CN103344976B - A kind of auxiliary satellite navigation localization method and accordingly positioning terminal - Google Patents
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Abstract
The present invention provides a kind of auxiliary satellite navigation localization method, and described method includes, receives the satellite-signal of satellite navigation system, obtains the almanac data of described satellite navigation system satellite；Change described almanac data into positioning assistance data；Store described positioning assistance data to server；Server sends corresponding positioning assistance data to described terminal according to the positional information of terminal；Described terminal completes positioning according to received positioning assistance data；Described positioning assistance data at least includes almanac and the almanac update information of Beidou navigation satellite.The method achieve positioning under not having effective ephemeris and effective ephemeris failure conditions for the terminal；Decrease in multisystem auxiliary positioning, the big auxiliary transinformation content producing owing to number of satellite, and carry out quality scale to auxiliary information and judge to provide optimum auxiliary information to terminal thus the operand improving locating effect and reducing terminal, it is possible to auxiliary information is encrypted to be supplied to the user terminal of different ability rating.
Description
Technical field
The open a kind of auxiliary satellite navigation localization method of the present invention and accordingly positioning terminal.
Background technology
At present, GPS GNSS(Global Navigation Satellite System, worldwide navigation
Satellite system) mainly include GPS(Global Positioning System, american global positioning system), GLONASS(Russia sieve
This GLONASS navigational satellite system), Galileo(European galileo navigational satellite system), BDS(China Beidou navigation satellite
System) etc., they are provided that the whole world, round-the-clock, real-time, continuous print high precision position information, its range of application and extensively.Existing
Some GNSS positioning system structures and pattern include following several:
Positioning terminal receives the satellite-signal broadcast of aeronautical satellite, demodulate, collect enough data messages after resolve and work as
The positional information of front ground receiver end, typically at least needs to receive 4 usable satellite signals, and positioning terminal resolves positioning in this locality
It is shown to user after information.This is also the mode of operation of current most common DVB.
When user environment is complex, the GNSS satellite signal receiving from GNSS satellite navigation system is more micro-
Weak, receiver takes long enough to it is possible to or even may not be properly received and demodulation of satellite signal, if outward
Boundary can by receiver location required in signal capture and positioning calculation process for receiver, the time, visible satellite sequence, each
The data such as the clock correction parameters of visible satellite, ephemeris, relative code phase retardation, Doppler frequency shift and various error corrections
Information is supplied to receiver, then according to these information, and receiver combines GNSS information and above auxiliary Information locating, can contract
Short primary positioning time, and available auxiliary signal improve the time of integration to improve the sensitivity of receiver, this positioning side
Formula is auxiliary satellite navigation system, and (Assisted-Global Navigation Satellite System is called for short A-
GNSS).
A-GNSS aided positioning system is described below.A-GNSS is to build reference receiver in outdoor open space, then
Utilize mobile communications network GSM(global system for mobile communications, GlobalSystemofMobilecommunication), GPRS
(general packet radio service technology, General Packet Radio Service), CDMA(CDMA, Code
Division Multiple Access), TD-SCDMA(TD SDMA, Time Division-
Synchronization Code Division Multiple Access), WCDMA(WCDMA, Wideband
Code Division Multiple Access) etc.) transmit these assistance satellite information to positioning terminal equipment, by network-side
Or terminal calculates the position being positioned terminal, to reduce the time delay that GNSS chip obtains satellite-signal, reduce and position first
Time, more weak also nationality mobile network being made up by hiding area of synchronous signal, by navigation bit information and long-time
Integration improves sensitivity, mitigates the dependency degree to satellite for the GNSS chip, and its system block diagram is as shown in Figure 1.
In Fig. 1,100 is A-GNSS aided positioning system composition frame chart, is implemented as: dispose one in mobile radio communication
Set locating platform 101, locating platform receives GNSS satellite signal by GNSS reference receiver 102, and output information transmission
To reference station server 103, satellite-signal is converted into effective positioning assistance data and leaves number in by reference station server 103
According in processing center 104, these data can be updated in respective life cycle, the supplementary number in data processing centre 104
It is believed that breath sends A-GNSS server 105 to by internet, A-GNSS server 105 can provide GNSS positioning required auxiliary
A-GNSS auxiliary positioning function is completed alternately between data, and A-GNSS terminal 106.Wherein, locating platform 101 deploys many
Platform GNSS receiver, after the signal of each GNSS receiver being pooled to GNSS information management platform by hub, just can be to
All GNSS satellite signals in the whole GNSS reference net coverage of locating platform offer.
