CN110161545B - Positioning system and method for generating positioning signal - Google Patents

Abstract

The application provides a positioning system and a positioning signal generation method thereof. The positioning system comprises a plurality of signal sources, wherein the plurality of signal sources broadcast positioning signals in different time slots in a time division manner, and the positioning signals broadcast by the signal sources carry synchronous information between a local signal source and other signal sources. The signal source of the positioning system can broadcast positioning signals in different time slots, and the positioning signals carry synchronization information among the signal sources, so that the signal source end does not need to complete clock synchronization, and the positioning system is convenient and rapid to deploy.

Description

Positioning system and method for generating positioning signal

technical field

The present application relates to the field of positioning and navigation, and in particular, to a positioning system and a method for generating a positioning signal, a method for receiving a positioning signal, and a receiver.

Background technique

An existing implementation of the radio positioning system is to obtain the distance between the user receiver and the basic setting through multiple communications between the basic setting and the user receiver, and complete the calculation of the position of the user receiver. Although the distance between the user receiver and the infrastructure can be directly measured through multiple communications, the number of user receivers and the communication frequency are limited due to the large number of communications.

An optional solution is that the user receiver transmits the positioning signal, and the infrastructure receives the positioning signal and aggregates it to the solution center to obtain the position of the user receiver. This scheme can increase the number of user receivers to a certain extent, but there is still an upper limit, and the solution center needs to be set.

Another option is for the infrastructure to transmit positioning signals. The representative is the global navigation satellite system GNSS, which adopts frequency division or code division multiplexing to make multiple signal sources (navigation satellites) broadcast navigation signals at the same time, but the global navigation satellite system GNSS needs to deploy a large number of ground stations for Clock synchronization between navigation satellites. In addition, when the time synchronization between satellites is abnormal, the user receiver is unable to detect and deal with the abnormal synchronization between satellites, resulting in large errors or even failures in the positioning results.

SUMMARY OF THE INVENTION

The purpose of the present application is to provide a positioning system, a positioning signal generating method, a positioning signal receiving method and a receiver thereof.

According to one aspect of the present application, a positioning system is disclosed, the positioning system includes multiple signal sources, the multiple signal sources broadcast positioning signals in different time slots, and the positioning signals broadcast by each signal source carry local signals Synchronization information between the source and other sources.

According to an aspect of the present application, a method for generating a positioning signal of a positioning system is disclosed, wherein the positioning system includes a plurality of signal sources, and the method for generating a positioning signal includes: generating a positioning signal from the multiple signal sources in different time slots The time-division broadcast positioning signal carries the synchronization information between the local signal source and other signal sources in the positioning signal broadcast by each signal source.

According to one aspect of the present application, a receiver is disclosed, wherein the receiver receives a time-division broadcast positioning signal, the positioning signal carries synchronization information between signal sources, and the receiver receives the positioning signal from the positioning signal. The synchronization information is extracted and the pseudorange measurement value is calculated, and the position of the user receiver is obtained according to the extracted synchronization information and the calculated pseudorange measurement value.

According to an aspect of the present application, a method for receiving a positioning signal is disclosed, wherein the positioning signal is a time-division broadcast positioning signal and carries synchronization information between signal sources, and the method for receiving a positioning signal includes: receiving the positioning signal , extract the synchronization information from the positioning signal and calculate the pseudorange measurement value, and obtain the position of the user receiver according to the extracted synchronization information and the calculated pseudorange measurement value.

According to the embodiment of the present application, the signal source broadcasts the positioning signal in different time slots, and carries the synchronization information between the signal sources in the positioning signal, so that the signal source end does not need to complete the clock synchronization, and the deployment of the positioning system is convenient and quick.

The user receiver only needs to receive the positioning signal and process it to complete the positioning function, without the need to complete the clock synchronization on the signal source side, and the number of receivers is not limited, and the implementation is simple.

Description of drawings

Figure 1 shows a positioning system according to an embodiment of the present application.

FIG. 2 shows a signal source of a positioning system according to an embodiment of the present application.

FIG. 3 shows a method for generating a positioning signal according to an embodiment of the present application.

FIG. 4 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to an embodiment of the present application.

FIG. 5 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to another embodiment of the present application.

FIG. 6 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to another embodiment of the present application.

FIG. 7 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to another embodiment of the present application.

FIG. 8 shows a flowchart of a receiving method according to an embodiment of the present application.

