CN103582121A - Indoor positioning system and method based on virtual Beidou satellite navigation signals - Google Patents
Indoor positioning system and method based on virtual Beidou satellite navigation signals Download PDFInfo
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Abstract
This invention provides an indoor positioning system and method based on virtual Beidou satellite navigation signals. The system is based on the hardware of the existing Beidou satellite navigation ground receiving equipment, transmits virtual Beidou satellite navigation signals through message retransmission equipment installed inside or outside a building, and provides highly reliable indoor positioning service for the existing Beidou satellite navigation ground receiving equipment. The system comprises a control section, a space section and a user section, wherein the control section comprises a server and a wireless communication module; the server is connected with the wireless communication module through a standard serial interface; the server is butted with the space section through the wireless communication module; the space section comprises a plurality of message retransmission equipment for generating virtual Beidou satellite navigation signals; the user section comprises a mobile hand-held terminal or a vehicle terminal and is connected with the server through the Internet or a wireless public network.
Description
Technical field
The present invention relates to indoor positioning technical field, particularly relate to a kind of indoor locating system and method based on virtual Beidou satellite navigation signal.
Background technology
Satellite navigation and location system is to utilize satellite launch radio signal to position navigation, have round-the-clock, high accuracy, fast real-time three-dimensional navigation, locate, test the speed and time service function.The basic principle of satellite navigation location is to measure the satellite of known location to the distance between receiver user, and then the data of comprehensive multi-satellite just can be known the particular location of receiver.The effect of navigation system satellite portion is exactly constantly to launch navigation message, satellite navigation message includes system time, clock corrects parameter, ionosphere delay model parameter, satellite ephemeris and satellite health condition information etc., this is for the result datas such as time, position coordinates, speed are provided to user, and processes for information about for navigation satellite signal.Because satellite distance ground is too far away, very faint when signal arrives ground.In densely populated city, signal is stopped by skyscraper or is repeatedly reflected, and causes difficult quality to meet the requirement that receives location, and position error obviously increases, and even causes receiver to lose stationkeeping ability.In the up to ten million big city of population, built-up region is especially in building, and the problem of location of mistake often cannot be located or frequently occur to satellite navigation ground receiving equipment.
A lot of public and commerce services, comprise that searching rescue, location-based service all need accurate indoor positioning.Growing along with position-based demand for services, the expansion of application demand in city, the weak satellite signal environment such as indoor especially, a kind of more high-performance satellite positioning tech-auxiliary type GNSS location technology-become focus of navigation field development activities.The numerous and confused A-GNSS chip of releasing oneself of each major company of Abroad in Recent Years.As the SiRFStarI of SiRF company, II, III, IV, V family chip, wherein the sensitivity of the autonomous station-keeping mode lock-on signal of SiRFStarIII chip is-172dBW, the sensitivity of assist location pattern lock-on signal is-185dBW, tracking signal sensitivity-189dBW.The Mantaray family chip of Global Locate company, autonomous station-keeping mode lock-on signal sensitivity is-170dBW, the sensitivity of assist location pattern lock-on signal is-184dBW, tracking signal sensitivity-190dBW.
In small-signal environment, because the satellite-signal power receiving is very weak, need long time integration signal to improve receiving sensitivity, complete and catch/search star, the residence time of therefore searching for a unit often needs 1s or longer.In this case, when receiver is during without any prior information, need to search for whole carrier wave frequency deviation and pseudo-code phase uncertain region.The capture time that traditional receiver need to be very long if adopt, is difficult to even realize; And A-GNSS chip utilizes supplementary and adopt extensive correlator technology, although reduced search time to a great extent, in the situation that received signal power is very low, still cannot meet many application demands the search time needing; And A-GNSS chip adopts extensive correlator, search for up to ten thousand cell signal simultaneously, receiver power consumption has been proposed to very high requirement, this is very disadvantageous for portable receivers such as development navigation mobile phone, PDA.Inner in a lot of skyscraper, signal strength signal intensity may be lower than the receiving sensitivity of A-GNSS chip, so A-GNSS technology is also helpless to severe especially indoor environment.
Therefore, existing indoor wireless locating system mainly adopts infrared, ultrasonic wave, bluetooth, the short distance wireless technical such as WiFi (Wireless Fidelity), RFID (Radio Frequency Identification).Wherein the wireless location technology based on WiFi network receives much concern compared with low because deployment is extensive and low-cost.The principle of Wi-Fi location is the mode that adopts three-point fix, the wireless signal by mobile device and three wireless network access points exchanges to differentiate the residing position of mobile device, because the distance of three WAP (wireless access point) of mobile device distance is different, therefore the wireless signal field that is reflected in this mobile device in WAP (wireless access point) can be variant, by difference algorithm, can determine more accurately the position of vehicle.Conventionally WiFi location can propose higher requirement to wireless network, and more intensive when Network Access Point layout, the accuracy of location is just higher.The RADAR system of Microsoft's exploitation is the navigation system based on WiFi network the earliest.It adopts radio-frequency fingerprint matching process, searches an immediate K neighbour from fingerprint base, gets on average estimating as coordinate of their coordinates.Wi-Fi technology is in quick location, and particularly the real-time performance of location fast for the first time, has showed good superiority, and Wi-Fi technical support indoor positioning simultaneously meets the applied environment in city.But Wi-Fi also has its shortcoming, such as single-point coverage is little, only has 0.03km
2.
