CN111856514A - Synchronous pseudolite positioning method and system - Google Patents
Synchronous pseudolite positioning method and system Download PDFInfo
- Publication number
- CN111856514A CN111856514A CN202010532052.9A CN202010532052A CN111856514A CN 111856514 A CN111856514 A CN 111856514A CN 202010532052 A CN202010532052 A CN 202010532052A CN 111856514 A CN111856514 A CN 111856514A
- Authority
- CN
- China
- Prior art keywords
- pseudolite
- gnss
- clock
- signal
- satellite
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 24
- 230000006855 networking Effects 0.000 claims abstract description 23
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000012937 correction Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 230000000306 recurrent effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 description 6
- 230000002441 reversible effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
- G01S19/115—Airborne or satellite based pseudolites or repeaters
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
Landscapes
- Engineering & Computer Science (AREA)
- 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 provides a synchronous pseudo-satellite positioning method and system, relates to the field of satellite navigation, and can solve the problem of compatibility with the existing GNSS system, GNSS signals and GNSS receivers. The specific technical scheme is as follows: and (4) pseudolite networking configuration and pseudolite GNSS reproduction signals are positioned. The pseudo satellite positioning can be realized by adopting a common GNSS receiver and a commonly adopted GNSS system positioning method. The positioning by utilizing the pseudo satellite signals under the shielding environment is realized, and meanwhile, the compatibility of GNSS receiver hardware and the compatibility of bottom layer software are kept. The method is used for pseudo satellite positioning with GNSS receiver hardware compatibility.
Description
Technical Field
The present disclosure relates to the field of satellite navigation, and in particular, to a method and a system for positioning a pseudolite synchronously.
Background
Satellite navigation is a technique for performing one-way ranging on GNSS signals and combining satellite orbit estimation for user position, velocity, and time determination. The satellite navigation receiver can accurately position by utilizing good incident signals, the common single-point positioning precision is 5-10 meters, and the RTK positioning precision can reach centimeter level. However, satellite signals are shielded by buildings and terrains, when the receiver is in environments such as 'urban canyons', tunnels, indoor and deeper mining areas, the number of visible satellites is reduced, the geometrical layout of the constellation is poor, and the usability, integrity and reliability of satellite positioning are seriously reduced.
In response to some of the deficiencies of satellite navigation, pseudolite positioning technology has been developed to some extent. The pseudolite generally adopts a ground-based signal transmitter to provide a GNSS-like positioning signal in an area where a satellite navigation signal is weak or missing, and assists in enhancing the satellite navigation positioning function or realizing independent positioning. The GNSS satellite navigation system can be effectively enhanced by utilizing the pseudolite technology, the number of visible satellites is increased, the geometrical layout of a constellation is improved, and meanwhile, the pseudolite has the characteristics of strong anti-jamming capability, flexible networking and the like.
The design of a pseudolite hardware system emphasizes synchronous pseudolites, reverse pseudolites and forwarding pseudolites according to different functions. The synchronous pseudolite refers to a time system which can keep approximate synchronization with a GNSS satellite clock; the reverse pseudolite is that a pseudolite device transmits signals on a moving platform, and a plurality of fixed receivers receive the signals for positioning; the principle of the repeater pseudolite is that received real GNSS signals are re-transmitted in different places after being amplified, the GNSS signals from different directions are converged at the position of a receiving antenna of the repeater pseudolite, the arrival time of each satellite signal is fixed, and almost no method is available for adjusting through extra processing, so that if the repeater signals are directly used for positioning, the obtained resolving data is the position of the receiving antenna and is irrelevant to the position of a user.
When designing a pseudolite positioning system, particularly a pseudolite transmitter, the first problem is how to realize compatibility with the existing GNSS system, GNSS signals and GNSS receivers. In the various pseudolite positioning systems described above, the reverse pseudolite is in principle incompatible with existing GNSS receivers; the transponder pseudolite is best compatible but does not give a dynamic user position, only a fixed position of the pseudolite antenna.
Disclosure of Invention
The disclosed embodiment provides a synchronous pseudolite positioning method and system, which can solve the problem that a reverse pseudolite is incompatible with the existing GNSS receiver in principle in various pseudolite positioning systems; the transponder pseudolite is best compatible but cannot give dynamic user position, only the fixed position of the pseudolite antenna. The method comprises the design and deployment of a pseudo satellite transmitter and a software change scheme of a universal GNSS receiver, realizes the positioning by utilizing pseudo satellite signals in a shielding environment, and simultaneously keeps the hardware compatibility and the bottom layer software compatibility of the GNSS receiver. The technical scheme is as follows:
according to a first aspect of embodiments of the present disclosure, there is provided a method for synchronized pseudolite positioning, the method comprising:
The pseudolite networking configuration is that the pseudolite provides a GNSS recurrent signal S through the No. i pseudolite of a GNSS receiveriObtaining t by resolvinguThree-dimensional position of time of day
Three dimensional velocity
User clock error
And user's clock float
Wherein, tuA receiver clock; three dimensional position
Is PLiEstimating a coordinate point;
reproduction of signals S by pseudolite GNSSiPositioning is carried out, GNSS reproduction signal SiiRefers to the pseudolite transmissionAntenna phase center coordinate point PLiPL without being blocked on the connection line of the phase center coordinate point of the GNSS satellite antennaiAnd the coordinate point receives the arrival signals of the GNSS satellite in real time.