FIG. 9 shows a schematic block diagram of a receiver according to an embodiment of the present application.

Detailed ways

The positioning system, the positioning signal generating method, the positioning signal receiving method and the receiver disclosed in the present application will be described in detail below with reference to the accompanying drawings. For the sake of brevity, in the description of the various embodiments of the present application, the same or similar devices use the same or similar reference numerals.

Figure 1 shows a positioning system according to an embodiment of the present application. The broadcast wireless positioning system includes a plurality of signal sources 100, wherein each signal source broadcasts a positioning signal in different time slots. The positioning signal broadcast by each signal source carries synchronization information between the local signal source and other signal sources.

In the existing navigation field, clock synchronization is usually done on the signal source side. However, in order to achieve synchronization on the signal source side, a wired connection between the signal sources is required, and the calculation complexity is high.

In addition, due to the frequency difference between the clock sources used by different signal sources, there is clock drift between different signal sources. Different from the frequency division or code division multiplexing method used in the existing navigation field, the positioning system according to the present application adopts the time division multiplexing method, and broadcasts the positioning signal through the time division method. The transmission moments of each time-division signal source have a certain time interval, so that the influence of clock deviation caused by clock drift is amplified, which makes it more difficult to synchronize on the signal source side.

According to the embodiment of the present application, the signal source broadcasts the positioning signal in different time slots, and carries the synchronization information in the positioning signal, and no clock synchronization is required at the signal source end, so that there is no need for any wired connection and complex synchronization design between the signal sources, positioning The deployment of the system is simple and quick. In addition, the mobility, flexibility and rapid deployment capability of the positioning system are greatly improved, and there are a large number of application requirements in the civilian and military fields.

In this way, the time division multiplexing method is adopted at the signal source end, and no clock synchronization is performed. By carrying the synchronization information in the positioning signal and broadcasting, the receiver can complete the positioning function by receiving and processing the positioning signal. In addition, the positioning signal transmitted and received between the signal sources does not need to be designed separately, but is the same as the positioning signal broadcast by the signal source for the user receiver, which is convenient to implement.

FIG. 2 shows a signal source of a positioning system according to an embodiment of the present application. According to an embodiment of the present application, as shown in FIG. 2 , the signal source 100 includes a synchronization information acquisition unit 110 and a positioning signal generation unit 120 .

The synchronization information acquisition unit 110 calculates synchronization information between the local signal source and the other signal sources according to the positioning signals from the other signal sources.

The positioning signal generating unit 120 generates a positioning signal, wherein the generated positioning signal is loaded with the synchronization information acquired by the synchronization information acquiring unit 110 .

FIG. 3 shows a method for generating a positioning signal according to an embodiment of the present application. As shown in the figure, at S10, the multiple signal sources broadcast the positioning signals in different time slots; at S11, the positioning signals broadcast by each signal source carry the synchronization information between the local signal source and other signal sources .

FIG. 4 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to an embodiment of the present application.

As shown in FIG. 4 , the synchronization information of the positioning signal generated by the signal source includes the transmission time of the local positioning signal and the clock offset information between the local signal source and other signal sources.

For example, the synchronization information obtaining unit 110 can locally obtain the transmission time information of the local positioning signal, and can also obtain the transmission time carried in the positioning signals from other signal sources and the local signal source receives the positioning signals of other signal sources according to the transmission time. At the receiving moment, calculate the clock deviation information between the local signal source and other signal sources. The positioning signal generating unit 120 loads the obtained transmission time information of the local positioning signal and clock offset information between the local signal source and each other signal source into the positioning signal of the local signal source.

When the positioning system is working, multiple signal sources 100 can broadcast wireless positioning signals at different transmission times, and modulate the transmission time information in the broadcast signals. Since time-division broadcast positioning signals are used according to the embodiments of the present application, each signal source device can receive positioning signals broadcast by other signal sources, measure the local reception time, and use the transmission time and reception time of the broadcast signal to calculate its own and other positioning sources. clock skew. In this way, the synchronization information can be calculated by using the transmission interval time slot between the signal sources, and the synchronization information can be loaded into the broadcast positioning signal at the local transmission time of the local signal source for broadcast.

