CN105549052A - Indoor postioning method based on GNSS relays and accuracy improvement method - Google Patents

Abstract

The present invention belongs to the field of electronics, communication and automatic control, relates to the user positioning in an environment that a navigation satellite signal can not be directly obtained based on GNSS relays. The invention provides a method for realizing indoor positioning based on GNSS relays, the GNSS relay synchronization is not needed, the transfer and forwarding of a satellite signal by the relay according to a sequence and the connection with the GNSS antenna with a fixed length cable are not needed. According to the methods, each GNSS relay can continuously forward a navigation satellite signal, and a receiver can identify the relay which forwards the satellite signal. The receiver calculates the distance from each relay to the receiver by using a measured code phase, and further calculates the position coordinate by using the identified relay and a satellite coordinate. In addition, according to the signal soft sampling method provided by the invention, the user position precision can be further improved. The deployment cost is low and installation is easy in practical application, and high positioning precision can be obtained.

Description

A kind of indoor orientation method based on GNSS repeater and method for improving accuracy

Technical field

The invention belongs to electronics, communication and automation field, the user related to based on Navsat locates, and is related specifically to the user location that cannot directly obtain under navigation satellite signal environment based on GNSS (GPS (Global Position System)) repeater.

Background technology

In buildings or other cannot directly obtain in the environment of navigation satellite signal, user generally cannot directly utilize navigation satellite signal obtain location.There is multiple indoor location technology at present.Mainly utilize repeater to be amplified by navigation satellite signal based on the indoor orientation method of GNSS repeater and after forwarding, be supplied to indoor reception machine and carry out navigator fix.Realize synchronous between the indoor orientation method General Requirements repeater based on GNSS repeater of current proposition, simultaneously when forward signal, several repeater needs to exchange according to the order of sequence to forward and interferes with each other with the signal avoiding repeater to forward, is also conducive to receiver and judges which repeater the signal of forwarding is from.All repeaters need jointly to be connected with an outdoor GNSS antenna in addition.Stube cable requires that length is fixed and accurately measures.Indoor orientation method based on pseudo satellite, pseudolite requires to realize synchronously between pseudo satellite, pseudolite equally.Advantage both utilizing in conjunction with the indoor orientation method of pseudo satellite, pseudolite and GNSS repeater techniques, does not need synchronous, can realize accurately measurement to repeater to the spacing of receiver simultaneously.But the method requires that all repeaters are connected with an exterior aerial with cable respectively equally, and cable length requires accurately to measure.Determine satellite-signal is from which repeater by measuring the delay caused by cable length difference.If cable length is measured accurate not, repeater identification will be caused to occur erroneous judgement, thus cause positioning error.This this law cost is relative also higher in addition.

Summary of the invention

First the involved in the present invention method realizing indoor positioning based on GNSS repeater does not need GNSS repeater synchronization, does not need repeater to exchange according to the order of sequence yet and forwards and be connected with attached cable length with same GNSS antenna.In the methods of the invention, each GNSS repeater can Consecutive forwarding navigation satellite signal, just require at least two or two visible to repeater with Navsat.At any one time, no matter with which satellite-signal measure, from a repeater to the distance of receiver be constant.Utilize this characteristic, by comparing the distance from a repeater to receiver utilizing different satellite-signal to measure, receiver user can determine a given satellite-signal from which repeater forwards.The position coordinates of repeater can obtain in advance.Like this, utilize the assigned repeaters measured to the distance of receiver and repeater location coordinate, receiver just can calculate himself position, thus realizes indoor navigation and locate.

(1) customer location coordinate calculates

Application claims arranges the GNSS repeater of more than 4 or 4 in top of building or other open environment (directly can receive navigation satellite signal), require that at least 2 Navsats are visible to these repeaters, also namely all GNSS repeaters directly can receive the navigation satellite signal of more than 2 or 2 simultaneously simultaneously.Repeater will amplify the navigation satellite signal received and forward.Each repeater will postpone signal before forward signal, if repeater r _ito being signal delay time Δ _i, then require | Δ _i-Δ _j| >t _c(i ≠ j, t _ca chip delay of navigation satellite signal spreading code used), and | Δ _i| <min{1/f _u, t _s, wherein f _ureceiver location renewal frequency, and t _sit is the code length time of navigation satellite signal spreading code used.

