digital frequency modulation broadcast, exists with the core difference of prior art
The frequency spectrum or digital broadcast signal not yet made full use of using frequency modulation (FM) frequency range in it carries out navigation signal and navigation information
Broadcast, is a kind of novel navigation system.Compared with the prior art it has the advantage that：
(1) transmission power of FM is big, and in-door covering ability is stronger compared with space-based navigation and space-based navigation enhancing technology；
(2) bandwidth of FM is small, although the error that directly puppet square measures is slightly larger, Receiver Complexity is low, therefore, cost
It is low, it is easy to spread.
The frequency spectrum or digital broadcast signal that are not yet made full use of due to the use of frequency modulation (FM) frequency range carry out navigation signal and
Navigation information is broadcasted, and therefore, the present invention is compared with other airmanships, in the acquisition pattern, navigation wireless signal and biography of pseudo- square
It is also different in terms of the signal broadcast mode for wireless frequency modulation signal coexistence of uniting.
Description of the drawings
Fig. 1 is the system schematic according to the present invention that navigator fix is carried out using digital frequency modulation broadcast.
Fig. 2 is the method flow diagram according to the present invention that navigator fix is carried out using digital frequency modulation broadcast.
Fig. 3 is that traditional frequency-modulated signals FM (t) and the frequency spectrum of ofdm signal in CDRadio basic models close in open source literature
System.
Fig. 4 is according to the present invention frequency modulation frequency range ofdm signal p (t) and frequency-modulated signals FM (t) mixed signal to be utilized to carry out
The flow chart of the method for positioning.
Fig. 5 is a kind of combined navigation locating method flow chart according to the present invention.
Specific implementation mode
A kind of method and system carrying out navigator fix using digital frequency modulation broadcast of the present invention.
Fig. 1 is the system schematic according to the present invention that navigator fix is carried out using digital frequency modulation broadcast.According to the present invention
Using digital frequency modulation broadcast carry out navigator fix system include at least multiple frequency-modulated broadcast transmitter A1-A3 and a frequency modulation
Broadcasting receiver A0.FM receiver is while receiving the signal of frequency-modulated broadcast transmitter, it is also possible to receive and carry out auto-navigation
Satellite as GPS satellite A4 and A5 in Fig. 1 signal.Further include position in general, in order to monitor and improve the performance of system positioning
Set known reference receiver A10.A10 (can also receive navigation satellite such as GPS in addition to receiving the signal of frequency-modulated broadcast transmitter
Signal) outside, be connected with frequency-modulated broadcast transmitter A1-A3 by special communication link A10-A13.
Fig. 2 is the flow chart of the method according to the present invention that navigator fix is carried out using digital frequency modulation broadcast.According to this hair
The bright method for carrying out navigator fix using digital frequency modulation broadcast, includes the following steps：
Time synchronization is realized between step 1) frequency-modulated broadcast transmitter.As shown in Figure 1, frequency-modulated broadcast transmitter A1-A3 it
Between by certain means realize clock synchronize, specific method be all frequency-modulated broadcast transmitters all use GPS constraint atomic clock
(GPS Disciplined Oscillator) is all locked to as clock source or all frequency-modulated broadcast transmitters and passes through network
On the high-precision common clock signal of transmission.It should say, even if using specific synchronization means, these frequency-modulated broadcast transmitters
There are still certain still usual negligible remaining clocking errors between A1-A3.These clocking errors still can influence
Positioning accuracy.In order to monitor and improve the performance of system positioning, reference receiver known at least one position is usually set
A10.A10 is other than receiving the signal (can also receive navigation satellite such as the signal of GPS) of frequency-modulated broadcast transmitter, by special
Communication link A10-A13 be connected with frequency-modulated broadcast transmitter A1-A3.The position of reference receiver A10 is it is known that therefore, A10 can
The clocking error and tune of broadcast transmitter (such as A1) are given to calculate frequency-modulated broadcast transmitter A1-A3 relative to one of them
Clocking error between frequency broadcast transmitter A1-A3 and navigation satellite, these clocking errors pass through special communication link A10-
A13 is transmitted to frequency-modulated broadcast transmitter A1-A3, then is sent to receiver user A1 by frequency-modulated broadcast transmitter A1-A3.Exist
When reference receiver A10, the time error between broadcast transmitter can be broadcast to receiver user in real time, therefore, to wide
It broadcasts the time synchronization between transmitter to require to reduce, it might even be possible to not require the time synchronization between broadcast transmitter.
