CN106842260A - A kind of indoor orientation method based on multilayer satellite-signal repeater - Google Patents

Abstract

The invention belongs to electronics, communication and automation field, a kind of indoor orientation method based on multilayer satellite-signal repeater.The present invention is using multilayer satellite-signal repeater repeater satellite signal to interior.Receiver user receives the satellite-signal and the signal from differential reference station of repeated device forwarding simultaneously, the phase that will be measured using repeater satellite signal and the phase measurement row difference operation from base station, to eliminate satellite clock correction, ephemeris error and ionosphere and troposphere delay time error.Then the poor phase measurement of list of the receiver of former and later two epoch and base station is carried out into first difference again to operate to obtain the double-differential carrier phase measured value without fuzziness, it includes user in the position at former and later two moment epoch, and the multinomial value can be obtained using multiple repeaters.It is finally based on these measured values foundation joint equation solution and goes out user in two position coordinateses at moment epoch.The present invention can further improve the precision that indoor positioning is carried out using navigation satellite signal.

Description

A kind of indoor orientation method based on multilayer satellite-signal repeater

Technical field

The invention belongs to electronics, communication and automation field, it is related to the user based on aeronautical satellite and positions, especially relates to And to navigation satellite signal blind area as indoor user positions.

Background technology

In navigation satellite signal blind area, such as in building or tunnel and overpass is inferior, receiver user typically cannot Satellite-signal is directly obtained, namely directly cannot calculate position using navigation satellite signal.In this case, if still Need to realize positioning using satellite-signal, then will be by the miscellaneous equipment positioned at satellite-signal good area by satellite-signal Be amplified forwarding with cause in blind area user receive effective satellite-signal realize positioning, as indoor positioning use Satellite-signal repeater etc..The indoor orientation method for being currently based on signal repeater is mainly positioned using pseudorange, and positioning precision is poor, Measurement error is up to meter level.Therefore, to improve positioning precision, indoor user can be determined using differential carrier phase method Position.For differential carrier phase week whole ambiguity issue, using time upper former and later two epoch repeaters and the geometry of user Position solves because of the change that receiver motion is produced.

The content of the invention

The technical problem to be solved in the present invention is how to improve indoor position accuracy based on navigation satellite signal.Institute of the present invention The indoor orientation method based on multilayer satellite-signal repeater being related to is to provide indoor reception machine and is obtained using navigation satellite signal The method for obtaining accurate position coordinates.

Technical scheme：

A kind of indoor orientation method based on multilayer satellite-signal repeater, step is as follows：

Be first top of building or around dispose two-layer or two-layer above satellite-signal repeater, namely in height above sea level Different two planes (distance can be meter level) of degree dispose multiple repeaters respectively, and satellite-signal is turned using repeater Hair.In addition, (ensureing that basic lineal vector is shorter) near area to be targeted disposes differential reference station.Indoor reception machine is passed through except receiving The satellite-signal of repeater forwarding, while also receiving the signal from neighbouring differential reference station.Receiver will be using repeater satellite The phase that signal is measured and the phase measurement row difference operation from differential reference station, to eliminate satellite clock correction, ephemeris error And the ionosphere in satellite-signal communication process and troposphere delay time error.Still included in carrier-phase measurement after list is poor and connect The all whole fuzzinesses of receipts machine clock correction, the Forwarding Latency error of repeater and phase measurement.Typically after receiver locking satellite signal, The all whole fuzziness of phase measurement keeps constant in former and later two epoch.So, by the receiver of former and later two epoch with The phase measurement list difference of differential reference station carries out first difference operation again, it is possible to obtain the high-precision load of no fuzziness Wave phase double difference measured value.Multiple carrier waves for containing user in the position at former and later two moment epoch can be obtained using multiple repeaters Phase Double aberration measurements.So, joint equation is set up according to these measured values, it is possible to solve user at two moment epoch Accurate position coordinates.

