CN116243352B - Non-exposure space satellite navigation signal positioning device and method - Google Patents
Non-exposure space satellite navigation signal positioning device and method Download PDFInfo
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a positioning device and a positioning method for satellite navigation signals in a non-exposed space, wherein the positioning device comprises satellite signal repeaters at two ends of a tunnel and a positioning receiver in the tunnel, the satellite signal repeaters at two ends of the tunnel receive signals of satellites in sky and purify and repeat the satellite navigation signals, the two repeaters select to repeat different satellite signals according to a pseudo-range correction error proportional coefficient, and the positioning receiver in the tunnel constructs a new positioning equation according to the received repeated signals, the positions of the repeaters and the pseudo-range correction error proportional coefficient, and acquires own coordinates through one or more iterative computation. Because real-time satellite navigation signals are used, the method can realize seamless positioning inside and outside the tunnel, and the positioning method can be realized in the existing receiver software, thereby realizing low-cost and high-precision positioning.
Description
Technical Field
The invention provides a device and a method for positioning satellite positioning signals in a non-exposed space based on a satellite positioning technology.
Background
Currently, receiving wireless signals provided by satellites through a global satellite navigation system can provide meter-level location services in an unobstructed environment. Conventional satellite positioning systems suffer from technical limitations that do not meet the non-exposed space-positioning requirements. The global satellite navigation system including Beidou is characterized in that the middle circular earth orbit and orbit height are high, satellite signals are weak when reaching the ground, and after being shielded and reflected, the satellite signals reach indoor signals more weak, so that the availability, the continuity and the reliability of PNT (position, navigation and time service) service cannot be ensured. Therefore, the urgent demands of the navigation and location services in the non-exposed space are becoming more and more remarkable in many application scenarios, and become the key research direction of expert students.
The non-exposure space is defined relative to the exposure space, and the time of the human being in the non-exposure space such as the indoor space accounts for 70% -90% of the activity time, while the GNSS system can provide high-precision positioning service in the exposure space, due to the poor penetration capability, barriers still exist in the navigation and position service of the non-exposure space, so that the demands of people for solving the positioning problem in the non-exposure space and rapidly and accurately obtaining the position information of the mobile terminal are increasingly urgent. At this time, it is necessary to consider taking some measures to achieve high-precision positioning of the unexposed space.
The non-exposure space positioning has great demands and application potential in the military field and the civil field, and the existing non-exposure space positioning technology comprises an infrared indoor positioning technology, an ultrasonic indoor positioning technology, a WLAN indoor positioning technology, a Radio Frequency Identification (RFID) indoor positioning technology, an Ultra Wideband (UWB) indoor positioning technology, an inertial navigation technology, a geomagnetic positioning technology, a ZigBee indoor positioning technology, a Bluetooth (Bluetooth) indoor positioning technology, a cellular mobile network positioning technology, a pseudolite positioning technology and the like.
The infrared positioning technology has higher positioning precision, but has the defects of short visible distance transmission and transmission distance, high manufacturing cost, easy light interference and the like; although the ultrasonic technology has high precision and simple structure, the ultrasonic frequency is easily affected by multipath effect and environmental temperature, so that the signal is obviously attenuated; the WLAN positioning technology which is used more at present is used more mature, and is deployed in a large quantity in daily life places, and no extra equipment is needed, so that the deployment cost is low, the higher precision is added, and the method is suitable for large-area popularization. The WiFi positioning technology is widely used, and positioning accuracy is high, so the WiFi positioning technology has been widely used in daily life places, and has the disadvantages of being easily affected by environment, and the algorithm of WiFi positioning is very complex. The ultra-wideband technology has the positioning precision reaching sub-meter level, strong penetrating power and high precision, but high construction cost, so that the indoor positioning coverage is difficult to realize in a large scale. Inertial navigation technology is widely used in navigation tracking of guided weapons, airplanes, rockets and the like, does not depend on external environments, but has accumulated errors in the calculation method along with time, and influences positioning accuracy. The geomagnetic positioning technology is a technology for acquiring position information by utilizing the specificity of geomagnetic field characteristics, and is not dependent on additional equipment and low in cost, but needs to acquire a large amount of geomagnetic data in the early stage, and is poor in stability, so that the geomagnetic positioning technology is widely used in the aspect of error contrast correction. Bluetooth and ZigBee positioning technologies are similar, are based on short-distance low-power consumption communication protocols, have partial coincident frequency bands, have the characteristics of low cost and low power consumption, and have the advantages of being affected by environment in positioning precision and poor in stability. The pseudolite navigation positioning technology is a hot topic in the current discussion, and has the characteristics of high precision and large coverage area, and can meet the positioning requirements of most cases.
