CN104133232A - Positioning method and device thereof - Google Patents
Positioning method and device thereof Download PDFInfo
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- CN104133232A CN104133232A CN201410366717.8A CN201410366717A CN104133232A CN 104133232 A CN104133232 A CN 104133232A CN 201410366717 A CN201410366717 A CN 201410366717A CN 104133232 A CN104133232 A CN 104133232A
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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
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Abstract
The invention relates to the field of communication and discloses a positioning method and a device of the positioning method. The method comprises the following steps that signals from all satellites are captured to obtain capturing signals; the capturing signals are tracked to obtain tracking signals; signal quality parameters of all the tracking signals are calculated, and the tracking signals with the signal quality parameters meeting the quality judgment condition in all the tracking signals are determined as high quality signals, wherein the signal quality parameters at least comprise a Doppler error and/or a carrier-to-noise ratio; at least four high quality signals are selected to carry out PVT calculation to obtain positioning information and timing information. Signal quality judgment is carried out on all tracked satellites, the high quality signals are selected from the signals to carry out a subsequent resolving procedure, the quality of the signals involved in resolving is improved, and the positioning accuracy of the positioning method and the device in an implementation mode is improved.
Description
Technical field
The present invention relates to the communications field, particularly location technology.
Background technology
Positioning system, no matter be that the principle of work that global position system GPS location, GLONASS GLONASS location, the Big Dipper location or Galileo are located is all observational data and the weather informations of being collected each monitoring station by ground master station, calculate ephemeris and the satellite clock correction of each satellite, format editing navigation message in accordance with regulations, injects these information by ground injection plant to satellite.When measurement and positioning, user can utilize the storage ephemeris of receiver to obtain the rough position of each satellite.According to these data and self-position, select four satellites that between satellite and user's on line, subtended angle is larger as object of observation by computing machine.When observation, receiver utilizes the information of code generator generation and the signal of satellite reception to carry out relevant treatment, and measures the pseudorange between user and satellite according to the time mark of navigation message with sub-frame count.The observed reading of the primary data of revised pseudorange and input and four satellites is listed to 3 observation equations, can solve the position of receiver, and change needed coordinate system, to reach location object.
Orientate example as with GPS, the workflow of GPS location is conventionally by following some running statuses:
1. receiver is by being captured in the local signal of one of local reproduction and actual signal coarse synchronization;
2. receiver is realized the precise synchronization of local reproduction signal and actual signal by tracking, and the signal after precise synchronization is tracking signal, can obtain the number of chips that current time receives;
Receiver tracking normal after, realize bit synchronization by the upset of data bit, and obtain current time in data bit which millisecond;
4. receiver is realized after bit synchronization, data bit is collected, search identical frame head, achieve frame is synchronous, and each subframe of GPS is 6 seconds, comprises second counting (TOW in week in every subframe, full name " Time of Week ") temporal information, point out broadcasting the time of next subframe the first bit, we can obtain broadcasting the time of current time data subframe the first bit of living in like this, and then accurately obtain current time data and broadcast the time of getting off from satellite.
Receiver achieve frame synchronous after, by the partial data of storage is decoded with certain set form, obtain the almanac data of current satellite, one section of complete almanac data, at least to collect three subframes, by fixing algorithm, can calculate the co-ordinates of satellite of random time in the almanac data term of validity.
6. by local clock, it is cumulative that receiver can obtain a rough local zone time because satellite-signal receives approximately 75 milliseconds of about delays from broadcasting ground, therefore in the time that receiver achieve frame is synchronous, can by local clock second rank synchronize with TOW.
7. by the time of broadcasting of local zone time and current acquisition data is subtracted each other, deduct satellite clock correction, ionosphere, tropospheric delay equal error simultaneously, and then obtain the pseudo-range measurements that comprises receiver clock correction.
When more than four or four satellite completes above-mentioned 1 during to 7 step, set up quaternary nonlinear equation, by least square method solving equation, obtain user coordinates and receiver clock correction, realize location, regularly.
In prior art, generally the moonscope value of tracking is directly resolved, draw positional information, but because the environment of aviation measurement constantly changes, when satellite-signal propagates into ground signal very a little less than, or in communication process, be subject to the impact such as multipath, simple crosscorrelation, satellite signal quality is unstable, cannot normally follow the tracks of, or tracking data error is large at tracking phase receiver, and then cause positioning result deviation large, affect alignment quality.
Summary of the invention
The object of the present invention is to provide a kind of localization method, make to improve accurate positioning.