Beneficial effects of the present invention：

Receiver user receives the satellite-signal and the signal from differential reference station of repeated device forwarding simultaneously, will utilize The phase that repeater satellite signal is measured and the phase measurement row difference operation from base station, to eliminate satellite clock correction, ephemeris Error and ionosphere and troposphere delay time error.Then by the poor phase measurement of list of the receiver of former and later two epoch and base station Value carries out first difference operation to obtain the double-differential carrier phase measured value without fuzziness again, and it includes user at former and later two The position at moment epoch, the multinomial value can be obtained using multiple repeaters.These measured values foundation joint equation is finally based on to ask User is solved in two position coordinateses at moment epoch.The present invention will further improve carries out interior calmly using navigation satellite signal The precision of position.

Specific embodiment

Below in conjunction with technical scheme, specific embodiment of the invention is further illustrated.

A kind of indoor orientation method based on multilayer satellite-signal repeater, step is as follows：

Navigation satellite signal is forwarded to interior through the repeater of two aspects respectively.In repeater forward signal, the side of being Just receiver differentiates which repeater forward signal comes from, and each repeater will be fixed the delay of duration to signal, different Repeater is different to the time delay of signal, if repeater i is to the delay Δ of signal_iRepresent, then require | Δ_i-Δ_j| ＞ (1+ d_c)T_c(i ≠ j), wherein d_cIt is correlator spacing, T_cIt is chip duration.In addition, repeater satellite-signal is carried out it is certain Treatment, makes signal keep constant by carrier phase after repeater forwarding, namely the forward delay of repeater is increased with extra Constant time lag does not influence on the phase of satellite-signal.

Indoor reception machine is measured to the satellite-signal phase for receiving, and it is to i-th carrier wave of repeater forward signal Phase measurement is represented by

Wherein, λ is carrier wavelength；r⁽ⁱ⁾Represent satellite to i-th distance of repeater；d⁽ⁱ⁾Represent that i-th repeater is arrived The distance of receiver；WithRepresent satellite s signal to the ionosphere of repeater and troposphere time delay respectively (unit is rice)； η is Forwarding Latency of the repeater to satellite-signal；δt_uIt is receiver clock-offsets (unit is the second)；δt^(s)It is that (unit is satellite clock correction Second)；Δ⁽ⁱ⁾It is the artificial constant time lag for adding, is known quantity；Represent all whole fuzzinesses；Represent that receiver measurement is made an uproar Sound.

The carrier-phase measurement of differential reference station is represented by

Wherein, r_rRepresent satellite to the distance of base station；WithRespectively represent satellite s to the ionosphere of base station with Troposphere time delay (unit is rice)；δt_rIt is base station clock correction (unit is the second)；δt^(s)It is satellite clock correction (unit is the second)；N_rRepresent All whole fuzzinesses；ε_φ,rRepresent base station measurement noise.

Receiver user and differential reference station are carried out into difference operation to the carrier-phase measurement of satellite s signal (single Difference), i.e.,

Wherein

Formula (3) is single poor carrier phase measurement equation, whereinIt is single poor carrier-phase measurement.When user receives Machine apart from differential reference station it is closer when, formula (4) (5) is it is believed that be equal to 0, i.e., single poor carrier phase measurement equation eliminates electricity Absciss layer and tropospheric error and satellite clock correction.So, formula (3) can be reduced to following form

Single poor carrier-phase measurementIn still comprising receiver clock-offsets, the forward delay error of repeater and single poor All whole fuzzinesses.After receiver continues locking satellite signal, the week of carrier-phase measurement typically in former and later two epoch Whole fuzziness keeps constant, and the forward delay error of receiver clock-offsets and repeater is considered as constant in addition.

By t_nMeasure the poor carrier-phase measurement of list at momentIt is designated asSo defining double difference operation is

Wherein, subscript n represents t_nMoment.Distance of the satellite to repeater iAnd satellite is to the distance of differential reference station r_r,n, it is known that so, formula (8) can further arrange as follows

The part on formula (9) equal sign left side is designated as Y, then formula (9) can be write as

Wherein,Represent i-th coordinate of repeater, u_n=[x_n,y_n,z_n] represent t_nMoment user's Coordinate, M is repeater number.