At receiver end, the satellite-signal received and local CA code (spreading code) carry out associative operation.When with CA code C _iwhen carrying out associative operation, 4 larger correlation peaks and corresponding code phase can be obtained, and these 4 larger correlation peaks are the satellite s that 4 repeaters forward respectively _isignal produce.By the code phase obtained, receiver can calculate satellite s _isignal is from satellite s _ibe issued to repeater and be forwarded to time required for receiver again, be designated as wherein subscript k represents that this time is calculated by the code phase that a kth correlation peak is corresponding.But the signal producing this kth correlation peak is determined further by needing of forwarding of which repeater. can be expressed as,

${\mathrm{\&Delta;T}}_k^{\left(i\right)}={\mathrm{\&Delta;T}}_{s_i,r_j}+{\mathrm{\&delta;t}}_{r_j,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{i,}{r}_j,u}+{\mathrm{\&delta;t}}_{r_j},i,j=1,2,3,4---\left(1\right)$

Wherein, that signal is from repeater r _jto the time needed for indoor reception machine; δ t _cit is receiver clock error; be signal from satellite to repeater again to the propagated error that receiver experiences, and signal in processing time (arriving repeater antenna from signal to the time left after processing needed for antenna) of repeater.Formula (1) can arrange further:

${\mathrm{\&Delta;T}}_k^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_j}={\mathrm{\&delta;t}}_{r_j,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{i,}{r}_j,u}+{\mathrm{\&delta;t}}_{r_j},i,j=1,2,3,4---\left(2\right)$

Utilize formula (2), for different satellite-signal, 4 matrix M can be formed _i, i=1,2,3,4,

$M_i=\left|\begin{array}{cccc}{\mathrm{\&Delta;T}}_1^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_1}& {\mathrm{\&Delta;T}}_2^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_1}& {\mathrm{\&Delta;T}}_3^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_1}& {\mathrm{\&Delta;T}}_4^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_1}\\ {\mathrm{\&Delta;T}}_1^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_2}& {\mathrm{\&Delta;T}}_2^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_2}& {\mathrm{\&Delta;T}}_3^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_2}& {\mathrm{\&Delta;T}}_4^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_2}\\ {\mathrm{\&Delta;T}}_1^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_3}& {\mathrm{\&Delta;T}}_2^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_3}& {\mathrm{\&Delta;T}}_3^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_3}& {\mathrm{\&Delta;T}}_4^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_3}\\ {\mathrm{\&Delta;T}}_1^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_4}& {\mathrm{\&Delta;T}}_2^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_4}& {\mathrm{\&Delta;T}}_3^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_4}& {\mathrm{\&Delta;T}}_4^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_4}\end{array}\right|.---\left(3\right)$

For some repeater r _j, different satellite-signal propagated error approximately equal can be considered.In addition, because all repeaters all have identical hardware and software, so the processing time equal concerning all repeaters.Work as satellite s _iwhen signal is forwarded by 4 repeaters, at receiver end signal and local CA code C _icarry out associative operation and will there will be 4 larger correlation peaks, and one of them peak value will be by repeater r _jrepeater satellite s _isignal produces.In the same measurement moment, for the signal of any satellite, as long as by repeater r _jforward, so formula (2) right-hand member is all approximately equalised.Because no matter be that the signal of which satellite is from repeater r _jbe forwarded to receiver, repeater to the distance of receiver be all constant ( constant).Like this, repeater r is considered ₁, matrix M ₁some elements of the first row will with matrix M ₂some element approximately equals of the first row, also will with matrix M ₃and matrix M ₄certain element approximately equal of the first row.That is,

${\mathrm{\&Delta;T}}_{i_1}^{\left(1\right)}-{\mathrm{\&Delta;T}}_{s_{1,}{r}_1}\&ap;{\mathrm{\&Delta;T}}_{j_1}^{\left(2\right)}-{\mathrm{\&Delta;T}}_{s_{2,}{r}_1}\&ap;{\mathrm{\&Delta;T}}_{k_1}^{\left(3\right)}-{\mathrm{\&Delta;T}}_{s_3,r_1}\&ap;{\mathrm{\&Delta;T}}_{l_1}^{\left(4\right)}-{\mathrm{\&Delta;T}}_{s_4,r_1}---\left(4\right)$

