CN109100746A - A kind of tunnel placement system and method based on forward node - Google Patents
A kind of tunnel placement system and method based on forward node Download PDFInfo
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- CN109100746A CN109100746A CN201811160975.5A CN201811160975A CN109100746A CN 109100746 A CN109100746 A CN 109100746A CN 201811160975 A CN201811160975 A CN 201811160975A CN 109100746 A CN109100746 A CN 109100746A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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Abstract
The invention discloses a kind of tunnel placement system and method based on forward node, the system includes uniformly distributed several forward node in tunnel and the data processing centre that is laid in outside tunnel, and equal signal connects between data processing centre and each forward node and each forward node；The data processing centre includes at least local GPS/ Beidou receiver, time synchronization module and data processing module, for the solution adjusting data of PPS second pulse signal and local GPS/ Beidou receiver is sent to forward node；The forward node is used to the data sent according to data processing module, delay and Doppler frequency shift of the GPS/ Big Dipper satellite signal at current forward node are calculated in real time, and the running track of in-orbit GPS/ big-dipper satellite is simulated, and the running track of simulation is transmitted to vehicle mounted guidance and receives terminal.Present invention design is simple, low in cost, can provide indoor and outdoor consistent location navigation service for vehicle in tunnel.
Description
Technical field
The present invention relates to the real-time locating and monitoring applications of user in tunnel, specifically fixed for a kind of tunnel based on forward node
Position system and method.
Background technique
Technique of Satellite Navigation and Positioning Technological research in modern society, communications and transportation, geological exploration, industrial and agricultural development with
And daily life etc. is used widely.Indoors, the case where GNSS satellites such as tunnel, mine signal is by seriously blocking
Under, location-based service can not be provided, fake satellite positioning system is in such case by directly being positioned using GPS/ dipper system
Have the advantages that down inborn advantage and.Therefore pseudo satellite, pseudolite has become a novelty in Present navigation area research and has extensive
The research hotspot of application prospect.
Tunnel placement system based on forward node is a kind of simple letter that can propagate similar GPS signal based on ground
Number generator.And the application model of traditional Overview of Pseudolite Positioning is divided into three kinds: (1) pseudo satellite, pseudolite enhances GPS system: visual
When GPS satellite limited amount, by increasing a certain number of pseudo satellite, pseudolites in earth's surface or in the air, is combined with GPS to be positioned, changed
Kind, enhancing GPS navigation positioning system performance；(2) independent pseudo satellite, pseudolite navigation positioning system: mine tunnel, bunker or
Person is the interior of serious shielding, and GPS navigation signal is blocked completely, and user can not position, and it is convenient to be laid using pseudo satellite, pseudolite,
The flexible feature in position, using the positioning principle of GPS, pseudo satellite, pseudolite can substitute completely GPS satellite and be positioned；(3) based on puppet
The reverse positioning system of satellite: by laying a series of positions exactly determined array acceptor, to being mounted with that puppet defends
The mobile object of star transmitter is positioned.Current pseudolite systems are faced with near-far interference, compatibility and interoperability, error is repaired
Just, the technical problems such as multipath effect.
Summary of the invention
The purpose of the present invention is being directed to existing pseudo satellite, pseudolite layout scheme, there are technical problems, provide a kind of based on forward node
New tunnel placement system and method.
A kind of tunnel placement system based on forward node provided by the invention, including uniformly distributed in several in tunnel
Forward node and the data processing centre being laid in outside tunnel, data processing centre and each forward node and each forward node
Between signal connection；
The data processing centre includes at least local GPS/ Beidou receiver, time synchronization module and data processing mould
Block；Wherein:
Local GPS/ Beidou receiver is used to real-time reception and demodulation of satellite signal obtains message information；
Time synchronization module is used to tame local crystal oscillator, and exports PPS benchmark second pulse signal, to guarantee each forward node
It is synchronous with satellite clock；
Data processing module is used to obtain satellite ephemeris by network, and combines the rail of the message information acquisition satellite resolved
Road information and operating status, i.e. pseudo-range information later send message information, pseudo-range information and PPS benchmark second pulse signal
To each forward node；
The forward node is used to the data sent according to data processing module, calculates that GPS/ Big Dipper satellite signal exists in real time
Delay and Doppler frequency shift at current forward node, and simulate the running track of in-orbit GPS/ big-dipper satellite, and by simulation
Running track is transmitted to vehicle mounted guidance and receives terminal.