In one embodiment, pseudolite networking configuration refers to networking using M pseudolites in a GNSS signal-obscured environment to provide positioning signals for a GNSS receiver entering the environment;
wherein M represents the number of pseudolites in the network and satisfies
M is greater than or equal to the positioning dimension +1
The location dimension may take 1, or 2, or 3, depending on the environmental characteristics or user requirements.
In one embodiment, the phase center of the networking pseudo satellite transmitting antenna is subjected to position calibration under a geocentric geostationary coordinate system, so that the pseudo satellite positioning coordinate frame is compatible with a GNSS system;
PL for calibrated coordinates of phase center of each pseudolite transmitting antenna iRepresents where i ∈ [1, 2, …, M]Numbering networked satellites, PLiCorresponding to pseudolite No. i; satellite-borne signal generator SG of No. i pseudo satelliteiReal-time generation of PLiGNSS reproduction signal S of coordinate pointiAnd transmitted through the antenna.
In one embodiment, PLiGNSS reproduction signal S of coordinate pointiMeans PLiUnder the condition that a connection line between a coordinate point and a GNSS satellite antenna phase center coordinate point is not blocked, the GNSS satellite transmits a signal to directly reach PLiCoordinate point, PLiL received in real time by coordinate pointiThe arrival waves of the satellites are combined into a signal,
wherein,
to set the GNSS satellite signal to reach PL directlyiIn case of a coordinate point, pseudolite No. iAt PLiReceived coordinate points
An arrival signal transmitted by a satellite; l isiThe number of GNSS satellites selected for the ith pseudolite is defined.
According to known PLiCoordinate points generated and transmitted at PL using a conventional signal source for pseudolite number iiGNSS reproduction signal S of coordinate pointiThe synchronization between the clock of the pseudo satellite signal generator and the clock of the GNSS system can be realized by a satellite-borne GNSS receiver timing method of the pseudo satellite.
In one embodiment, the user's clock difference
Including conventional clock error terms of GNSS receivers
Pseudolite clock delay 
Pseudolite PLiSignal propagation delay of coordinate point from GNSS receiver antenna phase center
And clock error noise term of unmodeled error
The user clock error
Is shown as
User clock float
Including conventional clock drift term of GNSS receiver
Pseudolite clock delay
Pseudolite PLiDoppler generated by relative motion between coordinate point and GNSS receiver antenna phase center
And clock drift noise term for unmodeled errors
User clock float
Is shown as
Wherein,
and
respectively setting the phase center of the GNSS receiver antenna at any PLiCoordinate point at the same tuClock difference value and clock drift value of time positioning calculation.
In one embodiment, since the GNSS receiver is a same source clock and the clock difference value and the clock drift value are only related to the GNSS receiver clock, there is a relationship
User clock error
Clock drift with user
Are respectively contained
And
the components are common-mode measurement errors of all pseudolites in the network.
In one embodiment, in a clock-synchronized networked pseudolite system, the pseudolite clock has a constant offset from the GNSS system clock,
component and
the components also belong to common mode measurement errors of all pseudolites in the network group;
clock error of user
In, GNSS receiver and said pseudolite PL iWith respect to the pseudolite PL, the distance-induced signal propagation delay with respect to the pseudolite PLiEach GNSS signal broadcast is the same and is addressed to the pseudolite PL by the GNSS receiveriPseudo satellite signal propagation delay output after broadcast signal positioning calculation
Float on user's clock
In relation to said pseudolite PL, a GNSS receiveriIs superimposed on the pseudolite PL, Doppler effect due to the projection component of the velocity in the direct directioniAt each GNSS signal frequency broadcast and to pseudolite PL via said GNSS receiveriBroadcast signal is positioned, analyzed and calculatedLate acquired pseudolite signal propagation delay rate
The GNSS signal matching principle and grouping transmitted by each pseudolite in the networking are as follows:
the GNSS satellite selected by each pseudolite can be used for the satellite of any system of global positioning or regional positioning;
the geometric layout formed by the GNSS satellites selected by the pseudolites in respective orbits meets the condition that the GNSS receiver can normally position after receiving a single pseudolite signal;
the GNSS satellite and the signal selected by each pseudolite should select the same GNSS satellite and the same signal carrier frequency transmitted by the same pseudolite.