By comparator matrix M ₁, M ₂, M ₃and M ₄element in the first row, i ₁, j ₁, k ₁, l ₁can be determined.Like this, to be satellite s respectively ₁, s ₂, s ₃, s ₄signal from after satellite launch to repeater r ₁be forwarded to the time required for receiver again.Similar, by difference comparator matrix M ₁, M ₂, M ₃and M ₄element in second row, the third line and fourth line, can determine with and these times are satellite s ₁, s ₂, s ₃, s ₄signal after satellite launch, arrive repeater r respectively ₂, r ₃and r ₄be forwarded to the time required for receiver again.Utilize formula (1), can draw

$\left\{\begin{array}{c}{\mathrm{\&Delta;T}}_{i_1}^{\left(1\right)}={\mathrm{\&Delta;T}}_{s_1,r_1}+{\mathrm{\&delta;t}}_{r_1,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_1,u}+{\mathrm{\&delta;t}}_{r_1}\\ {\mathrm{\&Delta;T}}_{i_2}^{\left(1\right)}={\mathrm{\&Delta;T}}_{s_1,r_2}+{\mathrm{\&delta;t}}_{r_2,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_2,u}+{\mathrm{\&delta;t}}_{r_2}\\ {\mathrm{\&Delta;T}}_{i_3}^{\left(1\right)}={\mathrm{\&Delta;T}}_{s_1,r_3}+{\mathrm{\&delta;t}}_{r_3,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_3,u}+{\mathrm{\&delta;t}}_{r_3}\\ {\mathrm{\&Delta;T}}_{i_4}^{\left(1\right)}={\mathrm{\&Delta;T}}_{s_1,r_4}+{\mathrm{\&delta;t}}_{r_4,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_4,u}+{\mathrm{\&delta;t}}_{r_4}\end{array}\right.---\left(5\right)$

Allow ${\mathrm{\&Delta;T}}_{r_m,u}^{\left(1\right)}={\mathrm{\&Delta;T}}_{i_m}^{\left(1\right)}-{\mathrm{\&Delta;T}}_{s_1,r_m},m=1,2,3,4.$ obtained by said method, and it is satellite s ₁to the distance of repeater, can by repeater and satellite s ₁coordinate calculate.Like this, ${\mathrm{\&Delta;T}}_{r_m,u}^{\left(1\right)},(m=1,2,3,4)$ Can be expressed as follows:

$\left\{\begin{array}{c}{\mathrm{\&Delta;T}}_{r_1,u}^{\left(1\right)}={\mathrm{\&delta;t}}_{r_1,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_1,u}+{\mathrm{\&delta;t}}_{r_1}\\ {\mathrm{\&Delta;T}}_{r_2,u}^{\left(1\right)}={\mathrm{\&delta;t}}_{r_2,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_2,u}+{\mathrm{\&delta;t}}_{r_2}\\ {\mathrm{\&Delta;T}}_{r_3,u}^{\left(1\right)}={\mathrm{\&delta;t}}_{r_3,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_3,u}+{\mathrm{\&delta;t}}_{r_3}\\ {\mathrm{\&Delta;T}}_{r_4,u}^{\left(1\right)}={\mathrm{\&delta;t}}_{r_4,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_4,u}+{\mathrm{\&delta;t}}_{r_4}\end{array}\right.---\left(6\right)$

pass through satellite s ₁signal record, it represents satellite s ₁signal is from repeater r _mto the time needed for receiver, comprise propagated error, clock correction and processing time.Similar, can satellite s be passed through ₂, s ₃and s ₄signal acquisition with for reducing measuring error, signal is from repeater r _mcan average to receiver required time, also namely: $\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_m,u}=\frac{{\&Sigma;}_{i=1}^4{\mathrm{\&Delta;T}}_{r_m,u}^{\left(i\right)}}{4},$ Meanwhile, allow like this, formula (6) may be updated as:

$\left\{\begin{array}{c}\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_1,u}={\mathrm{\&delta;t}}_{r_1,u}+{\mathrm{\&delta;t}}_c+\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_1,u}+{\mathrm{\&delta;t}}_{r_1}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_2,u}={\mathrm{\&delta;t}}_{r_2,u}+{\mathrm{\&delta;t}}_c+\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_2,u}+{\mathrm{\&delta;t}}_{r_2}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_3,u}={\mathrm{\&delta;t}}_{r_3,u}+{\mathrm{\&delta;t}}_c+\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_3,u}+{\mathrm{\&delta;t}}_{r_3}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_4,u}={\mathrm{\&delta;t}}_{r_4,u}+{\mathrm{\&delta;t}}_c+\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_4,u}+{\mathrm{\&delta;t}}_{r_4}\end{array}\right.---\left(7\right)$

