CN113534196B - Indoor two-dimensional high-precision positioning method and system based on virtual GNSS signals - Google Patents
Indoor two-dimensional high-precision positioning method and system based on virtual GNSS signals Download PDFInfo
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- CN113534196B CN113534196B CN202110754563.XA CN202110754563A CN113534196B CN 113534196 B CN113534196 B CN 113534196B CN 202110754563 A CN202110754563 A CN 202110754563A CN 113534196 B CN113534196 B CN 113534196B
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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
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- 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
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the field of satellite navigation, and discloses an indoor two-dimensional high-precision positioning method and system based on virtual GNSS signals. The virtual GNSS satellite simulation device simulates eight groups of virtual GNSS satellite signals, including a first virtual GNSS satellite signal for first leaky cable region position location, a second virtual GNSS satellite signal for second leaky cable region position location, a third virtual GNSS satellite signal for first leaky cable direction position correction, a fourth virtual GNSS satellite signal, a fifth virtual GNSS satellite signal for second leaky cable direction position correction, a sixth virtual GNSS satellite signal, and seventh and eighth virtual GNSS satellite signals for position correction perpendicular to the leaky cable direction. The invention effectively and reliably realizes the indoor two-dimensional positioning of subways, tunnels, mines and underground parking lots, and the positioning accuracy is in meter level.
Description
Technical Field
The invention relates to an indoor two-dimensional positioning method and system based on virtual GNSS signals, and belongs to the field of satellite navigation.
Background
At present, in places such as subways, underground parking lots, tunnels and the like where indoor navigation satellite signals are invisible, the existing satellite navigation receivers or smart phones cannot be used for positioning, and positioning can be performed only by means of RFID (radio frequency identification devices), WIFI (wireless fidelity), ultra-wideband, inertial navigation, pseudolites and other technologies, but the indoor positioning technologies suffer from multipath effects and cost caused by indoor complex terrains, the indoor positioning technologies have the defects that RFID, WIFI, UWB ultra-wideband positioning cannot be directly performed by using the navigation receivers, a set of positioning system needs to be additionally built, a plurality of pseudolites need to be densely distributed, and the influence of far-near effects and multipath effects is serious. In China, a plurality of patents realize positioning navigation in a tunnel by using pseudolites, CN201810729390.4 is a pseudolites-based positioning method in the tunnel and CN201710617675.4 is a dynamic compensation satellite navigation positioning enhancement system and method, wherein after time synchronization and ephemeris synchronization of pseudolites and outdoor real satellite signals are used, a plurality of area positions are simulated in the tunnel, and the positioning positions in the area are simulated positions. The pseudo satellite positioning method has small error, is limited by cost, and cannot be used for densely simulating the regional position of the pseudo satellite, so that the positioning error is tens of meters to hundreds of meters, and is not suitable for occasions with high positioning and navigation precision requirements. Patent 2020103895875 applies for an indoor positioning method, system and device based on a virtual satellite, but only positioning along the direction of a leaky cable can be realized, and positioning in an indoor two-dimensional plane cannot be realized.
Disclosure of Invention
The invention aims to provide an indoor two-dimensional high-precision positioning method and system based on virtual GNSS signals, so as to overcome the defects in the prior art.