FIG. 5 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to another embodiment of the present application. In this embodiment, the signal source of the positioning system can be divided into a master signal source and a slave signal source. The primary signal source provides the clock reference for the positioning system. When the local signal source is the slave signal source, the synchronization information carried in the positioning signal broadcast by the local signal source is the synchronization information between the local slave signal source and the master signal source. When the local signal source is the master signal source, the synchronization information carried in the positioning signal broadcast by the local signal source is the synchronization information between the local master signal source and each other slave signal source.

For example, when the local signal source is the slave signal source, the synchronization information acquisition unit 110 of the local signal source locally obtains the transmission time information of the local positioning signal, and the synchronization information acquisition unit 110 of the local signal source also obtains the synchronization information according to the positioning signal from the main signal source. The carried transmission time, calculates the clock deviation information between the local signal source and the main signal source. The positioning signal generating unit 120 of the local signal source loads the obtained transmission time information of the local positioning signal and the clock offset information between the local signal source and the main signal source into the positioning signal of the local signal source.

When the local signal source is the master signal source, the synchronization information obtaining unit 110 of the local signal source locally obtains the transmission time information of the local positioning signal, and also according to the transmission time carried in the positioning signals from other slave signal sources, and the master signal The time when the source receives the positioning signal of each other slave signal source, calculates the clock deviation information between the local signal source and each other slave signal source. The positioning signal generating unit 120 of the local signal source loads the obtained transmission time information of the local positioning signal and clock offset information between the local signal source and each other slave signal source into the positioning signal of the local signal source.

FIG. 6 shows a schematic diagram of an implementation manner of synchronization information of a positioning signal generated by a signal source when the master and slave signal sources are not distinguished. FIG. 7 shows a schematic diagram of an embodiment of synchronization information of positioning signals generated by the master signal source and the slave signal source when the master signal source is distinguished from the slave signal source. As shown in FIG. 6 and FIG. 7 , the synchronization information may also include clock drift information between the local signal source and other signal sources. Each signal source device can receive the positioning signal broadcast by other signal sources, measure the local receiving time, calculate the clock deviation and clock drift between itself and other positioning sources by using the transmitting and receiving time of the broadcast signal, and combine the clock deviation information and clock drift information. Loaded into the positioning signal to transmit.

Without loss of generality, the calculation methods of clock skew information and clock drift information are described by taking the signal sources A _i and A _j as examples. Assuming that the signal source A _i transmits a signal, the transmission time of A _i can be obtained by reading the local clock of the signal source A _i , and modulated in the broadcast positioning signal. When the signal source A _j receives the signal, the local receiving time can be measured, and the local receiving time of A _j is expressed as:

为A_j本地接收时刻，可以由A_j信号源本地获得；

为A_i发射时刻，可以根据接收到的来自信号源A_i的定位信号获得；

为在A_j的接收时刻(以A_i时钟计时)A_i与A_j的时钟偏差。由于信号源A_j与信号源A_i之间的时钟源存在频率偏差，因此信号源之间的时钟偏差不是固定的，即，时钟偏差是时变的。而时钟偏差b_ij的这种变化速率就对应了时钟漂移k_ij。可以根据时钟偏差信息b_ij的变化速率计算时钟漂移信息k_ij。in,

is the local receiving time of A _j , which can be obtained locally by the signal source of A _j ;

is the transmission time of A _i , which can be obtained according to the received positioning signal from the signal source A _i ;

is the clock offset of A _i and A _j at the receiving time of A _j (timed by A _i clock). Since the clock source between the signal source A _j and the signal source A _i has a frequency deviation, the clock deviation between the signal sources is not fixed, that is, the clock deviation is time-varying. The rate of change of the clock bias b _ij corresponds to the clock drift k _ij . The clock drift information k _{ij may be calculated according to the rate of change of the clock deviation information b ij .}

原始时钟偏差信息根据信号源广播的定位信号所携带的发射时刻确定，其中包含有信号源之间的固定延时。固定延时可以包括例如由于信号源之间的距离、发射和接收通道的设计所引入的延时。According to an embodiment of the present application, the clock offset information included in the synchronization information may be original clock offset information, that is,

The original clock deviation information is determined according to the transmission time carried by the positioning signal broadcast by the signal source, which includes the fixed delay between the signal sources. Fixed delays may include delays introduced, for example, due to the distance between signal sources, the design of transmit and receive channels.

Optionally, the clock skew information may also be the actual clock skew information from the original clock skew information from which the influence of the transmission path is removed, that is, the actual clock skew from which the distance between signal sources and the fixed delays of the transmit and receive channels are removed. information. Since the positions of the signal sources themselves are known, the distance between the signal sources can be obtained. The fixed delays of the transmit and receive channels can be determined according to the hardware implementation of the signal source.