Nonlinear System of Equations (10) is solved with Newton iteration method.Definition

Wherein,

Wherein,It is likewise possible to obtain to y_n-1、z_n-1、y_n And z_nLocal derviation.

In kth time Newton iteration, each nonlinear equation in equation group (10) can be in [u_n-1,k-1,u_n,k-1] place is linear Change, u_n-1,k-1=[x_n-1,k-1,y_n-1,k-1,z_n-1,k-1]^TRepresent n-1 moment epoch customer location coordinates u_n-1In -1 iteration of kth Result.Matrix equation after linearisation is

In formula (14),

Wherein,

Wherein,

AndRepresentTo x_n-1Local derviation in u_n-1,k-1The value at place, i.e.,

To solve equation group (14), it is desirable to

M ＞=6 (20)

That is the number requirement of repeater is more than or equal to 6.Equation group after linearisation can be solved with least square method

So, position coordinates of the receiver user at n-1 and n moment epoch is updated to

Position coordinates [x of the receiver user at n-1 and n moment epoch is can be obtained by when Newton iteration method restrains_n-1, y_n-1,z_n-1] and [x_n,y_n,z_n]。

Claims (1)

1. a kind of indoor orientation method based on multilayer satellite-signal repeater, it is characterised in that step is as follows：

(1.a) be first top of building or around dispose two-layer or two-layer above satellite-signal repeater, namely in height above sea level Highly different planes disposes multiple repeaters respectively, and navigation satellite signal is forwarded to room through the repeater of many levels respectively It is interior；Setting each repeater will be fixed the delay of duration to signal, and different repeaters are different to the time delay of signal, if Delay Δs of the repeater i to signal_iRepresent, then require | Δ_i-Δ_j| ＞ (1+d_c)T_c, i ≠ j, wherein d_cIt is correlator spacing, T_cIt is chip duration；

(1.b) disposes differential reference station near area to be targeted, it is ensured that basic lineal vector is as short as possible；Differential reference station will be measured Carrier phase and other related news by wireless frequency broadcast；Indoor reception machine is except receiving the satellite that repeated device is forwarded Signal, while also receiving the signal from neighbouring differential reference station；

(1.c) indoor reception machine is measured to the satellite-signal phase for receiving, and it is to i-th carrier wave of repeater forward signal Phase measurement is expressed as

${\mathrm{\φ}}_u^{\left(i\right)}={\mathrm{\λ}}^{-1}(r^{\left(i\right)}+d^{\left(i\right)}-I_u^{\left(s\right)}+T_u^{\left(s\right)}+\mathrm{\η})+f({\mathrm{\δt}}_u-{\mathrm{\δt}}^{\left(s\right)}+{\mathrm{\Δ}}^{\left(i\right)})+N_u^{\left(i\right)}+{\mathrm{\ϵ}}_{\mathrm{\φ},u}^{\left(i\right)}---\left(1\right)$

Wherein, λ is carrier wavelength；r⁽ⁱ⁾Represent satellite to i-th distance of repeater；d⁽ⁱ⁾Represent i-th repeater to user Distance；WithSatellite s signal is represented respectively to the ionosphere of repeater and troposphere time delay, and unit is rice；η is relaying Forwarding Latency of the device to satellite-signal；δt_uIt is receiver clock-offsets, unit is the second；δt^(s)It is satellite clock correction, unit is the second；Δ⁽ⁱ⁾ It is the artificial constant time lag for adding, is known quantity；Represent all whole fuzzinesses；Represent receiver measurement noise；

The carrier-phase measurement of differential reference station is expressed as

${\mathrm{\φ}}_r={\mathrm{\λ}}^{-1}\left(r_r-I_r^{\left(s\right)}+T_r^{\left(s\right)}\right)+f\left({\mathrm{\δt}}_r-{\mathrm{\δt}}^{\left(s\right)}\right)+N_r+{\mathrm{\ϵ}}_{\mathrm{\φ},r}---\left(2\right)$