The technical scheme of the invention is as follows: the device comprises a navigation receiver, virtual GNSS satellite simulation equipment, and at least two first leaky cables and second leaky cables which are arranged in parallel;
The virtual GNSS satellite simulation device simulates eight groups of virtual GNSS satellite signals, including a first virtual GNSS satellite signal for positioning a first leaky cable area, a second virtual GNSS satellite signal for positioning a second leaky cable area, a third virtual GNSS satellite signal for correcting the position of the first leaky cable direction, a fourth virtual GNSS satellite signal, a fifth virtual GNSS satellite signal for correcting the position of the second leaky cable direction, a sixth virtual GNSS satellite signal, and seventh and eighth virtual GNSS satellite signals for correcting the position of the leaky cable direction;
the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are all connected with one end of the first leaky cable, and the fourth virtual GNSS satellite signal is connected with the other end of the first leaky cable;
the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are all connected with one end of the second leaky cable, and the sixth virtual GNSS satellite signal is connected with the other end of the second leaky cable;
Correcting the position along the first cable leakage direction by using the difference value between the third virtual GNSS satellite signal carrier phase observation value and the fourth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver; correcting the position along the second cable leakage direction, correcting by using the difference value between the fifth virtual GNSS satellite signal carrier phase observation value and the sixth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver, correcting the position of the user vertical to the cable leakage direction, and correcting by using the difference value between the seventh virtual GNSS satellite signal pseudo-range observation value and the eighth virtual GNSS satellite signal pseudo-range observation value received by the navigation receiver; establishing a leaky cable local coordinate system by taking a point with the same carrier phase of the third virtual satellite and the fourth virtual satellite as a coordinate origin, taking the travelling direction along the leaky cable as an X axis and taking the direction perpendicular to the leaky cable as a Y axis towards the second leaky cable direction; the two-dimensional coordinates x1 and y1 of the point A in the local coordinate system of the leaky cable are as follows:
Wherein ρ3 is a third virtual GNSS satellite signal carrier phase observation value calculated by the navigation receiver at point a, ρ4 is a fourth virtual GNSS satellite signal carrier phase observation value, ρ5 is a fifth virtual GNSS satellite signal carrier phase observation value, ρ6 is a sixth virtual GNSS satellite signal carrier phase observation value, d7 is a seventh virtual GNSS satellite signal pseudorange observation value, d8 is an eighth virtual GNSS satellite signal pseudorange observation value, and L is a vertical distance between two leaky cables at point a;
The seventh virtual GNSS satellite signal and the eighth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of ports of the two leaky cables, and the navigation message health control words are all unhealthy; the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of two ports of the leakage cable, and the navigation message health control words are all unhealthy; the fifth virtual GNSS satellite signal and the sixth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of two ports of the leakage cable, and the navigation message health control words are all unhealthy.
The invention comprises the following steps:
Step 1, a virtual GNSS satellite simulation device simulates and generates eight groups of virtual GNSS satellite signals, including a first virtual GNSS satellite signal for positioning a first leaky cable area, a second virtual GNSS satellite signal for positioning a second leaky cable area, a third virtual GNSS satellite signal for correcting the position of the first leaky cable direction, a fourth virtual GNSS satellite signal, a fifth virtual GNSS satellite signal for correcting the position of the second leaky cable direction, a sixth virtual GNSS satellite signal, and seventh and eighth virtual GNSS satellite signals for correcting the position of the leaky cable direction;
step 2, the first virtual GNSS satellite signal comprises all visible satellite signals at the current simulation moment at the first leaky cable origin coordinate, the power of the third virtual GNSS satellite signal is the same as that of the fourth virtual GNSS satellite signal, the satellite numbers are different, and the health control word in the telegraph text is set to be unhealthy so as to ensure that the third virtual satellite and the fourth virtual satellite do not participate in positioning calculation;
The second virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the position of the second leaky cable origin, the power of the fifth virtual GNSS satellite signal is the same as that of the sixth virtual GNSS satellite signal, the satellite numbers are different, and health control words in the telegraph text are set to be unhealthy so as to ensure that the fifth and sixth virtual satellites do not participate in positioning calculation;
Step 3, the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are combined and then connected to the near port of the first leaky cable for radiation, the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are combined and then connected to the near port of the second leaky cable for radiation, the fourth virtual GNSS satellite signal is connected to the far port of the first leaky cable far away from the virtual satellite simulation device for radiation, and the sixth virtual GNSS satellite signal is connected to the far port of the second leaky cable far away from the virtual satellite simulation device for radiation;
