CN103675872B - Based on positioning system and the localization method thereof in GNSS signal source - Google Patents

Based on positioning system and the localization method thereof in GNSS signal source Download PDF

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CN103675872B
CN103675872B CN201310677320.6A CN201310677320A CN103675872B CN 103675872 B CN103675872 B CN 103675872B CN 201310677320 A CN201310677320 A CN 201310677320A CN 103675872 B CN103675872 B CN 103675872B
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satellite
gnss signal
signal source
described
gps signal
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CN201310677320.6A
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CN103675872A (en
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陈曦
高文云
王嘉博
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清华大学
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Abstract

The present invention relates to a kind of positioning system based on GNSS signal source, comprise: multiple GNSS signal source and at least one GNSS signal receiver, each GNSS signal source is arranged in the fixed position of a target area in advance, for simulating and the satellite-signal of the GNSS Navsat of transmitting more than 4 or 4 simultaneously; The satellite-signal that described GNSS signal receiver is launched for receiving at least one GNSS signal source, and the position of self is resolved according to this satellite-signal.The invention still further relates to a kind of described localization method based on the positioning system in GNSS signal source.

Description

Based on positioning system and the localization method thereof in GNSS signal source

Technical field

The present invention relates to a kind of wireless location system and method, particularly a kind of positioning system based on GNSS signal source and method.

Background technology

In prior art, in various radio-location technology, GLONASS (Global Navigation Satellite System) (GlobalNavigationSatelliteSystem, GNSS) be the most basic means, it is the full name of all navigational satellite systems, mainly comprise the GPS (GlobalPositioningSystem of the U.S. at present, GPS), Muscovite GLONASS (Global Navigation Satellite System) (GlobalNavigationSatelliteSystem, GLONASS), the Galileo system (Galileo) in Europe, the Big Dipper (Compass) of China.The ultimate principle of global navigation satellite system receiver work is: receive Navsat and send radio signal and extract pseudo-square, and calculate from the position in geographic coordinate system according to more than 4 pseudo-squares, common computation has least square method and Kalman filtering method.

Above-mentioned space-based navigational system has the advantages such as round-the-clock Global coverage, but also there is the covering of scene and the shortcomings of location such as being difficult to realization indoor and urban canyons.In order to overcome the problems referred to above, people have invented hybrid locating method that ground network and astro network merge, based on the localization method of finding range between node and the location technology utilizing similar IEEE802.11 series WLAN (wireless local area network).But, be no matter ground network and astro network merge hybrid locating method, based on the localization method of finding range between node and the location technology utilizing similar IEEE802.11 series WLAN (wireless local area network), all need special position receiver equipment and have software support.Therefore, above-mentioned location technology structure is comparatively complicated and positioning precision is lower.

Summary of the invention

In view of this, necessaryly a kind of simple and the positioning system that positioning precision is higher and localization method thereof is provided.

A kind of positioning system based on GNSS signal source, comprise: multiple GNSS signal source and at least one GNSS signal receiver, each GNSS signal source is arranged in the fixed position of a target area in advance, for simulating and the satellite-signal of the GNSS Navsat of transmitting more than 4 or 4 simultaneously; The satellite-signal that described GNSS signal receiver is launched for receiving at least one GNSS signal source, and the position of self is resolved according to this satellite-signal.

A kind of localization method based on GNSS signal source electricity system, wherein, describedly comprise multiple GNSS signal source and at least one GNSS signal receiver based on GNSS signal source electricity system, each GNSS signal source is arranged in the fixed position of a target area in advance, wherein, described localization method comprises the following steps: the satellite-signal of the GNSS Navsat of more than 4 or 4 is also launched in the simulation of each GNSS signal source simultaneously; And described GNSS signal receiver receives the satellite-signal that at least one GNSS signal source is launched, and according to described satellite-signal determination self-position

Compared to prior art, provided by the invention based on the GNSS signal receiver in the positioning system in GNSS signal source without the need to transforming, just can position, and should also have higher positioning precision based on the positioning system in GNSS signal source, and error is no more than 12 meters.In addition, the localization method of the positioning system based on GNSS signal source provided by the invention also has simply, is easy to the features such as application.

Accompanying drawing explanation

The sight schematic diagram of the positioning system based on GNSS signal source that Fig. 1 provides for first embodiment of the invention.

The satellite-signal launched based on two gps signal sources in the positioning system in GNSS signal source that Fig. 2 provides for first embodiment of the invention form the schematic diagram of overlapping region.

Based on the process flow diagram of pseudorange grouping in the localization method of the positioning system based on GNSS signal source that Fig. 3 provides for first embodiment of the invention.

The sight schematic diagram of the positioning system based on GNSS signal source that Fig. 4 provides for second embodiment of the invention.

The position signalling launched based on two gps signal sources in the positioning system in GNSS signal source that Fig. 5 provides for second embodiment of the invention form the schematic diagram of overlapping region.

