CN101158719B - False satellite sub-decimeter level indoor position location method - Google Patents

Abstract

The invention relates to an apparatus using GPS techniques of the global position satellite system and a carrier phase location method thereof, in particular to a hardware and software design techniques based on navigational satellite signal of the global position satellite system; the invention is applied in a pseudosateilite indoor position system with sub-decimeter level mainly of the situations in which GPS satellite signal of the global position satellite system cannot be received indoors, as well as a carrier phase location method thereof. The system at least comprises a personal computer of a master control station and a consultation receiver, etc, and the indoor position system that is integrated by all apparatuses. The method is realized by the way of carrier phase location, and mainly resolves the related technological problems of the hardware and software implementation of pseudosateilite and the layout of indoor pseudosateilite, etc. The invention has the advantages that the system and the method can achieve autonomous navigation in a closed region, which are suitable for the situations in which ethereal GPS satellite signal cannot be received indoors but the location result with higher precision is required and so on, and has the advantages of convenient use, simple and effective control, etc.

Description

False satellite sub decimeter grade carrier phase indoor orientation method

Technical field

The present invention relates to a kind of Global Positioning System (GPS) GPS (Global PositioningSystem) technology, outstanding purport is a kind of based on Global Positioning System (GPS) GPS navigation satellite-signal, Global Positioning System (GPS) GPS receiver locating terminal, satellite navigation carrier phase measurement technology and on-site programmable gate array FPGA (Field Programmable Gate Array) hardware circuit design and embedded soft nuclear technology, be mainly used in indoor grade and can't obtain Global Positioning System (GPS) gps satellite signal in the sky and need the occasion of degree of precision positioning result, belong to the inferior decimeter grade indoor locating system of pseudo satellite, pseudolite high precision and the carrier phase localization method thereof in global location and monitoring technique field.

Background technology

The inferior decimeter grade indoor positioning of pseudo satellite, pseudolite high precision technology has been used existing gps satellite airmanship cleverly, use the pseudo satellite, pseudolite device at indoor emission and GPS thick sign indicating number satellite-signal form and the consistent pseudo satellite, pseudolite wireless signal of content, the carrier phase measurement technology of utilizing ready-made commercial GPS receiver is finished high-precision location indoor.Solved at indoor and other special occasions self defined areas and can't receive a gps signal realization location and the not high difficult problem of bearing accuracy.In traditional GPS location, the positioning principle of common GPS receiver is to use pseudo-random code ranging to realize the location, and the thick coded signal of GPS is disclosed.And the P sign indicating number of degree of precision and underground.The thick sign indicating number bearing accuracy of GPS is low greatly about about 10～30 meters, and the occasion that this external indoor, mine, the inferior gps signal of high building are blocked just can't realize locating.Therefore the inferior decimeter grade indoor positioning of the pseudo satellite, pseudolite high precision technology occasion that mainly is blocked and locatees, and the field that has degree of precision to require towards above-mentioned gps signal.

Pseudo satellite, pseudolite is as the term suggests be a Satellite Simulation device, and its major function is an analog satellite, here is the simulating GPS satellite, emission and the living satellite navigation signals of gps signal form.The appearance of pseudo satellite, pseudolite is evening, GPS System in USA build as yet finish before, just use pseudo satellite, pseudolite to carry out the simulation test of GPS.In recent years, there are many researchs at pseudo satellite, pseudolite countries in the world, and all there are ripe pseudo satellite, pseudolite group network system in Korea S and Finland.China also has much the research of pseudo satellite, pseudolite but great majority are to use 1～2 pseudo satellite, pseudolite to realize that the zone of satellite navigation system strengthens, and uses pure pseudo satellite, pseudolite establishment system to realize that the method for indoor positioning does not almost have correlative study.

Summary of the invention

In order to overcome above-mentioned weak point, fundamental purpose of the present invention aims to provide the indoor inferior decimeter grade hi-Fix solution of a kind of pseudo satellite, pseudolite, by the hardware system of compositions such as master station PC, pseudo satellite, pseudolite signaling module, radio-frequency module, right-hand screw antenna, receiver user, reference receiver and clock module; By the pseudo satellite, pseudolite topological design, realize the independent navigation in the closed region; Realize the method for hi-Fix by measuring the carrier phase changing value, reach to solve and to receive the gps signal problem at indoor and other special occasions self defined areas, can reduce positioning error again, improve the false satellite sub decimeter grade carrier phase indoor orientation method of bearing accuracy.

The technical problem to be solved in the present invention is: at the requirement of room area hi-Fix, mainly the technical matters of Xie Jueing is: solve how to obtain high-precision positioning result problem by whole hardware system; Solve and how to use pure pseudo satellite, pseudolite establishment system to realize indoor positioning; Solve the communications protocol problem of how passing through between master station PC and the false satellite baseband signal maker; Solve measured value how to use carrier phase and estimate the two differential mode type method problems of time-satellite of pseudorange; How to solve position derivation algorithm problem with the two-dimensional coordinate location; How to solve with reference receiver be receiver user do after the difference correction data the disposal route problem and how with reference receiver with relevant technologies problems such as reference data storage searching method realization location.

The technical solution adopted for the present invention to solve the technical problems is: a kind of false satellite sub decimeter grade carrier phase indoor orientation method, this method is by the positioning system of master station PC, pseudo satellite, pseudolite signaling module, clock module, user's locating module and reference receiver, to receiver user is realized the centimetre-sized precision in the indoor positioning zone location, this localization method comprises: the design of pseudo satellite, pseudolite antenna arrangement; Communications protocol between master station PC and the false satellite baseband signal maker, communication process and command format agreement; Estimate the two differential mode type methods of time-satellite of pseudorange with the measured value of carrier phase; Position derivation algorithm with the two-dimensional coordinate location; With reference receiver is that receiver user is made the difference correction method and reference receiver is realized the location with the reference data storage searching method; The concrete job step of this localization method is:

Step 1. beginning

System installs and prepares beginning;

Step 2. system installs and connects the pseudo satellite, pseudolite antenna arrangement

After executing the beginning module, the system that then enters installs and connects, pseudo satellite, pseudolite antenna arrangement module, to using the place and demarcating accurately as the position that pseudo satellite, pseudolite is arranged, after determining the initial point and X-direction in place, pseudo satellite, pseudolite antenna, the position of reference receiver antenna in the place are showed with three-dimensional coordinate;

Step 3. is set up the pseudolite systems coordinate system, measures each pseudo satellite, pseudolite antenna coordinate

The system that executes installs and connects, and after the pseudo satellite, pseudolite antenna arrangement module, then enters according to the actual conditions in place, location and sets up the pseudolite systems coordinate system, measures each pseudo satellite, pseudolite antenna coordinate module;

Step 4. master station PC is provided with pseudo satellite, pseudolite and transmits, and starts false satellite baseband signal maker

After executing above-mentioned work, open each parts, then enter and by the master station PC pseudo satellite, pseudolite is set and transmits, and start the false satellite baseband signal maker module;

Step 5. receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal

Execute the master station PC and pseudo satellite, pseudolite is set transmits, and after starting the false satellite baseband signal maker module, then enter receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signaling module, the outgoing carrier phase measurement is to locating the computing PC simultaneously;

Step 6. judgement begins the location

After executing receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signaling module, then enter and judge the beginning locating module, wait for the instruction that begins to locate; If after determining to begin the location, then enter input receiver user initial point coordinate module, the operator imports the initial position coordinate of receiver user; If do not begin the location, then feedback enters receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signaling module;

Step 7. location computing PC obtains the carrier phase of receiver output

After executing input receiver user initial point coordinate module, then enter location computing PC and obtain the carrier phase module of receiver output, this receiver comprises receiver user and reference receiver;

Step 8. difference correction

Execute after location computing PC obtains the carrier phase module of receiver output, receiver comprises receiver user and reference receiver, then enter the difference correction module, use reference receiver) the carrier phase measurement value carrier phase measurement value of receiver user is carried out difference correction;

Step 9. pseudorange is estimated

After executing the difference correction module, then enter the pseudorange estimation module;

Step 10. positioning result calculates and shows

After executing the pseudorange estimation module, then enter positioning result and calculate and display module, the good pseudorange of utilization estimation is finished positioning result calculating and is shown;

Step 11. is judged termination

After executing positioning result calculating and display module, then enter and judge the termination module; If after ending, then need to reorientate; If position fixing process is not ended, computing PC in location will repeat successively: computing PC in location obtains carrier phase, difference correction, the pseudorange of receiver output and estimates the process that positioning result calculates and shows, this receiver comprises receiver user and reference receiver;

Step 12. judgement is reorientated

If after ending, then enter judgement and reorientate module; If need reorientate, then enter input receiver user initial point coordinate module, need import the initial position coordinate of receiver user once more, computing PC in location will repeat successively: computing PC in location obtains carrier phase, difference correction, the pseudorange of receiver user and reference receiver output and estimates the process that positioning result calculates and shows, this receiver comprises receiver user and reference receiver; If not reorientating, then enter the end module;

Step 13. finishes

Whole process finishes.

The master station PC of described false satellite sub decimeter grade carrier phase indoor orientation method and the concrete job step of the communications protocol between the false satellite baseband signal maker, communication process and command format agreement are:

Step 1. communications protocol

The baud rate of communication is with fixing, and is immutable, for 9600bit/s communication underlying protocol is set: start bit: 1; Data bit: 8; Check bit: 0; Stop bit: 2;

Step 2. communication process

A). the master station PC sends order by serial ports

The master station PC is worked out the order data frame according to the parameter of importing in the visual software interface, address and order; Send by serial ports, comprised address code information in the order data frame;

B). false satellite baseband signal maker receives order

False satellite baseband signal maker receives order, obtains according to form, and order numbering, address code judge whether address code is identical with the address code of oneself, if identical, then make corresponding action according to order numbering and parameter in the command word;

Step 3. command format agreement

The command format agreement is set as follows:

* PSEU is: command header; Order is numbered: a byte; Address code is: a byte; Command parameter length is: two bytes; Command parameter; EOF is: the order end mark:

* the ASCII character of PSEU is as command header, and the ASCII character of EOF is as the order end mark; Command word, parameter are all by CSV, and command parameter length is not limit, and false satellite baseband signal maker is to receive end mark as the order end mark.

The measured value of the usefulness carrier phase of described false satellite sub decimeter grade carrier phase indoor orientation method estimates that the two differential mode type methods of the time-satellite of pseudorange are that the receiver user antenna is located since a known point, under the situation of receiver user to the pseudo satellite, pseudolite Continuous Tracking, measured value with carrier phase is estimated pseudorange, is the two differential mode types of time-satellite; The concrete job step of this method is:

Step 1. is estimated pseudorange with the measured value of carrier phase

The carrier phase that the unique user receiver is measured estimates that pseudorange is: as follows with pseudo satellite, pseudolite signal carrier phase observation equation:

Φ＝ρ+c(dt-dT)+λN-d _mul+ε _Φ

In the formula: Φ is a carrier phase observation data, and c is the light velocity, and ρ is the distance of pseudo satellite, pseudolite emitting antenna to receiver user (41), and dt is a receiver user clock correction, and-dT is the clock jitter of pseudo satellite, pseudolite signal, and N is an integer ambiguity, and λ is a carrier wavelength, d _MulBe multipath error, ε _ΦBe the carrier phase measurement noise;

Step 2. in constantly 0, the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite

In the two differential mode types of time-satellite, receiver user receives the carrier phase observation data from pseudo satellite, pseudolite antenna i and pseudo satellite, pseudolite antenna j signal respectively, and tries to achieve the carrier phase observation data of the moment 0 and moment t respectively;

The receiver user antenna is since a known starting point location, in the time of at the beginning, the actual range of four pseudo satellite, pseudolites and receiver user antenna is known, and note the carrier phase observation data of four pseudo satellite, pseudolites recording of receiver user this moment, be Φ at 0 i the pseudo satellite, pseudolite that constantly records and the carrier phase value of j pseudo satellite, pseudolite ⁱ(0) and Φ ^j(0);

Wherein i and j represent i pseudo satellite, pseudolite and j pseudo satellite, pseudolite respectively,

${\mathrm{\Φ}}^i\left(0\right)={\mathrm{\ρ}}^i\left(0\right)+c(\mathrm{dt}-{\mathrm{dT}}^i\left(0\right))+\mathrm{\λ}{N}^i-d_{\mathrm{mul}}^i\left(0\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^i\left(0\right)$