Wherein, r_rRepresent satellite to the distance of base station；WithSatellite s to the ionosphere of base station and convection current are represented respectively Layer time delay, unit is rice；δt_rIt is base station clock correction, unit is the second；δt^(s)It is satellite clock correction, unit is the second；N_rRepresent all mould preparations Paste degree；ε_φ,rRepresent differential reference station measurement noise；

The phase and the carrier-phase measurement from differential reference station that receiver is measured using repeater satellite signal are poor Divide operation, to eliminate ionosphere and the troposphere delay time error in satellite clock correction, ephemeris error and satellite-signal communication process, i.e.,

${\mathrm{\φ}}_{ur}^{\left(i\right)}={\mathrm{\φ}}_u^{\left(i\right)}-{\mathrm{\φ}}_r={\mathrm{\λ}}^{-1}(r^{\left(i\right)}+d^{\left(i\right)}-r_r-I_{ur}^{\left(s\right)}+T_{ur}^{\left(s\right)}+\mathrm{\η})+f({\mathrm{\δt}}_{ur}+{\mathrm{\Δ}}^{\left(i\right)})+N_{ur}^{\left(i\right)}+{\mathrm{\ϵ}}_{\mathrm{\φ},ur}^{\left(i\right)}---\left(3\right)$

Wherein,It is single poor carrier-phase measurement；

$I_{ur}^{\left(s\right)}=I_u^{\left(s\right)}-I_r^{\left(s\right)}---\left(4\right)$

$T_{ur}^{\left(s\right)}=T_u^{\left(s\right)}-T_r^{\left(s\right)}---\left(5\right)$

$N_{ur}^{\left(i\right)}=N_u^{\left(i\right)}-N_r,{\mathrm{\δt}}_{ur}={\mathrm{\δt}}_u-{\mathrm{\δt}}_r,{\mathrm{\ϵ}}_{\mathrm{\φ},ur}^{\left(i\right)}={\mathrm{\ϵ}}_{\mathrm{\φ},u}^{\left(i\right)}-{\mathrm{\ϵ}}_{\mathrm{\φ},r}^{\left(i\right)}---\left(6\right)$

(1.d) when receiver user is closer apart from differential reference station, i.e. formula (4) (5) close to 0, now single poor carrier wave phase Position measurement equation eliminates ionosphere and tropospheric error and satellite clock correction；Formula (3) is reduced to following form

${\mathrm{\φ}}_{ur}^{\left(i\right)}={\mathrm{\λ}}^{-1}(r^{\left(i\right)}+d^{\left(i\right)}-r_r+\mathrm{\η})+f({\mathrm{\δt}}_{ur}+{\mathrm{\Δ}}^{\left(i\right)})+N_{ur}^{\left(i\right)}+{\mathrm{\ϵ}}_{\mathrm{\φ},ur}^{\left(i\right)}---\left(7\right)$

Single poor carrier-phase measurementStill comprising receiver clock-offsets, the forward delay error of repeater and single poor all mould preparation pastes Degree；

(1.e) after receiver continues locking satellite signal, all mould preparations of carrier-phase measurement are pasted in former and later two epoch Degree keeps constant, and the forward delay error of receiver clock-offsets and repeater is considered as constant in addition；By former and later two epoch The carrier phase list aberration measurements of receiver and differential reference station carry out first difference operation again, just obtain no fuzziness High-precision double-differential carrier phase measured value；By t_nMeasure the poor carrier-phase measurement of list at momentIt is designated asIt is so fixed Adopted double difference is operated

${\mathrm{\Δ\φ}}_{ur,n}^{\left(i\right)}={\mathrm{\φ}}_{ur,n}^{\left(i\right)}-{\mathrm{\φ}}_{ur,n-1}^{\left(i\right)}={\mathrm{\λ}}^{-1}(r_n^{\left(i\right)}-r_{n-1}^{\left(i\right)}+d_n^{\left(i\right)}-d_{n-1}^{\left(i\right)}+r_{r,n}-r_{r,n-1})---\left(8\right)$