According to the non-exposed space satellite navigation signal positioning device and method, satellite signal repeaters at two ends of a tunnel are used for receiving signals of satellites in sky, two repeaters select to repeat different satellite signals according to the pseudo-range correction error proportionality coefficients, a positioning receiver in the tunnel constructs a new positioning equation according to the received repeated signals, the positions of the repeaters and the pseudo-range correction error proportionality coefficients, and one or more times of iterative computation is carried out to obtain self coordinates. Because real-time satellite navigation signals are used, the method can realize seamless positioning inside and outside the tunnel.
Disclosure of Invention
The invention aims to: the invention provides a method capable of realizing high-precision positioning of a non-exposed space in order to overcome the defects in the prior art.
The technical scheme is as follows: in order to achieve the above-mentioned purpose, the invention provides a satellite navigation signal positioning device of non-exposure space, including satellite signal transponders and tunnel positioning receiver of both ends of the tunnel, satellite signal transponders of both ends of the tunnel receive the signal of sky satellite, and purify and forward the satellite navigation signal, and two transponders forward different satellite signals according to the error proportional coefficient of pseudo-range correction, the tunnel positioning receiver is according to received transponder signal, transponder position and pseudo-range correction error proportional coefficient, construct the new positioning equation, calculate and obtain the own coordinate once or multiple times, this method can realize the seamless location inside and outside the tunnel.
Further, the pseudorange correction error scaling factor is defined as the ratio of the difference between the distance the satellite travels through the tunnel transponder and then from the transponder to a calibration point in the tunnel and the linear distance between the satellite and the calibration point in the tunnel to the horizontal distance between the calibration point and the transponder.
Further, the receiver in the tunnel acquires three-dimensional coordinates of satellite signal transponders at two ends of the tunnel and satellite PRN numbers forwarded by each transponder in advance through communication or other prior information and other modes.
Further, the transponders at the two ends of the tunnel need to perform satellite selection operation, and the principle of satellite selection is to select satellites with smaller absolute values of the change rate of the pseudo-range correction error scaling factor in the period of time.
Further, the tunnel positioning receiver position positioning calculation adopts a new positioning equation added with a pseudo-range correction error proportionality coefficient to carry out positioning solution. The equation is of the form
The above formula (1) is a positioning formula forwarded from a point a of the tunnel satellite signal transponder, wherein ρ n is a pseudo-range of an nth satellite measured by a receiver in the tunnel, k A,n,t is a pseudo-range correction error proportionality coefficient of the nth satellite about the point a of the transponder at a time t, n represents a number of the satellite, x A、yA、zA is coordinates of the tunnel satellite signal transponder a, x n、yn、zn is satellite coordinates, and x u、yu、zu is a user coordinate point. The above formula (2) is a positioning formula for forwarding from the point B of the tunnel satellite signal repeater, where ρ m is the pseudo-range of the mth satellite measured by the tunnel receiver, k B,m,t is the pseudo-range correction error scaling factor of the mth satellite with respect to the point B of the tunnel satellite signal repeater at the time t, m represents the satellite number, the satellite number represented by m and the satellite number represented by n do not coincide with each other, x B、yB、zB is the coordinate of the tunnel satellite signal repeater B, and x m、ym、zm is the satellite coordinate.