Further, the forward node includes at least arm processor, fpga chip and the radio-frequency modulations mould being sequentially connected
Block, arm processor and fpga chip pass through FSMC interface communication；Wherein:
Arm processor is at least used to carry out clock using PPS benchmark second pulse signal to synchronize, and according to message information, puppet
Relative distance away from information and place forward node and satellite calculates delay and the Doppler frequency shift of satellite-signal in real time, with
And calculate the phase control words of signal between the frequency of satellite-signal, current forward node and local GPS/ Beidou receiver, and
The navigation message for calculating and extrapolating is sent to corresponding Base Band Unit；
The fpga chip design has several Base Band Unit corresponding with each GPS/ big-dipper satellite, the Base Band Unit
Navigation message and C/A code, P code for exporting arm processor, which are modulated, generates baseband signal, and is sent to radio-frequency modulations mould
Block；
The radio-frequency modulations module is used to carry out QPSK band spectrum modulation to baseband signal to obtain satellite modulating signal, and emits
Terminal is received to vehicle mounted guidance.
Further, the delay of the satellite-signal uses formulaIt calculates, wherein lGPSIndicate satellite
Coordinate；l0Indicate local GPS/ Beidou receiver coordinate, c is the light velocity.
Further, the phase control words use formulaIt calculates, wherein φiFor i-th of forward node
Phase control words；fcFor carrier frequency；diFor the relative distance of i-th forward node and local GPS/ Beidou receiver, the phase
It adjusts the distance preparatory calibration.
Further, the layout scheme of several forward node are as follows:
A cell of origin is divided every same intervals in tunnel, lays a forward node at each cell of origin center,
The same intervals are 15 meters~30 meters.
Further, further include security monitoring module the present invention is based on the tunnel placement system of forward node, be used to from each
Number plate, the Position And Velocity information of vehicle are obtained at forward node, and traffic management end is supplied to by internet.
The security monitoring module is also used to when forward node is monitored and caused danger in tunnel, to traffic management
End sends warning message.
A kind of tunnel placement method based on forward node provided by the invention, comprising:
(1) it receives and demodulates using the local GPS/ Beidou receiver that the data processing centre being laid in outside tunnel is included
GPS/ Big Dipper satellite signal obtains the number and message of GPS/ big-dipper satellite；
(2) data processing centre obtains the precise ephemeris of GPS/ big-dipper satellite by network, and combines the message calculated
The precise orbit information and operating status of GPS/ big-dipper satellite are obtained, and is sent to each forward node being laid in tunnel；
(3) the time synchronization module that data processing centre is included tames local crystal oscillator, and exports PPS to each forward node
Benchmark second pulse signal, to realize that satellite-signal is synchronous；When PPS benchmark pulse per second (PPS) rising edge arrives, by GPS/ big-dipper satellite
Message, precise orbit information and operating status be sent to each forward node；
(4) each forward node handles received message, precise orbit information and operating status, and modulation generates reduction
Pseudo- GPS/ Big Dipper satellite signal, and be transmitted to vehicle mounted guidance receive terminal；
(5) puppet GPS/ Big Dipper satellite signal is positioned vehicle mounted guidance reception terminal based on the received.
Further, each forward node handles received message, precise orbit information and operating status, tool
Body are as follows:
Each forward node message, precise orbit information and operating status based on the received, and connect in conjunction with local GPS/ Beidou
The position of receipts machine and itself calculates the delay of GPS/ Big Dipper satellite signal and Doppler frequency shift at each forward node, according to delay
GPS/ Big Dipper satellite signal is restored with Doppler frequency shift.