Summary of the invention
The present invention is directed to defect and deficiency that prior art exists, a kind of indoor locating system and method based on virtual Beidou satellite navigation signal proposed, be based on the hardware of existing Beidou satellite navigation ground receiving equipment, by being arranged on interior of building or outside text forwarding unit is launched virtual Beidou satellite navigation signal, for existing Beidou satellite navigation ground receiving equipment provides the indoor positioning service of high reliability.
Technical scheme of the present invention is:
An indoor orientation method based on virtual Beidou satellite navigation signal, is characterized in that, by being arranged on the text forwarding unit of interior of building or outside, carries out indoor positioning; Described text forwarding unit is launched virtual Beidou satellite navigation signal, the signal structure of virtual Beidou satellite navigation signal is consistent with the signal structure of Big Dipper navigation satellite signal, comprise take identical working frequency points, adopt identical multi-access mode, modulation system, identical spreading code and text structure, comprise the following steps:
1) according to positioning precision demand, in the overlay area of indoor positioning, lay a plurality of text forwarding units, networking principle is similar to the cellular system of mobile communication, each text forwarding unit is equivalent to a base station, cover a region, have unique ID sign, ID is corresponding with the region that text forwarding unit covers;
2) complete the setting to text forwarding unit, comprise and set pseudo satellite, pseudolite that each text forwarding unit is corresponding number, pseudo noise code, transmitting power, and the navigation message content broadcast by text forwarding unit of editor;
3) by described text forwarding unit, produce virtual Beidou satellite navigation signal, telegraph text content is modulated and launched in the mode of similar Big Dipper navigation satellite radiofrequency signal;
4) mobile terminal entering in described text forwarding unit coverage receives and processes described virtual Beidou satellite navigation signal, finally obtains the indoor location information of described mobile terminal.
Described navigation message content include but not limited to time, longitude, latitude, highly, floor number, device id, server ip address and port numbers, on message structure and verification mode and the Big Dipper frequency that takies, intrinsic message is consistent.
Described virtual Beidou satellite navigation signal is comprised of the content of carrier wave, ranging code, three levels of navigation message, described carrier frequency is big-dipper satellite B1 frequency (1561.098MHz), ranging code is the common ranging code of I branch road (C code), and navigation message is I branch road D1(50b/s) navigation message.
The ranging code of described virtual Beidou satellite navigation signal is the gold code of code length 2046, by two 11 grades m sequence G1 (t) and G2 (t) mould two, is added and is produced balanced GOLD code brachymemma (brachymemma 1bit) generation 2046bit ranging code.
Described navigation message is adjusted at the subframe layer of original Big Dipper navigation message D1 code, and each subframe is comprised of 10 words, comprises altogether 300bit, lasts 6s and is sent; Each word is comprised of 30bit, lasts 0.6s; Each word is comprised of navigation message data and check code two parts, and wherein 15bit information does not participate in verification before each subframe first character, and rear 11bit information adopts BCH(15,11,1) mode carries out error checking and correction, and only, containing one group of BCH code, information bit has 26bit; Other 9 words all adopt BCH(15,11,1) add interleaving mode and carry out error correction coding, each word 30bit is containing two groups of BCH code, and information bit has 22bit.
It is consistent that the signal structure of described virtual Beidou satellite navigation signal is not limited to the signal structure launched with existing Big Dipper navigation satellite, and frequency, modulation system, multi-access mode, text structure also can be consistent with following Big Dipper navigation satellite signal or other navigation satellite signal.
A kind of indoor locating system based on virtual Beidou satellite navigation signal, it is characterized in that, comprise control section, space segment and user segment, described control section comprises server and wireless communication module, described server docks with space segment by wireless communication module, for the operating state of configuration space section and monitoring space section, and generate the navigation message content of being broadcast to user segment by space segment; Described space segment comprises the text forwarding unit of the virtual Beidou satellite navigation signal of a plurality of generations, for telegraph text content is modulated and is launched in the mode of similar Big Dipper navigation satellite radiofrequency signal, described text forwarding unit networking principle is similar to the cellular system of mobile communication, each text forwarding unit is equivalent to a base station, cover a region, have unique ID sign, ID is corresponding with the region that text forwarding unit covers; Described user segment comprises mobile handheld terminal or car-mounted terminal, is connected, and receives and process the virtual Beidou satellite navigation signal of space segment transmitting by the Internet or wireless public network with server, finally obtains required indoor location information.