The synchronous pseudolite positioning method provided by the embodiment of the disclosure can realize GNSS signal compatibility. The signal compatibility means that signal air interface compatibility is realized, and positioning under a GNSS signal shielding environment can be realized by using a networking pseudolite only through a small amount of top-layer software modification; and GNSS system compatibility can be realized. Because the networking pseudo satellite clock system and the GNSS system have constant deviation (quasi-synchronization) and the networking pseudo satellite virtual constellation is consistent with and real-time synchronous with the GNSS system constellation, the GNSS receiver can quickly recapture and track signals for positioning when entering a GNSS shielding environment after outdoor positioning; GNSS system compatibility is also reflected in positioning framework consistency, i.e., the receiver can achieve cold start positioning in a networked pseudolite environment.
According to a second aspect of embodiments of the present disclosure, there is provided a synchronized pseudolite positioning system comprising: the system comprises a signal generator, an integrated pseudolite system, a configuration pseudolite system and a pseudolite clock synchronization and correction system;
the signal generator is a multi-system, multi-frequency-point and multi-navigation signal system signal generator;
the integrated pseudo satellite system is formed by integrating a signal generator, a network communication unit, a reference receiver, a processing unit, a clock synchronization calibration unit and a software component;
Configuring a pseudo satellite system, and respectively configuring a pseudo satellite system simulation GNSS system, a satellite number, a frequency and a modulation mode;
a pseudo satellite clock synchronization and correction system is provided, a clock synchronization filter is arranged for realizing pseudo satellite time synchronization at a transmitting end, and accurate frequency control clocks of all pseudo satellites are controlled to be finely adjusted to achieve synchronization through measurement parameters sent by a reference receiver.
The networking pseudo satellite system provided by the synchronous pseudo satellite positioning system provided by the embodiment of the disclosure is seamlessly compatible with a GNSS system positioning principle framework, and the pseudo satellite positioning can be realized by adopting a common GNSS receiver and a commonly adopted GNSS system positioning method.
Each GNSS satellite orbit can be precisely extrapolated through a long-term orbit prediction algorithm, so that a pseudo-satellite signal generator can generate signals in advance and buffer the signals, the calculation burden of a system is relieved, or an effective way is provided for low-cost application. In a GNSS receiver pseudolite coordinate calculation program, the prior condition of pseudolite stillness is fully utilized, and the algorithm performance and the accuracy of a result are enhanced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart of a method of synchronized pseudolite positioning provided by an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a synchronous pseudolite positioning system according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The first embodiment,
The embodiment of the present disclosure provides a method for positioning a pseudolite synchronously, as shown in fig. 1, the data transmission method includes the following steps:
101. pseudolite networking configuration
Providing GNSS recurrent signal S through the pseudo satellite No. i of the universal GNSS receiver iObtaining t by resolvinguThree-dimensional position of time of day
Three dimensional velocity
User clock error
And user's clock float
Wherein, tuA receiver clock; three dimensional position
Is PLiEstimating a coordinate point; three dimensional velocity
Approaching to 0;
in one embodiment, pseudolite networking configuration refers to networking using M pseudolites in a GNSS signal-obscured environment to provide positioning signals for a GNSS receiver entering the environment;
wherein M represents the number of pseudolites in the network and satisfies
M is greater than or equal to the positioning dimension +1
The location dimension may take 1, or 2, or 3, depending on the environmental characteristics or user requirements.
In one embodiment, the phase center of the networking pseudo satellite transmitting antenna is subjected to position calibration under a geocentric geostationary coordinate system, so that the pseudo satellite positioning coordinate frame is compatible with a GNSS system;
PL for calibrated coordinates of phase center of each pseudolite transmitting antennaiRepresents where i ∈ [1, 2, …, M]Numbering networked satellites, PLiCorresponding to pseudolite No. i; satellite-borne signal generator SG of No. i pseudo satelliteiReal-time generation of PLiGNSS reproduction signal S of coordinate pointiAnd transmitted through the antenna.
102. Reproduction of signals S by pseudolite GNSSiTo perform positioning
GNSS recurrent signal S iiRefers to a phase center coordinate point PL of a pseudo satellite transmitting antennaiPL without being blocked on the connection line of the phase center coordinate point of the GNSS satellite antennaiAnd the coordinate point receives the arrival signals of the GNSS satellite in real time.
In one embodiment, PLiGNSS reproduction signal S of coordinate pointiMeans PLiUnder the condition that a connection line between a coordinate point and a GNSS satellite antenna phase center coordinate point is not blocked, the GNSS satellite transmits a signal to directly reach PLiCoordinate point, PLiL received in real time by coordinate pointiThe arrival waves of the satellites are combined into a signal,
wherein,
to set the GNSS satellite signal to reach PL directlyiIn the case of coordinate points, pseudolite No. i is at PLiReceived coordinate points
An arrival signal transmitted by a satellite; l isiIs defined as the ithThe number of GNSS satellites selected by the pseudolite.