${\mathrm{\Φ}}^j\left(0\right)={\mathrm{\ρ}}^j\left(0\right)+c(\mathrm{dt}-{\mathrm{dT}}^j\left(0\right))+\mathrm{\λ}{N}^j-d_{\mathrm{mul}}^j\left(0\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^j\left(0\right)$

It is as follows that both difference is got equation:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(0\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(0\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(0\right)---\left(1\right)$

In the formula: ΔΦ ^J-i(0) is Φ ^j(0) and Φ ⁱ(0) poor, Δ dT ^J-i(0) is dT ^j(0) and dT ⁱ(0) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For

With

Poor,

For

With Poor;

Step 3. in moment t, the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite

In like manner, in moment t, the receiver user antenna has moved to new place, and carrier phase observation data is Φ ⁱ(t) and Φ ^j(t);

${\mathrm{\Φ}}^i\left(t\right)={\mathrm{\ρ}}^i\left(t\right)+c(\mathrm{dt}-{\mathrm{dT}}^i\left(t\right))+\mathrm{\λ}{N}^i-d_{\mathrm{mul}}^i\left(t\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^i\left(t\right)$

${\mathrm{\Φ}}^j\left(t\right)={\mathrm{\ρ}}^j\left(t\right)+c(\mathrm{dt}-{\mathrm{dT}}^j\left(t\right))+\mathrm{\λ}{N}^j-d_{\mathrm{mul}}^j\left(t\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^j\left(t\right)$

It is as follows that both difference is got equation:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(t\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(t\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(t\right)---\left(2\right)$

In the formula: ΔΦ ^J-i(t) be Φ ^j(t) and Φ ⁱ(t) poor, Δ dT ^J-i(t) be dT ^j(t) and dT ⁱ(t) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For

With

Poor, For

With

Poor;

Step 4. is from 0 moving to the poor pair eikonal equations that obtain of t work constantly constantly

Equation (1) and equation (2) are made difference, and to obtain two eikonal equations as follows:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t=\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-c\▿\mathrm{\Δd}{T^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(3\right)$

In the formula:

Be two differences between time and star,

Be Δ dT ^J-i(t) and Δ dT ^J-i(0) poor,

For

With

Poor,

For With

Poor;

Step 5. is calculated at t constantly, and receiver user is to the range difference of pseudo satellite, pseudolite i and pseudo satellite, pseudolite j

Two difference results in above-mentioned (3) formula are considered to the time 0 and move to time t, the variable quantity of the difference of receiver user to two satellite distance, and then at t constantly, receiver user is as follows to the equation of the range difference of pseudo satellite, pseudolite i and pseudo satellite, pseudolite j:

$\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)=\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t+\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)+c\▿\mathrm{\Δ}{{\mathrm{dT}}^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(4\right)$

In the formula:

Be two difference results of measured value, Δ ρ ^J-i(0) owing to imported initial position, thus be known,

Come down to the asynchronous error term that causes of different pseudo satellite, pseudolite clocks,

Be the error term that the multipath error causes,

Then be to measure the error term that stochastic error that noise causes causes;

Step 6. is estimated pseudorange and position coordinates

If the distance of four pseudo satellite, pseudolites of 0 moment receiver user distance is R ¹(0), R ²(0), R ³(0), R ⁴(0), then estimate the t pseudorange of four pseudo satellite, pseudolites of receiver user distance constantly with following method thus:

$\left\{\begin{array}{c}{R}^1\left(t\right)=R^1\left(0\right)\\ R^2\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{2-1}\left(t\right)\\ R^3\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{3-1}\left(t\right)\\ R^4\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{4-1}\left(t\right)\end{array}\right.---\left(5\right)$

In the formula: Δ ρ ^2-1(t), Δ ρ ^3-1(t), Δ ρ ^4-1(t) try to achieve by above-mentioned (4) formula;

In the Global Positioning System (GPS) GPS calculating location that the pseudorange substitution that (5) formula is estimated is common iterative, for trying to achieve the t position coordinates of receiver user constantly.

The concrete job step with the position derivation algorithm of two-dimensional coordinate location of described false satellite sub decimeter grade carrier phase indoor orientation method is:

Step 1. is obtained current pseudorange observed reading

A). the two-dimensional coordinate positioning algorithm based is listed following equation:

$\sqrt{{(x_1-x_u)}^2+{(y_1-y_u)}^2+{(z_1-z_u)}^2}+\mathrm{bu}={\mathrm{\ρ}}_1---\left(1\right)$

In the formula: x ₁, y ₁, z ₁Be the 1st pseudo satellite, pseudolite coordinate, x _u, y _u, z _uBe the coordinate of receiver user initial estimation, z _uIt is known constant; b _uBe the total error of pseudorange, ρ ₁Be the pseudorange of the 1st pseudo satellite, pseudolite to receiver user;

B). use linearizing additive process

Equation (1) is carried out linearization

$\∂{\mathrm{\ρ}}_1=\frac{(x_i-x_u)\∂x_u+(y_i-y_u)\∂y_u}{\sqrt{{(x_1-x_u)}^2+{(y_1-y_u)}^2+{(z_1-z_u)}^2}}+\∂b_u$

$=\frac{(x_i-x_u)\∂x_u+(y_i-y_u)\∂y_u}{{\mathrm{\ρ}}_i-b_u}+\∂b_u---\left(2\right)$

C). four equations of 4 pseudo satellite, pseudolite simultaneous are obtained the matrix that following system of linear equations is formed:

According to said process (1), (2) be to the matrix that four equations of 4 pseudo satellite, pseudolite simultaneous obtain following system of linear equations composition:

$\left[\begin{array}{c}{\∂\mathrm{\ρ}}_1\\ {\∂\mathrm{\ρ}}_2\\ {\∂\mathrm{\ρ}}_3\\ {\∂\mathrm{\ρ}}_4\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{\α}}_{11}& {\mathrm{\α}}_{12}& 1\\ {\mathrm{\α}}_{21}& {\mathrm{\α}}_{22}& 1\\ {\mathrm{\α}}_{31}& {\mathrm{\α}}_{32}& 1\\ {\mathrm{\α}}_{41}& {\mathrm{\α}}_{42}& 1\end{array}\right]\left[\begin{array}{c}\∂x_u\\ \∂y_u\\ \∂z_u\end{array}\right]---\left(3\right)$

Wherein

Deduct the measurement pseudorange for calculating pseudorange, subscript i represents i pseudo satellite, pseudolite

Step 2. solves with least square method

Choose the estimated value of current point coordinate, the substitution system of equations is found the solution, and utilizes above-mentioned least square method to solve

Order

Then find the solution with least square method

$\left[\begin{array}{c}\∂x_u\\ \∂y_u\\ \∂b_u\end{array}\right]={\left(A^{T}A\right)}^{-1}{A}^T\left[\begin{array}{c}{\∂\mathrm{\ρ}}_1\\ {\∂\mathrm{\ρ}}_2\\ {\∂\mathrm{\ρ}}_3\\ {\∂\mathrm{\ρ}}_4\end{array}\right]---\left(4\right)$

Solving what obtain is the difference of the coordinate of real user receiver coordinate and receiver user initial estimation;

Step 3. revise originally estimated x _u, y _u

With what solve

Revise originally estimated x _u, y _u, then the Coordinate Calculation result of receiver user is modified to:

${x_u}^{\′}=x_u+\∂x_u$

${y_u}^{\′}=y_u+\∂y_u$

Step 4. is with revised x _u', y _u' substitution system of equations again

Carry out computing if new receiver user Coordinate Calculation result is re-used as the above-mentioned formula of initial coordinate substitution, can separate and make new advances

And revise once more; Repeatedly said process until

Less than a predetermined value, or it is 0.01 meter; Think that then the Coordinate Calculation result of receiver user is very near real receiver user position coordinates;

Step 5. repeats above-mentioned steps 1 to step 4

Constantly repeat above-mentioned steps 1 to step 4, up to what solve Absolute value smaller or equal to 0.01 meter threshold value, then think the x that solves _u, y _uConverged to the true coordinate value of receiver user.

Described false satellite sub decimeter grade carrier phase indoor orientation method be that the disposal route done after the difference correction data of receiver user is the same with the receiver user processing method of data with reference receiver, the concrete job step of this method is:

Step 1. is the moment 0, and the equation of the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite is as follows:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(0\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(0\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(0\right)---\left(1\right)$

In the formula: ΔΦ ^J-i(0) is Φ ^j(0) and Φ ⁱ(0) poor, Δ dT ^J-i(0) is dT ^j(0) and dT ⁱ(0) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor, For

With

Poor,

For With Poor;

Step 2. is in moment t, and the equation of the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite is as follows:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(t\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(t\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(t\right)---\left(2\right)$

In the formula: ΔΦ ^J-i(t) be Φ ^j(t) and Φ ⁱ(t) poor, Δ dT ^J-i(t) be dT ^j(t) and dT ⁱ(t) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For With

Poor,

For

With Poor;

Step 3. is from constantly 0 moving to constantly t and make difference to obtain two eikonal equations as follows:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t=\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-c\▿\mathrm{\Δd}{T^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(3\right)$

In the formula:

Be two differences between time and star,

Be Δ dT ^J-i(t) and Δ dT ^J-i(0) poor,

For

With

Poor,

For

With

Poor;

Step 4. is finished difference correction

A). the data that reference receiver obtains

The data that reference receiver obtains obtain respectively after utilizing above-mentioned formula 1-3 to handle:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{2-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{3-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{4-1}|}_0^t$

B). the data that receiver user obtains

The data that receiver user obtains obtain respectively after utilizing above-mentioned formula 1-3 to handle:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{2-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{3-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{4-1}|}_0^t$

Obtain two differences between time and star according to following formula then:

$\left\{\begin{array}{c}\▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{2-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{2-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{2-1}|}_0^t\\ \▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{3-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{3-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{3-1}|}_0^t\\ \▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{4-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{4-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{4-1}|}_0^t\end{array}\right.---\left(6\right)$

For having finished difference correction;

Step 5. compute pseudo-ranges estimated value

A). with the receiver user of substitution as a result of above-mentioned formula 6 equation (4) to the range difference of pseudo satellite, pseudolite i and pseudo satellite, pseudolite j:

$\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)=\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t+\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)+c\▿\mathrm{\Δ}{{\mathrm{dT}}^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(4\right)$

In the formula:

Be two difference results of measured value, Δ ρ ^J-i(0) owing to imported initial position, thus be known,

Come down to the asynchronous error term that causes of different pseudo satellite, pseudolite clocks,

Be the error term that the multipath error causes,

Then be to measure the error term that stochastic error that noise causes causes;

B). continue the substitution equation:

If the distance of four pseudo satellite, pseudolites of 0 moment receiver user distance is R ¹(0), R ²(0), R ³(0), R ⁴(0), then estimate the t pseudorange of four pseudo satellite, pseudolites of receiver user distance constantly with following method thus:

$\left\{\begin{array}{c}{R}^1\left(t\right)=R^1\left(0\right)\\ R^2\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{2-1}\left(t\right)\\ R^3\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{3-1}\left(t\right)\\ R^4\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{4-1}\left(t\right)\end{array}\right.---\left(5\right)$

In the formula: Δ ρ ^2-1(t), Δ ρ ^3-1(t), Δ ρ ^4-1(t) try to achieve by above-mentioned (4) formula;

In the Global Positioning System (GPS) GPS calculating location that the pseudorange substitution that (5) formula is estimated is common iterative, for trying to achieve the t position coordinates of receiver user constantly.