Described text forwarding unit comprises Base Band Unit, radio frequency unit, radio antenna and text transmitting antenna, described Base Band Unit comprises by the interconnective processor of bus and signal processing unit, described radio frequency unit comprises up-conversion unit, amplifying unit and the filter unit connecting successively, the output of signal processing unit connects the input of up-conversion unit, processor connects described radio antenna, and filter unit connects described text transmitting antenna.
Described server connects wireless communication module by standard serial interface, and described wireless communication module includes but not limited to ZigBee, bluetooth or WiFi.
The mobile terminal of described user segment is Big Dipper navigation ground receiving equipment, can receive simultaneously and process Beidou satellite navigation signal and described virtual Beidou satellite navigation signal.
Technique effect of the present invention:
A kind of indoor locating system and method based on virtual Beidou satellite navigation signal of proposition of the present invention, adopt and the similar signal of existing Beidou satellite navigation system, take identical working frequency points, adopt identical multi-access mode, modulation system, identical spreading code and text structure, just telegraph text content is slightly different, realize to greatest extent with existing Big Dipper navigation satellite signal compatible, be based on the hardware of existing Beidou satellite navigation ground receiving equipment, positioning service is extended in the indoor environment that satellite-signal cannot cover.Due to the similitude of signal structure, need not revise the existing hardware of subscriber equipment (as smart mobile phone etc.), only rely on the upgrading of software/firmware can addition room in positioning function, realize the seamless transitions that locate indoor and outdoor.With respect to other indoor orientation method, more have practical value and operability, and the barrier in policy that does not exist WiFi location to face.User receiving equipment also has obvious advantage at aspects such as hardware complexity, size, cost, power consumptions.
Accompanying drawing explanation
Fig. 1 is the indoor orientation method embodiment schematic diagram based on virtual Beidou satellite navigation signal of the present invention.
Fig. 2 is the indoor locating system embodiment schematic diagram based on virtual Beidou satellite navigation signal of the present invention.
Fig. 3 is that text forwarding unit embodiment of the present invention forms schematic diagram.
Fig. 4 is text forwarding unit workflow schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described in further detail.
An indoor orientation method based on virtual Beidou satellite navigation signal, carries out indoor positioning by being arranged on the text forwarding unit of interior of building or outside; Described text forwarding unit is launched virtual Beidou satellite navigation signal, the signal structure of virtual Beidou satellite navigation signal is consistent with the signal structure of Big Dipper navigation satellite signal, comprise take identical working frequency points, adopt identical multi-access mode, modulation system, identical spreading code and text structure, comprise the following steps:
1) according to positioning precision demand, in the overlay area of indoor positioning, lay a plurality of text forwarding units, networking principle is similar to the cellular system of mobile communication, each text forwarding unit is equivalent to a base station, cover a region, have unique ID sign, ID is corresponding with the region that text forwarding unit covers;
2) complete the setting to text forwarding unit, comprise and set pseudo satellite, pseudolite that each text forwarding unit is corresponding number, pseudo noise code, transmitting power, and the navigation message content broadcast by text forwarding unit of editor;
3) by described text forwarding unit, produce virtual Beidou satellite navigation signal, telegraph text content is modulated and launched in the mode of similar Big Dipper navigation satellite radiofrequency signal;
4) mobile terminal entering in described text forwarding unit coverage receives and processes described virtual Beidou satellite navigation signal, finally obtains the indoor location information of described mobile terminal.
As shown in Figure 1, shown the indoor orientation method embodiment schematic diagram based on virtual Beidou satellite navigation signal of the present invention.In Mou mansion, in order to solve indoor positioning, and locate slitless connection with the outdoor Big Dipper, the present invention proposes the concept of Big Dipper ID: the text forwarding unit that is arranged on interior of building or outside in indoor utilization positions; Text forwarding unit networking principle is similar to the cellular system of mobile communication, and each text forwarding unit is equivalent to a base station, covers a region, has unique ID sign, and ID is corresponding with the region that text forwarding unit covers; Although the signal of text forwarding unit transmitting has a little difference in terms of content, the signal that baseband signal structure is launched with big-dipper satellite is consistent (taking identical frequency, employing code division multiple access system, QPSK modulation system, identical spreading code and message format); So mobile device is only revised embedded software and is not needed to change the hardware receiving systems such as antenna and signal processing module.A text forwarding unit will send and the similar signal of Big Dipper navigation satellite, sees through corresponding text forwarding unit, provides accurate indoor 3 dimension location.Text forwarding unit meets low energy consumption, low cost and outdoor Big Dipper signal is received to the characteristic without impact, the power density that is much higher than real satellite signal when arriving user receiving equipment antenna provides the positioning service of high reliability, allows user can understand them and is positioned at which floor, which room, which market, indoor/underground parking of mansion etc.Sharpest edges of the present invention are to share existing hardware with subscriber computer Big Dipper navigation module, only need upgrade software can realize indoor positioning.Other indoor orientation method all must add new hardware, as the WLAN network interface card of Wi-Fi, and the transducer of infrared/Vltrasonic device, special bluetooth transceiver module etc.Positioning precision of the present invention determines by the distribution density of forwarding unit, and operator can freely select between Cost And Performance.If each floor is all equipped with forwarding unit, the certainty of measurement of height can reach meter level.