When laying forward node and data processing centre, firstly, using local in location technology nominal data processing center
The position of GPS/ Beidou receiver；Then, the position for demarcating each forward node relative local GPS/ Beidou receiver, to calculate
The position of each forward node.
Compared to the prior art, the invention has the advantages that and the utility model has the advantages that
(1) in the case where positioning accuracy request is less high, there is design simply, feature low in cost.
(2) can in tunnel for vehicle provide the consistent location navigation service of indoor and outdoor in tunnel to emphasis commercial vehicle
The function of running state monitoring.
(3) the forward node array for laying line style distribution at certain intervals in tunnel internal, is mentioned using data processing centre
The information such as the clock pulse per second (PPS) of confession, satellite message, precise ephemeris restore the superposition of each GPS satellite in forward node position
Signal simultaneously emits.
(4), it can be achieved that consistent positioning navigation dress inside and outside tunnel under the premise of not changing existing vehicle-mounted GNSS receiving device
Business.
Detailed description of the invention
Fig. 1 is the tunnel placement system construction drawing based on forward node；
Fig. 2 is the layout scheme of forward node in tunnel in embodiment；
Fig. 3 is forward node internal structure composition block diagram；
Fig. 4 is single channel fft algorithm GPS capture principle；
Fig. 5 is forward node positioning system signal process flow diagram；
Fig. 6 is clock synchronization system time service result；
Fig. 7 is indoor single forward node position error.
Specific embodiment
In order to illustrate more clearly of the present invention and/or technical solution in the prior art, Detailed description of the invention sheet will be compareed below
The specific embodiment of invention.It should be evident that drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing, and obtain other embodiments.
It should be noted that GPS/ Big Dipper satellite signal refers to GPS and/or Big Dipper satellite signal, the local north GPS/ herein
Bucket receiver refers to GPS and/or Beidou receiver.
Such as Fig. 1, it is shown the structure chart of the tunnel placement system the present invention is based on forward node, mainly includes several forwardings
Node and data processing centre pass through fiber optic communication between data processing centre and each forward node and each forward node.
Several forward node are laid in tunnel, and forward node is used as the modulation and transmitting of GPS/ Big Dipper satellite signal, are used to adjust in real time
The phase delay and Doppler frequency shift of GPS/ Big Dipper satellite signal at whole forward node, to simulate the operation rail of true satellite in orbit
Mark.Data processing centre is data calculating and data management maincenter, for providing unified pulse per second (PPS), GPS for each forward node
Satellite ephemeris and message, provide navigation Service to receive terminal to vehicle mounted guidance, provide emphasis operation for traffic management side
Operating status of the information of vehicles in tunnel.
In the present embodiment, data processing centre includes a high-performance server processing platform, and is connected by serial ports or optical fiber
Connect local GPS/ Beidou receiver and time synchronization module, in the present embodiment, local GPS/ Beidou receiver is received using Ublox
Machine；Moreover, also connecting each forward node by optical fiber.Data processing centre connects PPS second pulse signal and local GPS/ Beidou
The solution adjusting data of receipts machine is sent to forward node, and number plate, the Position And Velocity information of vehicle are obtained from forward node, and will
Required information of vehicles is supplied to traffic management end by internet.
Furtherly, data processing centre includes at least at local GPS/ Beidou receiver, time synchronization module and data
Manage module.Wherein, local GPS/ Beidou receiver is used to real-time reception and demodulates GPS/ Big Dipper satellite signal obtain current time
Message information, message information is sent to data processing module.The message information at current time can be used for calculating following instant
Message content, and generate the I/Q branch information of satellite modulating signal.Time synchronization module is for data processing centre and respectively
Forward node carries out time synchronization, especially by taming local crystal oscillator and exports high-precision and stable PPS benchmark pulse per second (PPS) letter
It number synchronizes.Data processing module is mainly used to prestore and handle data, is at least used to obtain satellite ephemeris by network, and
The orbit information and operating status of satellite are obtained in conjunction with the message information of resolving, and demarcate current GPS satellites and each forward node
Between signal transmission delay.Orbit information, operating status and PPS benchmark second pulse signal each forwarding is sent to later to save
Point.