The reference receiver of described false satellite sub decimeter grade carrier phase indoor orientation method is realized the location with the reference data storage searching method, make difference with reference receiver, the data of receiver user and the data of reference receiver must be synchronizations, and the data of the data of reference receiver output and receiver user output not necessarily arrive computing machine simultaneously, to cause to realize difference, one frame data of reference receiver and receiver user have comprised the carrier phase measurement data of time mark and four pseudo satellite, pseudolites, the Frame that the only time mark is identical is done difference, and this system with the concrete job step of reference data storage searching method is:

Step 1. beginning

Computing PC in location checked once whether be subjected to receiver user and reference receiver data in per 0.5 second, obtained data if any then carrying out decode operation, and with data based reference receiver and receiver user grouping;

Step 2. is obtained reference data and storage

After executing initialization module, then enter and obtain reference data and memory module, in per 0.5 second, computing PC in location can be received the reference receiver data of 5-6 frame; Reference receiver distributes two groups of storage spaces to be used for storing data, stores several frame data of receiving in 0.5 second, stores several frame data that this is received for one group for one group;

Step 3. is obtained user data and storage

Execute obtain reference data and memory module after, then enter and obtain user data and memory module, in per 0.5 second, location computing PC can be received the receiver user data of 5-6 frame; Receiver user is same to distribute two groups of spaces to store data, stores data that were untreated in 0.5 second, stores the data that this is received for one group for one group;

Step 4. judges whether receiver user " received the data storage area last time " empty

Execute obtain user data and memory module after, then enter " receiving the data storage area last time " empty module whether of judging receiver user;

If receiver user " receiving the data storage area last time " is empty, then enter data immigration " receiving the data storage area last time " module with " this receives the data storage area " of reference receiver;

If " receiving the data storage area last time " non-NULL of receiver user then enters and extracts a Frame A module;

" this receives the data storage area " of step 5. searching for reference receiver

After executing Frame A module of extraction, " this receives the data storage area " module that then enters the searching for reference receiver;

Step 6. judges whether to find the reference data frame of identical time mark

After executing " this receives the data storage area " module of searching for reference receiver, then enter the reference data frame module that judges whether to find identical time mark;

If find the reference data frame of identical time mark, then enter the difference correction module, carry out difference processing;

If do not find the reference data frame of identical time mark, then skip difference processing, enter the positioning calculation module;

Step 7. positioning calculation

Execute difference correction module and the reference data frame that does not find identical time mark, all enter the positioning calculation module;

Step 8. feeds back to step 4

After executing the positioning calculation module, whether " the receiving the data storage area last time " that then feeds back to step 4 receiver user empty module;

Repeat above-mentioned steps 4, step 5 and step 6 process, up to handling the receiver user Frame that all were untreated in preceding 0.5 second;

Step 9. judges whether receiver user " this receives the data storage area " is empty

Execute after data with " this receives the data storage area " of reference receiver move into " receiving the data storage area last time " module, then enter " this receives the data storage area " empty module whether of judging receiver user;

If " this receives the data storage area " of receiver user is empty, then enter the end module;

If " this receives the data storage area " non-NULL of receiver user then enters and extracts a Frame B module;

" receiving the data storage area last time " of step 10. searching for reference receiver

After executing Frame B module of extraction, " receiving the data storage area last time " module that then enters the searching for reference receiver;

" this receives the data storage area " of step 11. searching for reference receiver

After executing " receiving the data storage area last time " module of searching for reference receiver, then enter " this receives the data storage area " module of searching for reference receiver;

Step 12. judges whether to find the reference receiver Frame of identical time mark

After executing " this receives the data storage area " module of searching for reference receiver,

Then enter the reference receiver Frame module that judges whether to find identical time mark;

If find the reference receiver Frame of identical time mark, then enter difference correction, positioning calculation module, carry out difference and localization process;

If do not find the reference receiver Frame of identical time mark, then enter " receiving the data storage area last time " module that this Frame is moved to receiver user;

Step 13. feeds back to step 9

After executing difference correction, positioning calculation module and this Frame being moved to " receiving the data storage area last time " module of receiver user, whether " this receives the data storage area " that then feeds back to step 9 receiver user empty module;

Repeat above-mentioned steps 9, step 10, step 11 and step 12 process, up to handling the receiver user Frame that all were untreated in preceding 0.5 second.

The invention has the beneficial effects as follows: this system can realize the independent navigation in the closed region, need not the auxiliary of Global Positioning System (GPS) gps satellite in the sky; By the method for carrier phase, make bearing accuracy improve greatly, this system is suitable for can't obtaining gps satellite signal in the sky and needing the occasion of degree of precision positioning result in indoor grade; The location solution that the present invention proposes is simple and practical, there is not system system when complicated, the locating terminal that the user uses also is very common satellite navigation receiver, uses the software that operates on the PC provided by the invention can realize that high-precision positioning result obtains and shows; Use based on the indoor locating system of pseudo satellite, pseudolite technology may be in the parking garage, occasion such as big machinery assembling has bigger application prospect; Has the simple and direct advantage such as effectively of easy to use, control.

Description of drawings

The present invention is further described below in conjunction with drawings and Examples.

Accompanying drawing 1 is one-piece construction block diagram of the present invention;

Accompanying drawing 2 is the shape and structure synoptic diagram of pseudo satellite, pseudolite antenna arrangement of the present invention;

Accompanying drawing 3 is estimated the two differential mode type synoptic diagram of time-satellite of pseudorange with the measured value of carrier phase for the present invention;

Accompanying drawing 4 is the process blocks synoptic diagram of carrier phase localization method of the present invention;

Accompanying drawing 5 is the process blocks synoptic diagram of reference receiver of the present invention with the reference data storage searching method;

Label declaration in the accompanying drawing:

1-master station PC;

2-pseudo satellite, pseudolite signaling module;

The 3-clock module;

4-user's locating module; The 41-receiver user;

The 5-reference receiver; 42-location computing PC;

The 11-RS232 serial line interface; 231-radio-frequency module A;

The 21-false satellite baseband signal maker; 232-radio-frequency module B;

The long concentric cable A of 22-30 rice; 233-radio-frequency module C;

The 23-radio-frequency module; 234-radio-frequency module D;

24-right-hand screw antenna; 241-right-hand screw antenna A;

The long concentric cable A of 25-2 rice; 242-right-hand screw antenna B;

The long concentric cable B of 31-2 rice; 243-right-hand screw antenna C;

The long concentric cable B of 32-30 rice; 244-right-hand screw antenna D;

43-RS232 serial line interface A;

51-RS232 serial line interface B;

2401-pseudo satellite, pseudolite antenna i;

2402-pseudo satellite, pseudolite antenna j;

The 2403-moment 0;

2404-is t constantly;

401-begins;

The 402-system installs and connects the pseudo satellite, pseudolite antenna arrangement;

403-sets up the pseudolite systems coordinate system, measures each pseudo satellite, pseudolite antenna coordinate;

404-master station PC is provided with pseudo satellite, pseudolite and transmits, and starts false satellite baseband signal maker;

405-receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal;

406-begins the location;

407-input receiver user initial point coordinate;

408-location computing PC obtains the carrier phase of receiver output;

The 409-difference correction;

The 410-pseudorange is estimated;

The 411-positioning result calculates and shows;

412-ends;

413-reorientates;

414-finishes;

501-begins;

502-obtains reference data and storage;

503-obtains user data and storage;

Whether " receiving the data storage area last time " of 504-receiver user be empty;

505-extracts a Frame A;

" this receives the data storage area " of 506-searching for reference receiver;

Whether 507-finds the reference data frame of identical time mark;

The 508-difference correction;

The 509-positioning calculation;

510-moves into " receiving the data storage area last time " with the data of " this receives the data storage area " of reference receiver;

Whether " this receives the data storage area " of 511-receiver user be empty;

512-finishes;

513-extracts a Frame B;

" receiving the data storage area last time " of 514-searching for reference receiver;

" this receives the data storage area " of 515-searching for reference receiver;

Whether 516-finds the reference receiver Frame of identical time mark;

517-difference correction, positioning calculation;

518-moves to this Frame " receiving the data storage area last time " of receiver user;

Embodiment

See also shown in the accompanying drawing 1,2, positioning system of the present invention is made up of devices such as complex programmable gate array, bus, interface, antenna, receiver and PCs, the transmitting terminal of described positioning system is by the receiving end of transmission of wireless signals to the user, and this system comprises at least:

Master station PC 1, pseudo satellite, pseudolite signaling module 2, clock module 3, user's locating module 4 and reference receiver 5, each device is combined as holistic indoor locating system, signal wire therebetween and clock line are by the concentric cable transmission, and data communication is the transmission of RS232 serial port protocol, wherein:

One master station PC 1 is connected by RS232 serial line interface 11 with false satellite baseband signal maker 21 in the pseudo satellite, pseudolite signaling module 2;

One pseudo satellite, pseudolite signaling module 2 is made up of false satellite baseband signal maker 21, pseudo satellite, pseudolite radio-frequency module 23, pseudo satellite, pseudolite spiral emitting antenna, the baseband signal of false satellite baseband signal maker 21 outputs is connected with radio-frequency module 23 by isometric concentric cable, is the signal input of radio-frequency module; Radio-frequency module 23 connects right-hand screw antenna 24 by isometric concentric cable, is transferred to the input end of user's locating module 4 and reference receiver 5 by the signal of antenna transmission pseudo satellite, pseudolite; Described false satellite baseband signal maker 21 output signals are divided into four the tunnel: the baseband signal of the first via is transferred to the input end of radio-frequency module A231 by 30 meters long concentric cable A22, the output signal of radio-frequency module A231 is transferred to the input end of right-hand screw antenna A241 by 2 meters long concentric cable A25, and the output signal of right-hand screw antenna A241 is transferred to the input end of user's locating module 4 and reference receiver 5 respectively by wireless signal;

The second tunnel baseband signal is transferred to the input end of radio-frequency module B232 by 30 meters long concentric cable A22, the output signal of radio-frequency module B232 is transferred to the input end of right-hand screw antenna B242 by 2 meters long concentric cable A25, and the output signal of right-hand screw antenna B242 is transferred to the input end of user's locating module 4 and reference receiver 5 respectively by wireless signal;

The baseband signal of Third Road is transferred to the input end of radio-frequency module C233 by 30 meters long concentric cable A22, and the output signal of radio-frequency module C233 is by 2 meters long concentric cable A25

Be transferred to the input end of right-hand screw antenna C243, the output signal of right-hand screw antenna C243 is transferred to the input end of user's locating module 4 and reference receiver 5 respectively by wireless signal;

The four tunnel baseband signal is transferred to the input end of radio-frequency module D234 by 30 meters long concentric cable A22, the output signal of radio-frequency module D234 is transferred to the input end of right-hand screw antenna D244 by 2 meters long concentric cable A25, and the output signal of right-hand screw antenna D244 is transferred to the input end of user's locating module 4 and reference receiver 5 respectively by wireless signal;

One clock module 3 is made up of the steady constant-temperature crystal oscillator system of height, and the high steady square wave clock output signal of one road 20.46M is transferred to the input end of false satellite baseband signal maker 21 by 2 meters long concentric cable B31; In addition, clock module 3 output signals are divided into four the tunnel again: the clock signal of first via output 10.23M sine wave is transferred to the input end of radio-frequency module A231 by 30 meters long concentric cable B32;

The clock signal of the second tunnel output 10.23M sine wave is transferred to the input end of radio-frequency module B232 by 30 meters long concentric cable B32;

The clock signal of Third Road output 10.23M sine wave is transferred to the input end of radio-frequency module C233 by 30 meters long concentric cable B32;

The clock signal of the four tunnel output 10.23M sine wave is transferred to the input end of radio-frequency module D234 by 30 meters long concentric cable B32;

One user's locating module 4 by receiver user 41, location computing PC 42 with and the positioning software of going up operation form, receiver user 41 is connected with location computing PC 42 by RS232 serial line interface A43, the measurement data that location computing PC 42 receives from receiver user 41, handle and positioning software by service data, provide positioning result; User's locating module 4 is the centimetre-sized location position structure of indoor positioning;

One reference receiver, 5 modules are connected with location computing PC 42 by RS232 serial line interface B51, the pseudo satellite, pseudolite antenna of reference receiver 5 is fixed on a known position in test zone, by sending the carrier phase signal of static measurement pseudo satellite, pseudolite signal, for receiver user 41 location provide differential signal.

Being shaped as of right-hand screw antenna 24 layouts of described false satellite sub decimeter grade indoor locating system: the emitting antenna layout of pseudo satellite, pseudolite the location overlay area above around the position, first via right-hand screw antenna A241 be arranged on overlay area, whole location directly over the position, the second road right-hand screw antenna B242, Third Road right-hand screw antenna C243 and the four road right-hand screw antenna D244 disperse to be arranged on the periphery of overlay area respectively.

The arrangement of the receiver user 41 of described false satellite sub decimeter grade indoor locating system begins the location from one of test zone known initial coordinate; The known point of reference receiver 5 fixed in position in the overlay area, location.