According to known PLiCoordinate points generated and transmitted at PL using a conventional signal source for pseudolite number iiGNSS reproduction signal S of coordinate pointiThe synchronization between the clock of the pseudo satellite signal generator and the clock of the GNSS system can be realized by a satellite-borne GNSS receiver timing method of the pseudo satellite.
In one embodiment, the user's clock difference
Including conventional clock error terms of GNSS receivers
Pseudolite clock delay
Pseudolite PL iSignal propagation delay of coordinate point from GNSS receiver antenna phase center
And clock error noise term of unmodeled error
The user clock error
Is shown as
User clock float
Including conventional clock drift term of GNSS receiver
Pseudolite clock delay
Pseudolite PLiDoppler generated by relative motion between coordinate point and GNSS receiver antenna phase center
And clock drift noise term for unmodeled errors
User clock float
Is shown as
Wherein,
and
respectively setting the phase center of the GNSS receiver antenna at any PLiCoordinate point at the same tuClock difference value and clock drift value of time positioning calculation.
In one embodiment, since the GNSS receiver is a same source clock and the clock difference value and the clock drift value are only related to the GNSS receiver clock, there is a relationship
User clock error
Clock drift with user
Are respectively contained
And
the components are common-mode measurement errors of all pseudolites in the network.
In one embodiment, in a clock-synchronized networked pseudolite system, the pseudolite clock has a constant offset from the GNSS system clock,
component and
the components also belong to common mode measurement errors of all pseudolites in the network group;
clock error of user
In, GNSS receiver and said pseudolite PL iWith respect to the pseudolite PL, the distance-induced signal propagation delay with respect to the pseudolite PLiEach GNSS signal broadcast is the same and is addressed to the pseudolite PL by the GNSS receiveriPseudo satellite signal propagation delay output after broadcast signal positioning calculation
Float on user's clock
In relation to said pseudolite PL, a GNSS receiveriIs superimposed on the pseudolite PL, Doppler effect due to the projection component of the velocity in the direct directioniAt each GNSS signal frequency broadcast and to pseudolite PL via said GNSS receiveriPseudo-satellite signal propagation delay rate obtained after broadcast signal is positioned and resolved
The GNSS signal matching principle and grouping transmitted by each pseudolite in the networking are as follows:
the GNSS satellite selected by each pseudolite can be used for the satellite of any system of global positioning or regional positioning;
the geometric layout formed by the GNSS satellites selected by the pseudolites in respective orbits meets the condition that the GNSS receiver can normally position after receiving a single pseudolite signal;
the GNSS satellite and the signal selected by each pseudolite should select the same GNSS satellite and the same signal carrier frequency transmitted by the same pseudolite.
The synchronous pseudolite positioning method provided by the embodiment of the disclosure can realize GNSS signal compatibility. The signal compatibility means that signal air interface compatibility is realized, and positioning under a GNSS signal shielding environment can be realized by using a networking pseudolite only through a small amount of top-layer software modification; and GNSS system compatibility can be realized. Because the networking pseudo satellite clock system and the GNSS system have constant deviation (quasi-synchronization) and the networking pseudo satellite virtual constellation is consistent with and real-time synchronous with the GNSS system constellation, the GNSS receiver can quickly recapture and track signals for positioning when entering a GNSS shielding environment after outdoor positioning; GNSS system compatibility is also reflected in positioning framework consistency, i.e., the receiver can achieve cold start positioning in a networked pseudolite environment.
Based on the above-described pseudolite positioning method in the embodiment corresponding to fig. 1, the following is an embodiment of the apparatus of the present disclosure, which may be used to execute the embodiment of the method of the present disclosure.
Example II,
The disclosed embodiment provides a synchronous pseudolite positioning system, as shown in fig. 2, the system 20 includes: signal generator 201, integrated pseudolite system 202, configuration pseudolite system 203, pseudolite clock synchronization and correction system 204;
The signal generator 201 is a multi-system, multi-frequency-point and multi-navigation signal system signal generator;
an integrated pseudolite system 202 for integrating the signal generator with the network communication unit, the reference receiver, the processing unit, the clock synchronization calibration unit and the software components to form an integrated pseudolite system;
configuring a pseudo satellite system 203, and respectively configuring a pseudo satellite system simulation GNSS system, a satellite number, a frequency and a modulation mode;
the pseudolite clock synchronization and correction system 205 is configured to implement pseudolite time synchronization at the transmitting end, and a clock synchronization filter is provided to control the accurate frequency control clock of each pseudolite to be finely adjusted to achieve synchronization by referring to the measurement parameters sent by the receiver.
Example III,
In one embodiment, a synchronous pseudolite positioning system embodiment;
a signal generator is developed, a multi-system, multi-frequency point and multi-navigation signal system signal generator is developed by utilizing the existing signal source technology, when any point coordinate is set, a GNSS satellite baseband signal which can be received by the point in an ideal non-shielding environment can be generated in real time, additive synthesis can be carried out according to the configured system, satellite number, frequency point and signal modulation mode, and finally radiation is carried out by an antenna through radio frequency links of digital-to-analog conversion, up-conversion, power tuning and the like.