Preferably, data processing centre further includes data processing centre's security monitoring module, is used to from each forwarding
Number plate, the Position And Velocity information of vehicle are obtained at node, and traffic management end is supplied to by internet.In addition, peace
Full monitoring module is also used to when forward node is monitored and caused danger in tunnel, sends alarm signal to traffic management end
Breath.
Such as Fig. 2, it show layout scheme of the forward node in tunnel in the present embodiment.In the present embodiment, length of tunnel
About 5 kms are one-way trip tunnel, are divided into a cell of origin at interval of 15 meters~30 meters in tunnel, and each positioning is small
A forward node is laid at district center.Data processing centre is arranged in tunnel outer, data processing centre and each forward node, with
And it is communicated by optical fiber between each forward node.
It is (accurate single by RTK (carrier phase difference method) or PPP when laying forward node and data processing centre
Independent positioning method) etc. calibrate the local GPS/ Beidou receiver position of data processing centre, pass through laser measurement or other surveys
Amount method demarcates the position of each forward node relative local GPS/ Beidou receiver, and the longitude and latitude for calculating forward node is high.Through prior
The position of calibration, local GPS/ Beidou receiver and each forward node is known to determination in advance.Since in tunnel, forward node
With certain coverage area, through wave energy accounts for main component, other forward node are then to the vehicle in other cell of origins
Influence is smaller, is equivalent to and is extended the antenna of the forward node by wireless channel.Therefore the positioning coordinate of vehicle is just
It is cell of origin center.
The functional parameter of tunnel placement system of the present invention can reach: a) positional accuracy is less than 15m；B) the inside and outside switching in tunnel
Time is less than 2s；C) the danger warning reaction time is less than 3s.Here, switching time refers to that vehicle enters tunnel outside tunnel inside and outside tunnel
In road, the time positioned for the first time is realized；The danger warning reaction time, which refers to, finds suspect vehicle or burst malignant event, peace in tunnel
Warning information is supplied to the reaction time at traffic management end by full monitoring module.
Such as Fig. 3, it show forward node internal structure composition block diagram.Forward node frame is by arm processor, fpga chip
With radio-frequency modulations module composition, wherein by FSMC interface communication between arm processor and fpga chip, FSMC interface is " quiet
State Memory Controller " can drive external bus, be automatically performed the read-write sequence with external equipment, realize arm processor with
The high-speed traffic of FPGA.Arm processor is at least used to carry out clock using PPS benchmark second pulse signal to synchronize, and according to message
The relative distance of information, pseudo-range information and place forward node and satellite calculates delay and the Doppler of satellite-signal in real time
Frequency displacement, and calculate the phase control of signal between the frequency of satellite-signal, current forward node and local GPS/ Beidou receiver
Word processed, and corresponding Base Band Unit is sent to by FSMC interface.Specifically, arm processor mainly utilizes Data processing
The real-time carrier frequency of heart forwarding, satellite clock correction, ionospheric error, tropospheric error, the information such as relativistic effect correction into
Row calculates.
Following calculation method can be used in satellite-signal delay:
Local GPS/ Beidou receiver position has accurately measured in advance, obtains computation of pseudoranges with demodulation according to satellite ephemeris and defends
The accurate location l of starGPS, then the delay t of satellite-signaldAre as follows:
Wherein, lGPSIndicate co-ordinates of satellite, l0Indicate local GPS/ Beidou receiver coordinate, c is the light velocity.
The phase difference of phase control words signal between forward node and local GPS/ Beidou receiver, Computing Principle are as follows:
Wherein, φiFor the phase control words of i-th of forward node, fcFor carrier frequency, diFor i-th of forward node and this
Relative distance between ground GPS/ Beidou receiver.
Carrier frequency fcCapture acquisition is carried out to satellite-signal using single channel fft algorithm, referring to fig. 4, show benefit
Capture principle with the GPS of single channel fft algorithm: GPS signal carries out FFT capture by serial search in conjunction with parallel search, real
Now to the fast quick-recovery of GPS carrier, GPS carrier and its Doppler frequency shift are obtained.GPS signal is sent into multi-path search channel, often
Paths NCO initial frequency interval is identical, and multiplexer channel parallel search obtains carrier frequency by detection threshold value.