Because all repeaters are at a distance of comparatively near, so can think equal (if there is less error, can consider to be included in measuring error in).In addition, the signal processing time of each repeater also be equal.Therefore, according to formula (7), can obtain further:

$\left\{\begin{array}{c}\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_1,u}-\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_2,u}={\mathrm{\&delta;t}}_{r_1,u}-{\mathrm{\&delta;t}}_{r_2,u}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_1,u}-\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_3,u}={\mathrm{\&delta;t}}_{r_1,u}-{\mathrm{\&delta;t}}_{r_3,u}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_1,u}-\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_4,u}={\mathrm{\&delta;t}}_{r_1,u}-{\mathrm{\&delta;t}}_{r_4,u}\end{array}\right.---\left(8\right)$

Allow wherein (x _u, y _u, z _u) and receiver user and satellite s respectively _icoordinate.Like this, formula (8) can be write as:

Wherein representative is from repeater r _ito the distance of receiver.According to formula (9), customer location coordinate (x can be obtained _u, y _u, z _u) closed solutions.

Because b _i(i=1,2,3) may be 0, so closed solutions needs for different b _ithe situation that (i=1,2,3) equal 0 is discussed.Generally, if b _isome in (i=1,2,3) is 0, or two is 0, or is all 0, can pass through formula (9) and solve (x _u, y _u, z _u).If b _i(i=1,2,3) are not 0, then (x _u, y _u, z _u) closed solutions is as follows:

First allow

Wherein, x _rj, y _rjand z _rjrepeater r _jcoordinate.

Allow again

Like this, (x _u, y _u, z _u) last solution be:

$\left\{\begin{array}{c}{z}_{u1,2}=\frac{-B\&PlusMinus;\sqrt{B^2-4AC}}{2A}\\ y_u=q_1{z}_u+q_2\\ x_u=p_1{z}_u+p_2\end{array}\right.---\left(12\right)$

Wherein, $A=t_1^2-b_1^2(p_1^2+q_1^2+1),B=2\&lsqb;t_1{t}_2-b_1^2(p_1{m}_1+q_1{m}_2+m_2)\&rsqb;$ With $C=t_2^2-b_1^2(m_1^2+m_2^2+m_3^2).$ Z _utwo non-equivalence z may be had _u1and z _u2, by (x _u, y _u, z _u1) and (x _u, y _u, z _u2) being separately converted to longitude and latitude and sea level elevation expression, then those group data that sea level elevation is lower will as customer location coordinate.

(2) positioning performance raising method

For the buildings of many floors, the sea level elevation of every one deck any position point can accurately be measured.Because in general the area of each floor can not be very large, so can by the sea level elevation of the mean value of this layer of all location point sea level elevation as this layer.Because the range observation from repeater to receiver has error, the customer location (x obtained by said method _u, y _u, z _u) possibility also out of true, even may contain comparatively big error.If but the sea level elevation of each floor is measured in advance and is learnt, is so, after the expression way of longitude and latitude and sea level elevation, the user's sea level elevation recorded can be compared the customer location coordinate transformation of acquisition with the sea level elevation of each floor.If user's sea level elevation measuring error is not more than the half of height between two floors, so compared by this, just can determine which floor user is positioned at, then determine the accurate sea level elevation of user (i.e. the sea level elevation of its place floor) further.

After utilizing this to correct, accurate sea level elevation, can improve customer location precision further.Sampling rate is low is one of error source of range observation between repeater to receiver user.General solution improves sampling rate, but can increase receiver process data volume.So admissible method is first sampled with lower frequency by signal, after the rough code phase of acquisition (for calculating the distance from repeater to receiver), then determine that a time window carries out resampling to original signal with upper frequency.This time window defining method is as follows: signal is sampled by with low frequency at the beginning, after carrying out associative operation with local CA code, and acquirable code phase place δ _cp.Because code phase error can not exceed the half in sampling period, so true code phase should be within the scope of this.Like this, in this time range, resampling can be carried out to obtain high-precision code phase to original signal with upper frequency.But this method for resampling can make receiver signal complex disposal process, and practical operation Feasible degree is lower.Therefore, the present invention proposes a kind of method of soft sampling.