Positioning terminal once starts A-GNSS positioning flow, and terminal just first sends request to server end, is obtaining service
The response of device end can carry out resolving and navigator fix after obtaining auxiliary information, and its flow process is as in figure 2 it is shown, detailed process is:
1) terminal reports the number of the cell at its current place, i.e. CELLID to locating platform；
2) locating platform can get the latitude and longitude of base station of terminal current place cell according to CELLID, and Query Location assists
The database of data obtains the auxiliary information such as the current satellite ephemeris information in this base station overhead；
3) these auxiliary information are sent to terminal receiver by server end；
4) terminal captures satellite-signal according to auxiliary information such as these satellite ephemeris, carries out the measurement of pseudorange, and calculates
Go out the position at the current place of terminal.
Terminal uses the mode of A-GNSS to position and all travels through all of satellite unlike traditional GNSS positioning
Search just can determine which is current visible satellite.So effectively shorten and search the star time, also reduce the consumption of resource.If
In indoor or building compact district, being blocked owing to positioning terminal overhead, terminal i.e. enables and receives assistance data and also cannot
When carrying out correct measurement, locating platform can use non-GNSS location technology (such as CELLID, TA, EOTD etc.) to carry out terminal
Positioning, although decrease in precision, but be effectively improved position success rate.
It with developing by leaps and bounds of GNSS satellite navigation industry, is capable of the GNSS of compatible BDS/GPS/GLONASS/GALILEO
Multimode rake receiver will become the main flow of following navigation neceiver, and multisystem is compatible also will become a kind of trend of A-GNSS development.
Meanwhile, growing with Mobile Communications Market, progressively application, mobile communication and the satellite of particularly 3G/4G network
The A-GNSS that navigation combines will progressively become the necessary functions of middle and high end mobile phone and other intelligent terminals, and multimode rake receiver can connect
Receive the satellite-signal of each satellite navigation system, it is seen that the quantity of star is greatly improved, especially more weak at urban canyons, satellite-signal
Or in the case of being blocked, multimode rake receiver readily receives the satellite number meeting location condition, and passes through mobile network
The auxiliary information of transmission, multimode rake receiver can realize location navigation function fast and efficiently.
Content of the invention
It is an object of the invention to provide a kind of auxiliary satellite navigation localization method and position terminal accordingly.
The present invention provides a kind of auxiliary satellite navigation localization method, and described method includes, receives defending of satellite navigation system
Star signal, obtains the almanac data of described satellite navigation system satellite；Change described almanac data into positioning assistance data；Storage
Described positioning assistance data is to server；Server sends corresponding positioning assistance data to described according to the positional information of terminal
Terminal；Described terminal completes positioning according to received positioning assistance data；Described positioning assistance data at least includes north
The almanac of bucket aeronautical satellite and almanac update information.
Further, described method also includes, described terminal receives described almanac and the almanac that described server sends
Locally stored described information after update information, when described terminal starts positioning, described terminal first passes through and is stored in this locality
Described almanac and almanac update information calculate satellite-orbit information.
Further, described method also includes, after described terminal obtains satellite ephemeris, described terminal utilizes described satellite
Ephemeris calculates satellite orbit.
Further, the almanac update information expression formula of described satellite is:, wherein, t is multinomial
The independent variable of formula, represents the time interval in positioning moment and almanac reference time,、、For multinomial coefficient, the value of n is
The value of 2-6, m is 3-5.
Further, described positioning assistance data also include ephemeris, navigation bit, capture auxiliary information, ionosphere information,
One in the basic navigation auxiliary information such as difference information, reference time, reference position, clock correction information, orbit information or
Multiple.
Further, described positioning assistance data also includes the high accuracy such as double frequency information, Precise Orbit, precision interval clock correction
One or more in navigation assistance information.
Further, described positioning assistance data also includes signal quality data.
Further, described terminal has different grades, and described server sends corresponding according to the grade of described terminal
Corresponding positioning assistance data to described terminal.
Present invention also offers a kind of terminal applying above-mentioned auxiliary satellite navigation localization method.
After using technical scheme, it is achieved that a kind of multisystem assisted location method, within the system, receiver
Available almanac update information cannot obtain effective ephemeris after receiver does not has effective ephemeris, or effective ephemeris inefficacy in time
In the case of position；And receiver only need to receive auxiliary information according to the actual demand of receiver, and to each satellite system
Auxiliary information enter the row filter auxiliary information optimum to be supplied to terminal by the quality scale of information, it is also possible to auxiliary information
It is encrypted and be supplied to multimode rake receiver.The method achieve terminal under there is no effective ephemeris and effective ephemeris failure conditions
Positioning；Decrease in multisystem auxiliary positioning, the big auxiliary transinformation content producing owing to number of satellite, and to auxiliary
Supplementary information carries out quality scale and judges improve locating effect to provide optimum auxiliary information to terminal and reduce terminal
Operand, it is possible to auxiliary information is encrypted to be supplied to the user terminal of different ability rating.
Brief description
Fig. 1 is A-GNSS aided positioning system composition frame chart；
Fig. 2 is terminal A-GNSS auxiliary positioning flow process；
Fig. 3 is the formation block diagram of almanac update information；
Fig. 4 is the structure chart of described almanac update information；
Fig. 5 is the positioning flow of terminal storage effective almanac update information；
Fig. 6 is auxiliary information forming process.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein only in order to explaining the present invention, and
It is not used in the restriction present invention.
Multisystem provides more optional satellite for multimode rake receiver, but each GNSS system is supplied to needed for terminal positioning
The ephemeris information term of validity is up to 4 hours, when receiver does not has effective ephemeris or effective ephemeris to fail to obtain in time
Effective ephemeris time receiver still cannot complete positioning function；And position terminal under A-GNSS pattern and can receive each satellite system
All kinds of auxiliary information if multimode rake receiver is not according to the actual demand of receiver, and are not had by various types of auxiliary information
Having and entering row filter by the quality scale of auxiliary information, receiver receives, demodulates all visible star information, please when A-GNSS pattern
Seek the auxiliary information of all visible stars, the computational burden of receiver will be increased greatly, and owing to big output transmission comes
Data traffic problem and receiver power consumption increase problem.
The formation of almanac update information is mainly made up of reference receiver and ephemeris almanac server two parts, each satellite system
The reference receiver of system receives the satellite information of each system, as it is shown on figure 3, ephemeris almanac server includes satellite orbit observation
Data processing unit and almanac correction multinomial coefficient projected unit.The concrete generation process of almanac update information is: reference connects
Receipts machine receives satellite navigation signals, forms satellite orbit observation data, then by satellite orbit observation data processing unit to sight
The satellite orbit data surveyed is collected, analyzes and processes, and generates satellite orbit model information, then is pushed away by almanac correction multinomial
Calculating unit utilizes the data message of data processing unit to carry out mathematical computations, extrapolates the polynomial coefficient of almanac correction.Every kind
The orbit altitude of satellite and the speed of service are inconsistent, and synchronization every satellite also differs in the position in space, therefore often
The almanac update information of satellite is incomplete same, needs individually to represent, its basic representation is:
In formula, t is polynomial independent variable, represents the time interval in positioning moment and almanac reference time,、、For
Multinomial coefficient, the value of n is 2-6, and the value of m is 3-5, and the storage format of data is as shown in Figure 4.Almanac update information is by outward
The number of days pushing away stores, Day1, Day2 as shown in Figure 4 ... DayM, and the storage information (such as Day1) of every day includes
The update information of each every satellite of satellite system, wherein the information of every satellite individually stores, Sat-1 as shown in Figure 4, Sat-
2 ... Sat-N, every satellite (such as Sat-1) update information is for revising polynomial coefficient、、。
When positioning terminal and sending the request of almanac update information, auxiliary positioning platform transmits corresponding almanac to positioning terminal
The almanac correction multinomial coefficient that update information, i.e. server end calculate, terminal utilizes almanac and almanac correction multinomial coefficient
The resolving of precise satellite position coordinates can be completed.
Terminal utilizes the positioning flow figure assisting ephemeris to position as shown in Figure 5.Terminal can communicate with network-side
In time, terminal to server end send almanac and almanac update information request, obtain server end response obtain almanac and
It is stored in the memory space of terminal after almanac update information.Once terminal has location requirement, and terminal first passes through almanac and almanac is repaiied
Positive information calculates satellite-orbit information, in order to quickly calculates satellite position and obtains effective ephemeris letter without wait terminal
Breath, when terminal by network or autonomous receive demodulate satellite ephemeris after, terminal just replace by ephemeris computation utilize almanac with
The mode of almanac corrected Calculation satellite orbit, if ephemeris is expired, terminal cannot obtain effective ephemeris time in time, and terminal switchback again is gone through
Book modification model calculates satellite orbit.
In A-GNSS assisted position mode, positioning terminal sends Location Request to the server end of auxiliary positioning platform,
It is sent to the assistance data needed for terminal, after positioning terminal reception auxiliary information just after the Location Request of server end response terminal
Line position resolving can be entered and complete navigation locating function.
One embodiment of the present of invention is: in multisystem auxiliary positioning A-GNSS system, it is more that multisystem is supplied to terminal
Visible star, the satellite of each GNSS system has each autocorrelative auxiliary information, and server end is auxiliary to the offer of each satellite system
Helping data to be analyzed, the autonomous healthy mark according to satellite-signal, integrity instruction, the user distance index of precision, signal are complete
The healthy mark of good property mark, difference information, user's difference range error index mark, ionosphere grid points vertical delay error refer to
The identification informations such as number, pass judgment on to the signal quality of each system-satellite, abandon unhealthy and invalid information, to useful auxiliary letter
Breath is classified by signal health degree and above-mentioned each auxiliary precision of information mark, and the terminal to be supplied to different ability rating is used
Family, for the request of different terminals user, server end can send respective secondary supplementary information.
Signal quality in this embodiment can be represented by a field, the autonomous healthy mark of field definition satellite-signal
Knowledge, integrity instruction, the user distance index of precision, signal integrity mark, the healthy mark of difference information, user's difference distance are by mistake
The difference identification information such as index mark, ionosphere grid points vertical delay error extension, such as following field definition mode:
Type Quality_flag
{
Int SatNum h’xxxxxxx ;// satellite number
Int SatH1 h’xxxxxxx;// satellite Autonomous health degree
int URAI h’xxxxxxx;// user range accuracy
int Eph_Health h’xxxxxxx;// ephemeris health degree
int Alm_Health h’xxxxxxx;// almanac health degree
int SatH2 h’xxxxxxx;// integrity identifies
int UDREI h’xxxxxxx;// difference information error extension
……
……
int GIVEI h’xxxxxxx;// grid ionosphere information error extension
}
In the present invention, an embodiment is: the terminal use of different user ability rating, by demand can be divided into general user,
User, privileged user in high precision.General user only need to complete basic navigation locating function for terminal, only needs server end to provide
Basic navigation assistance information；User is for requiring height to navigator fix in high precision, when needing double frequency information, Precise Orbit, precision
The user of the auxiliary information such as clock correction；Privileged user need to complete specific demand positioning function for terminal, and this Terminal Type sends request
After receive auxiliary information after need to be decrypted assistance data by certain key to obtain effective assistance data.
In the present invention, the information of the user terminal transmission request of different ability ratings is represented by field once:
Type Request_flag
{
Int ECGI h’xxxxxxx ;// Cell ID identifies
int User_level h’xxxxxxx;// terminal use ability rating
……
……
}
The localization method that the present invention provides, the assistance data to each GNSS system for the server end carries out quality judging and divides
Analysis, is supplied to the basic auxiliary positioning data of terminal；Also can be analyzed to basic auxiliary information calculating, being supplied to terminal can be complete
Become the assistance data of hi-Fix；Assisting information for privileged user, server end uses encryption to calculate when sending auxiliary information
Information is encrypted by method, and terminal use only has acquisition key just can be decrypted related auxiliary information, thus obtains auxiliary
Supplementary information, completes navigation locating function.
As shown in Figure 6, detailed process is the forming process of A-GNSS server end side information data:
1) reference station GNSS reference receiver persistently receives the satellite-signal of each satellite system；
2) each satellite system signal number collected is demodulated and arranges by reference station data center；
3) server end according to the power of each satellite system signal, health degree, constellation, each precision of information mark to 2)
The data message of middle formation is analyzed, and uses mathematical method to carry out quality judging and grade assessment to these data；
4) server end is according to 3) in the data message that generates, according to each GNSS system Various types of data information quality evaluation knot
Really, weighting forms basic auxiliary information, including ephemeris, almanac, navigation bit, capture auxiliary information, ionosphere information, difference letter
Breath, reference time, reference position, clock correction information, orbit information etc.；
5) server end is according to 3) and 4) data message form high accuracy auxiliary information, as double frequency information, long-acting ephemeris,
Precise Orbit etc.；
6) being encrypted the authorization message generating by certain AES, forming encryption auxiliary information, terminal receives
After encryption auxiliary information, need to be decrypted by key to obtain associated ancillary information；
The forming process encrypting auxiliary information in the present invention is: the information to each GNSS reference receiver for the server end is carried out
Collecting and analyzing, the healthy mark according to basic observation information and navigation information and signal and each precision of information identify to collection
Information process, these information are server ends according to observation data and basic auxiliary information, by mathematical analysis and meter
Calculate and formed, it is possible to provide be more stable, more accurate, more efficient, assist information (such as precision interval clock information, auxiliary in high precision faster
Supplementary information, long-acting ephemeris etc.), then these information are encrypted by certain AES, generate encryption auxiliary information, receive
After termination receives encryption auxiliary information, it is necessary to use key could be decoded encryption auxiliary information, it is thus achieved that auxiliary information is former
Beginning information.