Fpga chip, which designs, several Base Band Unit corresponding with each GPS/ big-dipper satellite, in the present embodiment, design
There are several GPS Base Band Unit corresponding with GPS satellite, each GPS Base Band Unit receives the navigation electricity of corresponding GPS satellite respectively
Text, and navigation message and C/A code, the modulation of P code are generated baseband signal, and be sent to radio-frequency modulations module.Here, navigation message
Including at least the delay of satellite-signal, Doppler frequency shift, frequency and phase control words.In the present embodiment, each forward node list
Eight in-orbit GPS of plate analog and/or big-dipper satellite.Baseband signal is carried out QPSK band spectrum modulation by radio-frequency modulations module, is obtained
The GPS satellite modulated signal of synthesis is transmitted to vehicle-mounted lead by power amplifier, antenna by orthogonal I, Q branch GPS satellite modulated signal
Boat receives terminal and is positioned.
In the present embodiment, forward node design objective includes: a) output signal centre frequency: 1575.42MHz (GPS) or
1561.098 (Beidous)；B) user's received signal power: -125dBm ± 3dB；C) different forward node output power consistency:
Less than ± 0.5dB.
As shown in figure 5, forward node positioning system signal process flow includes:
(1) it receives and demodulates using the local GPS/ Beidou receiver that the data processing centre being laid in outside tunnel is included
GPS/ Big Dipper satellite signal obtains the number and message of GPS/ big-dipper satellite.
(2) data processing centre obtains the precise ephemeris of GPS/ big-dipper satellite by network, defends to obtain GPS/ Beidou
The precise orbit information and operating status of star.
(3) the time synchronization module that data processing centre is included tames local crystal oscillator, and exports PPS to each forward node
Benchmark second pulse signal, to realize that satellite-signal is synchronous.When PPS benchmark pulse per second (PPS) rising edge arrives, by GPS/ big-dipper satellite
Message, precise orbit information and operating status be sent to each forward node.
(4) each forward node handles received message, precise orbit information and operating status, and modulation generates reduction
GPS/ Big Dipper satellite signal, i.e. puppet GPS/ Big Dipper satellite signal, and be transmitted to vehicle mounted guidance and receive terminal.Specifically, respectively
Forward node pseudo- message, and the position of combination local GPS/ Beidou receiver and itself based on the received, calculates each forward node
Locate delay and the Doppler frequency shift of GPS/ Big Dipper satellite signal, and pseudo- GPS/ Big Dipper satellite signal message information to be sent is turned
Turn to GPS/ Beidou signal standards frame format.
(5) puppet GPS/ Big Dipper satellite signal is positioned vehicle mounted guidance reception terminal based on the received.
In the present embodiment, forward node analog GPS L1C/A or Beidou signal B1I support all GPS or Beidou to receive
Terminal realizes location navigation function in tunnel.Forward node and outdoor true GPS or big-dipper satellite keep strict time synchronization；
System absolute date and Hour Minute Second are consistent with the Beidou time after GPS time.
The positioning principle that vehicle mounted guidance receives terminal is similar with real satellite, is receiving certain cell of origin forward node hair
After the pseudo- GPS/ Big Dipper satellite signal penetrated, is parsed using conventional capture, tracking and text, positioning calculation can be realized.Due to
It is each cell of origin center that each forward node transmitting terminal, which presets anchor point, so the positioning coordinate of vehicle is exactly center of housing estate.With
This analogizes, and vehicle enters different cells, and positioning gained coordinate is corresponding center of housing estate coordinate respectively, can complete vehicle accordingly
Zone location in tunnel.
The present invention by installation position fix and position known to forward node, each forward node adjusts satellite each in real time
Delay and Doppler frequency shift at forward node, position fix and position known to forward node can simulate true satellite in orbit
Running track.For in any forward node signal cover, the positioning result that vehicle mounted guidance receives terminal is default
Anchor point.Therefore the region that can be completed in tunnel is distinguished, and then realizes location navigation.Each forward node simulation is current in-orbit
Satellite, simulator locating point are preset as actual physical location.