For solving the problems of the technologies described above, the invention provides a kind of localization method, comprise following steps:
Catch the signal from each satellite, obtain lock-on signal;
Follow the tracks of each described lock-on signal, obtain tracking signal;
Calculate each signal quality parameter of each described tracking signal, by each described tracking signal, the tracking signal that signal quality parameter meets quality judgment condition is defined as high-quality signal; Wherein, described signal quality parameter at least comprises: Doppler error and/or carrier-to-noise ratio;
Choose at least four described high-quality signals and carry out position and speed time PVT and resolve, obtain locating information and timing information.
The present invention also provides a kind of locating device, comprises with lower module:
Trapping module, for catching the signal from each satellite, obtains lock-on signal;
Tracking module, for following the tracks of each described lock-on signal, obtains tracking signal;
Computing module, for calculating each signal quality parameter of each described tracking signal;
Whether judge module, meet quality judgment condition for the signal quality parameter that judges same tracking signal;
The first determination module, while meeting quality judgment condition, is defined as high-quality signal by this tracking signal for being judged to be signal quality parameter at described judge module;
Resolve module, carry out position and speed time PVT and resolve for choosing at least four described high-quality signals, obtain locating information and timing information;
Wherein, described signal quality parameter at least comprises: Doppler error and/or carrier-to-noise ratio.
Embodiment of the present invention in terms of existing technologies, the key distinction and effect thereof are: each satellite of following the tracks of is carried out respectively to signal quality judgement, namely utilize each signal quality parameter of tracking signal to judge the quality good or not of signal, the high-quality signal of choosing wherein carries out the follow-up flow process of resolving, improve the signal quality that participation is resolved, avoid the accuracy of effect of signals calculation result inferior, also just improved the accuracy of locating in embodiment of the present invention.
As further improvement, described quality judgment condition is:
In each signal quality parameter of same tracking signal, have at least A signal quality parameter to meet the pre-conditioned of its correspondence; Wherein, described A is 1 or 2.
While utilizing one or two parameter to participate in judging signal quality, in the judgment accuracy that ensures signal quality, can be that any one or two in two parameters meet respective conditions according to practical application Scenario Design, can assert that signal quality is high-quality, make the present invention there is flexible and changeable ground application scenarios.
As further improvement, described signal quality parameter also comprises: signal energy ratio or peak; Wherein, the ratio of energy integral when described signal energy ratio is for short-time energy integration and length; Described peak is according to local code and the auto-correlation computation gained that receives signal;
Wherein, the time span during in short-term with length can be set according to the signal spread-spectrum code cycle, be limited to a signal spread-spectrum code cycle under time span in short-term, and the time span when long is greater than time span in short-term.
Described quality judgment condition is:
In each signal quality parameter of same tracking signal, have at least B signal quality parameter to meet the pre-conditioned of its correspondence; Wherein, described B is more than or equal to 1 and be less than or equal to 3 natural number.
While utilizing three parameters to participate in judging signal quality, in the judgment accuracy that ensures signal quality, can according to practical application Scenario Design be in three parameters any one, two or three meet respective conditions, can assert that signal quality is high-quality, further makes the present invention have flexible and changeable ground application scenarios.
As further improvement, described signal quality parameter also comprises signal energy ratio and peak; Wherein, the ratio of energy integral when described signal energy ratio is for short-time energy integration and length; Described peak is according to local code and the auto-correlation computation gained that receives signal;
Wherein, the time span during in short-term with length can be set according to the signal spread-spectrum code cycle, be limited to a signal spread-spectrum code cycle under time span in short-term, and the time span when long is greater than time span in short-term.
Described quality judgment condition is:
In each signal quality parameter of same tracking signal, have at least C signal quality parameter to meet the pre-conditioned of its correspondence; Wherein, described C is more than or equal to 1 and be less than or equal to 4 natural number.
While utilizing four parameters to participate in judging signal quality, in the judgment accuracy that ensures signal quality, can according to practical application Scenario Design be in four parameters any one, two, three or four meet respective conditions, can assert that signal quality is high-quality, makes the present invention have flexible and changeable ground application scenarios more.
As further improvement, it is pre-conditioned for one of following that described signal quality parameter meets its correspondence:
One signal quality parameter is in all values of resolving in the cycle, and last value falls in the preset range that this signal quality parameter is corresponding; Or
One signal quality parameter resolves the mean value of all values in the cycle at one and falls in the preset range that this signal quality parameter is corresponding; Or
One signal quality parameter, in all values of resolving in the cycle, falls into the number of the value in the preset range that this signal quality parameter is corresponding within the scope of default number; Or
One signal quality parameter is in all values of resolving in the cycle, and the number that falls into the value in the preset range that this signal quality parameter is corresponding accounts for total number percent in default percentage range.