Wherein, subscript n represents t_nMoment；Distance of the satellite to repeater iAnd satellite to differential reference station apart from r_r,n Know, formula (8) is further arranged as follows

$\mathrm{\λ}\·{\mathrm{\Δ\φ}}_{ur,n}^{\left(i\right)}-(r_n^{\left(i\right)}-r_{n-1}^{\left(i\right)}+r_{r,n}-r_{r,n-1})=d_n^{\left(i\right)}-d_{n-1}^{\left(i\right)}---\left(9\right)$

The part on formula (9) equal sign left side is designated as Y, then formula (9) is write as

$Y_i=d_n^{\left(i\right)}-d_{n-1}^{\left(i\right)}=\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|,i=1,2,...,M---\left(10\right)$

Wherein,Represent i-th coordinate of repeater, u_n=[x_n,y_n,z_n] represent t_nThe seat of moment user Mark, M is repeater number；Multiple carrier wave phases for containing user in the position at former and later two moment epoch are obtained using multiple repeaters Position double difference measured value；Joint equation is set up according to these measured values, user is solved and is sat two exact positions at moment epoch Mark；

(1.f) solves Nonlinear System of Equations (10), definition with Newton iteration method

$\left[\begin{array}{c}{I}_{x_{n-1}}^{\left(i\right)}\\ I_{y_{n-1}}^{\left(i\right)}\\ I_{z_{n-1}}^{\left(i\right)}\\ I_{x_n}^{\left(i\right)}\\ I_{y_n}^{\left(i\right)}\\ I_{z_n}^{\left(i\right)}\end{array}\right]=\left[\begin{array}{c}\frac{\∂\left(\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|\right)}{\∂x_{n-1}}\\ \frac{\∂\left(\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|\right)}{\∂y_{n-1}}\\ \frac{\∂\left(\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|\right)}{\∂z_{n-1}}\\ -\frac{\∂\left(\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|\right)}{\∂x_n}\\ -\frac{\∂\left(\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|\right)}{\∂y_n}\\ -\frac{\∂\left(\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|\right)}{\∂z_n}\end{array}\right]---\left(11\right)$

Wherein,

$\frac{\∂\left(\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|\right)}{\∂x_{n-1}}=\frac{x_{R_i}-x_{n-1}}{\sqrt{{\left(x_{R_i}-x_{n-1}\right)}^2+{\left(y_{R_i}-y_{n-1}\right)}^2+{\left(z_{R_i}-z_{n-1}\right)}^2}}=\frac{x_{R_i}-x_{n-1}}{d_{n-1}^{\left(i\right)}}---\left(12\right)$

$\frac{\∂\left(\left|\right|R_i-u_n\left|\right|-\left|\right|R_i-u_{n-1}\left|\right|\right)}{\∂x_n}=\frac{-\left(x_{R_i}-x_n\right)}{\sqrt{{\left(x_{R_i}-x_n\right)}^2+{\left(y_{R_i}-y_n\right)}^2+{\left(z_{R_i}-z_n\right)}^2}}=\frac{-\left(x_{R_i}-x_n\right)}{d_n^{\left(i\right)}}---\left(13\right)$

Wherein,Similarly, obtain to y_n-1、z_n-1、y_nAnd z_nIt is inclined Lead；In kth time Newton iteration, each nonlinear equation in equation group (10) is in [u_n-1,k-1,u_n,k-1] place's linearisation, u_n-1,k-1=[x_n-1,k-1,y_n-1,k-1,z_n-1,k-1]^TRepresent n-1 moment epoch customer location coordinates u_n-1Knot during -1 iteration of kth Really；Matrix equation after linearisation is

$G\left[\begin{array}{c}{\mathrm{\Δx}}_{n-1}\\ {\mathrm{\Δy}}_{n-1}\\ {\mathrm{\Δz}}_{n-1}\\ {\mathrm{\Δx}}_n\\ {\mathrm{\Δy}}_n\\ {\mathrm{\Δz}}_n\end{array}\right]=b---\left(14\right)$