See also shown in the accompanying drawing 3,4,5, a kind of carrier phase localization method of false satellite sub decimeter grade indoor locating system, this method is by the positioning system of master station PC 1, pseudo satellite, pseudolite signaling module 2, clock module 3, user's locating module 4 and reference receiver 5, to receiver user 41 is realized the centimetre-sized precision in the indoor positioning zone location, this localization method comprises: the design of pseudo satellite, pseudolite antenna arrangement; Communications protocol between master station PC 1 and the false satellite baseband signal maker 21, communication process and command format agreement; Estimate the two differential mode type methods of time-satellite of pseudorange with the measured value of carrier phase; Position derivation algorithm with the two-dimensional coordinate location; Do difference correction method and reference receiver 5 usefulness reference data storage searching methods realization location with reference receiver 5 for receiver user 41; The concrete job step of this localization method is:

Step 1. beginning 401

System installs and prepares beginning;

Step 2. system installs and connects pseudo satellite, pseudolite antenna arrangement 402

After executing beginning 401 modules, the system that then enters installs and connects, pseudo satellite, pseudolite antenna arrangement 402 modules, to using the place and demarcating accurately as the position that pseudo satellite, pseudolite is arranged, after determining the initial point and X-direction in place, pseudo satellite, pseudolite antenna, the position of reference receiver antenna in the place are showed with three-dimensional coordinate;

Step 3. is set up the pseudolite systems coordinate system, measures each pseudo satellite, pseudolite antenna coordinate 403

The system that executes installs and connects, and after pseudo satellite, pseudolite antenna arrangement 402 modules, then enters according to the actual conditions in place, location and sets up the pseudolite systems coordinate system, measures each pseudo satellite, pseudolite antenna coordinate 403 module;

Step 4. master station PC is provided with pseudo satellite, pseudolite and transmits, and starts false satellite baseband signal maker 404

After executing above-mentioned work, open each parts, then enter and by the master station PC pseudo satellite, pseudolite is set and transmits, and start false satellite baseband signal maker 404 modules;

Step 5. receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal 405

Executing the master station PC is provided with pseudo satellite, pseudolite and transmits, and after starting false satellite baseband signal maker 404 modules, then enter receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal 405 modules, the outgoing carrier phase measurement is to locating computing PC 42 simultaneously;

Step 6. judgement begins to locate 406

After executing receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal 405 modules, then enter judgement and begin to locate 406 modules, wait for the instruction that begins to locate; If after determining to begin the location, then enter input receiver user initial point coordinate 407 modules, the operator imports the initial position coordinate of receiver user; If do not begin the location, then feedback enters receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal 405 modules;

Step 7. location computing PC obtains the carrier phase 408 of receiver output

After executing input receiver user initial point coordinate 407 modules, then enter location computing PC and obtain carrier phase 408 modules of receiver output, this receiver comprises receiver user 41 and reference receiver 5;

Step 8. difference correction 409

Execute after location computing PC obtains carrier phase 408 modules of receiver output, receiver comprises receiver user 41 and reference receiver 5, then enter difference correction 409 modules, the carrier phase measurement value of receiver user 41 is carried out difference correction 409 with the carrier phase measurement value of reference receiver 5;

Step 9. pseudorange estimates 410

After executing difference correction 409 modules, then enter pseudorange and estimate 410 modules;

Step 10. positioning result calculates and shows 411

Execute after pseudorange estimates 410 modules, then enter positioning result and calculate and show 411 modules, utilize and estimate that good pseudorange finishes positioning result and calculate and show;

Step 11. is judged termination 412

After executing positioning result calculating and showing 411 modules, then enter and judge termination 412 modules; If after ending, then need to reorientate 413; If position fixing process is not ended, location computing PC 42 will repeat successively: carrier phase 408, difference correction 409, the pseudorange that computing PC in location obtains receiver output estimates 410 to positioning result calculating with show that 411 process, this receiver comprise receiver user 41 and reference receiver 5;

Step 12. judgement reorientates 413

If after ending, then enter judgement and reorientate 413 modules; If need reorientate 413, then enter input receiver user initial point coordinate 407 modules, need import the initial position coordinate of receiver user once more, location computing PC 42 will repeat successively: carrier phase 408, difference correction 409, the pseudorange that computing PC in location obtains receiver user 41 and reference receiver 5 outputs estimates 410 to positioning result calculating with show 411 process, and this receiver comprises receiver user and reference receiver; If not reorientating 413, then enter and finish 414 modules;

Step 13. finishes 414

Whole process finishes.

The master station P C machine 1 of the carrier phase localization method of described false satellite sub decimeter grade indoor locating system and the concrete job step of communications protocol, communication process and command format agreement between the false satellite baseband signal maker 21 are:

Step 1. communications protocol

The baud rate of communication is with fixing, and is immutable, for 9600bit/s communication underlying protocol is set: start bit: 1; Data bit: 8; Check bit: 0; Stop bit: 2;

Step 2. communication process

A). master station P C machine 1 sends order by serial ports

Master station PC 1 is worked out the order data frame according to the parameter of importing in the visual software interface, address and order; Send by serial ports, comprised address code information in the order data frame;

B). false satellite baseband signal maker 21 receives order

False satellite baseband signal maker 21 receives order, obtains according to form, and order numbering, address code judge whether address code is identical with the address code of oneself, if identical, then make corresponding action according to order numbering and parameter in the command word;

Step 3. command format agreement

The command format agreement is set as follows:

* PSEU is: command header; Order is numbered: a byte; Address code is: a byte; Command parameter length is: two bytes; Command parameter; EOF is: the order end mark:

* the ASCII character of PSEU is as command header, and the ASCII character of EOF is as the order end mark; Command word, parameter are all by CSV, and command parameter length is not limit, and false satellite baseband signal maker 21 is to receive end mark as the order end mark.

The measured value of the usefulness carrier phase of the carrier phase localization method of described false satellite sub decimeter grade indoor locating system estimates that the two differential mode type methods of the time-satellite of pseudorange are that receiver user 41 antennas are located since a known point, under the situation of 41 pairs of pseudo satellite, pseudolite Continuous Tracking of receiver user, measured value with carrier phase is estimated pseudorange, is the two differential mode types of time-satellite; The concrete job step of this method is:

Step 1. is estimated pseudorange with the measured value of carrier phase

The carrier phase that unique user receiver 41 is measured estimates that pseudorange is: as follows with pseudo satellite, pseudolite signal carrier phase observation equation:

Φ＝ρ+c(dt-dT)+λN-d _mul+ε _Φ

In the formula: Φ is a carrier phase observation data, and c is the light velocity, and ρ is the distance of pseudo satellite, pseudolite emitting antenna to receiver user 41, and dt is receiver user 41 clock correction, and-dT is the clock jitter of pseudo satellite, pseudolite signal, and N is an integer ambiguity, and λ is a carrier wavelength, d _MulBe multipath error, ε _ΦBe the carrier phase measurement noise;

Step 2. in constantly 0, the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite

In the two differential mode types of time-satellite, receiver user 41 receives the carrier phase observation data from pseudo satellite, pseudolite antenna i 2401 and pseudo satellite, pseudolite antenna j 2402 signals respectively, and tries to achieve the carrier phase observation data of the moment 0 2403 and moment t 2404 respectively;

Receiver user 41 antennas are since a known starting point location, in the time of at the beginning, the actual range of four pseudo satellite, pseudolites and receiver user 41 antennas is known, and note the carrier phase observation data of four pseudo satellite, pseudolites recording of receiver user 41 this moment, be Φ at 0 i the pseudo satellite, pseudolite that constantly records and the carrier phase value of j pseudo satellite, pseudolite ⁱ(0) and Φ ^j(0);

Wherein i and j represent i pseudo satellite, pseudolite and j pseudo satellite, pseudolite respectively,

${\mathrm{\Φ}}^i\left(0\right)={\mathrm{\ρ}}^i\left(0\right)+c(\mathrm{dt}-{\mathrm{dT}}^i\left(0\right))+\mathrm{\λ}{N}^i-d_{\mathrm{mul}}^i\left(0\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^i\left(0\right)$

${\mathrm{\Φ}}^j\left(0\right)={\mathrm{\ρ}}^j\left(0\right)+c(\mathrm{dt}-{\mathrm{dT}}^j\left(0\right))+\mathrm{\λ}{N}^j-d_{\mathrm{mul}}^j\left(0\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^j\left(0\right)$

It is as follows that both difference is got equation:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(0\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(0\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(0\right)---\left(1\right)$

In the formula: ΔΦ ^J-i(0) is Φ ^j(0) and Φ ⁱ(0) poor, Δ dT ^J-i(0) is dT ^j(0) and dT ⁱ(0) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For With

Poor,

For

With

Poor;

Step 3. in moment t, the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite

In like manner, in moment t, receiver user 41 antennas have moved to new place, and carrier phase observation data is Φ ⁱ(t) and Φ ^j(t);

${\mathrm{\Φ}}^i\left(t\right)={\mathrm{\ρ}}^i\left(t\right)+c(\mathrm{dt}-{\mathrm{dT}}^i\left(t\right))+\mathrm{\λ}{N}^i-d_{\mathrm{mul}}^i\left(t\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^i\left(t\right)$

${\mathrm{\Φ}}^j\left(t\right)={\mathrm{\ρ}}^j\left(t\right)+c(\mathrm{dt}-{\mathrm{dT}}^j\left(t\right))+\mathrm{\λ}{N}^j-d_{\mathrm{mul}}^j\left(t\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^j\left(t\right)$

It is as follows that both difference is got equation:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(t\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(t\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(t\right)---\left(2\right)$

In the formula: ΔΦ ^J-i(t) be Φ ^j(t) and Φ ⁱ(t) poor, Δ dT ^J-i(t) be dT ^j(t) and dT ⁱ(t) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For With

Poor,

For

With

Poor;

Step 4. is from 0 2403 moving to the poor pair eikonal equations that obtain of t 2404 works constantly constantly

Equation (1) and equation (2) are made difference, and to obtain two eikonal equations as follows:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t=\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-c\▿\mathrm{\Δd}{T^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(3\right)$

In the formula:

Be two differences between time and star,

Be Δ dT ^J-i(t) and Δ dT ^J-i(0) poor,

For

With

Poor,

For

With

Poor;

Step 5. is calculated at t constantly, the range difference of receiver user 41 to pseudo satellite, pseudolite i and pseudo satellite, pseudolite j

Two difference results in above-mentioned (3) formula are considered to the time 0 and move to time t, the variable quantity of the difference of 41 to two satellite distances of receiver user, and then at t constantly, the equation of the range difference of receiver user 41 to pseudo satellite, pseudolite i and pseudo satellite, pseudolite j is as follows:

$\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)=\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t+\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)+c\▿\mathrm{\Δ}{{\mathrm{dT}}^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(4\right)$

In the formula:

Be two difference results of measured value, Δ ρ ^J-i(0) owing to imported initial position, thus be known, Come down to the asynchronous error term that causes of different pseudo satellite, pseudolite clocks,

Be the error term that the multipath error causes, Then be to measure the error term that stochastic error that noise causes causes;

Step 6. is estimated pseudorange and position coordinates

If the distance of four pseudo satellite, pseudolites of 0 moment receiver user, 41 distances is R ¹(0), R ²(0), R ³(0), R ⁴(0), then estimate the t pseudorange of four pseudo satellite, pseudolites of receiver user 41 distances constantly with following method thus:

$\left\{\begin{array}{c}{R}^1\left(t\right)=R^1\left(0\right)\\ R^2\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{2-1}\left(t\right)\\ R^3\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{3-1}\left(t\right)\\ R^4\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{4-1}\left(t\right)\end{array}\right.---\left(5\right)$

In the formula: Δ ρ ^2-1(t), Δ ρ ^3-1(t), Δ ρ ^4-1(t) try to achieve by above-mentioned (4) formula;

In the Global Positioning System (GPS) GPS calculating location that the pseudorange substitution that (5) formula is estimated is common iterative, for trying to achieve the t position coordinates of receiver user 41 constantly.