In the evaluation method of each signal quality parameter, can utilize single value, mean value, qualified numerical value or qualified number percent value to pass judgment on, method is flexible and changeable, also can select evaluation method according to the parameter characteristic of each signal quality parameter itself, make the present invention have a wide range of applications scene.
As further improvement, described signal quality parameter also comprises: signal energy ratio, and/or peak, and described quality judgment condition is:
The value of each described signal quality parameter of same tracking signal is normalized, the weighted value using the result after normalized as described signal quality parameter, the result after each described weighted value calculates drops in default interval;
Wherein, the method for described calculating is the computing that each described weighted value is added or is multiplied each other; The value of described signal quality parameter is this signal quality parameter at a mean value that resolves one of all values in the cycle or all values.
Utilization was carried out the each parameter value of normalized and was carried out quality judgement, parameter value can be converted to nondimensional scalar values, calculated easyly, and data are directly perceived.In concrete statistics, the parameter value after normalization can also being calculated directly superposes or multiplies each other, and its quadratic sum can also be superposeed, and after calculating, the numerical characteristic of parameter value will be more obvious, makes follow-up judgement more clear and definite.
As further improvement, described method also comprises following steps:
By in each described tracking signal, the tracking signal that does not meet quality judgment condition is defined as signal inferior; The reset signal of satellite corresponding to this poor quality signal.
Signal inferior is reset, avoid its impact on follow-up process of solution, improve the accuracy of calculation result, further ensure the accuracy of locating information in embodiment of the present invention.
As further improvement, described method also comprises:
By in each described tracking signal, do not meet each tracking signal of quality judgment condition according to signal quality classification; The tracking signal of a poorest signal quality rank is defined as to signal inferior; The reset signal of satellite corresponding to this poor quality signal.
Utilize multistage signal quality judgement, make except high-quality signal and signal inferior, can formulate other grades according to practical application Scenario Design, carry out, as operations such as a tracking do not participate in resolving, making the present invention adapt to different application scenarioss more flexible and changeablely.
Brief description of the drawings
Fig. 1 is the localization method process flow diagram according to first embodiment of the invention;
Fig. 2 is the single tracking signal quality determination methods process flow diagram according to first embodiment of the invention;
Fig. 3 is the single tracking signal quality determination methods process flow diagram according to sixth embodiment of the invention;
Fig. 4 is the positioning device structure schematic diagram according to seventh embodiment of the invention;
Fig. 5 is the positioning device structure schematic diagram according to eighth embodiment of the invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in the each embodiment of the present invention, in order to make reader understand the application better, many ins and outs are proposed.But, even without these ins and outs and the many variations based on following embodiment and amendment, also can realize the each claim of the application technical scheme required for protection.
The first embodiment of the present invention relates to a kind of localization method, in present embodiment, orientates example as with Big Dipper BD receiver, and its process flow diagram is as shown in Figure 1, specific as follows:
Step 101, catches the signal from each satellite, obtains lock-on signal.
Specifically, BD receiver acquisition is the local signal with actual signal coarse synchronization one of this locality reproduction, and the local signal of this reproduction is the lock-on signal in present embodiment.Wherein, by generate the roughly the same signal of a carrier frequency and pseudo-code side-play amount and actual signal in this locality, roughly the same through repeatedly confirming the local carrier frequency generating and pseudo-code side-play amount and actual signal, assert signal capture success.
Step 102, follows the tracks of each lock-on signal, obtains tracking signal.
Specifically, BD receiver is by carrying out accurate adjustment to carrier frequency and pseudo-code frequency, that is to say, signal after the local signal of above-mentioned reproduction is dynamically adjusted, it is the tracking signal in present embodiment, can realize stable, the precise synchronization of local reproduction signal and actual signal, assert that signal trace is normal.
What deserves to be explained is, in actual applications, carry out separately operation for the signal of each satellite, once as captured the signal of a satellite in step 101, it be carried out to tracking step, do not need to wait for that all satellites are hunted down just enters tracking step.
Step 103, judges according to each signal quality parameter of same tracking signal whether this tracking signal is high-quality signal.
Specifically, this step is the quality good or not in order to judge above-mentioned tracking signal, and wherein, the quality good or not of each tracking signal, can adopt flow process as shown in Figure 2 specifically to judge, specific as follows:
Step 201, calculates each signal quality parameter of same tracking signal.