Step 4, when the navigation receiver of the user passes through the lower part of the leaky cable and approaches to the area of the first leaky cable, the navigation receiver receives the first virtual GNSS satellite signal to perform positioning calculation, and when the navigation receiver approaches to the area of the second leaky cable, the navigation receiver receives the second virtual GNSS satellite signal to perform positioning calculation, so that coordinates in the WGS84 geodetic coordinate system are obtained;
Step 5, the navigation receiver carries out position correction according to the pseudo-range difference and the regional point coordinates to obtain accurate position coordinates; the position correction algorithm is as follows:
Taking the point with the same carrier phase of the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal as the origin of coordinates, taking the traveling direction along the leaky cable as an X axis, taking the direction perpendicular to the leaky cable as a Y axis towards the second leaky cable, and establishing a leaky cable local coordinate system, wherein the two-dimensional coordinates X1 and Y1 of the point A in the leaky cable local coordinate system are as follows:
Wherein ρ3 is the third virtual GNSS satellite carrier phase observation calculated by the navigation receiver at point a, ρ4 is the fourth virtual GNSS satellite carrier phase observation, ρ5 is the fifth virtual GNSS satellite carrier phase observation, ρ6 is the sixth virtual GNSS satellite carrier phase observation, d7 is the seventh virtual GNSS satellite pseudorange observation, d8 is the eighth virtual GNSS satellite pseudorange observation, and L is the vertical distance between the two leaky cables at point a.
The invention further comprises an indoor two-dimensional high-precision positioning system based on the virtual GNSS signals: the device comprises at least two first leaky cables, second leaky cables and a virtual GNSS satellite simulation device, wherein the first leaky cables and the second leaky cables are arranged in parallel, and the virtual GNSS satellite simulation device is respectively connected with two ends of the first leaky cables and the second leaky cables through signals.
The invention has the beneficial effects that the indoor and outdoor seamless high-precision two-dimensional positioning can be realized under the condition of not changing the hardware of the navigation receiver, the two-dimensional positioning precision can reach the meter level, and the difficult problem that the high-precision two-dimensional positioning can not be carried out by utilizing the navigation receiver or the smart phone in indoor occasions such as subways, underground parking lots and the like is solved.
Drawings
FIG. 1 is an indoor two-dimensional positioning system based on virtual GNSS signals.
FIG. 2 is a virtual GNSS satellite simulation device.
Fig. 3 is a schematic view of the leaky cable local coordinate system and the position correction.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1to 3 in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the present invention includes a navigation receiver, and at least two first leaky cables, a second leaky cable and a virtual GNSS satellite simulation device, which are arranged in parallel;
The virtual GNSS satellite simulation device simulates and generates a first virtual GNSS satellite signal for positioning the first leaky cable region and a second virtual GNSS satellite signal for positioning the second leaky cable region; and generating a third virtual GNSS satellite signal and a fourth virtual GNSS satellite signal for the first leaky cable direction position correction; and generating fifth virtual GNSS satellite signals and sixth virtual GNSS satellite signals for second leaky cable direction position correction; and generating seventh and eighth virtual GNSS satellite signals for position correction perpendicular to the leaky cable direction;
the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are all connected with one end of the first leaky cable, and the fourth virtual GNSS satellite signal is connected with the other end of the first leaky cable;
the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are all connected with one end of the second leaky cable, and the sixth virtual GNSS satellite signal is connected with the other end of the second leaky cable;
Correcting the position along the first cable leakage direction by using the difference value between the third virtual GNSS satellite signal carrier phase observation value and the fourth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver; correcting the position along the second cable leakage direction, correcting by using the difference value between the fifth virtual GNSS satellite signal carrier phase observation value and the sixth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver, correcting the position of the user vertical to the cable leakage direction, and correcting by using the difference value between the seventh virtual GNSS satellite signal pseudo-range observation value and the eighth virtual GNSS satellite signal pseudo-range observation value received by the navigation receiver; as shown in fig. 2, the eight sets of virtual GNSS satellite signals simultaneously simulated by the virtual GNSS satellite simulation apparatus are divided into four paths of signal outputs, wherein the first path of signal includes first, third and seventh virtual GNSS satellite signals, the second path of signal includes second, fifth and eighth virtual GNSS satellite signals, the third path of signal is a fourth virtual GNSS satellite signal, and the fourth path of signal is a sixth virtual GNSS signal.