Beidou satellite navigation system is the Chinese independent development capability of implementing, the GPS (Global Position System) of independent operating.System Construction target is: build up independent, open compatibility, advanced technology, reliable and stable Beidou satellite navigation system covering the whole world, promote satellite navigation industrial chain to form, form the perfect support of national satellite navigation application industry, popularization and security system, promote satellite navigation in the extensive use of national economy society every profession and trade.Big Dipper B1 frequency nominal frequency is 1561.098MHz, and signal consists of on carrier wave " ranging code+navigation message " quadrature modulation, and fundamental characteristics and parameter are in Table 1.
Table 1 Big Dipper B1 signal fundamental characteristics and parameter
The virtual Beidou satellite navigation signal that the present invention produces (also claiming Big Dipper ID signal) is comprised of the content of carrier wave, ranging code, three levels of navigation message, carrier frequency is big-dipper satellite B1 frequency (1561.098MHz), ranging code is the common ranging code of I branch road (C code), and navigation message is I branch road D1(50b/s) navigation message.Big Dipper ID signal essential characteristic is as shown in table 2, and ranging code is the gold code of code length 2046, by two 11 grades m sequence G1 (t) and G2 (t) mould two, is added and is produced balanced GOLD code brachymemma (brachymemma 1bit) generation 2046bit ranging code.Virtual satellite (70～87) table corresponding to ranging code is in Table 3.
Table 2 Big Dipper ID signal fundamental characteristics and parameter
| Working frequency points | B1：1561.098MHz |
| Bandwidth of operation | B1：±2.046MHz |
| Modulation system | Quadrature Phase Shift Keying (QPSK) |
| Ranging code speed | 2.046Mcps |
| Ranging code code length | 2046chip |
| Numeric data code speed | 50bps； |
| Multi-access mode | CDMA |
| Polarization mode | Right-handed circular polarization |
Table 3 Big Dipper ID virtual satellite table corresponding to ranging code
| Satellite numbering | PRN code | G2 code phase | Satellite numbering | PRN code | G2 code phase |
| 70 | 70 | 7⊕3 | 80 | 80 | 8⊕4 |
| 71 | 71 | 7⊕4 | 81 | 81 | 8⊕5 |
| 72 | 72 | 7⊕5 | 82 | 82 | 8⊕6 |
| 73 | 73 | 7⊕6 | 83 | 83 | 8⊕7 |
| 74 | 74 | 7⊕7 | 84 | 84 | 9⊕3 |
| 75 | 75 | 7⊕8 | 85 | 85 | 9⊕4 |
| 76 | 76 | 7⊕9 | 86 | 86 | 9⊕5 |
| 77 | 77 | 7⊕10 | 87 | 87 | 9⊕6 |
| 78 | 78 | 7⊕11 | ? | ? | ? |
| 79 | 79 | 8⊕3 | ? | ? | ? |
Navigation message is adjusted at the subframe layer of original Big Dipper navigation message D1 code, and each subframe is comprised of 10 words, comprises altogether 300bit, lasts 6s and is sent; Each word is comprised of 30bit, lasts 0.6s; Each word is comprised of navigation message data and check code two parts, and wherein 15bit information does not participate in verification before each subframe first character, and rear 11bit information adopts BCH(15,11,1) mode carries out error checking and correction, and only, containing one group of BCH code, information bit has 26bit; Other 9 words all adopt BCH(15,11,1) add interleaving mode and carry out error correction coding, each word 30bit is containing two groups of BCH code, and information bit has 22bit.
Navigation message content include but not limited to time, longitude, latitude, highly, floor number, device id, server ip address and port numbers, on message structure and verification mode and the Big Dipper frequency that takies, intrinsic message is consistent.Concrete message format is referring to table 4 and 7; As shown in Table 5 and 6, the structure composition of message, verification mode, interleaving mode etc. are all consistent with outdoor real Big Dipper signal.
