CN106842260A - A kind of indoor orientation method based on multilayer satellite-signal repeater - Google Patents
A kind of indoor orientation method based on multilayer satellite-signal repeater Download PDFInfo
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- CN106842260A CN106842260A CN201710033904.8A CN201710033904A CN106842260A CN 106842260 A CN106842260 A CN 106842260A CN 201710033904 A CN201710033904 A CN 201710033904A CN 106842260 A CN106842260 A CN 106842260A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
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
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 signaliRepresent, then require | Δi-Δj| > (1+
dc)Tc(i ≠ j), wherein dcIt is correlator spacing, TcIt 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;δtuIt 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, rrRepresent satellite to the distance of base station;WithRespectively represent satellite s to the ionosphere of base station with
Troposphere time delay (unit is rice);δtrIt is base station clock correction (unit is the second);δt(s)It is satellite clock correction (unit is the second);NrRepresent
All whole fuzzinesses;εφ,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 tnMeasure the poor carrier-phase measurement of list at momentIt is designated asSo defining double difference operation is
Wherein, subscript n represents tnMoment.Distance of the satellite to repeater iAnd satellite is to the distance of differential reference station
rr,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, un=[xn,yn,zn] represent tnMoment 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 yn-1、zn-1、yn
And znLocal derviation.
In kth time Newton iteration, each nonlinear equation in equation group (10) can be in [un-1,k-1,un,k-1] place is linear
Change, un-1,k-1=[xn-1,k-1,yn-1,k-1,zn-1,k-1]TRepresent n-1 moment epoch customer location coordinates un-1In -1 iteration of kth
Result.Matrix equation after linearisation is
In formula (14),
Wherein,
Wherein,
AndRepresentTo xn-1Local derviation in un-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 restrainsn-1,
yn-1,zn-1] and [xn,yn,zn]。
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 signaliRepresent, then require | Δi-Δj| > (1+dc)Tc, i ≠ j, wherein dcIt is correlator spacing,
TcIt 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
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;δtuIt 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
Wherein, rrRepresent 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;δtrIt is base station clock correction, unit is the second;δt(s)It is satellite clock correction, unit is the second;NrRepresent all mould preparations
Paste degree;εφ,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.,
Wherein,It is single poor carrier-phase measurement;
(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
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 tnMeasure the poor carrier-phase measurement of list at momentIt is designated asIt is so fixed
Adopted double difference is operated
Wherein, subscript n represents tnMoment;Distance of the satellite to repeater iAnd satellite to differential reference station apart from rr,n
Know, formula (8) is further arranged as follows
The part on formula (9) equal sign left side is designated as Y, then formula (9) is write as
Wherein,Represent i-th coordinate of repeater, un=[xn,yn,zn] represent tnThe 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
Wherein,
Wherein,Similarly, obtain to yn-1、zn-1、ynAnd znIt is inclined
Lead;In kth time Newton iteration, each nonlinear equation in equation group (10) is in [un-1,k-1,un,k-1] place's linearisation,
un-1,k-1=[xn-1,k-1,yn-1,k-1,zn-1,k-1]TRepresent n-1 moment epoch customer location coordinates un-1Knot during -1 iteration of kth
Really;Matrix equation after linearisation is
In formula (14),
Wherein,
Wherein,
AndRepresentTo xn-1Local derviation in un-1,k-1The value at place, i.e.,
(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
Position coordinates of the receiver user at n-1 and n moment epoch is updated to
When Newton iteration method restrains, position coordinates [x of the user at n-1 and n moment epoch is obtainedn-1,yn-1,zn-1] and [xn,
yn,zn]。
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CN108983262A (en) * | 2018-07-23 | 2018-12-11 | 兰州交通大学 | Method and apparatus based on the satellite-signal extension that train Beidou in tunnel positions |
CN110927753A (en) * | 2019-10-29 | 2020-03-27 | 中国电子科技集团公司第五十四研究所 | Carrier phase-based array pseudo satellite indoor precise positioning method and system |
WO2023116273A1 (en) * | 2021-12-21 | 2023-06-29 | 华为技术有限公司 | Positioning method and apparatus, and storage medium and program product |
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CN110927753A (en) * | 2019-10-29 | 2020-03-27 | 中国电子科技集团公司第五十四研究所 | Carrier phase-based array pseudo satellite indoor precise positioning method and system |
WO2023116273A1 (en) * | 2021-12-21 | 2023-06-29 | 华为技术有限公司 | Positioning method and apparatus, and storage medium and program product |
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