Step 2) frequency-modulated broadcast transmitter broadcasts carrying navigation message according to the present invention and can be used for the wireless communication of ranging
Number RF (t).Wireless signal RF (t) the corresponding baseband signal formats according to the present invention for carrying navigation message and can be used for ranging
It is S (t)=FM (t)+p (t), wherein FM (t) is the baseband form of traditional FM signal, and p (t) is additional number according to the present invention
The baseband form of word broadcast singal.The basic task of frequency-modulated broadcast transmitter is to carry out frequency modulated sound broadcast.Traditional FM signal
It is to realize and digitize when most of receiver user in order to which realization mutually compatible with traditional FM receiver is seamlessly transitted herein
After, traditional FM signal can close, and only retain additional character broadcast singal according to the present invention.It is according to the present invention additional
Navigation message is carried on digital broadcast signal.Usually, navigation message include this frequency-modulated broadcast transmitter specific location and
The launch time of additional character broadcast singal p (t) according to the present invention further includes being obtained by special reference receiver A10
Various clocking errors, further, it is also possible to further comprise the center frequency point and navigation satellite of other frequency modulation navigation launching machinerys
(GPS and the Big Dipper etc.) relevant auxiliary information, carrier phase update information.There are many concrete forms of signal p (t), will be under
Text is told about.
Step 3) fm broadcast receiver receives the according to the present invention wireless of multiple frequency-modulated broadcast transmitter broadcast
Signal RF (t) parses the navigation message in additional character broadcast singal p (t) according to the present invention in RF (t).
Step 4) fm broadcast receiver carries out position using the navigation message and the own signal time of reception to be determined
Position, which resolves, obtains self-position.In Fig. 1, fm broadcast receiver A0 receives the navigation message of frequency-modulated broadcast transmitter A1-A3
Carry out position resolving.There are many ways to position resolves, be generally divided into that carrier phase resolves and pseudo- square resolves, principle with it is general
The method of navigation system is identical.In Fig. 1, fm broadcast receiver A0 is according to the hair of the signal RF (t) in signal navigation message
It penetrates the time and FM receiver A0 local zone times of itself obtains pseudo- square apart from each frequency-modulated broadcast transmitter A1-A3.By
In unknown number include from three-dimensional position (longitude La, latitude lo, height h) and itself and the FM transmission in geographic coordinate system
Clock correction t1 between machine A1-A3 totally four.Therefore, three pseudo- squares only related with A1-A3 are not in this three-dimensional resolving
No more, for this purpose, there are two types of further solutions, one is the height coordinate H1, H2, H3 according to A1-A3 in navigation message
Then the coordinate h=(H1+H2+H3)/3 of preresearch estimates oneself recycles three pseudo- squares to resolve longitude La, latitude lo and the clock of A0
Poor t1.This calculation method is referred to as two dimension and resolves.It, can also be according to preceding primary solution in order to further increase the precision of two dimension resolving
Longitude La, the latitude lo of calculation improve h, resolve to obtain new longitude La, latitude lo later again, until iterative process restrains.It is this
The precision that two dimension resolves is limited.In systems in practice, A0 is also possible to receive other navigation signals, as shown in Figure 1, A0 is also received
The signal for having arrived A4 and A5 obtains two new pseudo- squares.In this way, A0 just has 5 measured values, and unknown number is longitude La, latitude
The clock correction t2 between clock correction t, A0 and GPS satellite A4-A5 between lo, height h, A0 and frequency modulation transmitter A1-A3 totally 5 it is unknown
Number.5 measured values and 5 unknown numbers form an equation group can obtain the three-dimensional position about A0 according to least square principle
The unique solution set.
For the purpose of navigator fix, one of the baseband form of additional character broadcast singal according to the present invention is digital expansion
Frequency navigation signal, expression are：Wherein di(t) it is i+1
A transmission data, PN (t) are spread spectrum code sequence, and length N, additional data bit is identical on continuous N frequency expansion sequence.Number
An exemplary of navigation signal is spread similar to Global Satellite Navigation System (Global Positioning System, GPS)
Signal form.A kind of simple mode is that GPS signal is met frequency-modulated broadcast transmitter according to the present invention by transformation
It is required that.Specifically, the bandwidth of GPS signal is 2Mhz, and the spreading code for still using GPS signal to use reduces spreading rate
10 times.Meanwhile the spreading ratio of GPS signal is reduced to original 1 half.Specifically, it is that length is to allow PN (t) spread spectrum code sequences
The thick codes of GPS, N=1023, Tc=1/102300 second, M=10 (M=20 in GPS), di(t) it is navigation message.At this point, signal p
(t) bandwidth is 200Khz, and the bit rate of data is 10bps, constant for the such self-position of similar frequency-modulated broadcast transmitter
Transmitter for, it is much of that the transmission rate of 10bps is used for transmission navigation message.