In formula (14),

$b=\left[\begin{array}{c}{Y}_1-\left(d_n^{\left(1\right)}\left(u_{n,k-1}\right)-d_{n-1}^{\left(1\right)}\left(u_{n-1,k-1}\right)\right)\\ Y_2-\left(d_n^{\left(2\right)}\left(u_{n,k-1}\right)-d_{n-1}^{\left(2\right)}\left(u_{n-1,k-1}\right)\right)\\ \mathrm{...}\\ Y_M-\left(d_n^{\left(M\right)}\left(u_{n,k-1}\right)-d_{n-1}^{\left(M\right)}\left(u_{n-1,k-1}\right)\right)\end{array}\right]---\left(15\right)$

Wherein,

$d_n^{\left(i\right)}\left(u_{n,k-1}\right)=\left|\right|R_i-u_{n,k-1}\left|\right|;---\left(16\right)$

$G=\left[\begin{array}{cc}{I}_{u_{n-1}}^{\left(1\right)}\left(u_{n-1,k-1}\right)& -I_{u_n}^{\left(1\right)}\left(u_{n,k-1}\right)\\ I_{u_{n-1}}^{\left(2\right)}\left(u_{n-1,k-1}\right)& -I_{u_n}^{\left(2\right)}\left(u_{n,k-1}\right)\\ \mathrm{...}& \mathrm{...}\\ I_{u_{n-1}}^{\left(M\right)}\left(u_{n-1,k-1}\right)& -I_{u_n}^{\left(M\right)}\left(u_{n,k-1}\right)\end{array}\right]---\left(17\right)$

Wherein,

$I_{u_{n-1}}^{\left(i\right)}\left(u_{n-1.k-1}\right)=\left[\begin{array}{ccc}{I}_{x_{n-1}}^{\left(i\right)}\left(u_{n-1,k-1}\right)& I_{y_{n-1}}^{\left(i\right)}\left(u_{n-1,k-1}\right)& I_{z_{n-1}}^{\left(i\right)}\left(u_{n-1,k-1}\right)\end{array}\right]---\left(18\right)$

AndRepresentTo x_n-1Local derviation in u_n-1,k-1The value at place, i.e.,

$I_{x_{n-1}}^{\left(i\right)}\left(u_{n-1,k-1}\right)=\frac{x_{R_i}-x_{n-1,k-1}}{\sqrt{{\left(x_{R_i}-x_{n-1,k-1}\right)}^2+{\left(y_{R_i}-y_{n-1,k-1}\right)}^2+{\left(z_{R_i}-z_{n-1,k-1}\right)}^2}}---\left(19\right)$

(1.g) is solution equation group (14), it is desirable to

M ＞=6 (20)

That is the number requirement of repeater is more than or equal to 6；Equation group after linearisation is solved with least square method

$\left[\begin{array}{c}{\mathrm{\Δx}}_{n-1}\\ {\mathrm{\Δy}}_{n-1}\\ {\mathrm{\Δz}}_{n-1}\\ {\mathrm{\Δx}}_n\\ {\mathrm{\Δy}}_n\\ {\mathrm{\Δz}}_n\end{array}\right]={\left(G^{T}G\right)}^{-1}{G}^{T}b---\left(21\right)$

Position coordinates of the receiver user at n-1 and n moment epoch is updated to

$\left[\begin{array}{c}{u}_{n-1,k}\\ u_{n,k}\end{array}\right]=\left[\begin{array}{c}{u}_{n-1,k-1}\\ u_{n,k-1}\end{array}\right]+\left[\begin{array}{c}{\mathrm{\Δx}}_{n-1}\\ {\mathrm{\Δy}}_{n-1}\\ {\mathrm{\Δz}}_{n-1}\\ {\mathrm{\Δx}}_n\\ {\mathrm{\Δy}}_n\\ {\mathrm{\Δz}}_n\end{array}\right]---\left(22\right)$

When Newton iteration method restrains, position coordinates [x of the user at n-1 and n moment epoch is obtained_n-1,y_n-1,z_n-1] and [x_n, y_n,z_n]。