The concrete job step with the position derivation algorithm of two-dimensional coordinate location of the carrier phase localization method of described false satellite sub decimeter grade indoor locating system is:

Step 1. is obtained current pseudorange observed reading

A). the two-dimensional coordinate positioning algorithm based is listed following equation:

$\sqrt{{(x_1-x_u)}^2+{(y_1-y_u)}^2+{(z_1-z_u)}^2}+\mathrm{bu}={\mathrm{\ρ}}_1---\left(1\right)$

In the formula: x ₁, y ₁, z ₁Be the 1st pseudo satellite, pseudolite coordinate, x _u, y _u, z _uBe the coordinate of receiver user initial estimation, z _uIt is known constant; b _uBe the total error of pseudorange, ρ ₁Be the pseudorange of the 1st pseudo satellite, pseudolite to receiver user;

B). use linearizing additive process

Equation (1) is carried out linearization

$\∂{\mathrm{\ρ}}_1=\frac{(x_i-x_u)\∂x_u+(y_i-y_u)\∂y_u}{\sqrt{{(x_1-x_u)}^2+{(y_1-y_u)}^2+{(z_1-z_u)}^2}}+\∂b_u$

$=\frac{(x_i-x_u)\∂x_u+(y_i-y_u)\∂y_u}{{\mathrm{\ρ}}_i-b_u}+\∂b_u---\left(2\right)$

C). four equations of 4 pseudo satellite, pseudolite simultaneous are obtained the matrix that following system of linear equations is formed:

According to said process (1), (2) be to the matrix that four equations of 4 pseudo satellite, pseudolite simultaneous obtain following system of linear equations composition:

$\left[\begin{array}{c}{\∂\mathrm{\ρ}}_1\\ {\∂\mathrm{\ρ}}_2\\ {\∂\mathrm{\ρ}}_3\\ {\∂\mathrm{\ρ}}_4\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{\α}}_{11}& {\mathrm{\α}}_{12}& 1\\ {\mathrm{\α}}_{21}& {\mathrm{\α}}_{22}& 1\\ {\mathrm{\α}}_{31}& {\mathrm{\α}}_{32}& 1\\ {\mathrm{\α}}_{41}& {\mathrm{\α}}_{42}& 1\end{array}\right]\left[\begin{array}{c}\∂x_u\\ \∂y_u\\ \∂z_u\end{array}\right]---\left(3\right)$

Wherein

Deduct the measurement pseudorange for calculating pseudorange, subscript i represents i pseudo satellite, pseudolite

Step 2. solves with least square method

Choose the estimated value of current point coordinate, the substitution system of equations is found the solution, and utilizes above-mentioned least square method to solve

Order Then find the solution with least square method

$\left[\begin{array}{c}\∂x_u\\ \∂y_u\\ \∂b_u\end{array}\right]={\left(A^{T}A\right)}^{-1}{A}^T\left[\begin{array}{c}{\∂\mathrm{\ρ}}_1\\ {\∂\mathrm{\ρ}}_2\\ {\∂\mathrm{\ρ}}_3\\ {\∂\mathrm{\ρ}}_4\end{array}\right]---\left(4\right)$

Solving what obtain is the difference of the coordinate of real user receiver coordinate and receiver user initial estimation;

Step 3. revise originally estimated x _u, y _u

With what solve

Revise originally estimated x _u, y _u, then the Coordinate Calculation result of receiver user 41 is modified to:

${x_u}^{\′}=x_u+\∂x_u$

${y_u}^{\′}=y_u+\∂y_u$

Step 4. is with revised x _u', y _u' substitution system of equations again

Carry out computing if new receiver user Coordinate Calculation result is re-used as the above-mentioned formula of initial coordinate substitution, can separate and make new advances And revise once more; Repeatedly said process until

Less than a predetermined value, or it is 0.01 meter; Think that then the Coordinate Calculation result of receiver user is very near real receiver user position coordinates;

Step 5. repeats above-mentioned steps 1 to step 4

Constantly repeat above-mentioned steps 1 to step 4, up to what solve

Absolute value smaller or equal to 0.01 meter threshold value, then think the x that solves _u, y _uConverged to the true coordinate value of receiver user.

See also shown in the accompanying drawing 3, the disposal route of doing after the difference correction data for receiver user 41 with reference receiver 5 of the carrier phase localization method of described false satellite sub decimeter grade indoor locating system is the same with the receiver user processing method of data, and the concrete job step of this method is:

Step 1. is the moment 0, and the equation of the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite is as follows:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(0\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(0\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(0\right)---\left(1\right)$

In the formula: ΔΦ ^J-i(0) is Φ ^j(0) and Φ ⁱ(0) poor, Δ dT ^J-i(0) is dT ^j(0) and dT ⁱ(0) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For

With

Poor,

For

With

Poor;

Step 2. is in moment t, and the equation of the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite is as follows:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(t\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(t\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(t\right)---\left(2\right)$

In the formula: ΔΦ ^J-i(t) be Φ ^j(t) and Φ ⁱ(t) poor, Δ dT ^J-i(t) be dT ^j(t) and dT ⁱ(t) poor, λ Δ N ^J-1Be λ N ^jWith λ N ⁱPoor,

For

With Poor,

For With Poor;

Step 3. is from constantly 0 2403 moving to constantly t 2404 and make difference to obtain two eikonal equations as follows:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t=\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-c\▿\mathrm{\Δd}{T^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(3\right)$

In the formula: Be two differences between time and star,

Be Δ dT ^J-i(t) and Δ dT ^J-i(0) poor,

For

With

Poor,

For

With

Poor;

Step 4. is finished difference correction

A). the data that reference receiver obtains

The data that reference receiver obtains obtain respectively after utilizing above-mentioned formula 1-3 to handle:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{2-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{3-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{4-1}|}_0^t$

B). the data that receiver user obtains

The data that receiver user obtains obtain respectively after utilizing above-mentioned formula 1-3 to handle:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{2-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{3-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{4-1}|}_0^t$

Obtain two differences between time and star according to following formula then:

$\left\{\begin{array}{c}\▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{2-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{2-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{2-1}|}_0^t\\ \▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{3-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{3-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{3-1}|}_0^t\\ \▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{4-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{4-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{4-1}|}_0^t\end{array}\right.---\left(6\right)$

For having finished difference correction;

Step 5. compute pseudo-ranges estimated value

A). the receiver user of substitution as a result 41 of above-mentioned formula (6) is arrived the equation (4) of the range difference of pseudo satellite, pseudolite i and pseudo satellite, pseudolite j:

$\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)=\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t+\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)+c\▿\mathrm{\Δ}{{\mathrm{dT}}^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(4\right)$

In the formula:

Be two difference results of measured value, Δ ρ ^J-i(0) owing to imported initial position, thus be known,

Come down to the asynchronous error term that causes of different pseudo satellite, pseudolite clocks,

Be the error term that the multipath error causes,

Then be to measure the error term that stochastic error that noise causes causes;

B). continue substitution equation (5):

If the distance of four pseudo satellite, pseudolites of 0 moment receiver user, 41 distances is R ¹(0), R ²(0), R ³(0), R ⁴(0), then estimate the t pseudorange of four pseudo satellite, pseudolites of receiver user 41 distances constantly with following method thus:

$\left\{\begin{array}{c}{R}^1\left(t\right)=R^1\left(0\right)\\ R^2\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{2-1}\left(t\right)\\ R^3\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{3-1}\left(t\right)\\ R^4\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{4-1}\left(t\right)\end{array}\right.---\left(5\right)$

In the formula: Δ ρ ^2-1(t), Δ ρ ^3-1(t), Δ ρ ^4-1(t) try to achieve by above-mentioned (4) formula;

In the Global Positioning System (GPS) GPS calculating location that the pseudorange substitution that (5) formula is estimated is common iterative, for trying to achieve the t position coordinates of receiver user 41 constantly.

See also shown in the accompanying drawing 5, the reference receiver 5 usefulness reference data storage searching methods of the carrier phase localization method of described false satellite sub decimeter grade indoor locating system are realized the location, make difference with reference receiver, the data of the data of receiver user 41 and reference receiver 5 must be synchronizations, and the data of the data of reference receiver output and receiver user output not necessarily arrive computing machine simultaneously, to cause to realize difference, one frame data of reference receiver and receiver user have comprised the carrier phase measurement data of time mark and four pseudo satellite, pseudolites, the Frame that the only time mark is identical is done difference, and this system with the concrete job step of reference data storage searching method is:

Step 1. beginning 501

Whether 42 inspections in per 0.5 second of location computing PC once are subjected to receiver user and reference receiver data, obtain data if any then carrying out decode operation, and with data based reference receiver and receiver user grouping;

Step 2. is obtained reference data and is stored 502

After executing initialization 501 modules, then enter and obtain reference data and store 502 modules, in per 0.5 second, location computing PC 42 can be received the reference receiver data of 5-6 frame; Reference receiver distributes two groups of storage spaces to be used for storing data, stores several frame data of receiving in 0.5 second, stores several frame data that this is received for one group for one group;

Step 3. is obtained user data and is stored 503

Execute obtain reference data and store 502 modules after, then enter and obtain user data and store 503 modules, in per 0.5 second, location computing PC 42 can be received the receiver user data of 5-6 frame; Receiver user is same to distribute two groups of spaces to store data, stores data that were untreated in 0.5 second, stores the data that this is received for one group for one group;

Step 4. judges that receiver user " received the data storage area last time " whether empty 504

Execute obtain user data and store 503 modules after, then enter " receiving the data storage area last time " empty 504 modules whether of judging receiver user;

If receiver user " receiving the data storage area last time " is empty, then enter data immigration " receiving the data storage area last time " 510 modules with " this receives the data storage area " of reference receiver;

If " receiving the data storage area last time " non-NULL of receiver user then enters and extracts Frame A 505 modules;

" this receives the data storage area " 506 of step 5. searching for reference receiver

After executing Frame A 505 modules of extraction, " this receives the data storage area " 506 modules that then enter the searching for reference receiver;

Step 6. judges whether to find the reference data frame 507 of identical time mark

After executing " this receives the data storage area " 506 modules of searching for reference receiver, then enter reference data frame 507 modules that judge whether to find identical time mark;

If find the reference data frame of identical time mark, then enter difference correction 508 modules, carry out difference processing;

If do not find the reference data frame of identical time mark, then skip difference processing, enter positioning calculation 509 modules;

Step 7. positioning calculation 509

Execute difference correction 508 modules and the reference data frame that does not find identical time mark, all enter positioning calculation 509 modules;

Step 8. feeds back to step 4

After executing positioning calculation 509 modules, whether " the receiving the data storage area last time " that then feeds back to step 4 receiver user empty 504 modules;

Repeat above-mentioned steps 4, step 5 and step 6 process, up to handling the receiver user Frame that all were untreated in preceding 0.5 second;

Step 9. is judged receiver user " this receives the data storage area " whether empty 511

Execute after data with " this receives the data storage area " of reference receiver move into " receiving the data storage area last time " 510 modules, then enter " this receives the data storage area " empty 511 modules whether of judging receiver user;

If " this receives the data storage area " of receiver user is empty, then enters and finish 512 modules;

If " this receives the data storage area " non-NULL of receiver user then enters and extracts Frame B 513 modules;

" receiving the data storage area last time " 514 of step 10. searching for reference receiver

After executing Frame B 513 modules of extraction, " receiving the data storage area last time " 514 modules that then enter the searching for reference receiver;

" this receives the data storage area " 515 of step 11. searching for reference receiver

After executing " receiving the data storage area last time " 514 modules of searching for reference receiver, then enter " this receives the data storage area " 515 modules of searching for reference receiver;

Step 12. judges whether to find the reference receiver Frame 516 of identical time mark

After executing " this receives the data storage area " 515 modules of searching for reference receiver, then enter reference receiver Frame 516 modules that judge whether to find identical time mark;

If find the reference receiver Frame of identical time mark, then enter difference correction, positioning calculation 517 modules, carry out difference and localization process;

If do not find the reference receiver Frame of identical time mark, then enter " receiving the data storage area last time " 518 modules that this Frame moved to receiver user;

Step 13. feeds back to step 9

After executing difference correction, positioning calculation 517 modules and this Frame being moved to " receiving the data storage area last time " 518 modules of receiver user, whether " this receives the data storage area " that then feeds back to step 9 receiver user empty 511 modules;

Repeat above-mentioned steps 9, step 10, step 11 and step 12 process, up to handling the receiver user Frame that all were untreated in preceding 0.5 second.

See also shown in the accompanying drawing 1,2, general structure of the present invention is: total system is made of pseudo satellite, pseudolite signaling module, clock module, master station PC, user's locating module, reference receiver.Signal wire and clock line are by the concentric cable transmission therebetween, and data communication uses the RS232 serial port protocol to connect, and signal and clock connect by concentric cable, and master station is connected by the RS232 serial ports with the pseudo satellite, pseudolite signaling module; User's locating module comprises the PC of receiver user and execution positioning software, and receiver user is realized hi-Fix by measuring the carrier phase changing value, and reference receiver assisted user receiver is eliminated pseudo satellite, pseudolite clock clock correction and clock floats the influence that brings.Wherein:

The pseudo satellite, pseudolite signaling module is made up of false satellite baseband signal maker, pseudo satellite, pseudolite radio-frequency module, pseudo satellite, pseudolite spiral emitting antenna.