The integrated pseudo satellite system integrates the signal generator with the network communication unit, the reference receiver, the processing unit, the clock synchronization calibration unit and necessary components (including software) to form the pseudo satellite system. Deploying a pseudolite system, selecting a pseudolite installation point, precisely measuring the installation point by adopting a measurement method such as laser mapping to obtain the coordinate value of the installation point, and configuring the coordinate value into the corresponding pseudolite system. And fixing the pseudolite system, precisely calibrating the phase center and the mounting point of the transmitting antenna, and simultaneously adjusting the radiation pattern of the antenna to meet the coverage requirement of a positioning area.
A pseudolite system clock synchronization reference receiver system is installed that includes a network communication unit. And precisely measuring the mounting point of the antenna phase center of the pseudo-satellite reference receiver by using a measuring method, and deploying a reference receiver system.
And configuring a pseudo satellite system, and respectively configuring the simulated GNSS system, the satellite number, the frequency and the modulation mode of the pseudo satellite system, wherein the configuration mode can be manually performed or a special automatic configuration tool can be developed.
Pseudolite system clock synchronization and correction, there are currently a variety of pseudolite clock synchronization correction methods in which a pseudolite is not directly connected to a receiver but clock correction information is transmitted from the receiver or a reference pseudolite to the pseudolite. And a synchronous clock mode is adopted, the time of the pseudolite is synchronized at the transmitting end of the pseudolite system, so that the system provides a time correction value for each pseudolite, and each pseudolite adjusts the accurate clock of the pseudolite to synchronize to the standard time of the system according to a command. As with the system, a monitoring station is also required in a synchronous mode pseudolite system. The monitoring station obtains a pseudolite clock error; clock synchronization commands are generated from the clock difference, directly affecting the pseudolite's signal clock, so that the pseudolites are synchronized. The pseudo satellite time synchronization is realized at a transmitting end, a clock synchronization filter is designed, and the accurate frequency control clocks of all pseudo satellites are controlled to be finely adjusted through the measurement parameters sent by a reference receiver so as to achieve synchronization. In addition, this step may be omitted if the same source clock is designed for the pseudolite system. And modifying common receiver software to ensure that the positioning strategy meets the requirements of a pseudolite system, including channel grouping positioning, pseudolite positioning parameter calculation, software top-level pseudolite positioning and the like. The software functions compatible with the pseudolite positioning and the GNSS positioning further comprise the steps of automatically identifying the pseudolite environment according to the signal intensity of each channel and switching the positioning strategies of the pseudolite environment and the GNS signal environment.
In addition, in the aspect of the operation of the pseudolite system, because the mounting coordinate point of each pseudolite antenna is fixed, and meanwhile, each GNSS satellite orbit can be precisely extrapolated through a long-term orbit prediction algorithm, a pseudolite signal generator can generate and buffer signals in advance, the calculation burden of the system is relieved, or an effective way is provided for low-cost application. In a GNSS receiver pseudolite coordinate calculation program, the prior condition of pseudolite stillness is fully utilized, and the algorithm performance and the accuracy of a result are enhanced.
The networking pseudo satellite system provided by the synchronous pseudo satellite positioning system provided by the embodiment of the disclosure is seamlessly compatible with a GNSS system positioning principle framework, and the pseudo satellite positioning can be realized by adopting a common GNSS receiver and a commonly adopted GNSS system positioning method.
Each GNSS satellite orbit can be precisely extrapolated through a long-term orbit prediction algorithm, so that a pseudo-satellite signal generator can generate signals in advance and buffer the signals, the calculation burden of a system is relieved, or an effective way is provided for low-cost application. In a GNSS receiver pseudolite coordinate calculation program, the prior condition of pseudolite stillness is fully utilized, and the algorithm performance and the accuracy of a result are enhanced.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A method of synchronized pseudolite positioning, the method comprising:
pseudo satellite networking configuration, wherein under the environment shielded by GNSS signals, the pseudo satellite I number of the GNSS receiver provides GNSS recurrent signals SiT is obtained by analytic calculationuThree-dimensional position of time of day
Three dimensional velocity
User clock error
And user's clock float
Wherein, tuA receiver clock; three dimensional position
Is PLiEstimating a coordinate point;
by means of said pseudolite GNSS reproduction signal SiPositioning is carried out, the GNSS reproduction signal SiIs the phase center coordinate point PL of the pseudo satellite transmitting antennaiPL without being blocked on the connection line of the phase center coordinate point of the GNSS satellite antenna iAnd the coordinate point receives the arrival signals of the GNSS satellite in real time.