In addition, since there is noise in the measurement of the receiving moment, according to an embodiment of the present application, the synchronization information acquisition unit may further include a filter.

模型化为线性函数，待解状态向量

其中，b(t)为t时刻的时钟偏差，k(t)为t时刻的时钟漂移。使用滤波器例如卡尔曼滤波器对时钟偏差和时钟漂移进行估计，并可以减少噪声影响。卡尔曼滤波器的观测量为

卡尔曼滤波器的一步状态转移矩阵为

其中，ΔT为两次状态更新的本地时间间隔。卡尔曼滤波器的设计矩阵为H＝[1 0]。can

Modeled as a linear function, the state vector to be solved

where b(t) is the clock bias at time t, and k(t) is the clock drift at time t. Clock skew and clock drift are estimated using filters such as Kalman filters, and noise effects can be reduced. The observation of the Kalman filter is

The one-step state transition matrix of the Kalman filter is

Among them, ΔT is the local time interval between two state updates. The design matrix of the Kalman filter is H=[1 0].

Each time the local signal source receives information from other signal sources, the synchronization information acquisition unit performs measurement and update through the filter to obtain clock deviation information b _ij and clock drift information k _ij between the signal sources.

The positioning signal generating unit 120 generates a positioning signal, wherein the generated positioning signal is loaded with the transmission time of the local positioning signal obtained by the synchronization information obtaining unit, the clock deviation information b _ij and the clock drift information k _ij . The source can broadcast the positioning signal for use by other sources and for receiver users to use for positioning.

In addition, according to the embodiments of the present application, a positioning signal receiving method and receiver are also disclosed.

According to an embodiment of the present application, on the receiver side, the receiver 200 receives a time-division broadcast positioning signal, and the positioning signal carries synchronization information between signal sources. FIG. 8 shows a flowchart of a receiving method according to an embodiment of the present application. At S20, the receiver receives the time-division broadcast positioning signal; at S21, extracts synchronization information from the positioning signal and calculates the pseudorange measurement value; at S22, obtains the user according to the extracted synchronization information and the calculated pseudorange measurement value The location of the receiver.

FIG. 9 shows a schematic block diagram of a receiver according to an embodiment of the present application. As shown in FIG. 9 , the receiver 200 includes an information extraction unit 210 , a pseudorange acquisition unit 220 and a calculation unit 230 .

The information extraction unit 210 can obtain synchronization information between signal sources from the positioning signal. The pseudorange obtaining unit 220 obtains the pseudorange observation between the receiver and the signal source from the positioning signal. The calculating unit 230 obtains the position of the user receiver according to the synchronization information and the pseudorange observation quantity.

According to an embodiment of the present application, the synchronization information includes clock offset information between signal sources. The information extraction unit 210 may obtain synchronization information from the positioning signal, and extract clock offset information between signal sources according to the synchronization information. The information extraction unit 210 may calculate the clock drift information k _{ij between the signal sources according to the clock deviation information b ij .} Since the clock sources between the signal sources have frequency deviations, the clock deviation information b _ij between the signal sources is time-varying. The information extraction unit 210 may calculate the clock drift information k _{ij according to the rate of change of the clock deviation information b ij .}

According to another embodiment of the present application, the synchronization information includes clock offset information and clock drift information between signal sources. The information extraction unit 210 obtains synchronization information from the positioning signal, and extracts clock deviation information b _ij and clock drift information k _ij between signal sources from the synchronization information.

In addition, the clock offset information in the synchronization information carried in the positioning signal broadcast by the signal source in time division may be original clock offset information or actual clock offset information.

If the clock deviation information in the synchronization information carried in the positioning signal of the time division broadcast of the signal source is the actual clock deviation information, the clock deviation information extracted by the information extraction unit 210 is the actual clock in the synchronization information in the time division broadcast positioning signal deviation information.

If the clock offset information in the synchronization information carried in the positioning signal broadcasted by the signal source in time division is the original clock offset information, the clock offset information extracted by the information extraction unit 210 is obtained by removing the difference between the signal sources from the original clock offset information. Actual clock skew information for fixed delays such as distance, transmit and receive channels.