Table 4 subframe structure, comprises 10 words, long 300bit
| Word 1 | Word 2 | Word 3 | Word 4 | Word 5 | Word 6 | Word 7 | Word 8 | Word 9 | Word 10 |
Word 1 structure in table 5 subframe, long 30bit
| Navigation message information 26bit | Check code 4bit |
Other word structure in table 6 subframe, long 30bit
| Navigation message information 22bit | Check code 8bit |
Table 7 Big Dipper ID indoor positioning message structure
As shown in Figure 2, the embodiment for the indoor locating system based on virtual Beidou satellite navigation signal of the present invention forms schematic diagram.A kind of indoor locating system based on virtual Beidou satellite navigation signal, comprise control section, space segment and user segment, control section comprises server and wireless communication module, server connects wireless communication module by standard serial interface, server docks with space segment by wireless communication module, wireless communication module is ZigBee, bluetooth or WiFi etc., space segment comprises the text forwarding unit of the virtual Beidou satellite navigation signal of a plurality of generations, user segment comprises mobile handheld terminal or car-mounted terminal, by the Internet or wireless public network, be connected with server, and the virtual Beidou satellite navigation signal (also claiming Big Dipper ID signal) of reception and the transmitting of processing space segment.The main task of control section is configuration space section, provides navigation/information text and space segment on-line software updating, space segment Working Status Monitoring; Space segment is modulated text launch in the mode of similar Big Dipper navigation satellite radiofrequency signal; User segment receives Beidou satellite navigation signal and Big Dipper ID signal, according to receptivity, carries out integrated positioning, other useful informations in extraction, processing and demonstration Big Dipper ID text.Control section comprises a station server (controlling software, the indoor map in mansion etc. containing main frame, demonstration) and a wireless communication module (ZigBee, bluetooth or WiFi etc.).Server is used for editing space segment configuration order, complete the setting to space segment equipment, as set pseudo satellite, pseudolite number, pseudo noise code, transmitting power etc., the telegraph text content that editor is broadcast by space segment, server connects wireless communication module by standard serial interface, docks with the wireless communication module of space segment, or directly connect the communication interface of control section, meanwhile, control section reads its internal information with radio communication or wired mode from space segment, and the operating state of space segment is monitored.In addition, control section can also be injected out of Memory in text, as emergency notices such as fire alarms, and the brief commercial advertisement etc. in shop in mansion.Space segment is comprised of the text forwarding unit that is laid in a plurality of transmitting virtual satellite signals in inner each region, building, and its networking principle is similar to the cellular system of mobile communication, and each text forwarding unit is equivalent to a base station, covers a region (cell).Big Dipper ID indoor positioning is similar with location, wireless base station: each text forwarding unit has its unique ID, user's handheld device enters in the building of arranging net, one is positioned the scope that some text forwarding units cover, ID is corresponding with the region at text forwarding unit place, finally realize the object of Big Dipper ID indoor positioning.Therefore, must control space segment text transmitting power, both guaranteed that district's intra domain user can receive echo signal, reduce again the interference to adjacent area user, i.e. the cross-correlation interference of CDMA signal and ID identification mistake (the strong signal of adjacent text forwarding unit causes user's hand-held set erroneous judgement self position/region) as far as possible.Consider the existence of shelter in the difference of signal propagation path and mansion, need to be in conjunction with constructure inner structure, the networking and set the radiated power level of each text forwarding unit of making rational planning for.Transmitting not only contains the information such as the position coordinates, floor room of the machine overlay area in text, virtual satellite number corresponding to adjacent text forwarding unit also provide, to can more promptly be switched to target text forwarding unit signal when user crosses over zone boundary, simultaneously also for cross-correlation interference suppresses to provide useful information.User segment is all ambulatory handheld/car-mounted terminals in Big Dipper ID signal coverage areas.In order to realize the seamless transitions with outdoor Beidou satellite navigation positioning service, terminal should be able to be processed Big Dipper satellite signal and Big Dipper ID signal simultaneously.Terminal is analyzed signal environment of living in automatically, autonomous which kind of locate mode of employing that determines.For reducing costs, the consideration such as hardware complexity and power consumption, signal and the Beidou satellite navigation signal compatibility interoperability of space segment transmitting, the enough same set of antennas of user segment mobile terminal energy, radio frequency and baseband hardware receive satellite and Big Dipper ID signal, just process firmware used and software and slightly distinguish.
As shown in Figure 3, for text forwarding unit embodiment of the present invention forms schematic diagram.Text forwarding unit comprises Base Band Unit, radio frequency unit, radio antenna and text transmitting antenna, Base Band Unit comprises by the interconnective processor of bus and signal processing unit, radio frequency unit comprises up-conversion unit, amplifying unit and the filter unit connecting successively, the output of signal processing unit connects the input of up-conversion unit, processor connects described radio antenna, and filter unit connects text transmitting antenna.Text forwarding unit carries out the coding of position text and broadcast message text etc. in processor, and concrete message format is referring to appendix form 4 and 7; As shown in Table 5 and 6, the structure composition of message, verification mode, interleaving mode etc. are all consistent with outdoor real Big Dipper signal; After message coding, the form by bus passes to digital signal processing unit, by digital signal processing unit, is for further processing, and forms baseband signal; The baseband signal producing through digital signal processing unit is single bit data stream, this signal offers radio frequency part as the I branch road of up-conversion, Q branch road is pressed grounding, by the pattern radio frequency signal generation of quadrature up-conversion, this signal, after fixed attenuation, adjustable damping and signal filtering etc. are processed, sends text transmission antennas transmit to and goes out.Its workflow as shown in Figure 4.