For fm broadcast receiver (A0 as shown in Figure 1), letter of traditional frequency-modulated signals FM (t) to spreading format
It is continuous wave CO_2 laser for number p (t), it is mature technology that spread-spectrum signal, which eliminates continuous wave CO_2 laser, for example, a kind of common method is
Continuous wave is removed by coherent integration in receiver.In order to reduce interference of the digital spread spectrum signal to traditional frequency modulation, additional character
The transmission power of broadcast singal can be less than FM25dB or more.The power of general frequency modulation transmitter is 3000w, it means that number
The power of spread-spectrum signal has 10w watts, and common fm broadcast receiver still can effectively receive the signal (comparison：GPS satellite away from
22000 kilometers from the ground, civil signal transmission power is also 10 watts).
For the purpose that navigator fix is merged with digital radio broadcast, additional character broadcast singal according to the present invention it is another
A kind of outer useful form is orthogonal multiple carrier frequency division multiplexing (Orthogonal frequency-division
Multiplexing, OFDM) signal.In recent years, it with the development based on multicarrier frequency division multiplexing location technology, can also use
OFDM carries out wireless location as additional character broadcast singal according to the present invention, and positioning principle includes measuring arrival time
(Time of Arrival, TOA, such as GPS positioning principle) or measure reaching time-difference (Time Difference of
Arrival, TDOA) it can be found in many open source literatures.The existing digitizing technique for frequency modulation broadcasting has Europe
DAB, U.S. HDRadio and in the recent period disclosed Chinese Digital frequency modulation broadcasting CDRadio etc., these all use OFDM technology.
Wherein HDRadio and the CDRadio of China support traditional analog frequency modulation broadcasting to be existed simultaneously with digital broadcast signal.With
For CDRadio, it is assumed that the OFDM baseband signals of CDRadio are p (t), and the baseband signal of tradition FM is FM (t), then synthesizes
Baseband signal afterwards is O (t)+FM (t), and radiofrequency signal is expressed as RF'(t)=[FM (t)+p (t)] cos (ω0T+ Φ), wherein
Φ is carrier wave instantaneous phase, ω0Carrier angular frequencies, here if navigation message is attached to RF'(t) p (t) on, RF'
(t) the signal RF (t) according to the present invention for including additional character broadcast singal is can serve as, it is advanced in broadcasting receiver
Then the separation of row FM (t) and p (t) utilize the timing of navigation message and p (t) itself entrained in p (t) signal therein
Information carries out position resolving.On how to realize FM (t) to the separation of p (t) in CDRadio related patents and related open text
It can find in offering, can also be found in open source literature on how to carry out navigator fix using ofdm signal p (t).
Fig. 3 is that traditional frequency-modulated signals FM (t) and the frequency spectrum of ofdm signal in CDRadio basic models close in open source literature
System.The corresponding radiofrequency signals of FM (t) bandwidth in the case of 100% modulation degree is 150Khz (in such as Fig. 3 shown in B1), and is distributed
Basically available bandwidth to a FM radio station is usually 200Khz.Therefore, the maximum bandwidth of p (t) signals of ofdm signal
It is 200Khz (as shown in B2 in Fig. 2), and the centre frequency radiofrequency signal corresponding with FM (t) of the corresponding radiofrequency signals of p (t)
Centre frequency is identical.For FM (t) signals, p (t) is interference signal, so a matter of utmost importance of this communication system,
It is on the one hand to reduce interference of the p (t) to FM (t) so that traditional FM receivers can correctly demodulate FM (t) signals, this
Require the power of p (t) small as possible；Still further aspect wishes the power of p (t) as possible for the new receiver of p (t) designs
Height improves broadcast rate to extend broadcast distances.Prior art HDRadio and CDRadio solve this from different perspectives
Problem.