In satellite navigation, receiver user be issued to by measuring signal from satellite propagate to itself receive it is experienced when
Between difference obtain the distance between receiver user and satellite.To guarantee measurement data between receiver user and multiple satellites
Consistency, therefore, to assure that the time stringent synchronization between each satellite.To reduce cost while guaranteeing that system time frequency maintains essence
1 temporal frequency synchronous point is arranged in each navigation area in degree, the present embodiment.Local zone time frequency is tamed into GPS or Beidou
In temporal frequency.The absolute time of external satellite can be obtained during taming, while can obtain this Goblin by taming
Spend higher reference frequency.
In the present embodiment, the time synchronization module in the minds of Data processing has technology by oneself using Wuhan University, and the time is same
The pulse per second (PPS) and time service center reference pulse per second (PPS) time difference RMS value for walking module output are stablized within 1ns, are in a leading position at home
Level, clock synchronization system time service result is as shown in Figure 6.
Present system uses precise delay determination techniques, and the distance between each forward node and visible satellite need basis
The actual position of each forward node and the position of satellite carry out simulation calculation, i.e. simulation observation data.In simulation observation data,
The error that can be modeled is added in pseudorange.Single class GNSS transponder is laid in Beijing Aviation by R&D team member of the present invention
Space flight college library, university library, academic library can not receive certain deep indoor fixation position of GNSS signal, in this position real-time simulation pseudorange observation
Data, and the static placement GPS/ Beidou receiver in position identical with class GNSS transponder indoors are received by it class GNSS and turn
The signal that hair device issues is to realize positioning.
What Fig. 7 was provided is the positioning result of 500 epochs of observation (simulation step length 1s).As shown in fig. 7, east orientation, north orientation and
It is respectively less than 1m to error, east orientation and north orientation better than day to.The reason of error curve is shaken is the GPS/ Beidou receiver used
For commercial receiver, observation noise is close to white Gaussian noise, and the location algorithm that commercial receiver uses is least square method,
Do not have the smooth effect of error.
Be described in above-described embodiment to illustrate the present invention, though text in be illustrated by specific term, not
Can be limited the scope of protection of the present invention with this, be familiar with this technical field personage can understand spirit of the invention with it is right after principle
It changes or modifies and reaches equivalent purpose, and this equivalent change and modification, should all be covered by scope of the claims institute circle
Determine in scope.
Claims (10)
1. a kind of tunnel placement system based on forward node, it is characterised in that:
Including uniformly distributed several forward node in tunnel and the data processing centre being laid in outside tunnel, Data processing
Equal signal connection between the heart and each forward node and each forward node；
The data processing centre includes at least local GPS/ Beidou receiver, time synchronization module and data processing module；Its
In:
Local GPS/ Beidou receiver is used to real-time reception and demodulation of satellite signal obtains message information；
Time synchronization module is used to tame local crystal oscillator, and exports PPS benchmark second pulse signal, to guarantee each forward node and defend
Star clock is synchronous；
Data processing module is used to obtain satellite ephemeris by network, and combines the track letter of the message information acquisition satellite resolved
Message information, pseudo-range information and PPS benchmark second pulse signal, are sent to respectively by breath and operating status, i.e. pseudo-range information later
Forward node；
The forward node is used to the data sent according to data processing module, calculates GPS/ Big Dipper satellite signal current in real time
Delay and Doppler frequency shift at forward node, and simulate the running track of in-orbit GPS/ big-dipper satellite, and by the operation of simulation
Track is transmitted to vehicle mounted guidance and receives terminal.