2. The method of claim 1, wherein the pseudolite networking configuration is networking using M pseudolites in a GNSS signal obscured environment to provide positioning signals for GNSS receivers entering the environment; wherein M represents the number of pseudolites in the network and satisfies
M is greater than or equal to the positioning dimension +1
The location dimension may take 1, or 2, or 3, depending on the environmental characteristics or user requirements.
3. The method of claim 2, wherein the phase centers of the networked pseudolite transmit antennas are position-calibrated in a geocentric geostationary coordinate system;
PL for calibrated coordinates of phase center of each pseudolite transmitting antennaiRepresents where i ∈ [1, 2, …, M]Numbering networked satellites, PLiCorresponding to pseudolite No. i; satellite-borne signal generator SG of No. i pseudo satelliteiReal-time generation of PLiThe GNSS recurrent signal S of the coordinate pointiAnd transmitted through the antenna.
4. The method of claim 3, wherein the PLiGNSS reproduction signal S of coordinate pointiMeans PLiThe connection line between the coordinate point and the GNSS satellite antenna phase center coordinate point is not provided with Under the condition of shielding, the GNSS satellite transmits signals to directly reach PLiCoordinate point, PLiL received in real time by coordinate pointiThe arrival waves of the satellites are combined into a signal,
wherein,
to set the GNSS satellite signal to reach PL directlyiIn the case of coordinate points, pseudolite No. i is at PLiReceived coordinate points
An arrival signal transmitted by a satellite; l isiThe number of GNSS satellites selected for the ith pseudolite.
5. The method of claim 4, wherein the PL is known based oniCoordinate points generated by conventional signal source and transmitting the said pseudo satellite No. i at PLiGNSS reproduction signal S of coordinate pointiThe synchronization of the pseudo satellite signal generator clock and the GNSS system clock can be realized by a satellite-borne GNSS receiver timing method of the pseudo satellite.
6. The method of claim 1, wherein the user clock offset
Including conventional clock error terms of GNSS receivers
Pseudolite clock delay
Pseudolite PLiCoordinate point distance GNSS receiverSignal propagation delay at antenna phase center
And clock error noise term of unmodeled error
The user clock error
Is shown as
The user clock float
Including GNSS receiver conventional clock drift term
Pseudolite clock delay 
Pseudolite PLiDoppler generated by relative motion between coordinate point and GNSS receiver antenna phase center
Clock drift noise term for unmodeled errors
Wherein, the user floats
Is shown as
Wherein,
and
respectively setting the phase center of the GNSS receiver antenna at any PLiCoordinate point at the same tuClock difference value and clock drift value of time positioning calculation.
7. The method of claim 6, wherein the GNSS receiver is a same source clock, and the clock difference value and the clock drift value are only related to the GNSS receiver clock, such that there is a relationship
User clock error
Clock drift with user
Are respectively contained
And
the components are common-mode measurement errors of all pseudolites in the network.
8. The method of claim 7, wherein in the clock-synchronized networked pseudolite system, the pseudolite clock has a constant offset from the GNSS system clock,
component and
the components also belong to common mode measurement errors of all pseudolites in the network group;
at the user clock error
In, GNSS receiver and said pseudolite PLiWith respect to the pseudolite PL, the distance-induced signal propagation delay with respect to the pseudolite PLiEach GNSS signal broadcast is the same and is addressed to the pseudolite PL by the GNSS receiver iPseudo satellite signal propagation delay obtained after broadcast signal is subjected to positioning analysis calculation
At the user clock drift
In relation to said pseudolite PL, a GNSS receiveriIs superimposed on the pseudolite PL, and a doppler effect caused by the projection component of the velocity in the direct direction of (b) is superimposed on the pseudolite PLiAt each GNSS signal frequency broadcast and to pseudolite PL via said GNSS receiveriPseudo satellite signal propagation delay rate obtained after broadcast signal is subjected to positioning analysis calculation
9. The method according to any of claims 1-8, wherein the GNSS signals transmitted by each pseudolite in the network are sorted and grouped according to:
the GNSS satellite selected by each pseudolite can be used for the satellite of any system of global positioning or regional positioning;
the geometric layout formed by the GNSS satellites selected by the pseudolites in respective orbits meets the condition that the GNSS receiver can normally position after receiving a single pseudolite signal;
the GNSS satellite and the signal selected by each pseudolite select the same GNSS satellite and the same signal carrier frequency transmitted by the same pseudolite, but the carrier modulation modes are different.