Furthermore, when the positioning receiver in the tunnel performs position calculation, multiple iterations can be performed, after the position of the positioning point in the tunnel is calculated for the formulas (1) and (2), the pseudo-range correction error scale coefficient of each satellite is recalculated based on the position, and based on the new set of scale coefficients, the new set of scale coefficients is substituted into the formulas (1) and (2) to be solved again, so that the positioning precision is further improved.
The beneficial effects are that: compared with virtual satellite positioning, the method can realize indoor and outdoor seamless positioning, can realize higher-precision positioning compared with single-path forwarding, and has lower cost compared with 3-path or more-path forwarding, so that the method used by the method can be more suitable for market demands.
Drawings
FIG. 1 is a schematic diagram of a system of the present invention;
FIG. 2 is a schematic diagram of a pseudo-range correction error scaling factor calculation;
FIG. 3 is a flow chart of a method for non-exposed space satellite positioning according to the present invention;
FIG. 4 is a schematic diagram of a calibration point within a tunnel;
FIG. 5 is a graph of the relationship between the pseudorange differences and the distances from the transponder A at the calibration points in the tunnel;
FIG. 6 is a graph of the relationship between the pseudorange differences and the distances of the calibration points in the tunnel from the repeater B;
FIG. 7 is a graph of a pseudorange correction error scale factor for a satellite every 30 minutes;
FIG. 8 is a comparison chart of the positioning calculation results.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a non-exposed space satellite navigation signal positioning device, which includes satellite signal repeaters A, B at two ends of a tunnel and a positioning receiver in the tunnel, the satellite signal repeaters A, B at two ends of the tunnel receive signals of satellites in the sky and purify and repeat the satellite navigation signals, and the two repeaters repeat different satellite signals according to a pseudo-range correction error proportionality coefficient, the tunnel positioning receiver constructs a new positioning equation according to the received repeated signals, the positions of the repeaters and the pseudo-range correction error proportionality coefficient, and acquires own coordinates through one or more iterative computations.
As shown in fig. 2, which is a schematic diagram of calculation of a pseudo-range correction error scaling factor, taking a transponder a as an example to introduce the pseudo-range correction error scaling factor, a distance from a satellite No. 1 to a calibration point in a tunnel through the transponder a is denoted as a1+b1, a linear distance between the satellite No. 1 and the calibration point in the tunnel is denoted as c1, and a ratio of a difference between the two distances to a horizontal distance d1 between the calibration point and the transponder a is the pseudo-range correction error scaling factor of the satellite No. 1at the time, where the calculation formula is as follows:
The formula (3) is a calculation formula of the pseudo-range error proportionality coefficient of the satellite No.1 forwarded from the point a at the time t, and the formula (4) is a calculation formula of the pseudo-range error proportionality coefficient of the satellite No.2 forwarded from the point B at the time t.
FIG. 3 is a flow chart of a method of non-exposed space satellite positioning, comprising the steps of:
① Satellite signal repeaters A, B at two ends of the tunnel receive sky satellite signals and calculate pseudo-range correction error scale coefficients of each satellite according to the standard points in the tunnel;
② The tunnel repeater A, B performs satellite selection operation according to the pseudo-range correction error proportionality coefficient, ensures that two repeaters repeat different satellites, and purifies and forwards satellite information to a receiver in a tunnel;
③ The receiver in the tunnel needs to acquire the three-dimensional coordinates of the transponder A, B, the coordinates of the calibration point in the tunnel, and the satellite PRN numbers respectively forwarded by the transponder A, B in advance;
④ The receiver in the tunnel calculates the three-dimensional coordinates (x i,yi,zi) of the satellite according to the ephemeris and calculates the average value of the pseudo-range correction error scale coefficients according to all the calibration points at the same time;
⑤ The receiver in the tunnel constructs a new position for the equation to calculate its own position according to the three-dimensional coordinates (x i,yi,zi) of the satellite, the scale factor of the pseudo-range error, and the three-dimensional coordinates of the transponder A, B. The equation form is formula (1) and formula (2).