Specifically, the signal quality parameter in present embodiment comprises Doppler error and carrier-to-noise ratio.Wherein, Doppler error is the actual Doppler that obtains of pseudorange and current its computation of pseudoranges and desirable Doppler's difference; Carrier-to-noise ratio is the canonical measure yardstick for indicating carrier wave and charge carrier noise relation, and high carrier-to-noise ratio can provide better network acceptance rate, better network communication quality and better network reliability.Utilizing signal quality parameter to judge in the method for satellite-signal quality, can utilize two parameters of Doppler error and carrier-to-noise ratio to participate in judgement, the judgment accuracy that ensures signal quality makes deterministic process simple and quick simultaneously.
In addition, in actual applications, signal quality parameter can also only comprise any one among Doppler error and carrier-to-noise ratio, makes present embodiment more flexible and changeable.
In particular, to resolve and in the cycle, calculate each signal quality parameter at one, the cycle of resolving is for adjacent twice execution process of solution institute interlude, also it should be noted that, resolve in the cycle at one, in tracing process, every tracking once can get respectively the value of each signal quality parameter of next tracking signal.
Step 202, judges whether signal quality parameter meets quality judgment condition; If so, perform step 203; If not, perform step 204.
Specifically, in each signal quality parameter that the quality judgment condition in present embodiment is same tracking signal, have at least 2 signal quality parameters to meet the pre-conditioned of its correspondence; In particular, in the present embodiment, its correspondence pre-conditioned can be a signal quality parameter in all values of resolving in the cycle, last value falls in the preset range that this signal quality parameter is corresponding (this preset range can by rule of thumb value of designer).That is to say, in present embodiment, need to judge that the value of each signal quality parameter is whether in corresponding preset range, if the value of two signal quality parameters all satisfies condition, the signal quality parameter of judging this signal meets quality judgment condition, if in the value of two signal quality parameters, only have one to satisfy condition or all do not satisfy condition, judge that the signal quality parameter of this signal does not meet quality judgment condition.
Step 203, determines that this tracking signal is high-quality signal.
Specifically, when namely determining signal quality parameter meet the tracking signal of quality judgment condition in step 202, this tracking signal is judged as high-quality signal, then also this tracking signal can be recorded.
Step 204, determines that this tracking signal is signal inferior.
Specifically, for signal inferior, to its processing of resetting, the signal of satellite corresponding to this poor quality signal of namely resetting.Avoid its impact on follow-up process of solution, improve the accuracy of calculation result, further ensure the accuracy of locating information in present embodiment.
Also it should be noted that, this poor quality signal of resetting namely carries out recapture to its corresponding satellite-signal.
Above-mentioned steps 201 to 204 is to a method step that carries out quality good or not judgement in all tracking signals.
Step 104, judges whether each tracking signal is all judged complete; If so, perform step 105; If not, return to execution step 103.
That is to say, need to all carry out to all tracking signals the judgement of quality good or not.
In addition, can also be designed in actual applications, when determining the high-quality signal of some and finish the determining step of each tracking signal, save the operand of system, simple flow, reduces power consumption.
Step 105, chooses at least four high-quality signals and carries out position and speed time PVT and resolve, and obtains locating information and timing information.
Specifically, while choosing, can choose in high-quality signal, four signals that signal quality is best, also can choose four signals that are judged out at first.In addition, in actual applications, also can choose manyly, as six, can further improve the accuracy of calculation result.
It is concrete that to resolve process as follows: in the time that more than four or four satellite completes above-mentioned steps, set up following quaternary nonlinear equation,
In above formula
for the coordinate figure of N satellite, the ephemeris computation that can be gone out by signal decoding obtains, ρ
nfor the signal propagation distance after error correction, (U
x, U
y, U
z) be user coordinates, δ t
ufor receiver clock correction.
By least square method solving equation, obtain user coordinates and receiver clock correction, realize location, regularly.
Present embodiment in terms of existing technologies, the key distinction and effect thereof are: each satellite of following the tracks of is carried out respectively to signal quality judgement, namely utilize each signal quality parameter of tracking signal to judge the quality good or not of signal, the high-quality signal of choosing wherein carries out follow-up process of solution, improve the signal quality that participation is resolved, avoid the accuracy of effect of signals calculation result inferior, also just improved the accuracy of locating in present embodiment.And signal quality judgement is to meeting pre-conditioned signal quality parameter number statistics in present embodiment, and each signal quality parameter only need get a value and can adjudicate, and its mode is simple, is beneficial to realization.