False satellite baseband signal maker is the core that the pseudo satellite, pseudolite signal produces, and realizes the generation of four pseudo satellite, pseudolite digital baseband signals in an on-site programmable gate array FPGA, by the DA converter digital signal is become simulating signal.Owing to embedded processor soft core in the programmable gate array FPGA at the scene, can be easily by the RS232 serial ports link to each other with the master station PC receive and parsing from the control command of master station, the order of response master station changes the pseudo satellite, pseudolite signal of emission, and can realize control commands such as startup, Restart Signal emission.

Clock module is made up of a high steady constant-temperature crystal oscillator system, is the clock source of total system.It mainly provides the clock of false satellite baseband signal maker and radio-frequency module.Provide the high steady square wave clock of one road 20.46M to false satellite baseband signal maker, and the sinusoidal wave clock that provides four road 10.23M is connected with four radio-frequency modules.The pseudo satellite, pseudolite analog baseband signal of DA output is sent into four radio-frequency modules by four tunnel 30 meters isometric cables respectively.The clock that radio-frequency module also needs 10.23M in order to the false satellite baseband signal up-conversion to 1575.42M (154X10.23M).Therefore four road 10.23M sinusoidal clocks of clock module are sent into radio-frequency module by 30 meters isometric cables.Guarantee the clock synchronization of total system to greatest extent.

The master station PC is the controlling unit in the total system.Adding main control software by a PC realizes.The operating system of operation is windows XP.Master station PC is connected with false satellite baseband signal maker by serial ports, the operator is provided with total system by visual main control software, comprise PRN number that pseudo satellite, pseudolite is launched, for pseudo satellite, pseudolite injects navigation message, start total system, control the time delay of single pseudo satellite, pseudolite signal with respect to other satellites.

User's locating module by a common commercial receiver and PC with and the positioning software of going up operation constitute.Commercial receiver can be DG16 (DG14) a arbitrarily of the superstar II of Novatel or Ashtech, and PC uses the RS232 serial ports to be connected with receiver.Positioning software obtains the carrier phase measurement value from receiver output, the accurate location of finishing the receiver user aerial position with certain algorithm.And on positioning software, show positioning result with graphics mode.The measurement data that user's locating module receives simultaneously from reference receiver is used to compensate receiver user, eliminates in the positioning result because the asynchronous positioning error that causes of signal.User's locating module does not use traditional gps satellite navigation pseudo-random code ranging to realize the method for location, but has mainly adopted the method for carrier phase tracking, and this is because the centimetre-sized accuracy requirement of indoor positioning determines.

Reference receiver links to each other with PC by serial ports.The antenna of reference receiver is to be fixed on a known position in test zone, by static measurement pseudo satellite, pseudolite signal carrier phase, for the subscriber computer location provides differential signal, be mainly used in clock correction and the drift eliminated between the different pseudo satellite, pseudolite signals and locate the error that causes to receiver user.

The false satellite baseband signal maker 21 of master station PC 1 and pseudo satellite, pseudolite signaling module 2 is connected by the RS232 interface, and false satellite baseband signal maker 2 outputs are the false satellite baseband signal of carrier wave with the 10.23M sine wave.Because antenna and radio-frequency module are distributed in around the locating area, so the position dispersion distance is far away.The baseband signal of false satellite baseband signal maker 2 outputs links to each other with radio-frequency module by isometric concentric cable, as the signal input of radio-frequency module.In addition, four radio-frequency modules also need the input of four road clocks, so the clock module clock signal of sending four road 10.23M sine waves is connected to the input end of clock of radio-frequency module by 30 meters isometric concentric cable.Radio-frequency module is the module of one two input one output, and its output connects the right-hand screw antenna by 2 meters long concentric cable, gives receiver user 41 and reference receiver 5 by the signal of antenna transmission pseudo satellite, pseudolite.

Receiver user all passes through serial ports RS232 interface with reference receiver and links to each other with location computing PC 42, and PC receives from the measurement data service data of receiver and handles and positioning software, provides positioning result.

When using the present invention to finish specific function, need be to using the place and arranging to such an extent that the position is demarcated accurately as pseudo satellite, pseudolite.After determining the initial point and X-direction in place, pseudo satellite, pseudolite antenna, the position of reference receiver antenna in the place can be showed with three-dimensional coordinate.

See also shown in the accompanying drawing 4, after the purpose of this positioning system is to use Fig. 1 each several part composition system, the location of receiver user 41 being realized the centimetre-sized precision in the indoor positioning zone.Use native system to obtain flow process such as Fig. 4 of positioning result, at first carry out system connection is installed according to the described annexation of Fig. 1, pseudo satellite, pseudolite antenna arrangement 402 is set up the pseudolite systems coordinate system according to the actual conditions in place, location then, measures each pseudo satellite, pseudolite antenna coordinate 403.After finishing above-mentioned work, open each parts, by master station PC 1 pseudo satellite, pseudolite is set and transmits, and start false satellite baseband signal maker 404.Pseudo satellite, pseudolite signal 405 is caught and followed the tracks of to reference receiver and receiver user, and the outgoing carrier phase measurement is to locating the computing PC simultaneously.The instruction that wait begins to locate, after determining to begin the location, the operator imports the initial position coordinate 407 of receiver user.Computing PC in location obtains the carrier phase 408 of receiver output, use the carrier phase measurement value of reference receiver that the carrier phase measurement value of receiver user is carried out difference correction 409, and carry out pseudorange and estimate 410, the good pseudorange of utilization estimation is finished positioning result calculating and is shown.If position fixing process is not ended, computing PC in location will repeat 408 to 411 process.If need to reorientate 413 after ending, then need to import once more the initial position coordinate 407 of receiver user, and repeat 408 to 411 process, otherwise whole process finishes.

The communications protocol of master control PC of the present invention and false satellite baseband signal maker

The baud rate of communication is used fixing, and is immutable.Tentative is that 9600bit/s communication underlying protocol is set: 1 of start bit, 8 of data bit, 0 of check bit, 2 of stop bit.

Master station PC and false satellite baseband signal maker communication process are as follows:

1, master station is worked out the order data frame according to the parameter of importing in the visual software interface, address and order.Send by serial ports, comprised address code information in the order data frame.

2, pseudo satellite, pseudolite receives order, obtains according to form, and order numbering, address code judge whether address code is identical with the address code of oneself, if identical, then make corresponding action according to order numbering and parameter in the command word.

The bidding protocol of master station and false satellite baseband signal maker is set as follows:

* PSEU (command header) orders numbering (byte), address code (byte), command parameter length (two bytes), command parameter, EOF (order end mark)

The ASCII character of " * PSEU " is as command header, and the ASCII character of " EOF " is as the order end mark.Command word, parameter etc. are all by CSV, and command parameter length is not limit, and pseudo satellite, pseudolite is to receive end mark as the order end mark.

The data following (16 system) of the pseudo satellite, pseudolite order of receiving for example:

2A 50 53 45 55 2C 03 2C 01 2C 00 02 2C 000A 2C 45 4F 46

Wherein 2A 50 53 45 55 2C represent " * PSEU; " 03 expression order numbering, 2C is a comma, 01 is address code, and 00 02 is command parameter length, and expression command parameter length is two bytes, 00 0A is a command parameter, and 2C 45 4F 46 add order termination character: EOF for comma;

Pseudo satellite, pseudolite topological design of the present invention

The layout of pseudo satellite, pseudolite is an important link among the present invention, can influence the positioning result of last receiver user.In the satellite navigation, the measuring error that positioning error equals pseudorange multiply by the geometric dilution of precision GDOP (Geometric Dilution OfPrecision) that the satellite layout forms, so error derives from two aspects.Geometric dilution of precision is by the decision of the layout of satellite.The measuring error that the layout shape of difference can be amplified pseudorange causes last positioning error to strengthen.

The layout of pseudo satellite, pseudolite is also relevant with the overlay area, location that requires in addition, the position of the emitting antenna layout of general pseudo satellite, pseudolite around above the overlay area, location.This is for big as far as possible covering locating area, what pseudo satellite, pseudolite was launched is the signal of CDMA (Code DivisionMultiple Access) CDMA, requirement roughly is in same power level from the signal of different emissive sources, if the power of one road pseudo satellite, pseudolite is too strong with respect to the signal of another road pseudo satellite, pseudolite, for another road pseudo satellite, pseudolite signal, will become interference noise.The distance dependent of the pseudo satellite, pseudolite signal intensity that receiver receives and itself and pseudo satellite, pseudolite is if receiver too closely just probably influences the reception of other pseudo satellite, pseudolite signal because of the overflow of this pseudo satellite, pseudolite of receiving apart from certain pseudo satellite, pseudolite.The near-far interference of Here it is pseudo satellite, pseudolite.General receiver receives two pseudo satellite, pseudolite signal near-far interference must be apart from should be within 6: 1.

Fig. 2 is exactly the shape of the pseudo satellite, pseudolite antenna arrangement recommended, generally selects a position of " Polaris " directly over overlay area, whole location, remaining three peripheries that are dispersed in the overlay area.By calculating such geometric dilution of precision minimum, to measuring error to send out effect big minimum, can reduce last bearing accuracy.

Difference correction of the present invention

The present invention uses reference receiver to do difference correction as receiver user, the clocking error between the compensation pseudo satellite, pseudolite.Reference receiver is fixed and is placed in a known point of locating in the overlay area, the carrier phase measurement value that receiver user records deducts the carrier phase measurement value that reference receiver records, and can realize the clock synchronization error of difference correction elimination pseudo satellite, pseudolite signal very easily.

Realize that difference correction needs a reference receiver and a receiver user, carries out carrier phase measurement to the pseudo satellite, pseudolite signal simultaneously.

Because use reference receiver to make difference, the data of receiver user and the data of reference receiver must be synchronizations.The data of the data of reference receiver output and receiver user output not necessarily arrive computing machine simultaneously.If the data of receiver user are then, the data of reference receiver a last moment to or to arrive next constantly just arriving, will cause realizing difference

Therefore native system has used a kind of reference data storage searching method, and this procedure is as follows:

One frame data of reference receiver and receiver user have comprised the carrier phase measurement data of time mark and four pseudo satellite, pseudolites.The Frame that the only time mark is identical can be done difference.

Computing machine checked once whether be subjected to the receiver data in per 0.5 second, obtained data if any then carrying out decode operation, and with data based reference receiver and receiver user grouping.

In per 0.5 second, computing machine can be received the reference receiver data and the receiver user data of 5-6 frame.

Reference receiver distributes two groups of storage spaces to be used for storing data.Store several frame data of receiving in 0.5 second, store several frame data that this is received for one group for one group.

Two groups of spaces of the same distribution of receiver user are stored data that were untreated in 0.5 second, are stored the data that this is received for one group for one group.

Begin data processing after executing:

At first search previous 0.5 second Frame that whether has been untreated of receiver user, if having then search the identical Frame of time mark at reference receiver in these data that are subjected to.If find, then carry out difference processing, do not find and then skip difference processing.Location Calculation.

Repeat said process up to handling the receiver user Frame that all were untreated in preceding 0.5 second.

Handle the data that this receiver user that receives sends then, this is subjected to the Frame of receiver user for each, searches the identical Frame of time mark in stored reference receiver data field, if find, then carry out difference processing, and carry out location Calculation.Do not find the differential data of the reference receiver of coupling, then these receiver user data are preserved, wait for next 0.5 second and handle.

