CN103091683B - Assist type is based on the location of satellite-signal - Google Patents
Assist type is based on the location of satellite-signal Download PDFInfo
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Abstract
Disclose the location of a kind of assist type based on satellite-signal.In order to auxiliary satellite-based location, receive the parameter being used at least one satellite.At random redundant information is removed from these parameters.Then provide the parameter of the redundance with reduction as the auxiliary data for the location based on satellite-signal.On the other hand, this type of parameter with the redundance of reduction can be received as the auxiliary data for the location based on satellite-signal.Then, initial parameter is rebuild by adding removed redundant information to received parameter.Rebuild initial parameter is used in the location of assist type based on satellite-signal.
Description
The application is application number 200680056432.8, September 21 2006 applying date day, be called the divisional application of " assist type is based on the location of satellite-signal ".
Technical field
The present invention relates to the location of assist type based on satellite-signal.
Background technology
The location of various Global Navigation Satellite System (GNSS) all support equipment.These systems such as comprise american global positioning system (GPS), russian system (GLONASS), future European system Galileo, strengthen accurate zenith (Quasi-Zenith) satellite system (QZSS), Local Area Augmentation System (LAAS) and commingled system based on the enhancing system (SBAS) in space, Japanese GPS.
GNSS generally includes multiple satellite run around the earth.These satellites are also referred to as space vehicle (SV, spacevehicle).Each satellite sends at least one carrier signal, and it may be all identical for all satellites.Each carrier signal is then by the modulation of different pseudo noise (PRN) codes, and this Pseudo-Random Noise Code scatters (spread) described signal in frequency spectrum.As a result, different channels is obtained for being transmitted by different satellites.Described code comprises multiple position, and it is repeated in circulation (cycle).The position of PRN code is called as chip (chip), and is called as the time of occurrence (epoch) of code cycling time.Navigation information is used to modulate the carrier frequency of described signal further with the bit rate of the remarkable spreading rate lower than PRN code.
Navigation information can comprise satellite identifier (SVID), orbit parameter, time parameter and other information.Satellite identifier indicates the satellite that the data in navigation information are applied to.It can be such as ordinal number.Orbit parameter can comprise ephemeris parameter and almanac parameters.Ephemeris parameter describes the shorter section of the track of respective satellite.They such as can comprise instruction satellite when the semi-major axis (semi-majoraxis) of its ellipse of advancing of forward position and the parameter of excentricity (eccentricity).Based on ephemeris parameter, when satellite is positioned at the section described by track, algorithm can estimate satellite position at any time.Almanac parameters is also similar, but is rough orbit parameter, and the effective time of almanac parameters is longer than ephemeris parameter.It is to be noted, when year calendar, all satellites all send the almanac parameters of all satellites in regarding system, comprise the SVID which satellite the corresponding almanac parameters of instruction belongs to.Time parameter defines clock models, and this model makes satellite time relevant to the system time of GNSS and system time and Coordinated Universal Time(UTC) (UTC) are correlated with.In addition, (TOE) parameter between the ephemeris time that they comprise the reference time of instruction ephemeris, and clock models time (TOC) parameter of the reference time of telltable clock model.
When GLONASS, term " direct information " and " non-immediate information " is used to replace term " ephemeris " and " year calendar ".It should be understood that any quoting all for representing the institute's likely term that can be used for identical type information " ephemeris " and " year calendar " in this document, comprising GLONASS " direct information " and " non-immediate information ".
Determine the signal that the GNSS receiver of its position receives current available satellite and sends, and it obtains and follows the tracks of based on included different PRN codes the channel that different satellite uses.Then, the transmitting time of the code that each satellite sends determined by receiver, and this is usually based on the data in decoded navigation message and based on the chip of PRN code and the counting of time of occurrence.The time of transmitting time and measured signal arrival receiver allows the pseudorange (pseudorange) determined between satellite and receiver.Term pseudorange represents the geometric distance between satellite and receiver, and this distance is owing to offseting with the receiver of GNSS time and unknown satellite and produce deviation.
In a kind of possible solution, skew between satellite and system clock is assumed that it is known, and problem reduction is for solving the Nonlinear System of Equations of four unknown quantitys (that is, three receiver position coordinateses and the skew between receiver and GNSS system clock).Therefore, four measurements are at least needed just can to solve this system of equations.The result of process is receiver position.
In certain environments, GNSS receiver can obtain and follow the tracks of enough satellite-signals to position according to PRN code, but the quality of signal may not be that enough height are so that decoded navigation message.Such as, can be this situation in indoor environment.In addition, decoded navigation message needs sizable processing power, and this may be limited in mobile GNSS receiver.
If GNSS receiver is included in cellular terminal or is attached to cellular terminal as auxiliary device, then cellular network can provide the auxiliary data of the parameter comprised from decoded navigation message extraction to this cellular terminal via cellular link.This type of location based on GNSS supported is called as assisted GNSS (AGNSS).The information received makes the cellular terminal of GNSS receiver or association can to obtain location, position under challenging signal conditioning with the shorter time with having more.Be generally the GNSS receiver associated with cellular terminal visible each satellite and auxiliary data is provided.Described auxiliary data can comprise navigation model parameter, and this navigation model parameter generally includes orbit parameter, TOE and TOC parameter and SVID parameter.
In addition, external service can provide long term orbit, and it is accurate and more much longer than the model trajectory (ephemeris/year calendar) in SV broadcast.
Summary of the invention
In order to provide auxiliary data, the parameter in navigation information can be copied to assistance messages with their unprocessed form.The bandwidth transmitted needed for this type of assistance messages is sizable, but in some radio communication (as cellular communication), bandwidth is key factor.
For the first aspect considered, provide a kind of method, described method comprises the parameter received at least one satellite.Described method also comprises and removes redundant information arbitrarily from described parameter, and provides the parameter of the redundance with reduction as auxiliary data for the location based on satellite-signal.
For the first aspect considered, additionally provide a kind of equipment, described equipment comprises processing components.Described processing components is configured to receive the parameter about at least one satellite.Described processing components is also configured at random remove redundant information from described parameter.Described processing components is also configured to provide the parameter of the redundance with reduction as auxiliary data for the location based on satellite-signal.
The processing components of the described equipment provided for considered first aspect can with hardware and/or software simulating.It can be such as the processor of the software program code performed for realizing required function.Alternatively, it can be such as the circuit being designed to realize required function, and this circuit such as realizes in chipset or chip (as integrated circuit).