10. A system for synchronized pseudolite positioning, the system comprising a signal generator 201, an integrated pseudolite system 202, a configuration pseudolite system 203, a pseudolite clock synchronization and correction system 204;
The signal generator 201 is a multi-system, multi-frequency-point and multi-navigation signal system signal generator;
the integrated pseudolite system 202 is used for integrating the signal generator 201 with a network communication unit, a reference receiver, a processing unit, a clock synchronization calibration unit and a software component to form an integrated pseudolite system;
the pseudo satellite system 203 is configured to configure the pseudo satellite system simulation GNSS system, the satellite number, the frequency and the modulation mode respectively;
the pseudolite clock synchronization and correction system 204 is configured to set a clock synchronization filter for synchronizing the pseudolite time at the transmitting end, and to control the accurate frequency control clock of each pseudolite to be finely adjusted to achieve synchronization by referring to the measurement parameters sent by the receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010532052.9A CN111856514B (en) | 2020-06-11 | 2020-06-11 | Synchronous pseudo-satellite positioning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010532052.9A CN111856514B (en) | 2020-06-11 | 2020-06-11 | Synchronous pseudo-satellite positioning method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111856514A true CN111856514A (en) | 2020-10-30 |
| CN111856514B CN111856514B (en) | 2024-06-14 |
Family
ID=72986071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010532052.9A Active CN111856514B (en) | 2020-06-11 | 2020-06-11 | Synchronous pseudo-satellite positioning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111856514B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112526550A (en) * | 2020-11-26 | 2021-03-19 | 中国电子科技集团公司第五十四研究所 | Homologous array pseudolite system |
| CN116184440A (en) * | 2022-12-13 | 2023-05-30 | 杭州逗酷软件科技有限公司 | Time synchronization method and device, equipment, storage medium |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050015198A1 (en) * | 2001-11-06 | 2005-01-20 | Chang-Don Kee | Pseudolite-based precise positioning system with synchronised pseudolites |
| CN101158719A (en) * | 2007-11-16 | 2008-04-09 | 上海伽利略导航有限公司 | False satellite sub-decimeter level indoor position location system and carrier phase positioning method thereof |
| US20110025555A1 (en) * | 2009-07-29 | 2011-02-03 | Whitehead Michael L | System and method for augmenting dgnss with internally-generated differential correction |
| US20110037648A1 (en) * | 2009-08-17 | 2011-02-17 | Electronics And Telecommunications Research Institute | Apparatus for transmitting pseudollite signal based on single clock and positioning system using the same |
| JP2012251959A (en) * | 2011-06-06 | 2012-12-20 | Rcs:Kk | Radio positioning system and radio positioning device |
| CN103576176A (en) * | 2013-11-11 | 2014-02-12 | 中国电子科技集团公司第五十四研究所 | Differential positioning method for directly-launched signal differential pseudo satellite and satellite and ground combination |
| CN104062895A (en) * | 2014-06-26 | 2014-09-24 | 桂林电子科技大学 | Pseudolite time synchronization method and positioning method thereof |
| CN104122567A (en) * | 2014-07-29 | 2014-10-29 | 中国电子科技集团公司第五十四研究所 | Positioning method with combination of pseudolites, GPS (global positioning system) and Beidou Navigation System |
| CN105319563A (en) * | 2014-07-30 | 2016-02-10 | 华平信息技术股份有限公司 | Beidou satellite signal receiving system and method |
| CN105867108A (en) * | 2016-06-20 | 2016-08-17 | 中国科学院国家授时中心 | National standard time remote recurrence method |
| CN106405586A (en) * | 2016-10-18 | 2017-02-15 | 北京理工雷科电子信息技术有限公司 | Satellite navigation simulator and time-synchronization high-fidelity navigation signal reproducing method |
| CN106980122A (en) * | 2017-04-07 | 2017-07-25 | 湖南国科防务电子科技有限公司 | Satellite navigation positioning strengthening system and method under indoor environment |
| CN107490797A (en) * | 2017-09-26 | 2017-12-19 | 电子科技大学 | A kind of pseudo satellite, pseudolite layout method for being used to improve positioning precision |
| CN109358487A (en) * | 2018-10-10 | 2019-02-19 | 武汉大学 | A kind of pseudolite system and method based on GNSS precision timing |
-
2020
- 2020-06-11 CN CN202010532052.9A patent/CN111856514B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050015198A1 (en) * | 2001-11-06 | 2005-01-20 | Chang-Don Kee | Pseudolite-based precise positioning system with synchronised pseudolites |
| CN101158719A (en) * | 2007-11-16 | 2008-04-09 | 上海伽利略导航有限公司 | False satellite sub-decimeter level indoor position location system and carrier phase positioning method thereof |
| US20110025555A1 (en) * | 2009-07-29 | 2011-02-03 | Whitehead Michael L | System and method for augmenting dgnss with internally-generated differential correction |