Claims (6)

1. false satellite sub decimeter grade carrier phase indoor orientation method, it is characterized in that: this method is by the positioning system of master station PC (1), pseudo satellite, pseudolite signaling module (2), clock module (3), user's locating module (4) and reference receiver (5), to receiver user (41) is realized the centimetre-sized precision in the indoor positioning zone location, this localization method comprises: the design of pseudo satellite, pseudolite antenna arrangement; Communications protocol, communication process and command format agreement between master station PC (1) and the false satellite baseband signal maker (21); Estimate the two differential mode type methods of time-satellite of pseudorange with the measured value of carrier phase; Position derivation algorithm with the two-dimensional coordinate location; With reference receiver (5) is that receiver user (41) is made the difference correction method and reference receiver (5) is realized the location with the reference data storage searching method; The concrete job step of this localization method is:

Step 1. beginning (401)

System installs and prepares beginning;

Step 2. system installs and connects pseudo satellite, pseudolite antenna arrangement (402)

After executing beginning (401) module, the system that then enters installs and connects, pseudo satellite, pseudolite antenna arrangement (402) module, to using the place and demarcating accurately as the position that pseudo satellite, pseudolite is arranged, after determining the initial point and X-direction in place, pseudo satellite, pseudolite antenna, the position of reference receiver antenna in the place are showed with three-dimensional coordinate;

Step 3. is set up the pseudolite systems coordinate system, measures each pseudo satellite, pseudolite antenna coordinate (403)

The system that executes installs and connects, and after pseudo satellite, pseudolite antenna arrangement (402) module, then enters according to the actual conditions in place, location and sets up the pseudolite systems coordinate system, measures each pseudo satellite, pseudolite antenna coordinate (403) module;

Step 4. master station PC is provided with pseudo satellite, pseudolite and transmits, and starts false satellite baseband signal maker (404)

After executing above-mentioned work, open each parts, then enter and by the master station PC pseudo satellite, pseudolite is set and transmits, and start false satellite baseband signal maker (404) module;

Step 5. receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal (405)

Executing the master station PC is provided with pseudo satellite, pseudolite and transmits, and after starting false satellite baseband signal maker (404) module, then enter receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal (405) module, the outgoing carrier phase measurement is to locating computing PC (42) simultaneously;

Step 6. judgement begins location (406)

After executing receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal (405) module, then enter judgement and begin location (406) module, wait for the instruction that begins to locate; If after determining to begin the location, then enter input receiver user initial point coordinate (407) module, the operator imports the initial position coordinate of receiver user; If do not begin the location, then feedback enters receiver user and reference receiver acquisition and tracking pseudo satellite, pseudolite signal (405) module;

Step 7. location computing PC obtains the carrier phase (408) of receiver output

After executing input receiver user initial point coordinate (407) module, then enter location computing PC and obtain carrier phase (408) module of receiver output, this receiver comprises receiver user (41) and reference receiver (5);

Step 8. difference correction (409)

Execute after location computing PC obtains carrier phase (408) module of receiver output, receiver comprises receiver user (41) and reference receiver (5), then enter difference correction (409) module, the carrier phase measurement value of receiver user (41) is carried out difference correction (409) with the carrier phase measurement value of reference receiver (5);

Step 9. pseudorange is estimated (410)

After executing difference school (409) module, then enter pseudorange and estimate (410) module;

Step 10. positioning result calculates and demonstration (411)

After executing pseudorange estimation (410) module, then enter positioning result calculating and show (411) module, utilization estimation pseudorange is well finished positioning result calculating and is shown;

Step 11. is judged termination (412)

After executing positioning result calculating and showing (411) module, then enter and judge termination (412) module; If after ending, then need to reorientate (413); If position fixing process is not ended, location computing PC (42) will repeat successively: computing PC in location obtains carrier phase (408), difference correction (409), the pseudorange estimation (410) of receiver output and arrives the process that positioning result calculated and showed (411), and this receiver comprises receiver user (41) and reference receiver (5);

(413) are reorientated in step 12. judgement

If after ending, then enter judgement and reorientate (413) module; If need reorientate (413), then enter input receiver user initial point coordinate (407) module, need import the initial position coordinate of receiver user once more, location computing PC (42) will repeat successively: computing PC in location obtains carrier phase (408), difference correction (409), the pseudorange estimation (410) of receiver user (41) and reference receiver (5) output and arrives the process that positioning result calculated and showed (411), and this receiver comprises receiver user and reference receiver; If not reorientating (413), then enter end (414) module;

Step 13. finishes (414)

Whole process finishes.

2. false satellite sub decimeter grade carrier phase indoor orientation method according to claim 1 is characterized in that: the concrete job step of communications protocol, communication process and command format agreement between described master station PC (1) and the false satellite baseband signal maker (21) is:

Step 1. communications protocol

The baud rate of communication is with fixing, and is immutable, for 9600bit/s communication underlying protocol is set: start bit: 1; Data bit: 8; Check bit: 0; Stop bit: 2;

Step 2. communication process

A). master station PC (1) sends order by serial ports

Master station PC (1) is worked out the order data frame according to the parameter of importing in the visual software interface, address and order; Send by serial ports, comprised address code information in the order data frame;

B). false satellite baseband signal maker (21) receives order

False satellite baseband signal maker (21) receives order, obtains according to form, and order numbering, address code judge whether address code is identical with the address code of oneself, if identical, then make corresponding action according to order numbering and parameter in the command word;

Step 3. command format agreement

The command format agreement is set as follows:

* PSEU is: command header; Order is numbered: a byte; Address code is: a byte; Command parameter length is: two bytes; Command parameter; EOF is: the order end mark:

* the ASCII character of PSEU is as command header, and the ASCII character of EOF is as the order end mark; Command word, parameter are all by CSV, and command parameter length is not limit, and false satellite baseband signal maker (21) is to receive end mark as the order end mark.

3. false satellite sub decimeter grade carrier phase indoor orientation method according to claim 1, it is characterized in that: the two differential mode type methods of time-satellite that described measured value with carrier phase is estimated pseudorange are that receiver user (41) antenna is located since a known point, under the situation of receiver user (41) to the pseudo satellite, pseudolite Continuous Tracking, measured value with carrier phase is estimated pseudorange, is the two differential mode types of time-satellite; The concrete job step of this method is:

Step 1. is estimated pseudorange with the measured value of carrier phase

The carrier phase that unique user receiver (41) is measured estimates that pseudorange is: as follows with pseudo satellite, pseudolite signal carrier phase observation equation:

Φ＝ρ+c(dt-dT)+λN-d _mul+ε _Φ

In the formula: Φ is a carrier phase observation data, and c is the light velocity, and ρ is the distance of pseudo satellite, pseudolite emitting antenna to receiver user (41), and dt is receiver user (a 41) clock correction, and-dT is the clock jitter of pseudo satellite, pseudolite signal, and N is an integer ambiguity, and λ is a carrier wavelength, d _MulBe multipath error, ε _ΦBe the carrier phase measurement noise;

Step 2. in constantly 0, the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite

In the two differential mode types of time-satellite, receiver user (41) receives the carrier phase observation data from pseudo satellite, pseudolite antenna i (2401) and pseudo satellite, pseudolite antenna j (2402) signal respectively, and tries to achieve the carrier phase observation data of the moment 0 (2403) and moment t (2404) respectively;

Receiver user (41) antenna is since a known starting point location, in the time of at the beginning, the actual range of four pseudo satellite, pseudolites and receiver user (41) antenna is known, and note the carrier phase observation data of four pseudo satellite, pseudolites recording of receiver user this moment (41), be Φ at 0 i the pseudo satellite, pseudolite that constantly records and the carrier phase value of j pseudo satellite, pseudolite ⁱ(0) and Φ ^j(0);

Wherein i and j represent i pseudo satellite, pseudolite and j pseudo satellite, pseudolite respectively,

${\mathrm{\Φ}}^i\left(0\right)={\mathrm{\ρ}}^i\left(0\right)+c(\mathrm{dt}-{\mathrm{dT}}^i\left(0\right))+\mathrm{\λ}{N}^i-d_{\mathrm{mul}}^i\left(0\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^i\left(0\right)$

${\mathrm{\Φ}}^j\left(0\right)={\mathrm{\ρ}}^j\left(0\right)+c(\mathrm{dt}-{\mathrm{dT}}^j\left(0\right))+\mathrm{\λ}{N}^j-d_{\mathrm{mul}}^j\left(0\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^j\left(0\right)$

It is as follows that both difference is got equation:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(0\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(0\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(0\right)---\left(1\right)$

In the formula: ΔΦ ^J-i(0) is Φ ^j(0) and Φ ⁱ(0) poor, Δ dT ^J-i(0) is dT ^j(0) and dT ⁱ(0) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor, For

With

Poor,

For

With

Poor;

Step 3. in moment t, the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite

In like manner, in moment t, receiver user (41) antenna has moved to new place, and carrier phase observation data is Φ ⁱ(t) and Φ ^j(t);

${\mathrm{\Φ}}^i\left(t\right)={\mathrm{\ρ}}^i\left(t\right)+c(\mathrm{dt}-{\mathrm{dT}}^i\left(t\right))+\mathrm{\λ}{N}^i-d_{\mathrm{mul}}^i\left(t\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^i\left(t\right)$

${\mathrm{\Φ}}^j\left(t\right)={\mathrm{\ρ}}^j\left(t\right)+c(\mathrm{dt}-{\mathrm{dT}}^j\left(t\right))+\mathrm{\λ}{N}^j-d_{\mathrm{mul}}^j\left(t\right)+{\mathrm{\ϵ}}_{\mathrm{\Φ}}^j\left(t\right)$

It is as follows that both difference is got equation:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(t\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(t\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(t\right)---\left(2\right)$

In the formula: ΔΦ ^J-i(t) be Φ ^j(t) and Φ ⁱ(t) poor, Δ dT ^J-i(t) be dT ^j(t) and dT ⁱ(t) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For With Poor,

For With

Poor;

Step 4. is from 0 (2403) moving to the poor pair eikonal equations that obtain of t (2404) work constantly constantly

Equation (1) and equation (2) are made difference, and to obtain two eikonal equations as follows:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t=\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-c\▿\mathrm{\Δd}{T^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(3\right)$

In the formula:

Be two differences between time and star,

Be Δ dT ^J-i(t) and Δ dT ^J-i(0) poor,

For

With

Poor,

For

With

Poor;

Step 5. is calculated at t constantly, and receiver user (41) is to the range difference of pseudo satellite, pseudolite i and pseudo satellite, pseudolite j

Two difference results in above-mentioned (3) formula are considered to the time 0 and move to time t, and receiver user (41) is to the variable quantity of the difference of two satellite distances, and then at t constantly, receiver user (41) is as follows to the equation of the range difference of pseudo satellite, pseudolite i and pseudo satellite, pseudolite j:

$\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)=\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t+\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)+c\▿\mathrm{\Δ}{{\mathrm{dT}}^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(4\right)$

In the formula:

Be two difference results of measured value, Δ ρ ^J-i(0) owing to imported initial position, thus be known, Come down to the asynchronous error term that causes of different pseudo satellite, pseudolite clocks,

Be the error term that the multipath error causes,

Then be to measure the error term that stochastic error that noise causes causes;

Step 6. is estimated pseudorange and position coordinates

If the distance of four pseudo satellite, pseudolites of 0 moment receiver user (41) distance is R ¹(0), R ²(0), R ³(0), R ⁴(0), then estimate the t pseudorange of four pseudo satellite, pseudolites of receiver user (41) distance constantly with following method thus:

$\left\{\begin{array}{c}{R}^1\left(t\right)=R^1\left(0\right)\\ R^2\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{2-1}\left(t\right)\\ R^3\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{3-1}\left(t\right)\\ R^4\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{4-1}\left(t\right)\end{array}\right.---\left(5\right)$

In the formula: Δ ρ ^2-1(t), Δ ρ ^3-1(t), Δ ρ ^4-1(t) try to achieve by above-mentioned (4) formula;

In the Global Positioning System (GPS) GPS calculating location that the pseudorange substitution that (5) formula is estimated is common iterative, for trying to achieve the t position coordinates of receiver user (41) constantly.