Baseband signal is divided into two kinds of position baseband signal and broadcast message baseband signals, and concrete handling process is as follows:
1), after electrifying startup, to the positional information in baseband module and broadcast message (default value) assignment, input position information baseband signal, according to the PRN number arranging, produces position base-band information data flow;
If NH(+1+1+1+1+1-1+1+1-1-1+1-1+1-1+1+1-1-1-1+1) code mark position effectively (default effective), in base-band information, modulate NH code, otherwise do not modulate NH code;
2) positional information is upgraded by serial ports, after updating location information, according to up-to-date positional information, produces position baseband signal;
3) whether broadcast message can be arranged and be controlled by serial ports and broadcast, after broadcast information updating, be saved in the related cache of baseband module, if control command is set to broadcast pattern,, after having produced positional information baseband signal, generate broadcast message baseband signal; The pattern of prohibiting broadcasting if, does not generate broadcast message baseband signal; If the silent status of being set to, baseband module quit work (not producing any signal);
4) after baseband signal output, after signal up-conversion/filtration, signal is launched.
It should be pointed out that the above embodiment can make the invention of those skilled in the art's comprehend, but do not limit the present invention in any way creation.Therefore, although this specification and embodiment have been described in detail to the invention,, it will be appreciated by those skilled in the art that still and can modify or be equal to replacement the invention; And all do not depart from technical scheme and the improvement thereof of the spirit and scope of the invention, it is all encompassed in the middle of the protection range of the invention patent.
Claims (10)
1. the indoor orientation method based on virtual Beidou satellite navigation signal, is characterized in that, by being arranged on the text forwarding unit of interior of building or outside, carries out indoor positioning; Described text forwarding unit is launched virtual Beidou satellite navigation signal, the signal structure of virtual Beidou satellite navigation signal is consistent with the signal structure of Big Dipper navigation satellite signal, comprise take identical working frequency points, adopt identical multi-access mode, modulation system, identical spreading code and text structure, comprise the following steps:
1) according to positioning precision demand, in the overlay area of indoor positioning, lay a plurality of text forwarding units, networking principle is similar to the cellular system of mobile communication, each text forwarding unit is equivalent to a base station, cover a region, have unique ID sign, ID is corresponding with the region that text forwarding unit covers;
2) complete the setting to text forwarding unit, comprise and set pseudo satellite, pseudolite that each text forwarding unit is corresponding number, pseudo noise code, transmitting power, and the navigation message content broadcast by text forwarding unit of editor;
3) by described text forwarding unit, produce virtual Beidou satellite navigation signal, telegraph text content is modulated and launched in the mode of similar Big Dipper navigation satellite radiofrequency signal;
4) mobile terminal entering in described text forwarding unit coverage receives and processes described virtual Beidou satellite navigation signal, finally obtains the indoor location information of described mobile terminal.
2. the indoor orientation method based on virtual Beidou satellite navigation signal according to claim 1, it is characterized in that, described virtual Beidou satellite navigation signal is comprised of the content of carrier wave, ranging code, three levels of navigation message, described carrier frequency is big-dipper satellite B1 frequency (1561.098MHz), ranging code is the common ranging code of I branch road (C code), and navigation message is I branch road D1(50b/s) navigation message.
3. the indoor orientation method based on virtual Beidou satellite navigation signal according to claim 2, it is characterized in that, the ranging code of described virtual Beidou satellite navigation signal is the gold code of code length 2046, by two 11 grades m sequence G1 (t) and G2 (t) mould two, is added and is produced balanced GOLD code brachymemma (brachymemma 1bit) generation 2046bit ranging code.
4. the indoor orientation method based on virtual Beidou satellite navigation signal according to claim 2, it is characterized in that, described navigation message is adjusted at the subframe layer of original Big Dipper navigation message D1 code, and each subframe is comprised of 10 words, comprise altogether 300bit, last 6s and be sent; Each word is comprised of 30bit, lasts 0.6s; Each word is comprised of navigation message data and check code two parts, and wherein 15bit information does not participate in verification before each subframe first character, and rear 11bit information adopts BCH(15,11,1) mode carries out error checking and correction, and only, containing one group of BCH code, information bit has 26bit; Other 9 words all adopt BCH(15,11,1) add interleaving mode and carry out error correction coding, each word 30bit is containing two groups of BCH code, and information bit has 22bit.
5. the indoor orientation method based on virtual Beidou satellite navigation signal according to claim 4, it is characterized in that, described navigation message content include but not limited to time, longitude, latitude, highly, floor number, device id, server ip address and port numbers, on message structure and verification mode and the Big Dipper frequency that takies, intrinsic message is consistent.
6. according to the indoor orientation method based on virtual Beidou satellite navigation signal one of claim 1 to 5 Suo Shu, it is characterized in that, it is consistent that the signal structure of described virtual Beidou satellite navigation signal is not limited to the signal structure launched with existing Big Dipper navigation satellite, and frequency, modulation system, multi-access mode, text structure also can be consistent with following Big Dipper navigation satellite signal or other navigation satellite signal.