The pseudorange obtaining unit 220 obtains the pseudorange observation between the receiver and the signal source from the positioning signal. Pseudo-range observations can be obtained according to the difference between the local receiving time and the transmitting time of the signal source.

The calculating unit 230 obtains the position of the user receiver according to the clock offset information, the clock drift information, and the pseudorange observation quantity.

According to an embodiment, the calculating unit 230 may calculate the corresponding relationship (b _i , b _j ) of the time offset between the receiver and each signal source according to the clock offset information b _ij and the clock drift information k _ij between the signal sources , and the pseudorange equation between the receiver and each signal source is constructed according to the corresponding relationship and the pseudorange observation quantity, so as to solve the position of the user receiver.

Without loss of generality, the working principle of the receiver is described in detail below by taking the receiver receiving the time-division broadcast positioning signals from the signal source A _i and the signal source A _j as an example.

For the signal source A _i , the receiver receives the broadcast signal from the signal source A _i , and the signal receiving time of the receiver is t _i .

According to the embodiment of the present application, since the clock synchronization is not performed on the signal source side, the pseudorange relationship between the receiver and each signal source can be represented by the pseudorange measurement value and the clock deviation between the receiver and the signal source.

For example, the pseudorange equation between the receiver and the signal source A _i is expressed as:

Among them, ρ _i represents the pseudo-range observation amount from the signal source A _i to the receiver, T _Aitx is the transmission time of the positioning signal of the signal source A _i , D _i represents the real distance between the signal source A _i and the receiver, b _i represents The clock offset of the receiver and the signal source A _i , ε represents the measurement noise.

For the signal source A _j , the receiver receives the signal of the signal source A _j at time t _j . According to the embodiment of the present application, the pseudorange equation between the receiver and the signal source A _j is expressed as:

为信号源A_j的定位信号发射时刻，D_j表示信号源A_j与接收机之间的真实距离，b_j表示接收机与信号源A_j的时钟偏差。Among them, ρ _j represents the pseudorange observation amount from the signal source A _j to the receiver,

is the transmission time of the positioning signal of the signal source A _j , D _j represents the real distance between the signal source A _j and the receiver, and b _j represents the clock deviation between the receiver and the signal source A _j .

It can be understood that the real distance D contains receiver position information. According to the embodiment of the present application, the pseudorange equation can be solved according to the extracted synchronization information and the calculated pseudorange measurement value to obtain the receiver position estimate.

According to an embodiment of the present application, the receiver can construct the corresponding relationship of the clock deviation between the receiver and each signal source according to the synchronization information in the received positioning signals from each signal source, that is, the receiver can The clock skew information between the sources and the clock drift information calculate the correspondence of the time skew between the receiver and each signal source. For example, according to the clock deviation information b _ij and the clock drift information k _ij between each signal source, the difference between the clock deviation b _i between the receiver and the signal source A _i and the clock deviation b _j between the receiver and the signal source A _j can be obtained corresponding relationship. In this way, when the receiver receives positioning signals from multiple signal sources, even if the time deviation between the receiver and each signal source is unknown, according to the corresponding relationship between the time deviation between the receiver and each signal source, The pseudorange equation between the receiver and each signal source can be solved to obtain the position of the user's receiver.

Without loss of generality, the following analyzes the clock offset b _i (t _i ) corresponding to the receiver receiving the positioning signal from the signal source A _i at the corresponding receiving time t _i of the signal source A _i , and the corresponding reception time at the signal source A _j . The relationship between the clock offsets b _j (t _j ) corresponding to the positioning signal received from the signal source A _j at time t _j .

According to an embodiment, the clock offset b _j (t _j ) corresponding to receiving the positioning signal from the signal source A _j at the receiving time t _j can be expressed as:

b _j (t _j )=b _i (t _j )-b _ij (t _j ),

Among them, b _ij (t _j ) represents the clock offset between the signal source A _i and the signal source A _j at time t _j , and b _i (t _j ) represents the clock offset between the receiver and the signal source A _i at the receiving time t _j .

It can be seen that the clock deviation b _{j between the receiver and the signal source A j can} be represented by the clock deviation b _{i between the receiver and the signal source A i and the clock deviation b ij between the} signal source A _i and the signal source A _j .

Since the signal source broadcasts the positioning signal in different time slots, the time t _i when the receiver receives the broadcast signal of the signal source A _i is also different from the time t _j when it receives the broadcast signal from the signal source A _j , and the receiver and the signal source are different. Clock drift exists between the signal sources A _i and the signal source A _j . According to an embodiment of the present application, the corresponding relationship can be further optimized to eliminate the influence of clock drift at different reception times.