The described equipment provided for considered first aspect can processing components such as with included identical, but it can also comprise extra assembly.Described equipment can also be such as provided for being integrated into the module in autonomous device or auxiliary device.
For considered first aspect, additionally provide a kind of electronic equipment, described electronic equipment comprises the described equipment provided for considered first aspect.In addition, it can comprise the wireless communication components and/or the satellite signal receiver that are configured to send information via wireless link.Described electronic equipment can be such as the network element of cordless communication network, as cellular communications networks base station, be connected to the location measurement units of such network element or be connected to the server of this type of cordless communication network.
For the first aspect considered, additionally provide a kind of computer program, wherein computer program code is stored in computer-readable medium.When being executed by a processor, described computer program code will realize the method provided for considered first aspect.This computer program can be such as the assembly that independent memory device maybe will be integrated in larger equipment.
Should be understood that the present invention also covers this type of computer program code independent of computer program and computer-readable medium.
For the second aspect considered, provide a kind of method, described method comprises receiving parameter as auxiliary data for the location based on satellite-signal, and wherein received parameter, based on the initial parameter of at least one satellite, at random removes redundant information from described initial parameter.Described method also comprises rebuilds described initial parameter by adding removed redundant information to received parameter.Described method is also included in assist type and uses rebuild initial parameter based in the location of satellite-signal.
For the second aspect considered, additionally provide a kind of equipment, described equipment comprises processing components.Described processing components is configured to receiving parameter as auxiliary data for the location based on satellite-signal, and wherein received parameter, based on the initial parameter of at least one satellite, at random removes redundant information from described initial parameter.Described processing components is also configured to rebuild described initial parameter by adding removed redundant information to received parameter.Described processing components is also configured to use rebuild initial parameter in the location of assist type based on satellite-signal.
Equally, the processing components of the described equipment provided for considered second aspect can with hardware and/or software simulating.It can be such as the processor of the software program code performed for realizing required function.Alternatively, it can be such as the circuit being designed to realize required function, and this circuit such as realizes in chipset or chip (as integrated circuit).
In addition, the described equipment provided for considered second aspect also can processing components such as with included identical, but it can also comprise extra assembly.Described equipment can also be such as be provided for the module be integrated in autonomous device or auxiliary device.
For the second aspect considered, additionally provide a kind of electronic equipment, described electronic equipment comprises the described equipment provided for considered second aspect.In addition, it can comprise the wireless communication components and/or the satellite signal receiver that are configured to receive information via wireless link.Described electronic equipment can be such as the terminal of wireless communication system, as the annex of cellular terminal or this Terminal Type.
For the second aspect considered, additionally provide a kind of computer program, wherein computer program code is stored in computer-readable medium.When being executed by a processor, described computer program code will realize the method provided for considered second aspect.This computer program can be such as the assembly that independent memory device maybe will be integrated in larger equipment.
Should be understood that the present invention also covers this type of computer program code independent of computer program and computer-readable medium.
Finally, the equipment equipment provided for considered first aspect being provided and providing for considered second aspect.
On the other hand, the present invention is based on such consideration: the unprocessed form of parameter that (although not being exclusively) transmits in satellite-signal especially must have some redundancies, and this is required by the type of transmission path.In satellite broadcasting, may periodic outage etc. be there is, and not be can collect all data bit at satellite receiver place all the time.Redundancy can a large amount of overhead data etc. such as owing to providing for error correction.On the other hand, for providing the link of auxiliary data more reliably, and can prevent error code (biterror), thus without the need to above-mentioned expense.In addition, the relevant parameter about different satellite of parallel transfer may be very similar each other.If the parameter of some satellites is supplied to individual equipment as auxiliary data by this way, then one group of relevant parameter also can comprise redundancy.Therefore, the parameter proposed from its unprocessed form removes redundancy.Should be understood that and at random will remove redundancy from described parameter; Therefore some parameter in auxiliary data can remain unchanged.
Therefore, the present invention causes reducing the position consumption being used to auxiliary data, for assist type based on satnav.Such as, in cellular transmission, the bandwidth conservation realized is of great value.The position counting needed for special parameter can be reduced and do not lose precision or the compatibility with unprocessed form (it is used by corresponding satellite system).
Described initial parameter can be extracted from one or more satellite-signal.As mentioned above, for the situation of year calendar, single satellite also can send the parameter of some satellites.Alternatively or extraly, can from other sources (as providing the server of long term orbit) receiving parameter.In the case, can such as use based on Internet protocol (IP) method (user plane) or described parameter is provided in the control plane.
Remove redundancy from parameter and there is different selections, this depends on the kind of corresponding parameter.By considering parameter itself, but especially by the corresponding parameter of combination consideration one group, described minimizing can be realized.
In one embodiment, at random remove redundant information from described parameter and comprise the public part and corresponding individual part of determining multiple parameter.Then, only provide once described public part as auxiliary data to described multiple parameter.
If described parameter comprises the parameter of the satellite belonging to two or more different satellite systems, what for the public part of the parameter of the satellite belonging to different satellite system extremely can be determined.In addition, the corresponding public part of the parameter of the satellite belonging to single satellite system can then be determined.
Receiving the equipment place of this type of auxiliary data, by the one or more public part received in about the described auxiliary data of multiple initial parameter being added to the corresponding individual part received in about the described auxiliary data of multiple initial parameter, described initial parameter can be rebuild.
The method is applicable to different types of parameter.Such as, it may be used for multiple eccentricity parameter and/or multiple semi-major axis parameter and/or indicates multiple time parameters of corresponding time point.These parameters can be derived from ephemeris parameter, almanac parameters or even some external source, as the long term orbit service of business.In auxiliary data, be generally the visible each satellite of utility appliance and send orbit parameter.Therefore, any minimizing of the position counting of navigation model all will directly contribute to bandwidth requirement.
If public part can be used for parameter or the parameter group of different satellite system, then the present invention is also suitable for coordinating the expression across considered system.
If described parameter such as comprises the corresponding eccentricity parameter of multiple satellite, then at random remove redundant information from described parameter can comprise described multiple eccentricity parameter is separated into public highest significant position (MSB, mostsignificantbit) part and corresponding individual least significant bit (LSB) (LSB, leastsignificantbit) part.Can only provide once described public MSB part as auxiliary data for described multiple eccentricity parameter.By contrast, individual LSB part can be transmitted respectively for each eccentricity parameter.
If described parameter comprises the corresponding semi-major axis parameter of multiple satellite, then at random remove redundant information from described parameter and can comprise and described multiple semi-major axis parameter is separated into public MSB part and corresponding individual LSB part.Then, can only provide once described public MSB part as auxiliary data for described multiple semi-major axis parameter.By contrast, individual LSB part can be transmitted respectively for each semi-major axis parameter.
As mentioned above, what provide can be used for ephemeris, year calendar for the embodiment reducing the redundance in excentricity and semi-major axis parameter and provides any other source of similar parameter.
If described parameter comprises multiple time parameters of the corresponding time point of instruction, then at random removing redundant information from described parameter can comprise for described multiple time parameter determines public part and individual part, set time in described public part block instruction time, described individual part defines the described time point and the deviation of described set time that are indicated by corresponding time parameter.Then, can only provide once described public part as auxiliary data for described multiple time parameter.By contrast, individual part can be transmitted respectively for each time parameter.
This type of can comprise the TOE parameter of multiple satellite or the TOC parameter of multiple satellite for the time parameter that it defines public part.When independent TOE and TOC parameter can be used for satellite, TOE and TOC parameter all can also define similar time point.Therefore, described method can also be used for TOE parameter and the TOC parameter of corresponding single satellite.Most effectively, for a kind of all TOE parameters of satellite of all considerations of satellite system and all TOC parameters determine public part, or even for all TOE parameters of the satellite of all considerations of some satellite systems and all TOC parameters determine public part.
If described parameter comprises the respective satellite identification parameter of multiple satellite, then described satellite identification parameter can be the bit representation of ordinal number.In the case, can be represented by the single bitmask described multiple bit representation of described ordinal number being converted to described ordinal number, at random remove redundant information from described parameter.The efficiency of the method increases along with the increase of considered satellite number.In fact, can there is steps in decision-making formerly, it guarantees only just to use the method when the satellite considered of a predetermined level is exceeded, increases to avoid the data possible when considered satellite is little.
Receiving the equipment place of this type of auxiliary data, by the single bitmask of ordinal number being represented the multiple bit representations being converted to ordinal number, can rebuild described original satellite identification parameter, the bit representation of described ordinal number corresponds to described original satellite identification parameter.
In some satellite system, satellite identification parameter comprises skew.That is, represent that satellite identifies the position that uses more than the position of district office likely needed for satellite.
In the case, at random remove redundant information from described parameter and can comprise the position counting being reduced described parameter by the predetermined migration removed respective satellite identification parameter.The method can be used as the above-mentioned alternative approach being converted to bitmask, or can also use the method except above-mentioned being converted to except bitmask.
Receiving the equipment place of this type of auxiliary data, by add predetermined migration and by less bits in described auxiliary data receive satellite identification parameter and be converted to original satellite identification parameter compared with multidigit, described initial parameter can be rebuild.If employ bitmask in addition, then first institute's bit mask is converted to multiple bit representation, then adds described skew to these bit representations to regain described initial parameter.
Equally, what provide can be used for ephemeris, year calendar for the embodiment reducing the redundance in satellite identification parameter and provides any other source of similar parameter.
Almanac parameters comprises the parameter that the section defining track also has reference time.
If described parameter comprises the almanac parameters of multiple satellite, then described almanac parameters can comprise the almanac reference time information of each satellite in described satellite.Equally, in the case, at least can be comprised the public part of a part for described reference time information by definition, at random remove redundant information from described parameter.Then can only provide once described public part as auxiliary data for described multiple satellite.Depend on considered satellite system, described public part such as can comprise week counting, some other rough persond eixis, or complete instruction reference time.The amended form that can be applicable to being separated in its original format or more uses indicate any reference time.
If described parameter comprises the almanac parameters of the multiple satellites belonging at least two satellite systems, then such as by determining public part for described almanac parameters, at random can remove redundant information from described parameter, wherein said public part is for belonging to the week counting of multiple satellites of different satellite system.In addition, can provide public part for belong to multiple satellites of same satellite system time-of-week between (time-of-week), and individual part is for belonging to the almanac data of each satellite in described multiple satellite of this satellite system.This first option can be selected for one or more considered satellite system.Alternatively or extraly, public part can be provided for belonging to the day counting of multiple satellites of same satellite system, and individual part can be provided for belonging to Time of Day (timeofday) and the almanac data of each satellite in described multiple satellite of same satellite system.Alternatively or extraly, individual part can be provided for belonging to the day counting of each satellite in multiple satellites of same satellite system, Time of Day and almanac data.The option of the latter can be selected equally for one or more considered satellite system.Then only provide once each public part as auxiliary data for described almanac parameters.
Such as described auxiliary data can be sent to the cellular terminal associated by satellite signal receiver by cellular link.Alternatively, can use the data link of any type that described auxiliary data is sent to the equipment of the described auxiliary data of any needs.
The present invention can be used for the current and following AGNSS of any kind, includes but not limited to assistant GPS L5, Galileo, GLONASS, QZSS, LAAS, SBAS or their combination.Possible SBAS such as comprises wide area augmentation system (WAAS) or Europe geostationary navigation overlay service (EGNOS).
It should be understood that can also with any suitably all exemplary embodiments provided are be provided.
From the detailed description by reference to the accompanying drawings of following consideration, other targets of the present invention and characteristic will become apparent.But it being understood that accompanying drawing is only intended to for the object of exemplary illustration instead of as the restriction limited the present invention, scope of the present invention should with reference to appended claim.Should also be understood that accompanying drawing and not drawn on scale and they be only intended to conceptually illustrate structure described herein and process.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the first system according to an embodiment of the invention;
Fig. 2 is the process flow diagram that the exemplary redundant of the orbit parameter illustrated in the system of Fig. 1 reduces;
Fig. 3 is the process flow diagram that the exemplary redundant of the time parameter illustrated in the system of Fig. 1 reduces;
Fig. 4 is the process flow diagram that the exemplary redundant of the SVID parameter illustrated in the system of Fig. 1 reduces;
Fig. 5 is the arrangement of the table that the exemplary redundant of the almanac parameters illustrated in the system of Fig. 1 reduces;
Fig. 6 is the process flow diagram that the exemplary redundant of the navigation model parameter illustrated in the system of Fig. 1 recovers; And
Fig. 7 is the schematic diagram of second system according to an embodiment of the invention.
Embodiment
Fig. 1 provides according to example system of the present invention, and it allows to use the bandwidth for transmission auxiliary data reduced for the location based on AGNSS via cellular link.
Described system comprises cellular terminal 110, the base station 130 of cellular communications networks and location measurement units (LMU) 140.
Cellular terminal 110 can be the cellular terminal of cell phone or any other type, as laptop computer.It comprises processor 114, is linked to the cellular communication component 112 of this processor 114, GNSS receiver 113 and storer 115.
Processor 114 is configured to perform computer program code.Storer 115 stores computer program code, and described computer program code can be fetched for performing by processor 114.The computer program code stored comprises location assistant software (SW) 116.
Base station 130 comprises processor 134 and is linked to the cellular communication component 132 of this processor 134, storer 135 and interface (I/F) assembly 131.
Processor 134 is configured to perform computer program code.Storer 135 stores computer program code, and described computer program code can be fetched for performing by processor 134.The computer program code stored comprises location assistant software (SW) 136.
LMU140 comprises interface module 141 and is linked to the GNSS receiver 143 of this interface module 141.
LMU140 can be linked to base station 130 via the connection of setting up between interface module 131 and 141.Must it is noted that the interface module 131,141 making it possible to the coupling of wired or wireless link of any kind can be used.
The cellular communication component 112 of cellular terminal 110 and the cellular communication component 132 of base station 130 can use cellular link to communicate with one another.
GNSS receiver 113,143 is all configured to receive, obtain and follow the tracks of the signal transmitted by satellite S1, S2 of belonging to one or more GNSS.At least GNSS receiver 143 is also configured to decode the navigation message that this type of signal comprises.
Referring now to Fig. 2 to 5, the location of the assist type in the system of Fig. 1 based on GNSS is described.
Fig. 2 is the process flow diagram of the minimizing of the redundant information illustrated in orbit parameter.
GNSS receiver 143 receives, obtains, follows the tracks of and decodes by the signal (step 200) of k satellite S1, S2 transmission belonging to corresponding GNSS.The GNSS signal supported comprises (mode by example) GPSL5, Galileo, GLONASS, SBAS and QZSS signal.The navigation message of the k of an acquisition signal is supplied to base station 130 via interface module 141,131 by GNSS receiver 143.
Processor 134 performs location assistant software 136.It extracts various navigation model parameter from k navigation message, comprises orbit parameter, time parameter and satellite mark (SVID) parameter (step 201).It must be noted that, processor 134 can also receive the relevant parameter of the extra GNSS that comprise the orbit parameter of long term orbit from certain server (not shown), and its processing mode can be identical with the processing mode of the parameter extracted from satellite-signal described below.
Such as, at ESA document ESA-EUING-TN/10206: " SpecificationofGalileoandGioveSpaceSegmentPropertiesRele vantforSatelliteLaserRanging " define track for GalileoSV in (in July, 2006).
Described track is defined as has 29,601, the semi-major axis of 000 meter and the excentricity of 0.002.From GPS, the semi-major axis of satellite orbit highly stable and between satellite change little.More particularly, gps satellite track changes ± 65 kms around the semi-major axis of nominal, and this change expection is identical with Galileo.
Excentricity and semi-major axis parameter are defined as follows by original Galileo form:
Use the parameter of 32 to describe excentricity for each satellite.The scaling factor (scalefactor) adopted is 2
-33.Scope is [0,0.49999].
In addition, the square root of the semi-major axis of the track of each satellite is expressed by the parameter of 32 (without symbols) for each satellite.The scaling factor adopted is 2
-19m
1/
2.Because semi-major axis is 29,601,000 meter, so the magnitude of resolution is 0.02 meter.
Because in fact excentricity changes, so for each satellite without the need to coverage [0,0.49999] between 0 and 0.002.In provided embodiment, therefore each eccentricity parameter is divided into for the identical MSB part of each satellite and LSB part (step 210) specific to each satellite.
MSB part comprises 7 and scaling factor is 2
-8.Scope is then [0,0.49609375].Each LSB part comprises 25 and scaling factor is 2
-33.Scope is then [0,0.0039].This type of MSB part will be produced original scope and resolution to the corresponding LSB incorporating aspects in LSB part.In fact, if the scope of hypothesis excentricity is [0,0.002], then basic without the need to MSB, because they only comprise 0 all the time.But may wish to retain MSB, because they appear in original form, and therefore they may have certain purposes in future.
Processor 134 therefore provide k consider single MSB part (7) that all eccentricity parameter of satellite are total, and individual LSB part (25) of each eccentricity parameter is as auxiliary data (step 211).
According to GPSL5 specification, such as, semi-major axis is in addition around nominal value 29, and 601,000 meter changes about 65 kms.Therefore, the square root of semi-major axis is in the scope of [5434.7,5446.7].Due to the change of semi-major axis be only ± 65000 meters, so it is without the need to being supplied to the gamut of each satellite.Also suppose that the behavior of the behavior of Galileo track and GPS track is similar further.
In provided embodiment, therefore each semi-major axis parameter is also divided into for the identical MSB part of each satellite and LSB part (step 220) specific to each satellite.
When hypothesis semi-major axis is around nominal value a
0=29,601,000 meter when changing about △ a=65km, the bit representation of the upper and lower bound of described scope is provided by following formula:
Therefore, for any possible values in institute's coverage, there are 6 public MSB and MSB=101010
2=42
10* 2
7=5376
10.
Thus, MSB part is selected as comprising 6 and scaling factor is 2
7rice.Scope is [0,8064.00000] m
1/
2.LSB part is selected as comprising 26 and scaling factor is 2
-19rice.Scope is [0,127.99999] m
1/
2.
Processor 134 therefore provide k consider single MSB part (6) that all semi-major axis parameter of satellite are total, and individual LSB part (26) of each semi-major axis parameter is as auxiliary data (step 221).
Therefore, the overall saving of the position counting of the orbit parameter using said method to obtain is (k*32+k*32) position-(7+k*25+6+k*26) position=(k-1) * 13.
The orbit parameter of the signal of other GNSS satellite be derived from except Galileo satellite can be processed in the corresponding way.Be appreciated that and depend on system, the parameter except excentricity and semi-major axis can also be reduced to consume less position.
Fig. 3 is the process flow diagram of the minimizing that the redundant information extracted in the time parameter of the individual decoded navigation message of k is shown.
For each system, time parameter comprises (TOE) and clock models time (TOC) parameter between ephemeris time.
At present, these parameters are distributed in position by GNSS, as in following table summarize:
| System | Position # in TOE/TOC | The scale of TOE/TOC |
| GPS L5 | 11/11 | 300 seconds/300 seconds |
| Galileo | 14/14 | 60 seconds/60 seconds |
| QZSS | 11/11 | 300 seconds/300 seconds |
| GLONASS | 7+2 | 30 points/45 points/60 points |
| SBAS | 13 | 16 seconds |
For GPSL5 signal, timing (timekeeping) is based on (TOW) between time-of-week.For each parameter in TOE parameter and TOC parameter provides 11 positions of the use scaling factor of 300 seconds.
For Galileo signal, timing is equally based between time-of-week.In the case, for each parameter in TOE parameter and TOC parameter provides 14 positions of the use scaling factor of 60 seconds.
According to L1C draft IS-GPS-800(2006 April), QZSS signal will be similar to gps signal L1C, and with regard to the navigation model about model trajectory and SV clock models, L1C and L5 is also similar.Therefore, L1C, L5 and QZSS finally can be described by the same pattern in multi-modal navigation model.
If to be copied to by these unprocessed forms in assistance messages to transmit simply, then waste position due to included redundant data.
Such as, single Galileo satellite may provide 400, the TOE value of 000 second and 401, the TOC value of 800 seconds.In unprocessed form, need 28 and represent this data.But alternative approach TOE and TOC value is expressed as respectively " 400,000+000,000 " and " 400,000+001,800 ".Therefore, TOE and TOC value has public part " 400,000 " and has incremental portion " 000,000 " and " 001,800 " respectively.When suitably selecting public increment of partial sums part, this consideration can be used to save position.Express incremental portion for representing the deviation of parameter value and determined common value.
Same consideration is applicable to Galileo and QZSS similarly.
Therefore, when receiving the time parameter from k satellite-signal, first determine that whether they be the parameter (step 230) from GPS, QZSS or Galileo signal.
If so, then public part (step 231) is determined.Public part is built by being divided into the block of 6 hours week.What the selection of block length was limited to model can Applicative time.Block length must equal or be longer than the longest can Applicative time.In unprocessed form, the longest time is 4 hours.But, due to must long term orbit be considered, so block length is set to 6 hours.But it must be noted that, the selection of length is nonpermanent meaning, as long as it is longer than the suitable interval of any original GNSS form, so the selection of 6 hours blocks is an example.In addition, along with the increase of block length, the position counting obtained reduces also will reduce, this is because figure place required in incremental portion adds.
In instant example, by using 5 of the scaling factor of 6 hours to describe public part, this causes scope to be 0-186 hour.This permission represents whole week with the block of 6 hours.This public part is used all jointly for all TOE and the TOC values in all k satellite-signal.
Considered satellite system (step 232) is depended on to the selection of the individual incremental portion of each satellite and each TOE and TOC value.
When considered satellite system is GPS or QZSS, for each signal in k the satellite-signal considered, the individual incremental portion of each TOC value represents by 7, and for each signal in k the satellite-signal considered, the individual incremental portion of each TOE value represents (step 233) by other 7.
Then single public part and k individual incremental portion are included in assistance messages.Compared with original (2*k*11) position, therefore the total bit of public part and k individual incremental portion is (5+2*k*7) position.
When considered satellite system is Galileo, for each signal in k the satellite-signal considered, the individual incremental portion of each TOC value represents by 9, and for each signal in k the satellite-signal considered, the individual incremental portion of each TOE value represents (step 234) by other 9.
Then single public part and k individual incremental portion are included in assistance messages.Compared with original (2*k*14) position, therefore the total bit of public part and k individual incremental portion is (5+2*k*9) position.
In all three kinds of situations, described public part is all identical for all TOC with TOE parameters of all SV, and incremental portion is time parameter and specific to SV.Therefore, the position counting minimized in incremental portion will minimize total position equally and use.
By contrast, when determining that they are parameters from GLONASS or SBAS signal (step 230), public part is not used for TOE and TOC value or for different satellites at the time parameter received from k satellite-signal.
Reason is in such cases, and counting starts from diurnal variation, with wherein timing is contrary based on the other system of time-of-week.Because SBAS and GLONASS counts their time on the basis of day, so from the angle of SBAS and GLONASS, the MSB that instruction is used for 6 hours blocks of Galileo, GPS, QZSS etc. is useless expense.Therefore, above-mentioned MSB is not used to SBAS and GLONASS.On the contrary, only LSB is used for SBAS and GLONASS.
In original GLONASS form, represent TOE and TOC by multiple pieces from day.By 7 bit field t
bin value represent described multiple pieces.The length of the bonus values indicator dog in 2 bit field P1, it can be 30 points, 45 points or 60 points.TOE/TOC is placed in the centre of block.Described parameter is used simultaneously in TOE and TOC, so only need 7+2 position.
In original SBAS form, 13 identical place values are used for TOE and TOC in WAAS and scaling factor is 2
4second.Counting also starts from GPS diurnal variation.
Therefore, the quantity of LSB depends on the circumstances in the case.That is, for SBAS, they comprise 13, and for GLONASS, they only comprise 9.Therefore, the quantity of LSB will be the function of GNSSID.
Position counting properties and the scaling factor of SBAS are provided in provided embodiment.In assistance messages, also transmit the reference time of GLONASS parameter, because it is broadcasted by SV, that is, use 7+2 position.
In addition, the individual part of TOE and the TOC parameter of each satellite is divided into LSB and MSB part.These LSB and MSB parts can be regarded as the subdivision of the LSB for Galileo, GPS, QZSS etc.
For these two systems of GLONASS and SBAS, 9 LSB of each parameter are provided as corresponding LSB part (step 236) of assistance messages.
When GLONASS (step 237), in assistance messages, only use these 9 (7 for block count, 2 for mark P 1) LSB positions.
When SBAS (step 237), be provided as corresponding MSB part (step 238) of auxiliary data from all the other 4 in 13 of original SBAS form.
It should be noted, depend on that system is that SBAS or GLONASS, LSB explanation partly will change.
The position that following table outlines the different GNSS described with reference to figure 3 is saved:
In provided multi-modal navigation model, represent GPSL5 and QZSS by model identical, this is because in GPSL5 and QZSS, navigation model may be identical in track with time.
In provided multi-modal navigation model, GLONASS and SBAS is represented by model identical, this is because the model trajectory in both all consolidates (ECEF based on ground heart, earth-centered, earth-fixed) coordinate represents the satellite position of given instant, speed and acceleration, then according to rate of change information perturbation (perturb) position.
Fig. 4 is the process flow diagram of the minimizing that the redundant information extracted in the SVID parameter of the individual decoded navigation message of k is shown.
The counting of the position needed for satellite in the different GNSS of mark is indicated in following table:
When GPSL5 signal, in unprocessed form, identify satellite by 5 SV indexes (it allows the different satellite of mark 32).This will consume k*5 position, and wherein k is identified satellite number.
If auxiliary data will be provided for the satellite (k>6) more than 6, then by the bitmask (wherein each position indicates whether to follow the tracks of specific satellite-signal) of use 32, more can effectively provide k SV index in position.
If the satellite system considered is GPS(step 240), then k*5 bit representation is converted to the bitmask (step 241) of 32.
Such as, if there is k=8 SV{1581018192230}, then PRN numbers the bandwidth that will need 8*5=40 position.By contrast, when representing SV by bitmask [10001001010000000110010000000100], provide same information by using the bandwidth of minimizing 8.
Galileo(step 240 in considered satellite system), be suitable for identical method.But when Galileo, in unprocessed form, identify satellite by 6 SV indexes (it allows the different satellite of mark 64).Therefore, 6 bit representations of the GalileoSVID of k satellite-signal are converted to the bitmask (step 242) of 64.If for the Galileo satellite-signal (k>10) more than 10 provides auxiliary data, then can realize position and save.
Moreover, at least for year calendar, be point out in the GalileoSIS-ICD draft 0 " GalileoOpenServiceSignalInSpaceInterfaceControlDocument " on May 23rd, 2006 on the date provided by Galileo associating perform bulk: be only 36 satellites and send year calendars.Therefore, for year calendar, it is expected to use 36 bitmasks just enough.This means if for providing auxiliary data more than the satellite (k>6) of 6, then save position.
In original GLONASS form, be used for 5 the time slot index identifying one of 32 track time slots, and be used for extra 5 the frequency indices identifying one of 32 frequencies.If the satellite system considered is GLONASS(step 240), then the bitmask k*5 bit representation of time slot being converted to 32 represents (step 243), just as the situation of GPSL5.K frequency indices is included in assistance messages and does not modify.
When SBAS, 8 are used for the SVID represented in primitive form, but in the coverage of 0-255, only value 120-138 are used for WAAS and EGNOS.If the satellite system considered is SBAS(step 240), then when the skew of use 120,18 bitmasks can be used to represent k*8 position (step 244), because the space that will describe only has 18 SV long like that.If for the satellite (k>2) more than 2 provides auxiliary data, then can realize position and save.
When QZSS, the probably same subspace that will only use available PRN to number.In the case, if the satellite system considered is QZSS(step 240), then as the situation of SBAS, position can be realized similarly and save.
Fig. 5 is the arrangement of the table of the minimizing of the redundant information illustrated the almanac parameters that extracts from decoded navigation message.
Suppose that (mode by example) decoded navigation message is from Galileo and GLONASS satellite.
Almanac parameters comprises multiple parameter, comprises the reference time about year calendar.When Galileo, as specified in above-mentioned GalileoSIS-ICD draft, comprise Galileo week and time-of-week reference time.When GLONASS, reference time is described by two parameters, and the day namely from the January 1 in a upper leap year counts and Time of Day (Toa), (version 5.0 as described in GLONASSICD, Moscow, 2002, Russian Defence Ministry coordinated scientific information center).
Reduce to realize redundancy, for GLONASS, first the day counting from the January 1 in a upper leap year is replaced by count all with Galileo and counts in corresponding week and counting day from week starts.Time of Day (Toa) is safeguarded as described in GLONASSICD.
Now, for Galileo almanac data and GLONASS almanac data, " week " of 8 can be jointly used to count.Any calibration (scaling) is not used to representing in week.This is shown in first table of Fig. 5.
In addition, for Galileo provides the public part of oneself, it comprises 2 and does not have the data publication (IODa, IssueodData) calibrated and 8 and have 2
12the time-of-week (Toa) of calibration second.IODa is the serial number of descriptor data set version.This is shown in second table of Fig. 5.
For each considered Galileo satellite provides separately actual almanac data in individual part.This is shown in the 3rd table of Fig. 5.Unspecified included parameter.They describe in above-mentioned GalileoSIS-ICD draft.But be appreciated that may be used for almanac parameters same with those the corresponding minimizing schemes provided with reference to figure 2-4 for ephemeris parameter is to carry out any further reduction of redundancy.
For GLONASS, do not provide the public part of oneself or the public part of sky.This is shown in the 4th table of Fig. 5.
For each considered GLONASS satellite, provide individually together with actual almanac data in individual part and count (day, sky) and Time of Day (Toa) day.This is shown in the 5th table of Fig. 5.The unspecified parameter that other comprise.They describe in above-mentioned GLONASSICD.Again, be appreciated that and may be used for almanac parameters for the same with those the corresponding minimizing schemes provided with reference to figure 2-4 of ephemeris parameter.
In order to complete, it should be noted that usual Toa refers to the term of " year calendar time ".For Galileo, it was originally " time-of-week " (adding counting last week), because Galileo timing is based on counting Zhou Jinhang and counting the time in the block of a week.On the other hand, for GLONASS, " Toa " originally for the day from the nearest leap year starts counting and then this time is in a few days counted.So the explanation of " year calendar time " is depended on GNSS and changes.
It being understood that if only consider Galileo signal or only consider GLONASS signal, then can use identical distribution to public part and individual part.
It being understood that alternatively, public part can be determined separately for each satellite system.
And then, the public part of almanac parameters and the similar division of individual part can be realized for other GNSS.
In addition, the public part that is divided into provided is exemplary embodiment with individual partly should being understood to.Such as, in an alternative embodiment, " day " parameter in GLONASS can as the public part of GLONASS satellite.
Whole parameters of the operation of Fig. 2-5 are caused thus to have the redundancy of reduction.They are inserted in assistance messages together with other data extracted from k navigation message, and this assistance messages is sent to cellular terminal 110 by base station 130 via cellular link.In cellular terminal 110, received assistance messages is supplied to processor 114.
Processor 114 performs auxiliary positioning software 116.It receives being acquired and the measurement result of the satellite-signal followed the tracks of about multiple from GNSS receiver 113, but may not have decoded navigation data.Association navigation data needed for positioning honeycomb terminal 110 is obtained by from auxiliary data, such as in case accelerate location or so that make it possible to when those wherein can not decode navigation message in the satellite-signal that obtains and follow the tracks of position.
Fig. 6 illustrates the process flow diagram from the Reconstruction original navigation orbit parameter received assistance messages.
Processor 114 extracts low redundancy eccentricity parameter from assistance messages, and is that each signal in k satellite-signal is by public 5 MSB part and corresponding individuality 25 LSB incorporating aspects (step 601).The value obtained is identical with the biased hrv parameter of original k*32.
Processor 114 also extracts low redundancy semi-major axis parameter from assistance messages, and is that each signal in k satellite-signal is by public 6 MSB part and corresponding individuality 26 LSB incorporating aspects (step 602).The value obtained is identical with original k*32 position semi-major axis parameter.
Processor 114 is also from assistance messages extraction time parameter, and compared with original time parameter, described time parameter may have or may not have the redundancy of reduction.Depend on considered satellite system, processor 114 by each individual incorporating aspects in extracted public part and 2*k the individual part extracted, if or extracted MSB(is had) combine (step 603) with the LSB extracted.Described combination comprises the reverse of any change of the scaling factor performed in base station 130.The value obtained is identical with original k TOE/TOC parameter.
Processor 114 also extracts low redundancy SVID parameter from assistance messages.Depend on considered satellite system, obtained bitmask represents and converts k bit representation to by it.Before converting bitmask to and representing from k raw bits represent remove skew, again predetermined skew is added now to each bit representation in k bit representation, so as to obtain raw bits counting (step 604).Result is then identical with original k SVID parameter.
Processor 114 also extracts low redundancy almanac parameters from assistance messages.It is by public part and each incorporating aspects (step 605) in individual part.Such as, if provide almanac parameters for Galileo and GLONASS, then by the week of both instructions counting public part and the public incorporating aspects of instruction time-of-week being used for Galileo.Then the public part after this being combined further with each individual year calendar incorporating aspects of corresponding Galileo satellite.In addition, will instruction week counting the public part of Galileo and GLONASS convert day counting to, and by counting day and Time of Day information combination in each individual year calendar part of itself and corresponding GLONASS satellite.The parameter obtained is therefore identical with the original collection of almanac parameters.
Then, the original track regained, time are used by together with any other auxiliary data with SVID parameter, and described auxiliary data extracts the assistance messages (step 606) in conventional location Calculation.
Generally, it is evident that, by removing redundancy from the parameter extracting auto-navigation message, significantly can reduce bandwidth auxiliary data be sent to from base station 130 needed for cellular terminal 110.However, initial parameter can be regained at cellular terminal 110 place and not loss of accuracy or the compatibility with unprocessed form.
Fig. 7 provides according to another example system of the present invention, and the bandwidth that its use reduces transmits the auxiliary data for the location based on AGNSS on wireless links.
Described system comprises mobile device 720, GNSS auxiliary device 710, the location-server 730 of cordless communication network and the fixed station 740 of cordless communication network.
Mobile device 720 comprises wireless communication components 722.Wireless communication components 722 can be such as cellular engine or terminal, or WLAN engine or terminal etc.
GNSS auxiliary device 710 comprises chip 715 and is linked to the GNSS receiver 713 of this chip 715.Chip 715 can be such as integrated circuit (IC), and it comprises the circuit being configured to realize auxiliary positioning.Except actual auxiliary positioning assembly 719(, it can realize in a usual manner) except, described circuit also comprises orbit parameter and rebuilds assembly 716, time parameter reconstruction assembly 717 and SVID Reconstruction assembly 718.
Mobile device 720 and GNSS auxiliary device 710 comprise the interface (not shown) of coupling, and it allows to the exchanges data between both devices via wireless or wire link.
Fixed station 740 comprises wireless communication components 742, and it allows the wireless link of the wireless communication components 722 being established to mobile device 720.Described wireless link can be cellular link or non-cellular link, as WLAN (wireless local area network) (LAN) connects.
Location-server 730 comprises chip 735 and is linked to the GNSS receiver 733 of this chip 735.Chip 735 can be such as integrated circuit (IC), and it comprises and is configured to assemble for the circuit of the assistance messages of auxiliary positioning.Except actual assistance messages assembled components 739, described circuit also comprises orbit parameter redundancy and reduces assembly 736, time parameter redundancy reduction assembly 737 and SVID parameter redundancy reduction assembly 738.
Fixed station 740 and location-server 730 comprise the interface (not shown) of coupling, and it makes it possible to carry out the direct or indirect exchanges data between both devices via wireless or wire link.
GNSS receiver 713,733 is all configured to receive, obtain and follow the tracks of the signal transmitted by satellite S1, S2 of belonging to one or more GNSS, such as, comprises GPSL5, Galileo, GLONASS, SBAS and QZSS signal.At least GNSS receiver 733 is also configured to decode the navigation message that this type of signal comprises.
The auxiliary positioning that can realize in the system of Fig. 7 in the mode corresponding with the mode described for the system of Fig. 1 with reference to figure 2-6 operates.In the case, chip 735 is responsible for the function of processor 134, and chip 715 is responsible for the function of processor 114.
Base station 130 or network element 730 can be the example electronic device according to considered first aspect.Processor 134 or chip 735 can be the example devices according to considered first aspect.Cellular terminal 110 or GNSS annex 710 can be the example electronic device according to considered second aspect.Processor 114 or chip 715 can be the example devices according to considered second aspect.
The function shown in processor 134 of executive software 136 or the function shown in chip 735 also can be regarded as device for receiving the parameter extracted from least one satellite-signal, at random removing the device of redundant information from described parameter, and for providing the parameter having and reduce redundance as the device of the auxiliary data of the location based on satellite-signal.
The function shown in processor 114 of executive software 116 or the function shown in chip 715 also can be regarded as receiving parameter that (wherein received parameter is based on the initial parameter extracted from least one satellite-signal as the device of the auxiliary data of the location based on satellite-signal, at random remove redundant information from described initial parameter), for by adding removed redundant information to device that received parameter rebuilds described initial parameter, and for using the device of rebuild initial parameter in the location of assist type based on satellite-signal.
In addition, claimed device add function subordinate clause is intended to cover this be described as performing cited by the structure of function, and the equivalent not only on covered structure, but also cover equivalent structure.
Although basic novel characteristics of the present invention is illustrated, illustrates and points out as being applied to the preferred embodiments of the present invention, but be appreciated that those skilled in the art can make various omission, replacement and change when not departing from spirit of the present invention to the form of described equipment and method and details.Such as, those perform substantially identical function in substantially the same manner so that all combinations of the element and/or method step that reach substantially identical result are all clearly intended to fall within scope of the present invention.In addition will be appreciated that, as the common content of design alternative, the structure illustrated together with any disclosed form of the present invention or embodiment and/or describe and/or element and/or method step, can be attached to that any other is open, to describe or in form of suggestion or embodiment.Just in order to provide an example, obviously, the indicated position counting for MSB and LSB part and indicated scaling factor can be changed in any suitable manner.And then, provided embodiment can be made as required to be applicable to comprising with any other GNSS(following GNSS) together with use.Therefore, the present invention is intended to only be limited by the scope of appended claim.
Claims (15)
1. assist type is based on a localization method for satellite-signal, comprising:
Collect the one group of parameter about multiple satellite belonging at least two different satellite systems;
The public part at least one parameter is comprised in this group parameter, wherein, described public part is effective for each satellite in the described satellite of at least one satellite system at least two different satellite systems described in belonging to, and wherein said public part comprises week counting;
In this parameter group, for each in the described satellite of described at least two different satellite systems, comprise the corresponding individual part about at least one parameter, wherein, described individual part only in described satellite corresponding one effectively, and wherein said body portion divide comprise following at least one: the almanac data about described respective satellite and the non-immediate information about described respective satellite; And
Be provided for the collected parameter group sending device in the message to, this parameter group is as the auxiliary data for the location based on assist type GLONASS (Global Navigation Satellite System).
2. method according to claim 1, comprises further: the satellite index comprising each satellite for described multiple satellite in described parameter group.
3. according to the method for claim 1 or 2, comprise further: comprise the public part at least one parameter in described parameter group, wherein, described public part is effective for each satellite in the described satellite belonging at least two different satellite systems.
4. according to the method for claim 1 or 2, wherein, effective described public part for each satellite in the described satellite of at least one satellite system belonged at least one satellite system described, comprise in addition following at least one:
Time-of-week;
Data publication; And
Day counts.
5. comprise the equipment of assist type based on the location of satellite-signal for processing components,
Described processing components is configured to collect the one group of parameter about multiple satellite belonging at least two different satellite systems;
Described processing components is configured to the public part comprised in this group parameter at least one parameter, wherein, described public part is effective for each satellite in the described satellite of at least one satellite system at least two different satellite systems described in belonging to, and wherein said public part comprises week counting;
Described processing components is configured in this parameter group, for each in the described satellite of described at least two different satellite systems, comprise the corresponding individual part about at least one parameter, wherein, described individual part only in described satellite corresponding one effectively, and wherein said body portion divide comprise following at least one: the almanac data about described respective satellite and the non-immediate information about described respective satellite; And
Described processing components is configured to the collected parameter group being provided for sending to device, and this parameter group is as the auxiliary data for the location based on assist type satellite-signal.
6. equipment according to claim 5, wherein, described processing components is configured to: the satellite index comprising each satellite for described multiple satellite in described parameter group.
7. according to the equipment of one of claim 5 to 6, wherein, described processing components is configured to: comprise the public part at least one parameter in described parameter group, wherein, described public part is effective for each satellite in the described satellite belonging at least two different satellite systems.
8. according to the equipment of one of claim 5 to 6, wherein, described week counts is effective for each satellite in the described satellite belonging at least two different satellite systems.
9. according to the equipment of one of claim 5 to 6, wherein, described processing components is configured to: comprise the public part at least one parameter in described parameter group, wherein, described public part only for belong at least one satellite system described a corresponding satellite system described satellite in each satellite effective.
10. according to the equipment of claim 5 or 6, wherein, described processing components is configured to: for each satellite in the described satellite at least one satellite system belonged at least one satellite system described in effective described public part, comprise in addition following at least one:
Time-of-week;
Data publication; And
Day counts.
11. according to the equipment of claim 5 or 6, and wherein, described processing components is configured to: only to the corresponding effective individual part in the described satellite of at least two different satellite systems, comprise following at least one:
Day counts; And
Time of Day.
12. equipment according to claim 11, wherein, described processing components is configured to: be provided for the described auxiliary data sending the wireless terminal associated by satellite signal receiver via wireless link to.
13. according to the equipment of claim 5 or 6, comprise further following at least one:
Wireless communication components, is configured to transmit information via wireless link; And
Satellite signal receiver.
14. according to the equipment of claim 5 or 6, and wherein, described equipment is the base station of cellular communications networks or location-server.
15. 1 kinds of assist types, based on the positioning system of satellite-signal, comprising:
There is the equipment of processing components,
Described processing components is configured to collect the one group of parameter about multiple satellite belonging at least two different satellite systems;
Described processing components is configured to the public part comprised in this group parameter at least one parameter, wherein, described public part is effective for each satellite in the described satellite of at least one satellite system at least two different satellite systems described in belonging to, and wherein said public part comprises week counting;
Described processing components is configured in this parameter group, for each in the described satellite of described at least two different satellite systems, comprise the corresponding individual part about at least one parameter, wherein, described individual part only in described satellite corresponding one effectively, and wherein said body portion divide comprise following at least one: the almanac data about described respective satellite and the non-immediate information about described respective satellite; And
Described processing components is configured to the collected parameter group being provided for sending to device, and this parameter group is as the auxiliary data for the location based on assist type satellite-signal; And
Be configured to the equipment using collected parameter group in satellite-based location Calculation.
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