The second embodiment of the present invention relates to a kind of localization method equally, present embodiment and the first embodiment are roughly the same, the key distinction is: in the first embodiment, signal quality judgement is only resolved the cycle for one, its court verdict does not add up, and in present embodiment, signal quality is adjudicated and is designed to circulate quality judgement, make the quality of tracking signal there is Memorability, avoid in the single cycle, there is signal quality erroneous judgement wrong and that cause in signal data, improves and judge accuracy.
Specifically, being that the result of quality judgment condition is marked, and adding up to resolve the cycle to the next one, meanwhile, is this scoring capping value and lower limit, and higher limit represents signal quality optimum, and lower limit represents that signal quality is the poorest.
For instance, initial score is made as the higher limit of score value, in present embodiment, in the quality judging process that is resolved the cycle, need to carry out condition judgement to two signal quality parameters, setting scoring for each parameter judgement is 1 point, that is to say, when successively parameters judgement, if a parameter is eligible, it is ineligible that just adds 1, one parameter in scoring, just in scoring, subtract 1, but score value can not exceed bound.Finally, determine whether to meet quality judgment condition according to final scoring, that is to say, when certain signal quality starts after variation, first resolved in the cycle may be still the signal that meets quality judgment condition by this signal determining, and in follow-up resolving in the cycle, due to score value circulation accumulative total and constantly decline, several resolve all after dates, and this signal will be judged as the signal that does not meet quality judgment condition.Due to slowly variation of signal quality, so in the time starting, signal still can be used to resolve, and does not need to abandon too early, the circulation judgement simultaneously with Memorability has also effectively been avoided, due to the value that the gets parms signal quality erroneous judgement causing that makes mistakes, improving the accuracy of signal quality judgement.
The 3rd embodiment of the present invention relates to a kind of localization method equally, present embodiment and the first embodiment are roughly the same, the key distinction is: in the signal quality judging process in the first embodiment, signal quality is only divided into high-quality and two-stage inferior, and in present embodiment, signal quality can be divided into multistage.Make signal to carry out different subsequent treatment according to quality scale difference, increase flexible and changeable property of the present invention, make the invention provides application scenarios more widely.
Specifically, in the present embodiment, can also be for not meet the further quality judgment condition of signal sets of signal quality judgment condition, as establish an intermediate conditions, as only having one not meet when pre-conditioned in signal quality parameter, determine that this tracking signal is for " unstable signal ", namely dtr signal, does not also need to reset, though unstable signal does not need to reset, but need to continue to follow the tracks of, and do not participate in follow-up process of solution.Make signal quality judgement more accurate, and can operate accordingly according to the degree of signal quality poor quality.In addition, except " high-quality signal " in present embodiment, " signal inferior " or " unstable signal ", can also arrange as " inferior high-quality ", the corresponding different signal processing mode of " inferior poor quality " philosophy, what make that present embodiment can be according to practical application scene need to design different quality gradings, further increase flexible and changeable property of the present invention, make the invention provides application scenarios more widely.
The 4th embodiment of the present invention relates to a kind of localization method equally, present embodiment and the first embodiment are roughly the same, the key distinction is: the signal quality parameter that participates in signal quality judgement in the first embodiment is Doppler error and carrier-to-noise ratio, and in present embodiment, participate in the signal quality parameter of signal quality judgement except Doppler error and carrier-to-noise ratio, also comprise: signal energy ratio and peak.Make to improve signal quality judgment accuracy.
Specifically, the signal quality parameter in present embodiment can also comprise signal energy ratio and peak, that is to say, is to participate in signal qualitys judgement with four parameters.In the detailed process of signal quality judgement, can set in four parameters, thereafter, have at least a parameter to meet pre-conditioned, or it is pre-conditioned to have at least two parameters to meet, or it is pre-conditioned to have at least three parameters to meet, or has at least four parameters to meet pre-conditioned.The number of parameters that participates in signal quality judgement is more, will effectively improve the accuracy of signal quality judgement.
It should be noted that the ratio of energy integral when signal energy ratio is short-time energy integration and length wherein, can rule of thumb be obtained by designer during in short-term with length; Peak is according to local code and the auto-correlation computation gained that receives signal.
It is worth mentioning that, the time span during in short-term with length can be set according to the signal spread-spectrum code cycle, be limited to a signal spread-spectrum code cycle under time span in short-term, and the time span when long is greater than time span in short-term; Integration is exactly cumulative, is about to data in the signal spread-spectrum code cycle and adds up mutually.For instance, as: the signal spread-spectrum code cycle is 1ms, and the shortest is in short-term 1ms, only need be greater than in short-term no maximum when long.