Fig. 4 is according to the present invention frequency modulation frequency range ofdm signal p (t) and frequency-modulated signals FM (t) mixed signal to be utilized to carry out
The flow chart of the method for positioning.Existing OFDM locating schemes in document are applied to the greatest problem of frequency modulation frequency range, are frequency modulation
It is wirelessly wide that frequency band signals bandwidth is narrower than other common ofdm systems such as wireless digital ground TV broadcast system and mobile TV
CMMB system is broadcast, therefore, positioning accuracy is poor.According to the present invention, existing method signal transmission time in document is still used
Determination, to obtain the local pseudo- square of receiver.A smoothing the phase of carrier wave step is further added, is connect to effectively improve
The measurement accuracy of the local pseudo- square of receipts machine.Specifically, according to the present invention to utilize frequency modulation frequency range digital-to-analogue mixed signal (ofdm signal p
(t) with the superposed signal of frequency-modulated signals FM (t), such as HDRadio, CDRadio) method that is positioned includes the following steps：
Step 91) fm broadcast receiver receives and detaches ofdm signal p (t) and frequency-modulated signals FM (t), demodulates OFDM
Navigation message in signal p (t)；
Step 92) fm broadcast receiver obtains the launch time of ofdm signal according to general OFDM localization methods；
Step 93) fm broadcast receiver is obtained according to the launch time and fm broadcast receiver local zone time of ofdm signal
Pseudo- square is obtained, and pseudo- square amendment is carried out according to navigation message；
Step 94) fm broadcast receiver is squared by receiver intermediate-freuqncy signal, and using 2 frequencys multiplication of intermediate-freuqncy signal as
Center carries out bandpass filtering and tracks using the frequency and phase of phase lock loop locks filtered output signals and measure the carrier phase
Obtain first carrier phase measurement；
Step 95) fm broadcast receiver will be smooth using the pseudo- square of first carrier phase measurement progress, after obtaining smoothly
Pseudo- square；
Step 96) fm broadcast receiver is solved using the navigation message in the pseudo- square and ofdm signal p (t) after smooth
It calculates and obtains own location information.
Carrying out the smooth method of pseudo- square using carrier-phase measurement is last of the twelve Earthly Branches song filtering (Hatch Filtering) or blocks
Kalman Filtering, the filtering of last of the twelve Earthly Branches song and Kalman filtering are all common methods in navigation positioning receiver, are widely used at present,
Its specific method can be found in the literature, and the those skilled in the art in this field can complete.
Fig. 5 is a kind of combined navigation locating method flow chart according to the present invention.In practical applications, navigation reception device
I.e. fm broadcast receiver can be from the outside into the room.In general, space-based navigation system, such as GPS can be utilized in an outdoor environment
It realizes that positioning obtains initial position with Beidou II, when from the outside into the room, can be lost dependent on space-based navigation system merely
It goes to position.It is utilized in positioning method according to the present invention at this point, being switched to, usually also needs to carry out dependent on inertial navigation unit
Integrated navigation is to ensure the continuity of location information.Navigation reception device according to the present invention, that is, fm broadcast receiver carries out
The method of integrated navigation and location is：
The positioning of step 101) fm broadcast receiver obtains itself initial position
Step 102) fm broadcast receiver receives and detaches ofdm signal p (t) and frequency-modulated signals FM (t), demodulates
Navigation message in ofdm signal p (t)；
Step 103) fm broadcast receiver obtains the launch time of ofdm signal according to general OFDM localization methods；
Launch time and fm broadcast receiver local zone time of the step 104) fm broadcast receiver according to ofdm signal
Pseudo- square is obtained, and pseudo- square amendment is carried out according to navigation message；
Step 105) fm broadcast receiver is squared by receiver intermediate-freuqncy signal, and in the 2 frequencys multiplication work with intermediate-freuqncy signal
Centered on carry out bandpass filtering, using the frequency and phase of phase lock loop locks filtered output signals, track and measure the carrier wave phase
Position obtains first carrier phase measurement；
Step 106) fm broadcast receiver is demodulated at least from navigation message in the p (t) of a frequency-modulated broadcast transmitter
Entrained carrier phase update information carries out carrier phase amendment to first carrier phase measurement and obtains the second carrier phase
Measured value；
Step 107) fm broadcast receiver utilizes the second carrier-phase measurement, itself initial position and inertial navigation list
The initial position that the measured value of member obtains modified position and resolved as position next time；
It is current location that step 108), which exports modified position,.
Wherein step 102)~105) with step 91)~94) it is identical.
Fm broadcast receiver utilizes the measurement of the second carrier-phase measurement, itself initial position and inertial navigation unit
Value, there are many ways to obtaining modified position, most commonly Kalman filtering.