As shown in fig. 4, which is a schematic diagram of calibration points in a tunnel, 21 calibration points are uniformly distributed in the tunnel, wherein the calibration points including projection points of a transponder A, B in the tunnel are sequentially denoted by reference numerals 1,2, 3..20, 21, and are used for calculating a pseudo-range correction error scaling factor in advance.
Fig. 5 is a graph of the pseudo-range difference (e.g., a1+b1-c 1) versus the distance (d 1) of the calibration point from the transponder a in the tunnel, and the horizontal axis represents the calibration point label, where the horizontal axis 1 represents the calibration point as the projected position of the transponder a in the tunnel. Fig. 6 is a graph of the pseudo-range difference (e.g., a2+b2-c 2) versus the distance (d 2) of the calibration point from the transponder B in the tunnel, with the horizontal axis representing the calibration point label and the horizontal axis 21 representing the projected location of the calibration point on the tunnel for the transponder B. The vertical axes each represent a pseudorange difference.
From fig. 5 and fig. 6, it can be seen that the pseudo-range difference and the distance between the calibration point in the tunnel and the transponder are in a linear relationship, the slope of the curve is the scale factor of the pseudo-range correction error, and the slope of the change curve of different satellites is different.
The pseudorange correction error scale factor for a satellite every 30 minutes is shown in fig. 7, where it can be seen that the pseudorange correction error scale factor for a satellite every 30 minutes changes. A satellite with a small absolute value of the change rate of the pseudo-range error scaling factor is selected at the time of satellite selection, and is not visible to the transponder at the time points 12 to 22, so that the pseudo-range error scaling factor cannot be calculated, and the satellite has a small absolute value of the change rate of the pseudo-range correction error scaling factor at the vicinity of the time point 40.
As can be seen from fig. 5, 6 and 7, the pseudo-range correction error scaling factor calculated at different time points by different satellites is different, so that the pseudo-range correction error scaling factor can be added to improve the accuracy when the position of the positioning target node in the tunnel is calculated.
Referring to fig. 8, which is a comparison chart of the positioning calculation results, 9 calibration points in the tunnel are selected for positioning verification, and the selected calibration points are respectively 3, 5,7, 9, 11, 13, 15, 17 and 19. Blue represents the three-dimensional coordinate difference between the positioning position and the calibration point position obtained by adding the pseudo-range correction error proportionality coefficient calculation, red represents the three-dimensional coordinate difference between the positioning position and the calibration point position obtained by carrying out secondary iterative calculation according to the new pseudo-range correction error proportionality coefficient and the red represents the new pseudo-range correction error proportionality coefficient calculated according to the position obtained by the first calculation, and the error is smaller than that obtained by carrying out the first positioning calculation. As can be seen from FIG. 8, the method provided by the invention can improve the positioning accuracy and reduce the positioning error through multiple iterative calculations.
The system and the method provided by the invention are different from the existing indoor positioning system, ensure the continuous positioning of the positioning receiver indoors and outdoors through the scheme described by the invention, realize seamless positioning and also realize seamless high-precision positioning.