The soft method of sampling here refers to really does not sample to signal, does not also carry out associative operation to obtain new code phase, and just supposes that signal exists interiorly sampled by with upper frequency, like that, new code phase will be in any one value, wherein N can consider it is the ratio of resampling rate to former low sampling rate.This mode with really to carry out resampling substantially equivalent to obtain new code phase, except the nonuniqueness of new code phase.Therefore, need to utilize each new code phase to recalculate the distance of repeater to receiver, computed user locations coordinate then.And then position coordinates is converted into longitude and latitude and sea level elevation expression, and compared with the sea level elevation that user's sea level elevation of acquisition and every layer, buildings are accurately measured in advance, to determine the code phase closest to actual value.This method not only can reduce sampling error, also can reduce the measuring error caused by other error sources simultaneously.

By comparing sea level elevation, the code phase closest to actual value can be determined.Although but this code phase can energy minimization sea level elevation error, differs and ensures the longitude and latitude error of customer location minimum (longitude and latitude could determine customer location together with sea level elevation) surely.Therefore need to improve customer location precision further by the following method: (1) receiver utilizes code phase δ _cp(utilize the signal acquisition after with lower frequency sampling, precision is lower) calculates its distance to repeater, and then calculates customer location (x _0,y ₀, z ₀).By this position (x _0,y ₀, z ₀) be converted into longitude and latitude and sea level elevation expression wherein λ ₀, h ₀latitude, longitude and sea level elevation respectively.Again by sea level elevation h ₀compare with each floor sea level elevation, user place floor can be determined, then determine its true sea level elevation h _α.Like this, customer location (x _0,y ₀, z ₀) sea level elevation error be: δ _{h, 0}=h ₀-h _α.Calculate the impact of this difference in height on customer location coordinate:

Wherein, a=6378137, b=6356752.31424518, allow (x _ξ, y _ξ, z _ξ)=(x ₀, y ₀, z ₀)-(δ _x, δ _y, δ _z).Like this, the actual position coordinate of user will close to (x _ξ, y _ξ, z _ξ).(2) after utilizing the above-mentioned soft method of sampling to obtain multiple new code phase, recycle each new code phase and recalculate the distance of repeater to receiver, then can calculate a new customer location (x _κ, y _κ, z _κ).Calculate γ _k=|| (x _ξ, y _ξ, z _ξ)-(x _κ, y _κ, z _κ) || with meanwhile, receiver will by reposition coordinate (x _κ, y _κ, z _κ) be converted into longitude and latitude and sea level elevation expression and calculate sea level elevation difference δ _{h, κ}=h _κ-h _α.Like this, for the multiple customer locations utilizing the new code phase of many groups to obtain, wherein energy minimization δ _{h, κ}and γ _kand ensure φ simultaneously _κbe less than a given threshold phi _{κ, 0}customer location using the final position as user.φ _{κ, 0}large young pathbreaker affect customer location error range, but φ _{κ, 0}can not establish too little, otherwise customer location may be caused without solution.

The indoor orientation method based on GNSS repeater that the present invention proposes, can improve user's positioning precision, and simultaneously when practical application, arrangement cost is low and install easily.

Claims (2)

1. based on an indoor orientation method for GNSS repeater, it is characterized in that, comprise the following steps:

A () directly receives in navigation satellite signal place the GNSS repeater arranging more than 4 or 4 at top of building or other, at least 2 Navsats are visible to these repeaters; Repeater will amplify the navigation satellite signal received and forward; Each repeater will postpone signal before forward signal, if repeater r _ito being signal delay time Δ _i, then require | Δ _i-Δ _j| >t _c, i ≠ j; t _ca chip delay of navigation satellite signal spreading code used, and | Δ _i| <min{1/f _u, t _s, wherein f _ureceiver location renewal frequency, and t _sit is the code length time of navigation satellite signal spreading code used;

B (), at receiver end, the satellite-signal received and local CA code carry out associative operation; When with CA code C _iwhen carrying out associative operation, can obtain 4 larger correlation peaks and corresponding code phase, these 4 larger correlation peaks are the satellite s that 4 repeaters forward respectively _isignal produce; By the code phase obtained, receiver calculates satellite s _isignal is from satellite s _ibe issued to repeater and be forwarded to time required for receiver again, be designated as wherein subscript k represents that this time is calculated by the code phase that a kth correlation peak is corresponding; be expressed as,