Second carrier-phase measurement is multiplied by the tune that wavelength is fm broadcast receiver and transmitting institute demodulated signal p (t)
The distance of frequency broadcast transmitter.
Above-mentioned positioning flow those of ordinary skill in the art can be completed.
Compared with other airmanships, of the invention is particular in that：
(1) the additional navigation signal on the frequency-modulated broadcast transmitter for work in different frequent points is a kind of based on frequency division signal
Navigation mode.This additional navigation signal transform traditional frequency-modulated broadcast transmitter as multiple independent navigation signals and emits
Source, to be utilized traditional frequency modulation frequency range frequency modulation transmitter infrastructure low cost realization wide area covering；
(2) it requires FM receiver to do corresponding transformation, leading from multiple frequency-modulated broadcast transmitters can be received simultaneously
Boat signal line position of going forward side by side sets resolving.Since FM signal is narrow band signal, the larger feature of pseudo- square error, it is proposed that a kind of
In the method for obtaining carrier phase using intermediate-freuqncy signal and carrying out smoothing the phase of carrier wave, to be conducive to improve positioning accuracy；
(3) it is directed to the case where there are reference receiver correction value and inertial navigation units, it is proposed that a kind of wide using frequency modulation
The new definition method that signal carries out positioning filter correction is broadcast, this method is not required to receive multiple frequency-modulated broadcast transmitters simultaneously
P (t) signals positioning can be realized, be a kind of method being modified to inertial navigation based on frequency modulation broadcasting.
The method according to the present invention for carrying out navigator fix using digital frequency modulation broadcast, exists with the core difference of prior art
The frequency spectrum or digital broadcast signal not yet made full use of using frequency modulation (FM) frequency range in it carries out navigation signal and navigation information
Broadcast, is a kind of novel navigation system.
Claims (10)
1. a kind of method carrying out navigator fix using digital frequency modulation broadcast, which is characterized in that include the following steps：
Time synchronization is realized between step 11) frequency-modulated broadcast transmitter；
The broadcast of step 12) frequency-modulated broadcast transmitter carries navigation message and can be used for the wireless signal RF (t) of ranging；
Step 13) fm broadcast receiver receives the wireless signal RF (t) of multiple frequency-modulated broadcast transmitter broadcast, parses
Navigation message in RF (t)；
Step 14) fm broadcast receiver carries out position using the navigation message and the own signal time of reception and carries out positioning solution
It calculates and obtains self-position.
2. a kind of method carrying out navigator fix using digital frequency modulation broadcast as described in claim 1, which is characterized in that including
Reference receiver known to one position, reference receiver receive the frequency-modulated broadcast transmitter broadcast carrying navigation message and can
For the wireless signal RF (t) of ranging, and monitor the clocking error between broadcast transmitter；The clocking error passes through special
Communication link passes to the frequency-modulated broadcast transmitter, and the fm broadcast receiver is issued in the form of navigation message；Frequency modulation
Broadcasting receiver carries out pseudo- square amendment using the clocking error.
3. a kind of method carrying out navigator fix using digital frequency modulation broadcast as described in claim 1, which is characterized in that described
Frequency-modulated broadcast transmitter broadcast carry navigation message and can be used for the corresponding baseband signal formats of wireless signal RF (t) of ranging
It is S (t)=FM (t)+p (t), wherein FM (t) is the baseband form of traditional FM signal, and p (t) is additional character broadcast singal
Baseband form carries navigation message on additional character broadcast singal.
4. a kind of method carrying out navigator fix using digital frequency modulation broadcast as claimed in claim 3, which is characterized in that described
Navigation message include the specific location of this frequency-modulated broadcast transmitter and the launch time of additional character broadcast singal p (t).
5. a kind of method carrying out navigator fix using digital frequency modulation broadcast as described in claim 1, which is characterized in that described
Fm broadcast receiver using the navigation message and the own signal time of reception carry out position and resolve to realize self poisoning
Method, which is characterized in that when fm broadcast receiver is merely able to receive the wireless signal from three frequency-modulated broadcast transmitters
When RF (t), the height of itself is estimated according to the height coordinate of fm broadcast receiver in navigation message.
6. a kind of method carrying out navigator fix using digital frequency modulation broadcast as described in claim 1, which is characterized in that described
Fm broadcast receiver according to the height coordinate of frequency-modulated broadcast transmitter in navigation message come estimate oneself height method be h
=(H1+H2+H3)/3, wherein h are the height of itself of estimation, and H1, H2 and H3 are that frequency modulation broadcasting is sent out in the navigation message
Penetrate the height coordinate of machine.