Claims (2)
1. A non-exposed space satellite navigation signal positioning device, characterized in that: the method comprises the steps that satellite signal repeaters at two ends of a tunnel and a positioning receiver in the tunnel are included, the satellite signal repeaters at two ends of the tunnel receive signals of satellites in sky, the satellite navigation signals are purified and repeated, the two repeaters repeat different satellite signals according to pseudo-range correction error proportion coefficients, and the tunnel positioning receiver constructs a new positioning equation according to the received repeated signals, repeater positions and the pseudo-range correction error proportion coefficients, and one or more times of iterative computation is carried out to obtain self coordinates;
The pseudo-range correction error proportionality coefficient is defined as the ratio of the difference between the distance of the satellite passing through the tunnel transponder and reaching the calibration point by the transponder and the linear distance between the satellite and the calibration point in the tunnel to the horizontal distance between the calibration point and the transponder;
the transponders at the two ends of the tunnel need to perform satellite selection operation, wherein the principle of satellite selection is to select satellites with smaller absolute values of the change rate of the pseudo-range correction error scaling factors in the period of time;
The tunnel positioning receiver position positioning calculation adopts a new positioning equation added with a pseudo-range correction error proportionality coefficient to carry out positioning solution, and the equation form is that
The above formula (1) is a positioning formula forwarded from a point a of a tunnel satellite signal transponder, wherein ρ n is a pseudo-range of an nth satellite measured by a receiver in a tunnel, k A,n,t is a pseudo-range correction error proportionality coefficient of the nth satellite at a time t with respect to the point a of the transponder, n represents a satellite number, x A、yA、zA is a coordinate of the tunnel satellite signal transponder a, x n、yn、zn is a satellite coordinate, x u、yu、zu is a user coordinate point, the above formula (2) is a positioning formula forwarded from a point B of the tunnel satellite signal transponder, wherein ρ m is a pseudo-range of an mth satellite measured by the tunnel receiver, k B,m,t is a pseudo-range correction error proportionality coefficient of the mth satellite at a time t, m represents a satellite number, the satellite number represented by m and the satellite number represented by n are not overlapped with each other, x B、yB、zB is a coordinate of the tunnel satellite signal transponder B, and x m、ym、zm is a satellite coordinate;
and when the positioning receiver in the tunnel performs position calculation, iterating for a plurality of times, calculating the position of the positioning point in the tunnel by using the iterative mode according to the formulas (1) and (2), then calculating the pseudo-range correction error proportionality coefficient of each satellite based on the position, substituting the new proportionality coefficient into the formulas (1) and (2) for re-solving so as to further improve the positioning precision.
2. A positioning method using a non-exposed space satellite navigation signal positioning apparatus according to claim 1, wherein: the method comprises the following steps:
Step 1: satellite signal repeaters at two ends of the tunnel receive sky satellite signals, calculate the pseudo-range correction error proportionality coefficient of each satellite according to the standard point in the tunnel to perform satellite selection operation, and ensure that two repeaters repeat different satellites;
Step 2: the receiver in the tunnel acquires the three-dimensional coordinates of satellite signal transponders at two ends of the tunnel and satellite PRN numbers forwarded by each transponder in a communication or other prior information mode;
step 3: calculating a pseudo-range correction error proportionality coefficient according to satellite positions calculated by received ephemeris and tunnel calibration point information when a receiver in a tunnel is positioned for the first time, calculating the pseudo-range correction error proportionality coefficient according to the satellite positions and the current positioning positions when the positioning iteration number is 1, and carrying out positioning solving according to formulas (1) and (2) when the positioning iteration number is greater than 1;
Step 4: the receiver in the tunnel obtains the position according to the step 3, recalculates the pseudo-range correction error proportionality coefficient, performs positioning solution according to the formulas (1) and (2), and can iterate repeatedly for a plurality of times in the steps 4 and 5.
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| CN102362445B (en) * | 2008-12-19 | 2014-09-17 | 电视广播有限公司 | System for satellite communications in tunnels |
| CN104133221B (en) * | 2014-07-24 | 2016-10-12 | 中国人民解放军信息工程大学 | A kind of fake satellite positioning system based on general purpose receiver |
| CN104749588B (en) * | 2015-03-30 | 2017-02-01 | 北斗羲和科技发展（北京）有限公司 | Method for realizing realtime synchronization with Beidou system to generate pseudo satellite signals |
| CN108008426B (en) * | 2016-11-02 | 2020-04-28 | 清华大学 | Pseudolite based positioning system and method |
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| CN110824523A (en) * | 2019-10-29 | 2020-02-21 | 南京泰通科技股份有限公司 | Tunnel positioning device based on global satellite positioning navigation system |
| CN112698370B (en) * | 2020-12-15 | 2024-06-18 | 南京航空航天大学 | Indoor satellite navigation positioning method based on virtual orbit satellite |
| CN115356756B (en) * | 2022-10-19 | 2023-07-07 | 中移(上海)信息通信科技有限公司 | Pseudo satellite layout method and device for tunnel and terminal equipment |
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