${\mathrm{\&Delta;T}}_k^{\left(i\right)}={\mathrm{\&Delta;T}}_{s_i,r_j}+{\mathrm{\&delta;t}}_{r_j,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{i,}{r}_j,u}+{\mathrm{\&delta;t}}_{r_j},i,j=1,2,3,4---\left(1\right)$

Wherein, that signal is from repeater r _jto the time needed for indoor reception machine; δ t _cit is receiver clock error; be signal from satellite to repeater again to the propagated error that receiver experiences, and it is the processing time of signal at repeater; Formula (1) arranges further:

${\mathrm{\&Delta;T}}_k^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_i,r_j}={\mathrm{\&delta;t}}_{r_j,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{i,}{r}_j,u}+{\mathrm{\&delta;t}}_{r_j},i,j=1,2,3,4---\left(2\right)$

C () utilizes formula (2), for different satellite-signal, form 4 matrix M _i, i=1,2,3,4,

$M_i=\left|\begin{array}{cccc}{\mathrm{\&Delta;T}}_1^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_1}& {\mathrm{\&Delta;T}}_2^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_1}& {\mathrm{\&Delta;T}}_3^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_1}& {\mathrm{\&Delta;T}}_4^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_1}\\ {\mathrm{\&Delta;T}}_1^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_2}& {\mathrm{\&Delta;T}}_2^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_2}& {\mathrm{\&Delta;T}}_3^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_2}& {\mathrm{\&Delta;T}}_4^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_2}\\ {\mathrm{\&Delta;T}}_1^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_3}& {\mathrm{\&Delta;T}}_2^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_3}& {\mathrm{\&Delta;T}}_3^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_3}& {\mathrm{\&Delta;T}}_4^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_3}\\ {\mathrm{\&Delta;T}}_1^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_4}& {\mathrm{\&Delta;T}}_2^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_4}& {\mathrm{\&Delta;T}}_3^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_4}& {\mathrm{\&Delta;T}}_4^{\left(i\right)}-{\mathrm{\&Delta;T}}_{s_{i,}{r}_4}\end{array}\right|;---\left(3\right)$

D () considers repeater r ₁, matrix M ₁some elements of the first row will with matrix M ₂some element approximately equals of the first row, also will with matrix M ₃and matrix M ₄certain element approximately equal of the first row, namely $\&Exists;i_1,j_1,k_1,l_1\&Element;\{1,2,3,4\},$

${\mathrm{\&Delta;T}}_{i_1}^{\left(1\right)}-{\mathrm{\&Delta;T}}_{s_{1,}{r}_1}\&ap;{\mathrm{\&Delta;T}}_{j_1}^{\left(2\right)}-{\mathrm{\&Delta;T}}_{s_{2,}{r}_1}\&ap;{\mathrm{\&Delta;T}}_{k_1}^{\left(3\right)}-{\mathrm{\&Delta;T}}_{s_3,r_1}\&ap;{\mathrm{\&Delta;T}}_{l_1}^{\left(1\right)}-{\mathrm{\&Delta;T}}_{s_4,r_1}---\left(4\right)$

By comparator matrix M ₁, M ₂, M ₃and M ₄element in the first row, i ₁, j ₁, k ₁, l ₁determined; to be satellite s respectively ₁, s ₂, s ₃, s ₄signal from after satellite launch to repeater r ₁be forwarded to the time required for receiver again; Similar, by difference comparator matrix M ₁, M ₂, M ₃and M ₄element in second row, the third line and fourth line, determines with and these times are satellite s ₁, s ₂, s ₃, s ₄signal after satellite launch, arrive repeater r respectively ₂, r ₃and r ₄be forwarded to the time required for receiver again;

E () utilizes formula (1), draw

$\left\{\begin{array}{c}{\mathrm{\&Delta;T}}_{i_1}^{\left(1\right)}={\mathrm{\&Delta;T}}_{s_1,r_1}+{\mathrm{\&delta;t}}_{r_1,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_1,u}+{\mathrm{\&delta;t}}_{r_1}\\ {\mathrm{\&Delta;T}}_{i_2}^{\left(1\right)}={\mathrm{\&Delta;T}}_{s_1,r_2}+{\mathrm{\&delta;t}}_{r_2,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_2,u}+{\mathrm{\&delta;t}}_{r_2}\\ {\mathrm{\&Delta;T}}_{i_3}^{\left(1\right)}={\mathrm{\&Delta;T}}_{s_1,r_3}+{\mathrm{\&delta;t}}_{r_3,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_3,u}+{\mathrm{\&delta;t}}_{r_3}\\ {\mathrm{\&Delta;T}}_{i_4}^{\left(1\right)}={\mathrm{\&Delta;T}}_{s_1,r_4}+{\mathrm{\&delta;t}}_{r_4,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_4,u}+{\mathrm{\&delta;t}}_{r_4}\end{array}\right.---\left(5\right)$