7. the indoor locating system based on virtual Beidou satellite navigation signal, it is characterized in that, comprise control section, space segment and user segment, described control section comprises server and wireless communication module, described server docks with space segment by wireless communication module, for the operating state of configuration space section and monitoring space section, and generate the navigation message content of being broadcast to user segment by space segment; Described space segment comprises the text forwarding unit of the virtual Beidou satellite navigation signal of a plurality of generations, for telegraph text content is modulated and is launched in the mode of similar Big Dipper navigation satellite radiofrequency signal, described text forwarding unit networking principle is similar to the cellular system of mobile communication, each text forwarding unit is equivalent to a base station, cover a region, have unique ID sign, ID is corresponding with the region that text forwarding unit covers; Described user segment comprises mobile handheld terminal or car-mounted terminal, is connected, and receives and process the virtual Beidou satellite navigation signal of space segment transmitting by the Internet or wireless public network with server, finally obtains required indoor location information.
8. the indoor locating system based on virtual Beidou satellite navigation signal according to claim 7, it is characterized in that, described text forwarding unit comprises Base Band Unit, radio frequency unit, radio antenna and text transmitting antenna, described Base Band Unit comprises by the interconnective processor of bus and signal processing unit, described radio frequency unit comprises the up-conversion unit connecting successively, amplifying unit and filter unit, the output of signal processing unit connects the input of up-conversion unit, processor connects described radio antenna, filter unit connects described text transmitting antenna.
9. the indoor locating system based on virtual Beidou satellite navigation signal according to claim 7, it is characterized in that, described server connects wireless communication module by standard serial interface, and described wireless communication module includes but not limited to ZigBee, bluetooth or WiFi.
10. the indoor locating system based on virtual Beidou satellite navigation signal according to claim 7, it is characterized in that, the mobile terminal of described user segment is Big Dipper navigation ground receiving equipment, can receive simultaneously and process Beidou satellite navigation signal and described virtual Beidou satellite navigation signal.
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| CN104035068A (en) * | 2014-06-26 | 2014-09-10 | 桂林电子科技大学 | Indoor positioning system and method based on pseudolites |
| CN104469933A (en) * | 2014-11-26 | 2015-03-25 | 中国科学院光电研究院 | Positioning method based on special sub-frames in TDD cellular mobile communication system |
| CN104486724A (en) * | 2014-12-15 | 2015-04-01 | 江苏国遥信息科技有限公司 | Self-adaptive positioning and communication method for earthquake rescuers |
| CN104765045A (en) * | 2015-04-27 | 2015-07-08 | 成都振芯科技股份有限公司 | Beidou foundation navigation network ground monitoring station pseudolite and control method |
| CN104808222A (en) * | 2015-04-27 | 2015-07-29 | 中国电子科技集团公司第五十四研究所 | Positioning method based on indoor pseudo satellite spreading code identification |
| CN105676252A (en) * | 2016-01-19 | 2016-06-15 | 施浒立 | Navigation signal source for signal sheltered area |
| CN106680852A (en) * | 2017-03-20 | 2017-05-17 | 武汉大地线科技有限公司 | Positioning method and system based on satellite-navigation-signal deception jamming |
| CN106767830A (en) * | 2017-01-05 | 2017-05-31 | 桂林电子科技大学 | A kind of relay type indoor positioning device and localization method |
| CN107396300A (en) * | 2017-06-09 | 2017-11-24 | 武汉米风通信技术有限公司 | Base station positioning method based on Big Dipper ground strengthening system and Internet of Things |
| CN107765276A (en) * | 2017-09-15 | 2018-03-06 | 南京轩世琪源软件科技有限公司 | A kind of indoor locating system based on Beidou navigation |
| CN109495842A (en) * | 2018-12-21 | 2019-03-19 | 湖南国科防务电子科技有限公司 | Method of locating terminal, navigation locating method, terminal device and storage medium |
| CN103929734B (en) * | 2014-03-13 | 2019-05-31 | 北京神州天鸿数码技术有限公司 | Beidou mobile terminal equipment and its addressing method |
| CN110244334A (en) * | 2018-11-22 | 2019-09-17 | 湖南国科防务电子科技有限公司 | A kind of satellite navigation trustworthy location method of servicing |