4. false satellite sub decimeter grade carrier phase indoor orientation method according to claim 1 is characterized in that: the concrete job step of described position derivation algorithm with two-dimensional coordinate location is:

Step 1. is obtained current pseudorange observed reading

A). the two-dimensional coordinate positioning algorithm based is listed following equation:

$\sqrt{{(x_1-x_u)}^2+{(y_1-y_u)}^2+{(z_1-z_u)}^2}+\mathrm{bu}={\mathrm{\ρ}}_1---\left(1\right)$

In the formula: x ₁, y ₁, z ₁Be the 1st pseudo satellite, pseudolite coordinate, x _u, y _u, z _uBe the coordinate of receiver user initial estimation, z _uIt is known constant; b _uBe the total error of pseudorange, ρ ₁Be the pseudorange of the 1st pseudo satellite, pseudolite to receiver user;

B). use linearizing additive process

Equation (1) is carried out linearization

$\∂{\mathrm{\ρ}}_1=\frac{(x_i-x_u)\∂x_u+(y_i-y_u)\∂y_u}{\sqrt{{(x_1-x_u)}^2+{(y_1-y_u)}^2+{(z_1-z_u)}^2}}+\∂b_u$

$=\frac{(x_i-x_u)\∂x_u+(y_i-y_u)\∂y_u}{{\mathrm{\ρ}}_i-b_u}+\∂b_u---\left(2\right)$

C). four equations of 4 pseudo satellite, pseudolite simultaneous are obtained the matrix that following system of linear equations is formed:

According to said process (1), (2) be to the matrix that four equations of 4 pseudo satellite, pseudolite simultaneous obtain following system of linear equations composition:

$\left[\begin{array}{c}{\∂\mathrm{\ρ}}_1\\ {\∂\mathrm{\ρ}}_2\\ {\∂\mathrm{\ρ}}_3\\ {\∂\mathrm{\ρ}}_4\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{\α}}_{11}& {\mathrm{\α}}_{12}& 1\\ {\mathrm{\α}}_{21}& {\mathrm{\α}}_{22}& 1\\ {\mathrm{\α}}_{31}& {\mathrm{\α}}_{32}& 1\\ {\mathrm{\α}}_{41}& {\mathrm{\α}}_{42}& 1\end{array}\right]\left[\begin{array}{c}\∂x_u\\ \∂y_u\\ \∂z_u\end{array}\right]---\left(3\right)$

Wherein

Deduct the measurement pseudorange for calculating pseudorange, subscript i represents i pseudo satellite, pseudolite

Step 2. solves with least square method

Choose the estimated value of current point coordinate, the substitution system of equations is found the solution, and utilizes above-mentioned least square method to solve

Order

Then find the solution with least square method

$\left[\begin{array}{c}\∂x_u\\ \∂y_u\\ \∂b_u\end{array}\right]={\left(A^{T}A\right)}^{-1}{A}^T\left[\begin{array}{c}{\∂\mathrm{\ρ}}_1\\ {\∂\mathrm{\ρ}}_2\\ {\∂\mathrm{\ρ}}_3\\ {\∂\mathrm{\ρ}}_4\end{array}\right]---\left(4\right)$

Solving what obtain is the difference of the coordinate of real user receiver coordinate and receiver user initial estimation;

Step 3. revise originally estimated x _u, y _u

With what solve

Revise originally estimated z _u, y _u, then the Coordinate Calculation result of receiver user (41) is modified to:

${x_u}^{\′}=x_u+\∂x_u$

${y_u}^{\′}=y_u+\∂y_u$

Step 4. is with revised x _u', y _u' substitution system of equations again

If new receiver user Coordinate Calculation result is re-used as the initial coordinate substitution

Above-mentioned formula carries out computing, can separate to make new advances

And revise once more; Repeatedly said process until

Less than a predetermined value, or it is 0.01 meter; Think that then the Coordinate Calculation result of receiver user is very near real receiver user position coordinates;

Step 5. repeats above-mentioned steps 1 to step 4

Constantly repeat above-mentioned steps 1 to step 4, up to what solve

Absolute value smaller or equal to 0.01 meter threshold value, then think the x that solves _u, y _uConverged to the true coordinate value of receiver user.

5. false satellite sub decimeter grade carrier phase indoor orientation method according to claim 1, it is characterized in that: the described disposal route of doing after the difference correction data for receiver user (41) with reference receiver (5) is the same with the receiver user processing method of data, and the concrete job step of this method is:

Step 1. is the moment 0, and the equation of the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite is as follows:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(0\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(0\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(0\right)---\left(1\right)$

In the formula: ΔΦ ^J-i(0) is Φ ^j(0) and Φ ⁱ(0) poor, Δ dT ^J-i(0) is dT ^j(0) and dT ⁱ(0) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For

With

Poor,

For

With

Poor;

Step 2. is in moment t, and the equation of the carrier phase observation data of the difference of j pseudo satellite, pseudolite and i pseudo satellite, pseudolite is as follows:

$\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{c\Δ}{\mathrm{dT}}^{j-i}\left(t\right)+\mathrm{\λ\Δ}{N}^{j-i}-\mathrm{\Δ}{d}_{\mathrm{mul}}^{j-i}\left(t\right)+\mathrm{\Δ}{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}\left(t\right)---\left(2\right)$

In the formula: ΔΦ ^J-i(t) be Φ ^j(t) and Φ ⁱ(t) poor, Δ dT ^J-i(t) be dT ^j(t) and dT ⁱ(t) poor, λ Δ N ^J-iBe λ N ^jWith λ N ⁱPoor,

For

With

Poor,

For

With

Poor;

Step 3. is from constantly 0 (2403) moving to constantly t (2404) and make difference to obtain two eikonal equations as follows:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t=\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\Φ}}^{j-i}\left(0\right)=\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)-\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)-c\▿\mathrm{\Δd}{T^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(3\right)$

In the formula:

Be two differences between time and star,

Be Δ dT ^J-i(t) and Δ dT ^J-i(0) poor,

For

With Poor, For

With Poor;

Step 4. is finished difference correction

A). the data that reference receiver obtains

The data that reference receiver obtains obtain respectively after utilizing above-mentioned formula 1-3 to handle:

${\▿\mathrm{\Δ}{\mathrm{\Φ}}_r^{2-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{3-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{4-1}|}_0^t$

B). the data that receiver user obtains

The data that receiver user obtains obtain respectively after utilizing above-mentioned formula 1-3 to handle:

$\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{2-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{3-1}|}_0^t,$ $\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{4-1}|}_0^t$

Obtain two differences between time and star according to following formula then:

$\left\{\begin{array}{c}\▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{2-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{2-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{2-1}|}_0^t\\ \▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{3-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{3-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{3-1}|}_0^t\\ \▿\mathrm{\Δ}{{\mathrm{\Φ}}_C^{4-1}|}_0^t=\▿\mathrm{\Δ}{{\mathrm{\Φ}}_u^{4-1}|}_0^t-\▿\mathrm{\Δ}{{\mathrm{\Φ}}_r^{4-1}|}_0^t\end{array}\right.---\left(6\right)$

For having finished difference correction;

Step 5. compute pseudo-ranges estimated value

A). the receiver user of substitution as a result (41) of above-mentioned formula 6 is arrived the equation (4) of the range difference of pseudo satellite, pseudolite i and pseudo satellite, pseudolite j:

$\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(t\right)=\▿\mathrm{\Δ}{{\mathrm{\Φ}}^{j-i}|}_0^t+\mathrm{\Δ}{\mathrm{\ρ}}^{j-i}\left(0\right)+c\▿\mathrm{\Δ}{{\mathrm{dT}}^{j-i}|}_0^t-\▿\mathrm{\Δ}{d_{\mathrm{mul}}^{j-i}|}_0^t+\▿\mathrm{\Δ}{{\mathrm{\ϵ}}_{\mathrm{\Φ}}^{j-i}|}_0^t---\left(4\right)$

In the formula:

Be two difference results of measured value, Δ ρ ^J-i(0) owing to imported initial position, thus be known,

Come down to the asynchronous error term that causes of different pseudo satellite, pseudolite clocks, Be the error term that the multipath error causes,

Then be to measure the error term that stochastic error that noise causes causes;

B). continue substitution equation (5):

If the distance of four pseudo satellite, pseudolites of 0 moment receiver user (41) distance is R ¹(0), R ²(0), R ³(0), R ⁴(0), then estimate the t pseudorange of four pseudo satellite, pseudolites of receiver user (41) distance constantly with following method thus:

$\left\{\begin{array}{c}{R}^1\left(t\right)=R^1\left(0\right)\\ R^2\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{2-1}\left(t\right)\\ R^3\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{3-1}\left(t\right)\\ R^4\left(t\right)=R^1\left(0\right)+\mathrm{\Δ}{\mathrm{\ρ}}^{4-1}\left(t\right)\end{array}\right.---\left(5\right)$

In the formula: Δ ρ ^2-1(t), Δ ρ ^3-1(t), Δ ρ ^4-1(t) try to achieve by above-mentioned (4) formula;

In the Global Positioning System (GPS) GPS calculating location that the pseudorange substitution that (5) formula is estimated is common iterative, for trying to achieve the t position coordinates of receiver user (41) constantly.

6. false satellite sub decimeter grade carrier phase indoor orientation method according to claim 1, it is characterized in that: described reference receiver (5) is realized the location with the reference data storage searching method, make difference with reference receiver, the data of the data of receiver user (41) and reference receiver (5) must be synchronizations, and the data of the data of reference receiver output and receiver user output not necessarily arrive computing machine simultaneously, to cause to realize difference, one frame data of reference receiver and receiver user have comprised the carrier phase measurement data of time mark and four pseudo satellite, pseudolites, the Frame that the only time mark is identical is done difference, and this system with the concrete job step of reference data storage searching method is:

Step 1. beginning (501)

Location computing PC (42) checked once whether be subjected to receiver user and reference receiver data in per 0.5 second, obtained data if any then carrying out decode operation, and with data based reference receiver and receiver user grouping;

Step 2. is obtained reference data and storage (502)

After executing initialization (501) module, then enter and obtain reference data and storage (502) module, in per 0.5 second, location computing PC (42) can be received the reference receiver data of 5-6 frame; Reference receiver distributes two groups of storage spaces to be used for storing data, stores several frame data of receiving in 0.5 second, stores several frame data that this is received for one group for one group;

Step 3. is obtained user data and storage (503)

Execute obtain reference data and storage (502) module after, then enter and obtain user data and storage (503) module, in per 0.5 second, location computing PC (42) can be received the receiver user data of 5-6 frame; Receiver user is same to distribute two groups of spaces to store data, stores data that were untreated in 0.5 second, stores the data that this is received for one group for one group;

Step 4. judges that receiver user " received the data storage area last time " whether empty (504)

Execute obtain user data and storage (503) module after, then enter " receiving the data storage area last time " sky (504) module whether of judging receiver user;

If receiver user " receiving the data storage area last time " is empty, then enter data immigration " receiving the data storage area last time " (510) module with " this receives the data storage area " of reference receiver;

If " receiving the data storage area last time " non-NULL of receiver user then enters and extracts a Frame A (505) module;

" this receives the data storage area " (506) of step 5. searching for reference receiver

After executing an extraction Frame A (505) module, " this receives the data storage area " (506) module that then enters the searching for reference receiver;

Step 6. judges whether to find the reference data frame (507) of identical time mark

After executing " this receives the data storage area " (506) module of searching for reference receiver, then enter reference data frame (507) module that judges whether to find identical time mark;

If find the reference data frame of identical time mark, then enter difference correction (508) module, carry out difference processing;

If do not find the reference data frame of identical time mark, then skip difference processing, enter positioning calculation (509) module;

Step 7. positioning calculation (509)

Execute difference correction (508) module and the reference data frame that does not find identical time mark, all enter positioning calculation (509) module;

Step 8. feeds back to step 4

After executing positioning calculation (509) module, then feed back to " receiving the data storage area last time " whether empty (504) module of step 4 receiver user;

Repeat above-mentioned steps 4, step 5 and step 6 process, up to handling the receiver user Frame that all were untreated in preceding 0.5 second;

Step 9. is judged receiver user " this receives the data storage area " whether empty (511)

Execute after data with " this receives the data storage area " of reference receiver move into " receiving the data storage area last time " (510) module, then enter " this receives the data storage area " sky (511) module whether of judging receiver user;

If " this receives the data storage area " of receiver user is empty, then enter end (512) module;

If " this receives the data storage area " non-NULL of receiver user then enters and extracts a Frame B (513) module;

" receiving the data storage area last time " (514) of step 10. searching for reference receiver

After executing an extraction Frame B (513) module, " receiving the data storage area last time " (514) module that then enters the searching for reference receiver;

" this receives the data storage area " (515) of step 11. searching for reference receiver

After executing " receiving the data storage area last time " (514) module of searching for reference receiver, then enter " this receives the data storage area " (515) module of searching for reference receiver;

Step 12. judges whether to find the reference receiver Frame (516) of identical time mark

After executing " this receives the data storage area " (515) module of searching for reference receiver, then enter reference receiver Frame (516) module that judges whether to find identical time mark;

If find the reference receiver Frame of identical time mark, then enter difference correction, positioning calculation (517) module, carry out difference and localization process;

If do not find the reference receiver Frame of identical time mark, then enter " receiving the data storage area last time " (518) module that this Frame is moved to receiver user;

Step 13. feeds back to step 9

After executing difference correction, positioning calculation (517) module and this Frame being moved to " receiving the data storage area last time " (518) module of receiver user, then feed back to " this receives the data storage area " whether empty (511) module of step 9 receiver user;

Repeat above-mentioned steps 9, step 10, step 11 and step 12 process, up to handling the receiver user Frame that all were untreated in preceding 0.5 second.

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