In addition, in actual applications, except utilize two or the signal quality parameter mentioned in the first embodiment carry out signal quality judgement, four signal quality parameters that utilize of mentioning in the 4th embodiment carry out signal quality judgement, can also utilize three signal quality parameters to carry out signal quality judgement, namely except Doppler error and carrier-to-noise ratio, also comprise one of signal energy and two parameters of peak, in concrete judgment condition, can be designed as in three parameters, there is a parameter to meet and be judged to be to meet signal quality judgement when pre-conditioned, or two parameters meet and are judged to be to meet signal quality judgement when pre-conditioned, or three parameters meet and are judged to be to meet signal quality judgement when pre-conditioned.Although it is more to participate in the parameter number of signal quality judgement, accuracy is just higher, and system operand is also just larger, so choosing of signal quality parameter can be chosen according to the needs of practical application scene, makes the present invention have flexible and changeable property.
The 5th embodiment of the present invention relates to a kind of localization method equally, present embodiment and the first embodiment are roughly the same, the key distinction is: in the first embodiment, the pre-conditioned of the satisfied correspondence of each signal quality parameter is identical condition, be that last value falls in corresponding preset range, and in present embodiment, the satisfied correspondence of different signal quality parameters is pre-conditioned can be different, method is flexible and changeable, also can select evaluation method according to the parameter characteristic of each signal quality parameter itself, make the present invention have a wide range of applications scene.
That can select specifically, is pre-conditioned for one of following:
One signal quality parameter is in all values of resolving in the cycle, and last value falls in the preset range that this signal quality parameter is corresponding; Or a signal quality parameter resolves the mean value of all values in the cycle at one and falls in the preset range that this signal quality parameter is corresponding; Or a signal quality parameter, in all values of resolving in the cycle, falls into the number of the value in the preset range that this signal quality parameter is corresponding within the scope of default number; Or a signal quality parameter is in all values of resolving in the cycle, and the number that falls into the value in the preset range that this signal quality parameter is corresponding accounts for total number percent in default percentage range.
For instance, be Doppler error, carrier-to-noise ratio, signal energy ratio and peak if participate in the signal quality parameter of signal quality judgement, can design: the correspondence of Doppler error is pre-conditioned identical with the first embodiment, in all values of resolving in the cycle at one, last value falls in corresponding preset range; Can fall in the preset range that this signal quality parameter is corresponding for resolving the mean value of all values in the cycle at one and the correspondence of carrier-to-noise ratio is pre-conditioned; The correspondence of signal energy ratio is pre-conditioned can be in all values of resolving in the cycle, and the number that falls into the value in the preset range that this signal quality parameter is corresponding accounts for total number percent in default percentage range; The correspondence of peak is pre-conditioned can be in all values of resolving in the cycle, fall into the number of the value in the preset range that this signal quality parameter is corresponding within the scope of default number.That is to say, each signal quality parameter that participates in signal quality judgement adopts identical or different pre-conditioned, like this, not only make the present invention more flexible and changeable, can also select evaluation method according to the parameter characteristic of each signal quality parameter itself, as larger in the fluctuation of signal energy ratio, utilize a value or mean value all to judge, all may there is larger error, take above-mentioned number percent statistical method can increase its judgment accuracy.
The 6th embodiment of the present invention relates to a kind of localization method equally, present embodiment and the first embodiment are roughly the same, the key distinction is: the quality judgment condition in the first embodiment be utilize the each signal quality parameter of statistics whether meet corresponding pre-conditioned come decision signal quality, and in present embodiment, be to utilize the value of the each signal quality parameter of statistics itself to judge tracking signal quality.
Single tracking signal quality determination methods process flow diagram in present embodiment is as shown in Figure 5, specific as follows:
Step 301 is similar with the step 201 in the first embodiment, does not repeat them here.
Step 302, is normalized the value of each signal quality parameter of same tracking signal.
Specifically, the weighted value using the result after normalized as signal quality parameter.
For instance, carrier-to-noise ratio span is [0～50], and the weighted value of carrier-to-noise ratio can utilize " (carrier-to-noise ratio+1)/50 " to calculate, and can obtain a weighted value in [0～1] scope after processing.
Whether step 303, judge after each weighted value calculates and drop in default interval; If so, perform step 304; If not, perform step 305.