2. the tunnel placement system based on forward node as described in claim 1, it is characterised in that:
The forward node includes at least arm processor, fpga chip and the radio-frequency modulations module being sequentially connected, arm processor
Pass through FSMC interface communication with fpga chip；Wherein:
It is synchronous that arm processor is at least used to carry out clock using PPS benchmark second pulse signal, and is believed according to message information, pseudorange
The relative distance of breath and place forward node and satellite, calculates delay and the Doppler frequency shift of satellite-signal in real time, and pushes away
The phase control words of signal between frequency, current forward node and the local GPS/ Beidou receiver of satellite-signal are calculated, and will meter
The navigation message calculated and extrapolated is sent to corresponding Base Band Unit；
The fpga chip design has several Base Band Unit corresponding with each GPS/ big-dipper satellite, and the Base Band Unit is used to
The navigation message of arm processor output and C/A code, the modulation of P code are generated baseband signal, and be sent to radio-frequency modulations module；
The radio-frequency modulations module is used to carry out QPSK band spectrum modulation to baseband signal to obtain satellite modulating signal, and is transmitted to vehicle
It carries navigation and receives terminal.
3. the tunnel placement system based on forward node as claimed in claim 2, it is characterised in that:
The delay of the satellite-signal uses formulaIt calculates, wherein lGPSIndicate co-ordinates of satellite；l0Indicate this
Ground GPS/ Beidou receiver coordinate, c is the light velocity.
4. the tunnel placement system based on forward node as claimed in claim 2, it is characterised in that:
The phase control words use formulaIt calculates, wherein φiFor the phase control words of i-th of forward node；
fcFor carrier frequency；diFor the relative distance of i-th forward node and local GPS/ Beidou receiver, which marks in advance
It is fixed.
5. the tunnel placement system based on forward node as described in claim 1, it is characterised in that:
The layout scheme of several forward node are as follows:
A cell of origin is divided every same intervals in tunnel, a forward node is laid at each cell of origin center, it is described
Same intervals are 15 meters~30 meters.
6. the tunnel placement system based on forward node as described in claim 1, it is characterised in that:
Further include security monitoring module, for obtaining number plate, the Position And Velocity information of vehicle from each forward node, and passes through
Internet is supplied to traffic management end.
7. the tunnel placement system based on forward node as claimed in claim 6, it is characterised in that:
The security monitoring module is also used to when forward node is monitored and caused danger in tunnel, sends out to traffic management end
Send warning message.
8. a kind of tunnel placement method based on forward node, characterized in that include:
(1) it receives using the local GPS/ Beidou receiver that the data processing centre being laid in outside tunnel is included and demodulates GPS/
Big Dipper satellite signal obtains the number and message of GPS/ big-dipper satellite；
(2) data processing centre obtains the precise ephemeris of GPS/ big-dipper satellite by network, and the message calculated is combined to obtain
The precise orbit information and operating status of GPS/ big-dipper satellite, and it is sent to each forward node being laid in tunnel；
(3) the time synchronization module that data processing centre is included tames local crystal oscillator, and exports PPS benchmark to each forward node
Second pulse signal, to realize that satellite-signal is synchronous；When PPS benchmark pulse per second (PPS) rising edge arrives, by the report of GPS/ big-dipper satellite
Text, precise orbit information and operating status are sent to each forward node；
(4) each forward node handles received message, precise orbit information and operating status, and modulation generates the puppet of reduction
GPS/ Big Dipper satellite signal, and be transmitted to vehicle mounted guidance and receive terminal；
(5) puppet GPS/ Big Dipper satellite signal is positioned vehicle mounted guidance reception terminal based on the received.
9. the tunnel placement method based on forward node as claimed in claim 8, it is characterized in that:
Each forward node handles received message, precise orbit information and operating status, specifically:
Each forward node message, precise orbit information and operating status, and combination local GPS/ Beidou receiver based on the received
With the position of itself, calculate the delay of GPS/ Big Dipper satellite signal and Doppler frequency shift at each forward node, according to delay and it is more
General Le frequency displacement restores GPS/ Big Dipper satellite signal.
10. the tunnel placement method based on forward node as claimed in claim 8, it is characterized in that:
When laying forward node and data processing centre, firstly, utilizing local GPS/ in location technology nominal data processing center
The position of Beidou receiver；Then, the position for demarcating each forward node relative local GPS/ Beidou receiver, to calculate each turn
Send out the position of node.
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