An alternative embodiment of the invention is: positioning terminal positions under A-GNSS pattern and can carry out as follows determining
Position:
If positioning terminal be general user's ability rating, then terminal to server end send general user position data please
Asking, sending general user's auxiliary positioning data to terminal after server end response request, terminal utilizes the general user receiving auxiliary
Supplementary information completes navigator fix；
If positioning terminal is high accuracy ability rating user, then the high-precision fixed bit data of terminal to server end transmission please
Asking, sending high accuracy auxiliary positioning data to terminal after server end response request, terminal utilizes the high accuracy auxiliary receiving fixed
Bit data completes hi-Fix；
If positioning terminal be privileged user's ability rating, then terminal to server end send privileged user position data please
Asking, sending privileged user's auxiliary positioning data to terminal after server end response request, terminal receives privileged user and assists calmly
After bit data, being decrypted according to key, obtaining effective auxiliary positioning data, recycling assistance data completes positioning function.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (7)
1. an auxiliary satellite navigation localization method, described method includes, receives the satellite-signal of satellite navigation system, obtains institute
State the almanac data of satellite navigation system satellite；Change described almanac data into positioning assistance data；Store described positioning auxiliary
Data are to server；Described server sends corresponding positioning assistance data to described terminal according to the positional information of terminal；Institute
State terminal and complete positioning according to received positioning assistance data；It is characterized in that, described positioning assistance data at least includes
The almanac of Beidou navigation satellite and almanac update information；Described terminal has different grades, and during use, described terminal is to institute
Stating server and sending data request information and terminal class information, described server sends corresponding according to described terminal class information
Positioning assistance data to described terminal；Described terminal grade is divided into general user's terminal and high accuracy user terminal, described
General user's terminal is provided basic fixed position assistance data by described server, and described high accuracy user terminal is carried by described server
For hi-Fix assistance data；Described server according to the power of each satellite navigation system signals, health degree, constellation,
The data message being formed in each satellite navigation system signals data collected is analyzed by each precision of information mark, uses mathematics
Method carries out quality judging and grade assessment to described data, is supplied to described general user's terminal basic fixed position assistance data；
Described basic fixed position assistance data is analyzed calculating by described server, is supplied to described high accuracy user terminal high-precision fixed
Position assistance data.
2. auxiliary satellite navigation localization method as claimed in claim 1, it is characterised in that described method also includes, described end
Termination receive described server send described almanac and almanac update information after locally stored described information, when described terminal opens
During dynamic positioning, described terminal first passes through the described almanac being stored in this locality and almanac update information calculates satellite-orbit information.
3. auxiliary satellite navigation localization method as claimed in claim 2, it is characterised in that described method also includes, when described
After terminal obtains satellite ephemeris, described terminal utilizes described Satellite always to calculate satellite orbit.
4. any one auxiliary satellite navigation localization method as described in claims 1 to 3, it is characterised in that described satellite
Almanac update information expression formula be:, wherein, t is polynomial independent variable, table
Show the time interval in positioning moment and almanac reference time,、、For multinomial coefficient, the value of n is 2-6, and the value of m is
3-5。
5. auxiliary satellite navigation localization method as claimed in claim 4, it is characterised in that in described basic fixed position assistance data
Including ephemeris, navigation bit, capture auxiliary information, ionosphere information, difference information, reference time, reference position, clock correction
One or more in information, orbit information, described basic fixed position assistance data is tied according to described quality judging and grade assessment
Fruit weighting is formed.
6. auxiliary satellite navigation localization method as claimed in claim 4, it is characterised in that described hi-Fix assistance data
Including double frequency information, Precise Orbit, one or more in precision interval clock correction.
7. any one auxiliary satellite navigation localization method as described in claim 5 or 6, it is characterised in that described positioning
Assistance data also includes signal quality data.
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