| CN111103606A (en) * | 2019-09-23 | 2020-05-05 | 湖南矩阵电子科技有限公司 | Indoor and outdoor seamless space-time service system |
| CN111405462A (en) * | 2020-03-16 | 2020-07-10 | 浙江亚特电器有限公司 | Positioning method, device, equipment and readable storage medium |
| CN112083451A (en) * | 2020-10-13 | 2020-12-15 | 北京首科信通科技有限责任公司 | Indoor positioning method and device |
| CN112162306A (en) * | 2020-10-27 | 2021-01-01 | 国网福建省电力有限公司 | Indoor and outdoor cooperative positioning method based on Beidou |
| CN112653499A (en) * | 2019-10-11 | 2021-04-13 | 大唐移动通信设备有限公司 | Network access method and device of terminal, electronic equipment and storage medium |
| CN112698370A (en) * | 2020-12-15 | 2021-04-23 | 南京航空航天大学 | Indoor satellite navigation positioning method based on virtual orbit satellite |
| CN113472428A (en) * | 2021-07-06 | 2021-10-01 | 阎镜予 | Pseudo satellite state configuration and health management system and method |
| CN116299560A (en) * | 2023-02-20 | 2023-06-23 | 中国人民解放军军事科学院系统工程研究院 | Android terminal navigation positioning system and method based on pseudolite |
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| CN103929734B (en) * | 2014-03-13 | 2019-05-31 | 北京神州天鸿数码技术有限公司 | Beidou mobile terminal equipment and its addressing method |
| CN104035068A (en) * | 2014-06-26 | 2014-09-10 | 桂林电子科技大学 | Indoor positioning system and method based on pseudolites |
| CN104469933A (en) * | 2014-11-26 | 2015-03-25 | 中国科学院光电研究院 | Positioning method based on special sub-frames in TDD cellular mobile communication system |
| CN104486724A (en) * | 2014-12-15 | 2015-04-01 | 江苏国遥信息科技有限公司 | Self-adaptive positioning and communication method for earthquake rescuers |
| CN104765045A (en) * | 2015-04-27 | 2015-07-08 | 成都振芯科技股份有限公司 | Beidou foundation navigation network ground monitoring station pseudolite and control method |
| CN104808222A (en) * | 2015-04-27 | 2015-07-29 | 中国电子科技集团公司第五十四研究所 | Positioning method based on indoor pseudo satellite spreading code identification |
| CN105676252B (en) * | 2016-01-19 | 2018-11-20 | 施浒立 | A kind of navigation signal source for signal blocks region |
| CN105676252A (en) * | 2016-01-19 | 2016-06-15 | 施浒立 | Navigation signal source for signal sheltered area |
| CN106767830A (en) * | 2017-01-05 | 2017-05-31 | 桂林电子科技大学 | A kind of relay type indoor positioning device and localization method |
| CN106680852A (en) * | 2017-03-20 | 2017-05-17 | 武汉大地线科技有限公司 | Positioning method and system based on satellite-navigation-signal deception jamming |
| CN107396300A (en) * | 2017-06-09 | 2017-11-24 | 武汉米风通信技术有限公司 | Base station positioning method based on Big Dipper ground strengthening system and Internet of Things |
| CN107765276A (en) * | 2017-09-15 | 2018-03-06 | 南京轩世琪源软件科技有限公司 | A kind of indoor locating system based on Beidou navigation |
| CN110244334A (en) * | 2018-11-22 | 2019-09-17 | 湖南国科防务电子科技有限公司 | A kind of satellite navigation trustworthy location method of servicing |
| CN109495842A (en) * | 2018-12-21 | 2019-03-19 | 湖南国科防务电子科技有限公司 | Method of locating terminal, navigation locating method, terminal device and storage medium |
| CN111103606A (en) * | 2019-09-23 | 2020-05-05 | 湖南矩阵电子科技有限公司 | Indoor and outdoor seamless space-time service system |
| CN112653499A (en) * | 2019-10-11 | 2021-04-13 | 大唐移动通信设备有限公司 | Network access method and device of terminal, electronic equipment and storage medium |
| CN111405462A (en) * | 2020-03-16 | 2020-07-10 | 浙江亚特电器有限公司 | Positioning method, device, equipment and readable storage medium |
| CN112083451A (en) * | 2020-10-13 | 2020-12-15 | 北京首科信通科技有限责任公司 | Indoor positioning method and device |
| CN112162306A (en) * | 2020-10-27 | 2021-01-01 | 国网福建省电力有限公司 | Indoor and outdoor cooperative positioning method based on Beidou |
| CN112698370A (en) * | 2020-12-15 | 2021-04-23 | 南京航空航天大学 | Indoor satellite navigation positioning method based on virtual orbit satellite |
| CN113472428A (en) * | 2021-07-06 | 2021-10-01 | 阎镜予 | Pseudo satellite state configuration and health management system and method |
| CN113472428B (en) * | 2021-07-06 | 2022-10-28 | 上海方位角数据科技有限公司 | Pseudo satellite state configuration and health management system and method |
| CN116299560A (en) * | 2023-02-20 | 2023-06-23 | 中国人民解放军军事科学院系统工程研究院 | Android terminal navigation positioning system and method based on pseudolite |
| CN116299560B (en) * | 2023-02-20 | 2024-01-30 | 中国人民解放军军事科学院系统工程研究院 | Android terminal navigation positioning system and method based on pseudolite |
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