As shown in fig. 3, a local coordinate system of the leaky cable is established by taking a point with the same carrier phase of the third virtual satellite and the fourth virtual satellite as a coordinate origin, taking the travelling direction along the leaky cable as an X axis and taking a direction perpendicular to the leaky cable as a Y axis towards the second leaky cable direction; the two-dimensional coordinates x1 and y1 of the point A in the local coordinate system of the leaky cable are as follows:
Wherein ρ3 is a third virtual GNSS satellite signal carrier phase observation value calculated by the navigation receiver at point a, ρ4 is a fourth virtual GNSS satellite signal carrier phase observation value, ρ5 is a fifth virtual GNSS satellite signal carrier phase observation value, ρ6 is a sixth virtual GNSS satellite signal carrier phase observation value, d7 is a seventh virtual GNSS satellite signal pseudorange observation value, d8 is an eighth virtual GNSS satellite signal pseudorange observation value, and L is a vertical distance between two leaky cables at point a;
all coordinates of the leaky cable can be mapped in advance, and converted into actual mapped coordinates according to two-dimensional coordinate values in a leaky cable coordinate system and then displayed in a map;
The seventh virtual GNSS satellite signal and the eighth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of ports of the two leaky cables, and the navigation message health control words are all unhealthy; the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of two ports of the leakage cable, and the navigation message health control words are all unhealthy; the fifth virtual GNSS satellite signal and the sixth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of two ports of the leakage cable, and the navigation message health control words are all unhealthy.
The invention comprises the following steps:
Step 1, a virtual GNSS satellite simulation device simulates eight groups of virtual GNSS satellite signals, including a first virtual GNSS satellite signal for positioning a first leaky cable area, a second virtual GNSS satellite signal for positioning a second leaky cable area, a third virtual GNSS satellite signal for correcting the position of the first leaky cable direction, a fourth virtual GNSS satellite signal, a fifth virtual GNSS satellite signal for correcting the position of the second leaky cable direction, a sixth virtual GNSS satellite signal, and seventh and eighth virtual GNSS satellite signals for correcting the position of the leaky cable direction;
step 2, the first virtual GNSS satellite signal comprises all visible satellite signals at the current simulation moment at the first leaky cable origin coordinate, the power of the third virtual GNSS satellite signal is the same as that of the fourth virtual GNSS satellite signal, the satellite numbers are different, and the health control word in the telegraph text is set to be unhealthy so as to ensure that the third virtual satellite and the fourth virtual satellite do not participate in positioning calculation;
The second virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the position of the second leaky cable origin, the power of the fifth virtual GNSS satellite signal is the same as that of the sixth virtual GNSS satellite signal, the satellite numbers are different, and health control words in the telegraph text are set to be unhealthy so as to ensure that the fifth and sixth virtual satellites do not participate in positioning calculation;
Step 3, the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are combined and then connected to the near port of the first leaky cable for radiation, the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are combined and then connected to the near port of the second leaky cable for radiation, the fourth virtual GNSS satellite signal is connected to the far port of the first leaky cable far away from the virtual satellite simulation device for radiation, and the sixth virtual GNSS satellite signal is connected to the far port of the second leaky cable far away from the virtual satellite simulation device for radiation;
Step 4, when the navigation receiver of the user passes through the lower part of the leaky cable and approaches to the area of the first leaky cable, the navigation receiver receives the first virtual GNSS satellite signal to perform positioning calculation, and when the navigation receiver approaches to the area of the second leaky cable, the navigation receiver receives the second virtual GNSS satellite signal to perform positioning calculation, so that coordinates in the WGS84 geodetic coordinate system are obtained;