Specifically, in present embodiment, the method for calculating is for to carry out sum operation to each weighted value.Utilize the each parameter value after normalization is calculated to superpose, parameter value can be converted to nondimensional scalar values, calculate easyly, data are directly perceived.
It should be noted that, in the present embodiment, weighted value is directly superposeed and judged.In addition, in actual applications, weighted value can be carried out to phase multiplication or carry out quadratic sum sum operation, the numerical characteristic of parameter value will be more obvious, makes follow-up judgement more clear and definite.
Step 304, to the step 203 in step 305 and the first embodiment to 204 similar, does not repeat them here.
It should be noted that, above the step of the whole bag of tricks divide, just in order to be described clearly, while realization, can merge into a step or some step is split, be decomposed into multiple steps, as long as comprise identical logical relation, all in the protection domain of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but the core design that does not change its algorithm and flow process is all in the protection domain of this patent.
The 7th embodiment of the present invention relates to a kind of locating device, as shown in Figure 4, specifically comprises:
Trapping module, for catching the signal from each satellite, obtains lock-on signal.
Tracking module, for following the tracks of each lock-on signal, obtains tracking signal.
Computing module, for calculating each signal quality parameter of each tracking signal.
Whether judge module, meet quality judgment condition for the signal quality parameter that judges same tracking signal; Wherein, signal quality parameter at least comprises: Doppler error and/or carrier-to-noise ratio.
The first determination module, while meeting quality judgment condition, is defined as high-quality signal by this tracking signal for be judged to be signal quality parameter at judge module.
Resolve module, carry out position and speed time PVT and resolve for choosing at least four high-quality signals, obtain locating information and timing information.
Specifically, in device, also comprise with lower module:
The second determination module, for by judge module, is judged to be the tracking signal that signal quality parameter do not meet quality judgment condition and is defined as signal inferior;
Replacement module, is defined as the signal of the satellite that signal inferior is corresponding for second determination module of resetting.
Be not difficult to find, present embodiment is the system embodiment corresponding with the first embodiment, present embodiment can with the enforcement of working in coordination of the first embodiment.The correlation technique details of mentioning in the first embodiment is still effective in the present embodiment, in order to reduce repetition, repeats no more here.Correspondingly, the correlation technique details of mentioning in present embodiment also can be applicable in the first embodiment.
The 8th embodiment of the present invention relates to a kind of locating device equally, present embodiment and the 5th embodiment are similar, as shown in Figure 5, the key distinction is: in the signal quality judging process in the 7th embodiment, signal quality is only divided into high-quality and two-stage inferior, and in present embodiment, signal quality can be divided into multistage.Make signal to carry out different subsequent treatment according to quality scale difference, increase flexible and changeable property of the present invention, make the invention provides application scenarios more widely.
Specifically, in device, also comprise with lower module:
Diversity module, for being judged to be each tracking signal that signal quality parameter do not meet quality judgment condition according to signal quality classification at judge module.
The 3rd determination module, is defined as signal inferior for diversity module being classified as to a minimum tracking signal corresponding to rank.
Replacement module, is defined as the signal of the satellite that signal inferior is corresponding for the 3rd determination module of resetting.
Because the 3rd embodiment is mutually corresponding with present embodiment, therefore present embodiment can with the enforcement of working in coordination of the 3rd embodiment.The correlation technique details of mentioning in the 3rd embodiment is still effective in the present embodiment, and the technique effect that can reach in the 3rd embodiment can be realized in the present embodiment too, in order to reduce repetition, repeats no more here.Correspondingly, the correlation technique details of mentioning in present embodiment also can be applicable in the 3rd embodiment.
It is worth mentioning that, each module involved in present embodiment is logic module, and in actual applications, a logical block can be a physical location, can be also a part for a physical location, can also realize with the combination of multiple physical locations.In addition, for outstanding innovation part of the present invention, in present embodiment, the unit not too close with solving technical matters relation proposed by the invention do not introduced, but this does not show not exist in present embodiment other unit.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above are to realize specific embodiments of the invention, and in actual applications, can do various changes to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (11)
1. a localization method, is characterized in that, comprises following steps:
Catch the signal from each satellite, obtain lock-on signal;
Follow the tracks of each described lock-on signal, obtain tracking signal;
Calculate each signal quality parameter of each described tracking signal, by each described tracking signal, the tracking signal that signal quality parameter meets quality judgment condition is defined as high-quality signal; Wherein, described signal quality parameter at least comprises: Doppler error and/or carrier-to-noise ratio;
Choose at least four described high-quality signals and carry out position and speed time PVT and resolve, obtain locating information and timing information.