| US20110037648A1 (en) * | 2009-08-17 | 2011-02-17 | Electronics And Telecommunications Research Institute | Apparatus for transmitting pseudollite signal based on single clock and positioning system using the same |
| JP2012251959A (en) * | 2011-06-06 | 2012-12-20 | Rcs:Kk | Radio positioning system and radio positioning device |
| CN103576176A (en) * | 2013-11-11 | 2014-02-12 | 中国电子科技集团公司第五十四研究所 | Differential positioning method for directly-launched signal differential pseudo satellite and satellite and ground combination |
| CN104062895A (en) * | 2014-06-26 | 2014-09-24 | 桂林电子科技大学 | Pseudolite time synchronization method and positioning method thereof |
| CN104122567A (en) * | 2014-07-29 | 2014-10-29 | 中国电子科技集团公司第五十四研究所 | Positioning method with combination of pseudolites, GPS (global positioning system) and Beidou Navigation System |
| CN105319563A (en) * | 2014-07-30 | 2016-02-10 | 华平信息技术股份有限公司 | Beidou satellite signal receiving system and method |
| CN105867108A (en) * | 2016-06-20 | 2016-08-17 | 中国科学院国家授时中心 | National standard time remote recurrence method |
| CN106405586A (en) * | 2016-10-18 | 2017-02-15 | 北京理工雷科电子信息技术有限公司 | Satellite navigation simulator and time-synchronization high-fidelity navigation signal reproducing method |
| CN106980122A (en) * | 2017-04-07 | 2017-07-25 | 湖南国科防务电子科技有限公司 | Satellite navigation positioning strengthening system and method under indoor environment |
| CN107490797A (en) * | 2017-09-26 | 2017-12-19 | 电子科技大学 | A kind of pseudo satellite, pseudolite layout method for being used to improve positioning precision |
| CN109358487A (en) * | 2018-10-10 | 2019-02-19 | 武汉大学 | A kind of pseudolite system and method based on GNSS precision timing |
Non-Patent Citations (4)
| Title |
|---|
| 万晓光: "伪卫星组网定位技术研究", 中国博士学位论文全文数据库 信息科技辑 * |
| 徐洪亮: "GNSS性能增强技术研", 中国博士学位论文全文数据库 信息科技辑 * |
| 朱祥维: "基于广义伪卫星的新一代GNSS增强系统", 测绘通报 * |
| 王晖辉;战兴群;翟传润;万晓光;: "伪卫星增强GPS定位技术及现状分析", 测绘科学, no. 03 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112526550A (en) * | 2020-11-26 | 2021-03-19 | 中国电子科技集团公司第五十四研究所 | Homologous array pseudolite system |
| CN112526550B (en) * | 2020-11-26 | 2022-12-06 | 中国电子科技集团公司第五十四研究所 | Homologous array pseudolite system |
| CN116184440A (en) * | 2022-12-13 | 2023-05-30 | 杭州逗酷软件科技有限公司 | Time synchronization method and device, equipment, storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111856514B (en) | 2024-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12078733B2 (en) | Navigation Satellite System reception device, method for processing Navigation Satellite signal from same, and program | |
| US8989652B2 (en) | Advanced timing and time transfer for satellite constellations using crosslink ranging and an accurate time source | |
| US8810452B2 (en) | Network location and synchronization of peer sensor stations in a wireless geolocation network | |
| EP2661933B1 (en) | System and method for time synchronizing wireless network access points | |
| CA2066831C (en) | Vehicle tracking system employing global positioning system (gps) satellites | |
| EP1999481B1 (en) | Enhancement of gnss position determination in poor signal propagation environments | |
| US9000977B2 (en) | Indoor altitude measurement by GNSS receiver | |
| JP6546658B2 (en) | Satellite signal receiving apparatus, satellite signal receiving method and program | |
| CA2738268A1 (en) | Distributed distance measurement system for locating a geostationary satellite | |
| US20180143328A1 (en) | Transmission of gnss signals using a radio communication network | |
| CN111856514A (en) | Synchronous pseudolite positioning method and system | |
| Betz | Fundamentals of Satellite‐Based Navigation and Timing | |
| KR100506382B1 (en) | Wide area pseudolite navigation system | |
| KR20170115786A (en) | Method for precise orbit determination of geostationary orbit satellite for satellite based augmentation system by adding vessel equippewd reference station, and control station | |
| JP5478358B2 (en) | Position and / or time information distribution device | |
| JP2008515352A (en) | Apparatus and method for CDMA time pseudolite for repeater identification | |
| KR20190139084A (en) | Methodn for position correction for rover using base station based on lte | |
| CN117607926B (en) | A Doppler differential positioning method for low-orbit opportunity signals considering baseline optimization | |
| CN119556307B (en) | Ionospheric delay monitoring and time synchronization system, method and application | |
| Pırtı | Testing the contribution, accuracy and performance of MGEX (GNSS (GPS+ GLONASS+ GALILEO+ BEIDOU+ QZSS)) positioning in the study region | |
| CN120428259A (en) | Integrated indoor and outdoor positioning system for vehicles in semi-sheltered workshops based on pseudolites | |
| CN119544028A (en) | A high-precision time synchronization system, method and application thereof | |
| Test | Opening theGaTe | |
| KR20040052013A (en) | Apparatus for measuring location using wireless communication network and method thereof | |
| NAVEENA et al. | VEHICLE CRASHING AVOIDANCE USING WIRELESS SENSOR NETWORK |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |