CN102221685B - Code division multiple access (CDMA) wireless positioning method suitable for ultra-tight global positioning system (GPS)/strap-down inertial navigation system (SINS) integration - Google Patents

Abstract

The invention discloses a code division multiple access (CDMA) wireless positioning method suitable for ultra-tight global positioning system (GPS)/strap-down inertial navigation system (SINS) integration. The method comprises the following steps of: receiving a CDMA network pilot signal by using a CDMA signal transmission unit; measuring time for the propagation of the signal from all base stations to a mobile station, selecting a serving base station according to time of arrival (TOA), and calculating differences between the time for the propagation of the signal from the serving base station and the other base stations to the mobile station; performing resolution by using a time difference of arrival (TDOA) data resolution unit to generate a fuzzy solution of current location information of the mobile station; erasing the fuzzy resolution according to the location information, generated by the resolution at the last moment, of the mobile station; performing data fusion in a filter by utilizing the current location information resolved and generated by Kalman filtering and the current location information resolved and generated by CDMA wireless positioning, and generating positioning data; outputting positioning information which is the positioning data. The novel CDMA wireless positioning method provided by the invention is wider in application range and higher in positioning accuracy.

Description

The cdma wireless localization method of the hypercompact combination of a kind of suitable GPS/SINS

Technical field

The present invention is applicable to ground and the low level navigation field of locating technology such as urban transportation, it is the navigator fix requirement in order to reach high reliability, high viability and to locate greatly coverage, the research of the basis of cdma cellular net wireless location its with the fusion method of GPS/SINS hypercompact combination navigation system, realized the seamless location of high-precision CDMA three-dimensional.

Background technology

GPS and SINS are one of present most widely used navigational system.The GPS/SINS integrated navigation system is divided into three kinds at present usually, i.e. loose integrated mode, tight integrated mode and hypercompact integrated mode.Wherein, hypercompact integrated mode information fusion degree is the darkest, except the work that can finish pine combination and tight combination, also can utilize SINS measurement information assistant GPS receiver to the tracking of satellite, with information fusion deeply to GPS receiver tracking ring, thereby directly improve robustness, tracking power and the navigation accuracy of integrated navigation system integral body.

Yet along with for the space attack technology of satellite and the raising of ECM (Electronic Countermeasures), the GPS navigation mode manifests its fragility more and more.At first, the viability of GPS in complex environment a little less than; Secondly, the gps system confidentiality is poor, scale of investment is large, the construction period is long.Therefore, ensure for stronger location is provided, CDMA/ satellite, CDMA/ inertial navigation combined orientation technology become the new direction of wireless location technology.

Since TIA in 1993 ratified the IS-95 standard, the cdma wireless location technology was developed rapidly abroad.1996, FCC (FCC) promulgated the E-911 rules, required to October calendar year 2001, and 67% calling bearing accuracy reaches 125m.The countries such as Japan, Germany, France, Sweden and Finland also release various commercial positioning services one after another.At present, the transregional companys such as Motorola Inc., Nokia, Ericsson all are studied the wireless location technology of the WCDMA in the 3G mobile communication system, CDMA2000 network using.At home, Huawei, in the colleges and universities such as the company such as emerging and Chinese University of Science and Technology, Xian Electronics Science and Technology University, Beijing University of Post ﹠ Telecommunication also actively develop the research of CDMA location technology.

At present, CDMA/ satnav mode reaches its maturity.Wherein most widely used is the GPSOne technology, and it receives gps satellite by portable terminal positioning signal sends back the centre of location with it, returns to portable terminal after calculating the position of terminal again.The GPSOne technology has improved terminal positioning precision and sensitivity with the work simplification of terminal, and greatly reduces the terminal power consumption.The whole world surpasses 14 operators and has adopted the GPSOne location technology that pricise position service is provided, and has started the New Times of CDMA/ satellite radio location.

Yet in the GPSOne technology, the information fusion degree of CDMA and GPS is more shallow, and its main advantage is to accelerate locating speed, but not improves the combination property of positioning system.Simultaneously, also rarely has bibliographical information about SINS/CDMA or GPS/SINS/CDMA Study of location in recent years.In order to take full advantage of present locating resource realizing the city seamless navigation, increasingly mature along with the development of GPS/SINS integrated navigation technology and cdma wireless location technology is necessary to study the cdma wireless localization method of the hypercompact combination of a kind of suitable GPS/SINS.

Summary of the invention

Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of cdma wireless localization method of the hypercompact combination of suitable GPS/SINS newly is provided, the method has overcome the two-dimensional localization that traditional C DMA localization method is merely able to carry out rough grade, and the deficiency stronger to environmental factor dependence, remedied the defective that easily exists the gps signal blind area to cause bearing accuracy to descend in the urban environment, by the hypercompact data splitting of GPS/SINS is merged the localization method into CDMA, provide that coverage is larger, the higher also more accurate positioning service of reliability.

The present invention adopts following technical scheme for achieving the above object:

The present invention is a kind of cdma wireless localization method of the novel hypercompact combination of suitable GPS/SINS, may further comprise the steps:

(1) receives the cdma network pilot signal by the CDMA signal transmission unit, according to work number of base stations regioselective mode;

(2) measuring-signal is transmitted to the time (TOA) of transfer table from all base stations, selects serving BS according to TOA, calculates signal arrives respectively transfer table from serving BS and other base stations mistiming (TDOA);

(3) pass through the fuzzy solution that TDOA data solver unit resolves generates the transfer table current location information;

(4) according to a fuzzy solution of constantly resolving the location of mobile station information removal process (3) that generates on the hypercompact combined system of GPS/SINS;

(5) utilize the Kalman filtering current location information that hypercompact combined system parsing generates to GPS/SINS and cdma wireless location to resolve the current location information that generates and in wave filter, carry out data fusion, the generation locator data;

(6) the output locating information is the described locator data of step (5).

Preferably, in the described step (1), method according to work number of base stations regioselective mode is as follows: if the base station number of effectively working less than 5, then is the signal blind zone of CDMA three-dimensional localization, the locator data of directly using the hypercompact combined system of GPS/SINS is final locator data; Base station number is then proceeded step (2) greater than 5 if effectively work.

Preferably, in the described step (2), select the method for serving BS as follows according to TOA: selecting TOA minimum, is serving BS with the nearest base station of transfer table namely.

Preferably, in the described step (2), calculate signal as follows from serving BS and the method for the mistiming (TDOA) of other base stations arrival transfer tables respectively: the TOA of other base stations and the TOA of serving BS are subtracted each other generation TDOA.

Preferably, in the described step (3), the method for fuzzy solution that generates the transfer table current location information by TDOA data solver unit resolves is as follows:

(a) according to work number of base stations and range formula, the TDOA measured value that selection has redundant information is set up the three-dimensional localization system of equations, provides the completeness relation between transfer table coordinate and the known parameters;

(b) carry out the weighted least square algorithm first time (WLS) and resolve, obtain at the hypothesis transfer table to the distance of base station during greater than radius of society the coordinate estimated value of transfer table;

(c) consider the correlativity of measurement information, carry out second time WLS and resolve, obtain transfer table coordinate exact value, occur bilingual at this moment.

Preferably, in the described step (4), method according to the fuzzy solution of the location of mobile station information removal process (3) of moment parsing generation on the hypercompact combined system of GPS/SINS is as follows: according to the locating information of a constantly parsing generation on the hypercompact combined system of GPS/SINS, find the solution current position prediction value by the Kalman filtering optimal estimation, calculate itself and step (3) and resolve error between two positional informations that generate, CDMA locating information corresponding to Select Error smaller is as the actual position value.

Preferably, in the described step (5), utilizing Kalman filtering that the hypercompact combined system of GPS/SINS is resolved the current location information that generates and cdma wireless location resolves the current location information that generates to carry out the method for data fusion in wave filter as follows: the square value that the positional information of the two output is converted into transfer table and each distance between the base station of working, carry out data fusion in the input card Thalmann filter again, the feedback position error is to proofread and correct the output of cdma wireless localization method.

The present invention's advantage compared with prior art is:

(1) the present invention is directed to the hypercompact combined system design of GPS/SINS CDMA location algorithm, both inherited the high-precision advantage of hypercompact combined system, remedied again GPS weak defective of viability in complex environment, taken full advantage of the locating information resource, environment-adapting ability is strong;

(2) the present invention is take the classic algorithm Chan algorithm of TDOA as the basis, incorporate the recurrence thought of Taylor algorithm, can utilize more fully redundant locating information in the cdma cellular net than traditional C DMA wireless location method, realized the high-precision three-dimensional location of transfer table, range of application is more extensive;

The present invention utilizes the hypercompact integrated positioning data of GPS/SINS, the cdma wireless positioning calculation is assisted, can overcome the weak defective of under the complicated applications environment such as urban transportation GPS viability, strengthen the viability of positioning system, Effective Raise bearing accuracy.The present invention more effectively utilizes locating information abundant in the cdma cellular net than classic method, and carry out data fusion by Kalman filtering, thereby obtain a kind of precision far above traditional C DMA localization method, the wider also more stable new-type CDMA 3-D positioning method of location coverage.Both overcome the shortcoming that single CDMA localization method can't carry out three-dimensional localization, also solved the relatively poor problem of CDMA bearing accuracy.

Description of drawings

Fig. 1 is algorithm flow chart of the present invention;

Fig. 2 is embodiment of the invention principle schematic.

Embodiment

Be elaborated below in conjunction with the technical scheme of accompanying drawing to invention:

As shown in Figure 1, the present invention is based on the hypercompact mode of operation of software GPS receiver/strap down inertial navigation, traditional C DMA wireless location algorithm is improved, take full advantage of the seamless location that limited navigation data is realized high precision, high reliability, concrete steps are as follows:

(1) receives the cdma network pilot signal, according to work number of base stations regioselective mode

Base station number then is the signal blind zone of CDMA three-dimensional localization less than 5 if effectively work, and the locator data of directly using the hypercompact combined system of GPS/SINS is final locator data; Base station number then carries out the cdma wireless location greater than 5 if effectively work.

(2) measure TOA information, select serving BS and calculate TDOA information

Selecting base station corresponding to TOA value minimum value is serving BS, and the TOA of other base stations and the TOA value of serving BS are subtracted each other generation TDOA value.

(3) resolve the fuzzy solution that generates the transfer table current location information by TDOA

Selection has M-1 TDOA value of amount of redundancy as the required information in location, sets up the three-dimensional localization system of equations, and method is as follows:

The note base station coordinates is X _i=(x _i, y _i, z _i), i=1 wherein, 2 ..., M, (M 〉=5).If serving BS is base station 1, the coordinate of transfer table is X=(x, y, z).Selection has M-1 TDOA measured value of redundant information as the location information needed, sets up system of equations as follows:

${\mathrm{c\&tau;}}_{i,1}=r_i-{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">r</figure-callout>}}_1+{\mathrm{cn}}_{i,1}=\sqrt{{(x-x_i)}^2+{(y-y_i)}^2+{(z-z_i)}^2}-\sqrt{{(x-x_1)}^2+{(y-y_1)}^2+{(z-z_1)}^2}+{\mathrm{cn}}_{i,1}---\left(1\right)$

Wherein, τ _{I, 1}The signal of expression base station i arrives the mistiming of transfer table with respect to the signal of serving BS 1; r _iExpression base station i is to the distance of transfer table; n _{I, 1}For TDOA measures noise, obeying average is zero Gaussian distribution; C is the light velocity.

According to range formula, but Simultaneous Equations:

$\left\{\begin{array}{c}{r}_i^2={({\mathrm{c\&tau;}}_{i,1}+r_1-{\mathrm{cn}}_{i,1})}^2\\ r_i^2={(x-x_i)}^2+{(y-y_i)}^2+{(z-z_i)}^2\end{array}\right.---\left(2\right)$

Can get:

$c^2{\mathrm{\&tau;}}_{i,1}{n}_{i,1}+{\mathrm{cn}}_{i,1}{r}_1-\frac{1}{2}{c}^2{n}_{i,1}^2=\frac{1}{2}(c^2{n}_{i,1}^2-k_i+{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+2x_{i,1}x+2y_{i,1}y+2z_{i,1}z+2c{\mathrm{\&tau;}}_{i,1}{r}_1)---\left(3\right)$

Wherein,

$k_i=x_i^2+y_i^2+z_i^2---\left(4\right)$

x _i，1＝x _i-x ₁，y _i，1＝y _i-y ₁，z _i，1＝z _i-z ₁ (5)

Formula (3) provided and known parameters between completeness relation, the below will use weighted least-squares method find the solution according to this equation.

Write formula (3) as matrix form as follows:

In the formula,

$h=\frac{1}{2}\left[\begin{array}{c}{c}^2{\mathrm{\&tau;}}_{\mathrm{2,1}}^2-k_2+k_1\\ c^2{\mathrm{\&tau;}}_{\mathrm{3,1}}^2-k_3+{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">k</figure-callout>}}_1\\ \&CenterDot;\&CenterDot;\&CenterDot;\\ c^2{\mathrm{\&tau;}}_{M,1}^2-k_M+{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">k</figure-callout>}}_1\end{array}\right],$ $G_a=-\left[\begin{array}{cccc}{x}_{\mathrm{2,1}}& y_{\mathrm{2,1}}& {\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">z</figure-callout>}}_{\mathrm{2,1}}& {\mathrm{c\&tau;}}_{\mathrm{2,1}}\\ x_{\mathrm{3,1}}& y_{\mathrm{3,1}}& z_{\mathrm{3,1}}& c{\mathrm{\&tau;}}_{\mathrm{3,1}}\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ x_{M,1}& y_{M,1}& z_{M,1}& {\mathrm{c\&tau;}}_{M,1}\end{array}\right],$ $V_a=\left[\begin{array}{c}x\\ y\\ z\\ r_1\end{array}\right]---\left(7\right)$

{ * } ⁰Represent free from error { * } value.Error vector expression formula according to the TDOA measured value:

Wherein, ⊙ represents the Schur product; N is the observation noise vector, and is uncorrelated mutually between element.And:

$B=\mathrm{diag}\{r_2^0,r_3^0,...,r_M^0\}---\left(9\right)$

n＝[n _2，1，n _3，1，...，n _M，1] ^T (10)

When signal to noise ratio (S/N ratio) was larger, the TDOA measured value, the noise vector that are detected by broad sense cross-correlation method (GCC, Generalized Cross Correlation) were similar to Normal Distribution; And in the actual environment, usually have

Thereby in the formula (10) second can ignore.Therefore, the covariance matrix of error vector can be expressed as:

Wherein, Q is the covariance matrix of TDOA, and:

$Q=H{\mathrm{\&sigma;}}_{\mathrm{TDOA}}^2{H}^T---\left(12\right)$

$H=\left\{\begin{array}{ccccc}-1& 1& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0\\ -1& 0& 1& \&CenterDot;\&CenterDot;\&CenterDot;& 0\\ \&CenterDot;\&CenterDot;\&CenterDot;& \&CenterDot;\&CenterDot;\&CenterDot;& \&CenterDot;\&CenterDot;\&CenterDot;& \&CenterDot;\&CenterDot;\&CenterDot;& \&CenterDot;\&CenterDot;\&CenterDot;\\ -1& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 1\end{array}\right\}---\left(13\right)$

When transfer table, can be thought during greater than radius of society to the distance of base station

Namely

The approximate solution that can be got WLS by formula (6) and formula (11) is:

$V_a={\left(G_a^T{Q}^{-1}{G}_a\right)}^{-1}{G}_a^T{Q}^{-1}h---\left(14\right)$

Obtain initial solution by following formula and calculate the B matrix, recycling formula (11) is found the solution ψ, tries to achieve the weighted least-squares solution and is:

$V_a={\left(G_a^T{\mathrm{\&psi;}}^{-1}{G}_a\right)}^{-1}{G}_a^T{\mathrm{\&psi;}}^{-1}h---\left(15\right)$

Wherein, V _aCovariance matrix be:

cov(V _a)＝(G _a ^0Tψ ^-1G _a ⁰) ^-1 (16)

Consider coordinates of targets and r ₁Between correlativity, carry out second time WLS and find the solution exact value.Be similar to formula (6) and set up process, V _aError vector can be expressed as:

Wherein,

$h^{\&prime;}=\left[\begin{array}{c}{(V_{a,1}-x_1)}^2\\ {(V_{a,2}-y_1)}^2\\ {(V_{a,3}-z_1)}^2\\ V_{a,4}^2\end{array}\right],$ $G_a^{\&prime;}=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\\ 1& 1& 1\end{array}\right],$ $V_a^{\&prime;}=\left[\begin{array}{c}{(x-x_1)}^2\\ {(y-y_1)}^2\\ {(z-z_1)}^2\end{array}\right]---\left(18\right)$

Covariance matrix ψ ' can be expressed as:

Wherein,

$B^{\&prime;}=\mathrm{diag}\{x^0-{\mathrm{<figure-callout\; id="1"\; label="x"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">x</figure-callout>}}_1,y^0-{\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">y</figure-callout>}}_1,z^0-{\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">z</figure-callout>}}_1,{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">r</figure-callout>}}_1^0\}---\left(20\right)$

According to formula 4.38, V ' _aWeighted least-squares be estimated as:

$V_a^{\&prime;}={\left(G_a^{\&prime;T}{\mathrm{\&Psi;}}^{\&prime;-1}{G}_a^{\&prime;}\right)}^{-1}{G}_a^{\&prime;T}{\mathrm{\&Psi;}}^{\&prime;-1}{h}^{\&prime;}---\left(21\right)$

Therefore, the exact solution of transfer table coordinate is:

${\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">X</figure-callout>}}_1=\sqrt{V_a^{\&prime;}}+\left[\begin{array}{c}{x}_1\\ y_1\\ {\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">z</figure-callout>}}_1\end{array}\right]$ Or $X_2=-\sqrt{V_a^{\&prime;}}+\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]---\left(22\right)$

At this moment, bilingual X appears ₁And X ₂, cause location fuzzy.

(4) according to the hypercompact data splitting deblurring of GPS/SINS solution

Locating information according to a constantly parsing generation on the hypercompact combined system of GPS/SINS, find the solution current position prediction value by the Kalman filtering optimal estimation, calculate itself and TDOA and resolve error between two positional informations that generate, CDMA locating information corresponding to Select Error smaller is as the actual position value.

(5) utilize the Kalman filtering current location information that hypercompact combined system parsing generates to GPS/SINS and cdma wireless location to resolve the current location information that generates and carry out data fusion

Consider that elimination is non-linear, the positional information of the two output be converted into the square value of distance between transfer table and each the work base station:

d _C，i ²＝(x _C-x _i) ²+(y _C-y _i) ²+(z _C-z _i) ² (23)

d _G/S，i ²＝(x _G/S-x _i) ²+(y _G/S-y _i) ²+(z _G/S-z _i) ² (24)

Wherein, c represents the data of CDMA, and G/S represents the data of GPS/SINS.I represents i base station.

The three-dimensional position error that makes transfer table is wave filter 3 dimension quantity of states:

X＝[e _x，e _y，e _z] ^T (25)

Then system matrix F is defined as follows:

$F=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right]---\left(26\right)$

Observational error and error in measurement all are made as white noise, and after wave filter carried out estimating based on the least mean-square error of linearity to measuring value, the output CDMA current location margin of error was to compensating system.

(6) output locating information, the i.e. position of transfer table on three directions

The present invention is directed to the hypercompact combined system of GPS/SINS, according to the thought of the Chan algorithm in traditional TDOA algorithm and Tayler algorithm, set up a kind of novel cdma wireless location algorithm.Limited navigation data is fully merged, finally reach the overlay area, location wide, environment-adapting ability is strong, the navigation accuracy advantages of higher.

As shown in Figure 2, the method step of the present embodiment is as follows:

(1) receives the cdma network pilot signal by the CDMA signal transmission unit, according to work number of base stations regioselective mode

In the present embodiment, transfer table is in the good cdma cellular net of signal, and the base station of effectively working is 7, carries out the cdma wireless location.

(2) measuring-signal is transmitted to the time (TOA) of transfer table from all base stations, selects serving BS according to TOA, calculates signal arrives respectively transfer table from serving BS and other base stations mistiming (TDOA)

In the present embodiment, 7 base stations form the typical cellular web frame, behind TOA value selection serving BS, establish its coordinate and are (0,0,0), and then other base station coordinates are respectively

According to the difference of other base stations TOA and serving BS TOA, obtain required 6 TDOA values.

(3) pass through the fuzzy solution that TDOA data solver unit resolves generates the transfer table current location information

In the present embodiment, the TDOA measuring error is for obeying the stochastic variable of desirable Gaussian distribution, and its average is 0, and standard deviation is 50m.During each location, by setting up the three-dimensional equation group, carry out twice weighted least-squares and resolve, obtain two fuzzy solutions.

(4) eliminate above-mentioned fuzzy solution according to a location of mobile station information of constantly resolving generation on the hypercompact combined system of GPS/SINS

In the present embodiment, the transfer table coordinate X that obtains will be resolved ₁And X ₂The rough coordinates estimated value X ' that provides with the hypercompact combined system of GPS/SINS compares, and detailed process is as follows:

At first, utilize the locating information of a moment on the hypercompact combined system of GPS/SINS (k-1 constantly)

By Kalman's optimal estimation, find the solution the position prediction value of current (k constantly)

Formula is as follows:

${\hat{X}}_{k/k-1}={\mathrm{\&Phi;}}_{k/k-1}{\hat{X}}_{k-1}---\left(27\right)$

Wherein, Ф _{K, k-1}It is state-transition matrix.

After obtaining estimated value, find the solution TDOA locating information and two margins of error between it:

${\mathrm{\&Delta;<figure-callout\; id="1"\; label="R"\; filenames="HDA0000066987330000012.png"\; state="\{\{state\}\}">R</figure-callout>}}_1=|X_1-{\hat{X}}_{k/k-1}|=\sqrt{{(x_1-\hat{x})}^2+{(y_1-\hat{y})}^2+{(z_1-\hat{z})}^2}---\left(28\right)$

${\mathrm{\&Delta;R}}_2=|X_2-{\hat{X}}_{k/k-1}|=\sqrt{{(x_2-\hat{x})}^2+{(y_2-\hat{y})}^2+{(z_2-\hat{z})}^2}---\left(29\right)$

Select min{ Δ R ₁, Δ R ₂Corresponding X _iThe actual position value of calculating as the CDMA positioning solution.

(5) in wave filter, carry out data fusion, generate locator data;

In the present embodiment, whole 7 base stations all can provide service in the residing Cellular Networks of transfer table, and therefore, according to the wave filter input, its observed quantity is 6 dimensions, and is as follows:

Z＝[E _1，0，E _2，0，E _3，0，E _4，0，E _5，0，E _6，0] ^T (30)

Wherein,

E _i，0＝＝E _i-E ₀ (31)

$E_i={d_{G/S,i}}^2-d_{C,i}^2---\left(32\right)$

With formula (31) and formula (32) substitution formula (30), abbreviation can get:

E _i，0＝2x _i(x _C-x _G/S)-2x ₀(x _C-x _G/S)+2y _i(y _C-x _G/S)-2y ₀(y _C-x _G/S) (33)

Thus, can obtain the measurement vector of Kalman wave filter.

(6) output locating information

Locating information is three-dimensional position, sky, transfer table northeast.The result shows, the three-dimensional site error is all less than 0.5m.The CDMA location algorithm that is fit to the hypercompact combination of GPS/SINS can effectively overcome traditional C DMA location algorithm can't three-dimensional localization and the shortcoming high to environmental factor dependence, and remedied the poor defective of GPS viability in complex environment, navigation accuracy not only is higher than traditional C DMA location algorithm far away, and more extensive than simple GPS/SINS Integrated navigation mode adaptive surface, the seamless location of really having realized urban transportation.

Claims (4)

1. the cdma wireless localization method of the hypercompact combination of a suitable GPS/SINS is characterized in that may further comprise the steps:

(1) receives the cdma network pilot signal by the CDMA signal transmission unit, according to work number of base stations regioselective mode;

Method is as follows: if the base station number of effectively working less than 5, then is the signal blind zone of CDMA three-dimensional localization, the locator data of directly using the hypercompact combined system of GPS/SINS is final locator data; Base station number is then proceeded step (2) greater than 5 if effectively work;

(2) measuring-signal is transmitted to the time T OA of transfer table from all base stations, selects serving BS according to TOA, calculates signal arrives respectively transfer table from serving BS and other base stations mistiming TDOA;

(3) pass through the fuzzy solution that TDOA data solver unit resolves generates the transfer table current location information; Method is as follows:

(a) according to work number of base stations and range formula, the TDOA measured value that selection has redundant information is set up the three-dimensional localization system of equations, provides the completeness relation between transfer table coordinate and the known parameters;

(b) carry out first time weighted least square algorithm WLS and resolve, obtain at the hypothesis transfer table to the distance of base station during greater than radius of society the coordinate estimated value of transfer table;

(c) consider the correlativity of measurement information, carry out second time WLS and resolve, obtain transfer table coordinate exact value, occur bilingual at this moment;

(4) according to a fuzzy solution of constantly resolving the location of mobile station information removal process (3) that generates on the hypercompact combined system of GPS/SINS; Method is as follows: according to the locating information of a constantly parsing generation on the hypercompact combined system of GPS/SINS, find the solution current position prediction value by the Kalman filtering optimal estimation, calculate itself and step (3) and resolve error between two positional informations that generate, CDMA locating information corresponding to Select Error smaller is as the actual position value;

(5) utilize the Kalman filtering current location information that hypercompact combined system parsing generates to GPS/SINS and cdma wireless location to resolve the current location information that generates and in wave filter, carry out data fusion, the generation locator data;

(6) the output locating information is the described locator data of step (5).

2. the cdma wireless localization method of the hypercompact combination of a kind of suitable GPS/SINS according to claim 1, it is characterized in that: in the described step (2), select the method for serving BS as follows according to TOA: selecting TOA minimum, is serving BS with the nearest base station of transfer table namely.

3. the cdma wireless localization method of the hypercompact combination of a kind of suitable GPS/SINS according to claim 1, it is characterized in that: in the described step (2), calculate signal as follows with the method for the mistiming TDOA of other base stations arrival transfer tables from serving BS respectively: the TOA of other base stations and the TOA of serving BS are subtracted each other generation TDOA.

4. the cdma wireless localization method of the hypercompact combination of a kind of suitable GPS/SINS according to claim 1, it is characterized in that: in the described step (5), utilizing Kalman filtering that the hypercompact combined system of GPS/SINS is resolved the current location information that generates and cdma wireless location resolves the current location information that generates to carry out the method for data fusion in wave filter as follows: the square value that the positional information of the two output is converted into transfer table and each distance between the base station of working, carry out data fusion in the input card Thalmann filter again, the feedback position error is to proofread and correct the output of cdma wireless location.

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