2. localization method according to claim 1, is characterized in that, described quality judgment condition is:
In each signal quality parameter of same tracking signal, have at least A signal quality parameter to meet the pre-conditioned of its correspondence; Wherein, described A is 1 or 2.
3. localization method according to claim 1, is characterized in that, described signal quality parameter also comprises: signal energy ratio or peak; Wherein, the ratio of energy integral when described signal energy ratio is for short-time energy integration and length; Described peak is according to local code and the auto-correlation computation gained that receives signal;
Described quality judgment condition is:
In each signal quality parameter of same tracking signal, have at least B signal quality parameter to meet the pre-conditioned of its correspondence; Wherein, described B is more than or equal to 1 and be less than or equal to 3 natural number.
4. localization method according to claim 1, is characterized in that, described signal quality parameter also comprises signal energy ratio and peak; Wherein, the ratio of energy integral when described signal energy ratio is for short-time energy integration and length; Described peak is according to local code and the auto-correlation computation gained that receives signal;
Described quality judgment condition is:
In each signal quality parameter of same tracking signal, have at least C signal quality parameter to meet the pre-conditioned of its correspondence; Wherein, described C is more than or equal to 1 and be less than or equal to 4 natural number.
5. according to the localization method described in any one in claim 2 to 4, it is characterized in that, it is pre-conditioned for one of following that described signal quality parameter meets its correspondence:
One signal quality parameter is in all values of resolving in the cycle, and last value falls in the preset range that this signal quality parameter is corresponding; Or
One signal quality parameter resolves the mean value of all values in the cycle at one and falls in the preset range that this signal quality parameter is corresponding; Or
One signal quality parameter, in all values of resolving in the cycle, falls into the number of the value in the preset range that this signal quality parameter is corresponding within the scope of default number; Or
One signal quality parameter is in all values of resolving in the cycle, and the number that falls into the value in the preset range that this signal quality parameter is corresponding accounts for total number percent in default percentage range.
6. localization method according to claim 1, is characterized in that, described signal quality parameter also comprises: signal energy ratio, and/or peak, and described quality judgment condition is:
The value of each described signal quality parameter of same tracking signal is normalized, the weighted value using the result after normalized as described signal quality parameter, the result after each described weighted value calculates drops in default interval;
Wherein, the method for described calculating is the computing to each described weighted value is added, multiplies each other or quadratic sum is added;
The value of described signal quality parameter is this signal quality parameter at a mean value that resolves one of all values in the cycle or all values.
7. localization method according to claim 1, is characterized in that, described method also comprises following steps:
By in each described tracking signal, the tracking signal that does not meet quality judgment condition is defined as signal inferior;
The reset signal of satellite corresponding to this poor quality signal.
8. localization method according to claim 1, is characterized in that, described method also comprises:
By in each described tracking signal, do not meet each tracking signal of quality judgment condition according to signal quality classification;
The tracking signal of a poorest signal quality rank is defined as to signal inferior;
The reset signal of satellite corresponding to this poor quality signal.
9. a locating device, is characterized in that, comprises with lower module:
Trapping module, for catching the signal from each satellite, obtains lock-on signal;
Tracking module, for following the tracks of each described lock-on signal, obtains tracking signal;
Computing module, for calculating each signal quality parameter of each described tracking signal;
Whether judge module, meet quality judgment condition for the signal quality parameter that judges same tracking signal;
The first determination module, while meeting quality judgment condition, is defined as high-quality signal by this tracking signal for being judged to be signal quality parameter at described judge module;
Resolve module, carry out position and speed time PVT and resolve for choosing at least four described high-quality signals, obtain locating information and timing information;
Wherein, described signal quality parameter at least comprises: Doppler error and/or carrier-to-noise ratio.
10. locating device according to claim 9, is characterized in that, also comprises with lower module in described device:
The second determination module, while not meeting quality judgment condition, is defined as signal inferior by this tracking signal for being judged to be signal quality parameter at described judge module;
Replacement module, is defined as the signal of the satellite that signal inferior is corresponding for described the second determination module of resetting.
11. locating devices according to claim 9, is characterized in that, also comprise with lower module in described device:
Diversity module, for being judged to be each tracking signal that signal quality parameter do not meet quality judgment condition according to signal quality classification at described judge module;
The 3rd determination module, is defined as signal inferior for described diversity module being classified as to a minimum tracking signal corresponding to rank;
Replacement module, is defined as the signal of the satellite that signal inferior is corresponding for described the 3rd determination module of resetting.
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