Further, in order to further improve positioning accuracy, when the system is built, all coordinates of the cable leakage area points are obtained through mapping in advance and sent to the smart phone in a wireless communication mode or downloaded to the navigation receiver, when the difference value between the calculated coordinates and a certain cable leakage area point coordinate is smaller than an error threshold value, a person skilled in the art can set the size of the error threshold value by combining the positioning accuracy index and the technical requirement of the navigation receiver, and the cable leakage area point coordinate is used as an area center coordinate and recorded as x0, y0 and z0;
Step 5, the navigation receiver carries out position correction according to the pseudo-range difference and the regional point coordinates to obtain accurate position coordinates; the position correction algorithm is as follows:
Taking the point with the same carrier phase of the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal as the origin of coordinates, taking the traveling direction along the leaky cable as an X axis, taking the direction perpendicular to the leaky cable as a Y axis towards the second leaky cable, and establishing a leaky cable local coordinate system, wherein the two-dimensional coordinates X1 and Y1 of the point A in the leaky cable local coordinate system are as follows:
wherein ρ3 is the third virtual GNSS satellite carrier phase observation calculated by the navigation receiver at point a, ρ4 is the fourth virtual GNSS satellite carrier phase observation, ρ5 is the fifth virtual GNSS satellite carrier phase observation, ρ6 is the sixth virtual GNSS satellite carrier phase observation, d7 is the seventh virtual GNSS satellite pseudorange observation, d8 is the eighth virtual GNSS satellite pseudorange observation, and L is the vertical distance between the two leaky cables at point a. All coordinates of the leaky cable can be mapped in advance, and can be converted into actual mapped coordinates according to two-dimensional coordinate values in a leaky cable coordinate system and then displayed in a map.
The invention further comprises an indoor two-dimensional high-precision positioning system based on the virtual GNSS signals: the device comprises at least two first leaky cables, second leaky cables and a virtual GNSS satellite simulation device, wherein the first leaky cables and the second leaky cables are arranged in parallel, and the virtual GNSS satellite simulation device is respectively connected with two ends of the first leaky cables and the second leaky cables through signals. The indoor two-dimensional high-precision positioning can be realized under the condition of not changing the hardware of the navigation receiver, the positioning precision reaches the meter level, and the problem that the positioning of a satellite navigation receiver or a smart phone cannot be utilized in indoor occasions such as subways, tunnels, mines and underground parking lots is solved.
Claims (3)
1. An indoor two-dimensional high-precision positioning system based on virtual GNSS signals is characterized in that: the device comprises a navigation receiver, a virtual GNSS satellite simulation device, at least two first leaky cables and at least two second leaky cables which are arranged in parallel;
The virtual GNSS satellite simulation device simulates eight groups of virtual GNSS satellite signals, including a first virtual GNSS satellite signal for positioning a first leaky cable area, a second virtual GNSS satellite signal for positioning a second leaky cable area, a third virtual GNSS satellite signal for position correction along a first leaky cable direction, a fourth virtual GNSS satellite signal, a fifth virtual GNSS satellite signal for position correction along a second leaky cable direction, a sixth virtual GNSS satellite signal, and a seventh virtual GNSS satellite signal and an eighth virtual GNSS satellite signal for position correction perpendicular to the leaky cable direction;
the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are all connected with one end of the first leaky cable, and the fourth virtual GNSS satellite signal is connected with the other end of the first leaky cable;
the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are all connected with one end of the second leaky cable, and the sixth virtual GNSS satellite signal is connected with the other end of the second leaky cable;
The seventh virtual GNSS satellite signal and the eighth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of ports of the two leaky cables, and the navigation message health control words are all unhealthy; the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of two ports of the leakage cable, and the navigation message health control words are all unhealthy; the fifth virtual GNSS satellite signal and the sixth virtual GNSS satellite signal simulated by the virtual GNSS satellite simulation device are different in satellite numbers, the power and the pseudo-range time delay are set to be the same in power and time delay value at the joint of two ports of the leakage cable, and the navigation message health control words are all unhealthy.