Allow ${\mathrm{\&Delta;T}}_{r_m,u}^{\left(1\right)}={\mathrm{\&Delta;T}}_{i_m}^{\left(1\right)}-{\mathrm{\&Delta;T}}_{s_1,r_m},m=1,2,3,4;$ obtained by said method, and it is satellite s ₁to the distance of repeater, by repeater and satellite s ₁coordinate calculate;

(f) can be expressed as follows:

$\left\{\begin{array}{c}{\mathrm{\&Delta;T}}_{i_1,u}^{\left(1\right)}={\mathrm{\&delta;t}}_{r_1,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_1,u}+{\mathrm{\&delta;t}}_{r_1}\\ {\mathrm{\&Delta;T}}_{i_2,u}^{\left(1\right)}={\mathrm{\&delta;t}}_{r_2,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_2,u}+{\mathrm{\&delta;t}}_{r_2}\\ {\mathrm{\&Delta;T}}_{i_3,u}^{\left(1\right)}={\mathrm{\&delta;t}}_{r_3,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_3,u}+{\mathrm{\&delta;t}}_{r_3}\\ {\mathrm{\&Delta;T}}_{i_4,u}^{\left(1\right)}={\mathrm{\&delta;t}}_{r_4,u}+{\mathrm{\&delta;t}}_c+{\mathrm{\&delta;t}}_{s_{1,}{r}_4,u}+{\mathrm{\&delta;t}}_{r_4}\end{array}\right.---\left(6\right)$

(g) pass through satellite s ₁signal record, it represents satellite s ₁signal is from repeater r _mto the time needed for receiver, comprise propagated error, clock correction and processing time; Similar, pass through satellite s ₂, s ₃and s ₄signal acquisition for reducing measuring error, signal is from repeater r _maverage to receiver required time, also namely: $\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_m,u}=\frac{{\mathrm{\&Sigma;}}_{i=1}^4{\mathrm{\&Delta;T}}_{r_m,u}^{\left(i\right)}}{4},$ Meanwhile, allow $\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_3,u}=\frac{{\mathrm{\&Sigma;}}_{i=1}^4{\mathrm{\&delta;t}}_{s_{i,}{r}_3,u}}{4};$ According to formula (6), obtain:

$\left\{\begin{array}{c}\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_1,u}+{\mathrm{\&delta;t}}_{r_1,u}+{\mathrm{\&delta;t}}_c+\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_1,u}+{\mathrm{\&delta;t}}_{r_1}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_2,u}+{\mathrm{\&delta;t}}_{r_2,u}+{\mathrm{\&delta;t}}_c+\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_2,u}+{\mathrm{\&delta;t}}_{r_2}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_3,u}+{\mathrm{\&delta;t}}_{r_3,u}+{\mathrm{\&delta;t}}_c+\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_3,u}+{\mathrm{\&delta;t}}_{r_3}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_4,u}+{\mathrm{\&delta;t}}_{r_4,u}+{\mathrm{\&delta;t}}_c+\mathrm{\&delta;}{\stackrel{\&OverBar;}{t}}_{s,r_4,u}+{\mathrm{\&delta;t}}_{r_4}\end{array}\right.---\left(7\right)$

H (), according to formula (7), can obtain further:

$\left\{\begin{array}{c}\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_1,u}-\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_2,u}={\mathrm{\&delta;t}}_{r_1,u}-{\mathrm{\&delta;t}}_{r_2,u}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_1,u}-\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_3,u}={\mathrm{\&delta;t}}_{r_1,u}-{\mathrm{\&delta;t}}_{r_3,u}\\ \mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_1,u}-\mathrm{\&Delta;}{\stackrel{\&OverBar;}{T}}_{r_4,u}={\mathrm{\&delta;t}}_{r_1,u}-{\mathrm{\&delta;t}}_{r_4,u}\end{array}\right.---\left(8\right)$

