CN102221685A - Code division multiple access (CDMA) wireless positioning method suitable for ultra-tight global positioning system (GPS)/strap-down inertial navigation system (SINS) integration - Google Patents

Abstract

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

Description

The hypercompact combined CDMA wireless location method of a kind of suitable GPS/SINS

Technical field

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

Background technology

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

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

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

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

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

Summary of the invention

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

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

The present invention is the hypercompact combined CDMA wireless location method of a kind of novel suitable GPS/SINS, may further comprise the steps:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Description of drawings

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

Fig. 2 is an embodiment of the invention principle schematic.

Embodiment

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

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

(1) receives the cdma network pilot signal, select locator meams according to the work number of base stations

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

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

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

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

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

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

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

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

According to range formula, but Simultaneous Equations:

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

Can get:

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

Wherein,

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

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

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

It is as follows to be write formula (3) as matrix form:

In the formula,

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

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

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

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

n＝[n _2，1，n _3，1，...，n _M，1] ^T (10)

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

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

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

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

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

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

Promptly

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

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

Obtain initial solution by following formula and calculate the B matrix, utilize formula (11) to find the solution ψ again, try to achieve weighted least-squares separate into:

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

Wherein, V _aCovariance matrix be:

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

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

Wherein,

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

Covariance matrix ψ ' can be expressed as:

Wherein,

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

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

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

Therefore, the exact solution of transfer table coordinate is:

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

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

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

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

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

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

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

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

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

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

X＝[e _x，e _y，e _z] ^T (25)

Then system matrix F is defined as follows:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Formula is as follows:

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

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

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

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

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

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

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

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

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

Wherein,

E _i，0＝＝E _i-E ₀ (31)

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

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

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

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

(6) output locating information

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

Claims (7)

1. hypercompact combined CDMA wireless location method of suitable GPS/SINS is characterized in that may further comprise the steps:

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

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

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

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

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

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

2. the hypercompact combined CDMA wireless location method of a kind of suitable GPS/SINS according to claim 1, it is characterized in that: in the described step (1), select the method for locator meams as follows according to the work number of base stations: if effectively the work base station number is less than 5, then be the signal blind zone of CDMA three-dimensional localization, the locator data of directly using the hypercompact combined system of GPS/SINS is final locator data; If effectively the work base station number is then proceeded step (2) greater than 5.

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

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

5. the hypercompact combined CDMA wireless location method of a kind of suitable GPS/SINS according to claim 1 is characterized in that: in the described step (3), the method for fuzzy solution that generates the transfer table current location information by TDOA data solver unit resolves is as follows:

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

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

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

6. the hypercompact combined CDMA wireless location method of a kind of suitable GPS/SINS according to claim 1, it is characterized in that: in the described step (4), method according to the fuzzy solution of the location of mobile station information removal process (3) of moment parsing generation on the hypercompact combined system of GPS/SINS is as follows: according to the locating information of a parsing generation constantly on the hypercompact combined system of GPS/SINS, find the solution current position prediction value by the Kalman filtering optimal estimation, calculate itself and step (3) and resolve error between two positional informations that generate, the CDMA locating information of Select Error smaller correspondence is as the actual position value.

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

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