7. a kind of method carrying out navigator fix using digital frequency modulation broadcast as claimed in claim 3, which is characterized in that described
Additional character broadcast singal p (t) be digital spread spectrum navigation signal, general expression is：Wherein di(t) it is i+1 transmission data, PN (t) is spreading code
Sequence, often additional data bit is identical on continuous N frequency expansion sequence, and M is definite value.
8. a kind of method carrying out navigator fix using digital frequency modulation broadcast as claimed in claim 3, which is characterized in that described
Additional character broadcast singal p (t) be ofdm signal.
9. a kind of method carrying out navigator fix using digital frequency modulation broadcast as claimed in claim 8, which is characterized in that work as p
(t) localization method when being ofdm signal is as follows：
Step 91) fm broadcast receiver receives and detaches ofdm signal p (t) and frequency-modulated signals FM (t), demodulates ofdm signal
Navigation message in p (t)；
Step 92) fm broadcast receiver obtains the launch time of ofdm signal according to OFDM localization methods；
Step 93) fm broadcast receiver obtains pseudo- according to the launch time of ofdm signal and fm broadcast receiver local zone time
Square, and pseudo- square amendment is carried out according to navigation message；
Step 94) fm broadcast receiver is squared by receiver intermediate-freuqncy signal, then centered on 2 frequencys multiplication of intermediate-freuqncy signal into
Row bandpass filtering tracks using the frequency and phase of phase lock loop locks filtered output signals and measures the carrier phase and obtain the
One carrier-phase measurement；
Step 95) fm broadcast receiver will be smooth using the pseudo- square of first carrier phase measurement progress, the puppet after obtaining smoothly
Square；
Step 96) fm broadcast receiver is resolved using the navigation message in the pseudo- square and ofdm signal p (t) after smooth,
Obtain own location information.
10. a kind of method carrying out navigator fix using digital frequency modulation broadcast as claimed in claim 8, which is characterized in that adjust
The method that frequency broadcasting receiver is combined navigator fix is：
The positioning of step 101) fm broadcast receiver obtains itself initial position；
Step 102) fm broadcast receiver receives and detaches ofdm signal p (t) and frequency-modulated signals FM (t), demodulates OFDM letters
Navigation message in number p (t)；
Step 103) fm broadcast receiver obtains the launch time of ofdm signal according to OFDM localization methods；
Step 104) fm broadcast receiver is obtained according to the launch time of ofdm signal and fm broadcast receiver local zone time
Pseudo- square, and pseudo- square amendment is carried out according to navigation message；
Step 105) fm broadcast receiver is squared by receiver intermediate-freuqncy signal, then centered on 2 frequencys multiplication of intermediate-freuqncy signal
Bandpass filtering is carried out, using the frequency and phase of phase lock loop locks filtered output signals, tracks and measures carrier phase acquisition
First carrier phase measurement；
The demodulation of step 106) fm broadcast receiver is taken at least from navigation message in the p (t) of a frequency-modulated broadcast transmitter
The carrier phase update information of band carries out carrier phase amendment to the first carrier phase measurement and obtains the second carrier phase
Measured value；
Step 107) fm broadcast receiver utilizes the second carrier-phase measurement, itself initial position and inertial navigation unit
The initial position that measured value obtains modified position and resolved as position next time；
It is current location that step 108), which exports modified position,.
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| CN105071914B (en) * | 2015-07-27 | 2018-02-02 | 深圳思凯微电子有限公司 | Clock synchronizing method and fm broadcast receiver based on digital frequency modulation broadcast |
| CN106646564B (en) * | 2016-10-31 | 2019-10-29 | 电子科技大学 | One kind being based on low orbit satellite enhanced navigation method |
| CN109358487B (en) * | 2018-10-10 | 2021-08-13 | 武汉大学 | Pseudo satellite system and method based on GNSS precision time service |
| CN109683179A (en) * | 2019-01-18 | 2019-04-26 | 北京未来导航科技有限公司 | Being navigated based on low orbit satellite enhances the same frequency band receiving/transmission method and system of platform |
| CN112073894B (en) * | 2019-05-24 | 2022-03-22 | 大唐移动通信设备有限公司 | Information determination method and device |
| CN113489509B (en) * | 2021-07-06 | 2023-05-26 | 上海方位角数据科技有限公司 | Time-frequency synchronization method and device between large-scale GNSS pseudolites |
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