According to an embodiment of the present application, since the time t _j received by the receiver from different signal sources is very close to the time t _i , during this period, the clock deviation b _i between the receiver and the signal source A _i can be considered as linear The clock deviation b _ij between the signal sources A _i and A _j can also be considered to vary linearly. Therefore, the clock deviation mapping relationship between the receiver and different signal sources at different receiving moments can be obtained, as shown below:

b _i (t _j )=b _i (t _i )+k _ir ·(t _j -t _i ),

b _ij (t _j )=b _ij (t _i )+k _ij ·(t _j -t _i ),

Wherein, k _ir represents the clock drift between the receiver and A _i , and k _ij represents the clock drift between the signal source A _i and the signal source A _j .

In this way, the clock deviation between the receiver and the signal source A _i at time t _i is linked with the clock deviation between the receiver and the signal source A _j at time t _j . That is _, the clock offset b _j between the receiver receiving the positioning signal from the signal source A _j and the signal source A _j at the receiving time t _j of the receiver can be obtained by the receiver at the receiving time t _i of the positioning signal The clock deviation b _i from the signal source A _i , and the clock deviation b _ij and the clock drift k _ij between the signal source A _i and the signal source A _j are represented.

For example, the pseudorange equations of the receiver and the signal source A _i and the signal source A _j can be expressed as:

ρ _i (t _i )=D _i (t _i )+ _bi (t _i )+ε(t _i ),

ρ _j (t _j )=D _j (t _j )+[b _i (t _i )+k _ir ·(t _j −t _i )]−[b _ij (t _i )+k _ij ·(t _j −t _i )]+ε(t _j ).

In this way, according to an embodiment of the present application, the corresponding relationship between the clock deviation between the receiver and each signal source can be obtained according to the clock deviation information and the clock drift information between the signal sources, and according to the corresponding relationship and the pseudorange The observed quantities construct pseudorange equations for the receiver and each signal source. Therefore, even if the clock synchronization is not completed on the signal source side, the receiver can complete the positioning function by receiving and processing the positioning signal with synchronization information, and the calculation complexity is low.

It can be understood that the specific pseudorange equations listed in the above analysis are only for illustration, and the pseudorange equations according to the embodiments of the present application are not limited thereto.

For example, according to the synchronization information, the clock deviation between the receiver and the signal source A _i can be obtained from the clock deviation between the receiver and the signal source A _j and the clock deviation information between the signal source A _j and the signal source A _i and clock drift information.

Optionally, if the signal source includes a master signal source A ₀ and a slave signal source, then the clock deviation between the receiver and the signal source A _i and the signal source A _j can be determined by the clock between the receiver and the master signal source A ₀ . The clock deviation, as well as the clock deviation information and clock drift information between the signal source A _i , the signal source A _j and the main signal source A ₀ are represented.

According to the embodiments of the present application, synchronization information can be obtained from positioning signals, clock deviation information and clock drift information between signal sources can be obtained, and the receiver and each signal can be constructed according to the clock deviation information and clock drift information between signal sources. The corresponding relationship between the time deviations between the sources, so as to solve the pseudorange equation between the receiver and each signal source, and obtain the position of the user's receiver.

The following describes a schematic solution process of the pseudorange equation in an example application scenario. As mentioned above, the pseudorange equation between the receiver and the signal source A _i and the signal source A _j can be expressed as:

ρ _i (t _i )=D _i (t _i )+ _bi (t _i )+ε(t _i ),

ρ _j (t _j )=D _j (t _j )+[b _i (t _i )+k _ir ·(t _j −t _i )]−[b _ij (t _i )+k _ij ·(t _j −t _i )]+ε(t _j ),

Among them, the real distance D contains receiver position information. For example, the true distance D _i between the receiver and the signal source A _i can be expressed as:

Among them, x _i , y _i , and _zi are the three-dimensional position coordinates of the signal source A _i , and x, y, and z are the three-dimensional position coordinates of the receiver to be solved.

When the receiver is in motion, the speed parameter of the receiver can also be introduced to construct the relationship between the real distance between the receiver and each signal source at each receiving moment.