I () allows wherein (x _u, y _u, z _u) and receiver user and satellite s respectively _icoordinate; Formula (8) is write as:

Wherein representative is from repeater r _ito the distance of receiver;

J (), according to formula (9), obtains customer location coordinate (x _u, y _u, z _u) closed solutions; Because b _i(i=1,2,3) may be 0, so closed solutions needs for different b _ithe situation that (i=1,2,3) equal 0 is discussed, generally, if b _isome in (i=1,2,3) is 0, or two is 0, or is all 0, all passes through formula (9) and solves (x _u, y _u, z _u); If b _i(i=1,2,3) are not 0, then (x _u, y _u, z _u) closed solutions is as follows:

Allow

Wherein, with repeater r _jcoordinate;

Allow again

(x _u, y _u, z _u) last solution is:

$\left\{\begin{array}{c}{z}_{u1,2}=\frac{-B\&PlusMinus;\sqrt{B^2-4AC}}{2A}\\ y_u=q_1{z}_u+q_2\\ x_u=p_1{z}_u+p_2\end{array}\right.---\left(12\right)$

Wherein, $A=t_1^2-b_1^2(p_1^2+q_1^2+1),B=2\&lsqb;t_1{t}_2-b_1^2(p_1{m}_1+q_1{m}_2+m_3)\&rsqb;$ With $C=t_2^2-b_1^2(m_1^2+m_2^2+m_3^2);$ Z _utwo non-equivalence z may be had _u1and z _u2, by (x _u, y _u, z _u1) and (x _u, y _u, z _u2) being separately converted to longitude and latitude and sea level elevation expression, then those group data that sea level elevation is lower will as customer location coordinate.

2. the customer location obtained by the indoor orientation method based on GNSS repeater a kind of described in claim 1 carries out the method for precision raising, and concrete steps are as follows:

A (), for the buildings of many floors, accurately measures the sea level elevation of the multiple location point of every one deck, and using the sea level elevation of the mean value of these location point sea level elevations as this layer;

B () Received signal strength is sampled by with lower frequency at the beginning, after carrying out associative operation, obtain code phase δ with local CA code _cp; Receiver utilizes this code phase δ _cpcalculate its distance to repeater, and calculate customer location (x further _0,y ₀, z ₀); By this position coordinates (x _0,y ₀, z ₀) be converted into longitude and latitude and sea level elevation express ( λ ₀, h ₀), wherein λ ₀, h ₀latitude, longitude and sea level elevation respectively; Again by sea level elevation h ₀compare with each floor sea level elevation, determine user place floor, then determine its true height above sea level degree h _α; Customer location (x _0,y ₀, z ₀) sea level elevation error be: δ _{h, 0}=h ₀-h _α; Calculate the impact of this difference in height on customer location coordinate:

Wherein, a=6378137, b=6356752.31424518,

C () allows (x _ξ, y _ξ, z _ξ)=(x ₀, y ₀, z ₀)-(δ _x, δ _y, δ _z), the actual position coordinate of user will close to (x _ξ, y _ξ, z _ξ);

D () utilizes the soft method of sampling to obtain new code phase to recalculate the distance of repeater to receiver; The soft method of sampling refers to not to the really sampling that signal carries out, and does not also carry out associative operation and obtains new code phase, and just suppose that signal exists interior by with upper frequency resampling, new code phase will be in any one value, wherein N consider be the ratio of resampling rate to former low sampling rate; Utilize each new code phase obtained to recalculate the distance of repeater to receiver, then calculate a new customer location (x _κ, y _κ, z _κ); Calculate γ _k=|| (x _ξ, y _ξ, z _ξ)-(x _κ, y _κ, z _κ) || with meanwhile, receiver is by reposition coordinate (x _κ, y _κ, z _κ) be converted into longitude and latitude and sea level elevation express ( λ _κ, h _κ), and calculate sea level elevation difference δ _{h, κ}=h _κ-h _α;

E () for utilizing the multiple customer locations organized new code phase and obtain, wherein energy minimization δ more _{h, κ}and γ _kand ensure φ simultaneously _κbe less than a given threshold phi _{κ, 0}customer location using the final position as user; φ _{κ, 0}large young pathbreaker affect customer location error range, but φ _{κ, 0}can not establish too little, otherwise customer location may be caused without solution.