2. An indoor two-dimensional high-precision positioning system based on virtual GNSS signals as claimed in claim 1, wherein:
Correcting the position along the first cable leakage direction by using the difference value between the third virtual GNSS satellite signal carrier phase observation value and the fourth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver; and correcting the position along the second cable leakage direction, correcting by using the difference value between the fifth virtual GNSS satellite signal carrier phase observation value and the sixth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver, correcting the position of the user vertical to the cable leakage direction, and correcting by using the difference value between the seventh virtual GNSS satellite signal pseudo-range observation value and the eighth virtual GNSS satellite signal pseudo-range observation value received by the navigation receiver.
3. An indoor two-dimensional high-precision positioning method based on virtual GNSS signals by adopting the system of claim 1, which is characterized by comprising the following steps:
Step 1, a virtual GNSS satellite simulation device simulates and generates a first virtual GNSS satellite signal for positioning a first leaky cable area and a second virtual GNSS satellite signal for positioning a second leaky cable area, a third virtual GNSS satellite signal for correcting the position of the first leaky cable direction, a fourth virtual GNSS satellite signal, a fifth virtual GNSS satellite signal for correcting the position of the second leaky cable direction, a sixth virtual GNSS satellite signal and seventh and eighth virtual GNSS satellite signals for correcting the position of the leaky cable direction;
step 2, the first virtual GNSS satellite signal comprises all visible satellite signals at the current simulation moment at the first leaky cable origin coordinate, the power of the third virtual GNSS satellite signal is the same as that of the fourth virtual GNSS satellite signal, the satellite numbers are different, and the health control word in the telegraph text is set to be unhealthy so as to ensure that the third virtual satellite and the fourth virtual satellite do not participate in positioning calculation;
The second virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the position of the second leaky cable origin, the power of the fifth virtual GNSS satellite signal is the same as that of the sixth virtual GNSS satellite signal, the satellite numbers are different, and health control words in the telegraph text are set to be unhealthy so as to ensure that the fifth and sixth virtual satellites do not participate in positioning calculation;
Step 3, the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are combined and then connected to the near port of the first leaky cable for radiation, the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are combined and then connected to the near port of the second leaky cable for radiation, the fourth virtual GNSS satellite signal is connected to the far port of the first leaky cable far away from the virtual satellite simulation device for radiation, and the sixth virtual GNSS satellite signal is connected to the far port of the second leaky cable far away from the virtual satellite simulation device for radiation;
Step 4, when the navigation receiver of the user passes through the lower part of the leaky cable and approaches to the area of the first leaky cable, the navigation receiver receives the first virtual GNSS satellite signal to perform positioning calculation, and when the navigation receiver approaches to the area of the second leaky cable, the navigation receiver receives the second virtual GNSS satellite signal to perform positioning calculation, so that coordinates in the WGS84 geodetic coordinate system are obtained;
Step 5, the navigation receiver carries out position correction according to the pseudo-range difference and the regional point coordinates to obtain accurate position coordinates; the position correction algorithm is as follows:
Taking the point with the same carrier phase of the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal as the origin of coordinates, taking the traveling direction along the leaky cable as an X axis, taking the direction perpendicular to the leaky cable as a Y axis towards the second leaky cable, and establishing a leaky cable local coordinate system, wherein the two-dimensional coordinates X1 and Y1 of the point A in the leaky cable local coordinate system are as follows:
Wherein ρ3 is the third virtual GNSS satellite carrier phase observation calculated by the navigation receiver at point a, ρ4 is the fourth virtual GNSS satellite carrier phase observation, ρ5 is the fifth virtual GNSS satellite carrier phase observation, ρ6 is the sixth virtual GNSS satellite carrier phase observation, d7 is the seventh virtual GNSS satellite pseudorange observation, d8 is the eighth virtual GNSS satellite pseudorange observation, and L is the vertical distance between the two leaky cables at point a.
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