For example, since the interval between the receiving time t _j and t _i of the receiver from different signal sources A _i and A _j is very small, the speed of the receiver in this interval can be considered as a constant value, so that the receiver can be regarded as the receiving time at the receiving time. The true distance between t _j and the signal source A _j is expressed as:

Thus, the unknowns in the pseudorange equation may include the user's three-dimensional position xyz, the receiver's clock bias bi from the signal source _Ai , the receiver's three-dimensional velocity _vx / _vy / _vz , and the receiver clock _{drift kir .}

By receiving time-division broadcast positioning signals from multiple signal sources, the receiver extracts synchronization information from the positioning signals and calculates the pseudorange measurement value. Calculate the unknowns in the above pseudorange equation to obtain the position of the user's receiver.

In addition, when the receiver receives time-division broadcast positioning signals from multiple signal sources, it can also obtain pseudo-range observations at multiple reception times for each signal source, so that more pseudo-range equations can be constructed to solve the pseudo-range It can reduce the influence of noise, improve the positioning accuracy and fault tolerance ability.

Exemplary embodiments of the present application have been described above with reference to the accompanying drawings. It should be understood by those skilled in the art that the above-mentioned embodiments are only examples for the purpose of illustration, not for limitation. Any modifications, equivalent replacements, etc. made under the teachings of the present application and the protection scope of the claims, etc., All should be included within the scope of protection claimed in this application.

Claims (14)

1. A positioning system comprising a plurality of signal sources, each of the plurality of signal sources time-division broadcasting a positioning signal in a different time slot, the positioning signal carrying synchronization information between a local signal source and other signal sources and being transmitted to the other signal sources,

the synchronization information comprises the transmission time information of the local positioning signal and the clock deviation information between the local signal source and other signal sources.

2. The positioning system of claim 1, wherein each of the plurality of signal sources comprises:

the synchronous information acquisition unit is used for calculating synchronous information between the local signal source and other signal sources according to positioning signals from other signal sources; and

and a positioning signal generation unit that generates a positioning signal in which the synchronization information is loaded.

3. The positioning system according to claim 1, wherein the synchronization information obtaining unit locally obtains transmission time information of the local positioning signal, and the synchronization information obtaining unit further calculates clock deviation information between the local signal source and each of the other signal sources according to transmission times carried in the positioning signals from each of the other signal sources and reception times at which the local signal source receives the positioning signals of each of the other signal sources; and the positioning signal generating unit loads the acquired emission time information of the local positioning signal and the clock deviation information between the local signal source and each other signal source into the positioning signal of the local signal source.

4. The positioning system of claim 1, wherein the plurality of signal sources includes a master signal source and a slave signal source,

when the local signal source is a slave signal source, the synchronization information acquisition unit of the local signal source locally acquires the transmission time information of the local positioning signal, the synchronization information acquisition unit of the local signal source also calculates the clock deviation information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source, and the positioning signal generation unit of the local signal source loads the acquired transmission time information of the local positioning signal and the clock deviation information between the local signal source and the master signal source in the positioning signal of the local signal source; and

when the local signal source is a master signal source, the synchronization information acquisition unit of the local signal source locally acquires the transmission time information of the local positioning signal, the synchronization information acquisition unit of the local signal source also calculates the clock deviation information between the local signal source and each other slave signal source according to the transmission time carried in the positioning signal from each other slave signal source and the receiving time of the main signal source receiving the positioning signal of each other slave signal source, and the positioning signal generation unit of the local signal source loads the acquired transmission time information of the local positioning signal and the clock deviation information between the local signal source and each other slave signal source in the positioning signal of the local signal source.

5. The positioning system of claim 1, wherein the synchronization information further comprises clock drift information between local signal sources and other signal sources.

6. The positioning system according to claim 5, wherein the synchronization information obtaining unit locally obtains the transmission time information of the local positioning signal, and the synchronization information obtaining unit further calculates the clock deviation information and the clock drift information between the local signal source and each of the other signal sources according to the transmission time carried in the positioning signals from each of the other signal sources and the receiving time at which the local signal source receives the positioning signals of each of the other signal sources; and the positioning signal generating unit loads the obtained emission moment information of the local positioning signal, and clock deviation information and clock drift information between the local signal source and other signal sources into the positioning signal of the local signal source.

7. The positioning system of claim 5, wherein the plurality of signal sources includes a master signal source and a slave signal source,

when the local signal source is a slave signal source, the synchronization information acquisition unit of the local signal source locally acquires the transmission time information of the local positioning signal, the synchronization information acquisition unit of the local signal source also calculates the clock deviation information and the clock drift information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source, and the positioning signal generation unit of the local signal source loads the acquired transmission time information of the local positioning signal and the clock deviation information and the clock drift information between the local signal source and the master signal source in the positioning signal of the local signal source; and

when the local signal source is a master signal source, the synchronization information acquisition unit of the local signal source locally acquires the transmission time information of the local positioning signal, the synchronization information acquisition unit of the local signal source also calculates the clock deviation information and the clock drift information between the local signal source and each other slave signal source according to the transmission time carried in the positioning signal from each other slave signal source and the receiving time of the main signal source receiving the positioning signal of each other slave signal source, and the positioning signal generation unit of the local signal source loads the acquired transmission time information of the local positioning signal and the clock deviation information and the clock drift information between the local signal source and each other slave signal source in the positioning signal of the local signal source.

8. A positioning signal generating method of a positioning system, wherein the positioning system includes a plurality of signal sources, the positioning signal generating method comprising: time-division broadcasting a positioning signal by each of the plurality of signal sources at different time slots, the positioning signal carrying synchronization information between a local signal source and other signal sources, wherein the positioning signal is transmitted to the other signal sources,

the synchronization information comprises the transmission time information of the local positioning signal and the clock deviation information between the local signal source and other signal sources.

9. The positioning signal generating method according to claim 8, further comprising:

according to positioning signals from other signal sources, calculating synchronous information between the local signal source and other signal sources through the local signal source; and

generating a positioning signal, wherein the synchronization information is loaded in the generated positioning signal.

10. The positioning signal generating method according to claim 8, further comprising:

locally acquiring the transmitting time information of the local positioning signal, and calculating the clock deviation information between the local signal source and each other signal source according to the transmitting time carried in the positioning signal from each other signal source and the receiving time of the local signal source receiving the positioning signal of each other signal source; and

and loading the obtained transmitting time information of the local positioning signal and the clock deviation information between the local signal source and each other signal source into the positioning signal of the local signal source.

11. The localization signal generating method of claim 8, wherein the plurality of signal sources includes a master signal source and a slave signal source, the localization signal generating method further comprising:

when the local signal source is a slave signal source, locally obtaining the transmission time information of the local positioning signal, calculating the clock deviation information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source, and loading the obtained transmission time information of the local positioning signal and the clock deviation information between the local signal source and the master signal source into the positioning signal of the local signal source; and

when the local signal source is a main signal source, locally obtaining the transmitting time information of the local positioning signal, calculating the clock deviation information between the local signal source and each other slave signal source according to the transmitting time carried in the positioning signal from each other slave signal source and the receiving time of the main signal source receiving the positioning signal of each other slave signal source, and loading the obtained transmitting time information of the local positioning signal and the clock deviation information between the local signal source and each other slave signal source in the positioning signal of the local signal source.

12. The positioning-signal generating method of claim 8, wherein the synchronization information further includes clock drift information between a local signal source and other signal sources.

13. The positioning-signal generating method according to claim 12, further comprising:

locally acquiring the transmitting time information of the local positioning signals, and calculating clock deviation information and clock drift information between the local signal source and each other signal source according to the transmitting time carried in the positioning signals from each other signal source and the receiving time of the local signal source receiving the positioning signals of each other signal source; and

and loading the obtained emission moment information of the local positioning signal, and clock deviation information and clock drift information between the local signal source and other signal sources into the positioning signal of the local signal source.

14. The localization signal generating method of claim 12, wherein the plurality of signal sources includes a master signal source and a slave signal source,

the positioning signal generation method further includes:

when the local signal source is a slave signal source, locally obtaining the transmission time information of the local positioning signal, calculating the clock deviation information and the clock drift information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source, and loading the obtained transmission time information of the local positioning signal, the clock deviation information and the clock drift information between the local signal source and the master signal source into the positioning signal of the local signal source; and

when the local signal source is a main signal source, locally obtaining the transmitting time information of the local positioning signal, calculating the clock deviation information and the clock drift information between the local signal source and each other slave signal source according to the transmitting time carried in the positioning signal from each other slave signal source and the receiving time of the main signal source receiving the positioning signal of each other slave signal source, and loading the obtained transmitting time information of the local positioning signal and the clock deviation information and the clock drift information between the local signal source and each other slave signal source in the positioning signal of the local signal source.

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