Main element symbol description

Based on the positioning system in GNSS signal source 100;200 Gps signal source 10;20;A 11;A 12;A 13;A 14;A 15;A 16;A 17;A 18;A 19;A 21;A 22;A 23;A 24;A 25;A 26;A 27;A 28;A 29 Gps signal receiver 12 Central server 14 Overlay area B 1;B 2;B 4;B 5 Overlapping region B 3;B 6 Distance d 1;d 2;d 3;d 4

Following embodiment will further illustrate the present invention in conjunction with above-mentioned accompanying drawing.

Embodiment

The invention provides a kind of positioning system based on GLONASS (Global Navigation Satellite System) (GlobalNavigationSatelliteSystem, GNSS) signal source and method.Described GLONASS (Global Navigation Satellite System) comprises the GPS (GlobalPositioningSystem of the U.S., GPS), Muscovite GLONASS (Global Navigation Satellite System) (GlobalNavigationSatelliteSystem, GLONASS), the Galileo system (Galileo) in Europe, the Big Dipper (Compass) of China.The embodiment of the present invention, only for gps signal source, describes the positioning system based on GNSS signal source provided by the invention and method in detail.

Refer to Fig. 1, the present invention first executes example and provides a kind of positioning system 100 based on GNSS signal source, comprising: multiple gps signal source 10 and at least one gps signal receiver 12.Being appreciated that signal source and signal receiver need coupling mutually, e.g., needing when using Compass signal source to use the Compass signal receiver matched.

Each gps signal source 10 is arranged in the fixed position of a target area in advance, for simulating the satellite-signal of GPS navigation satellite of more than 4 or 4, and described multiple satellite-signal is sent to described gps signal receiver 12 simultaneously.Described target area can be building interior or urban canyons.In the present embodiment, described target area is a building interior, and this buildings comprises multiple room.Described fixed position refers to the longitude in described gps signal source 10, latitude and highly fixing.The number in described gps signal source 10 can be selected according to different positioning precision.In the present embodiment, comprise 9 gps signal sources 10, and each gps signal source 10 is arranged at each room respectively.For convenience, successively by described gps signal source 10 called after gps signal source A 11, A 12, A 13, A 14, A 15, A 16, A 17, A 18and A 19.The satellite-signal that described gps signal source 10 is simulated is, , wherein, i is gps satellite mark, and i=0,1,2,3 ..., 31; M is the set of the satellite mark of 10 simulation satellite signals in described gps signal source, such as, can be { 0,1,2,3,4} etc.; A iit is the signal amplitude of satellite i; PN it () is the spreading code of satellite i; w cit is carrier frequency; F is random phase; T is the time.

In order to reduce close together gps signal source 10 between mutual interference, can, by controlling the emissive power in each gps signal source 10, allow the signal in each gps signal source 10 only cover a given area.In the present embodiment, the signal in each gps signal source 10 only covers a room substantially.Because the actual coverage area territory of the signal in described gps signal source 10 can only be controlled by antenna direction and adjustment emissive power, the overlay area therefore between gps signal source 10 can overlap unavoidably.Please refer to Fig. 2, B 1gps signal source A 11overlay area, B 2gps signal source A 12overlay area, B 3for gps signal source A 11and A 12overlapping region.In order to reduce gps signal source A 11and A 12between interference, gps signal source A can be made 11and A 12launch the satellite-signal possessing different spreading code.In the present embodiment, by gps signal source A 11to simulate and the satellite-signal launched is defined as , wherein, M 11gps signal source A 11simulate and the satellite launched mark set; Described gps signal source A 12to simulate and the satellite-signal launched may be defined as , wherein, M 12gps signal source A 12simulate and the satellite launched mark set; And described gps signal source A 11and A 12simulate respectively and launch the satellite-signal of different satellite, that is, M 11and M 12common factor be empty set, such as, as described gps signal source A 11simulate and the satellite launched mark set be M 11=﹛ 0,1,2,3, during 4 ﹜, described gps signal source A 12simulate and the satellite launched mark set M 12can not Han You ﹛ 0,1,2,3, in 4 ﹜ any one.

Described gps signal source 10 can an integrated IEEE802.11 wireless router and other radio communication devices further, for improving the described functional density based on the positioning system 100 in GNSS signal source, reducing costs, realize the integration of communication location.

Described gps signal source 10 realizes by software radio mode or special IC mode.In the present embodiment, described gps signal source 10 is realized by special IC mode.

The satellite-signal that described gps signal receiver 12 is launched for receiving at least one gps signal source 10, and resolve according to this satellite-signal, thus a satellite-signal can be obtained.Be appreciated that described gps signal receiver 12 resolves the position in the gps signal source 10 of position corresponding to its satellite-signal received of acquisition.Such as, when described gps signal receiver 12 receives gps signal source A 11during the satellite-signal launched, and carry out resolving obtained position according to this satellite-signal and be actually gps signal source A 11the position of itself.

There is error in the actual position of the position that described gps signal receiver 12 resolves and described gps signal receiver 12, its error size depends on the coverage in described gps signal source 10 and the range difference in described gps signal receiver 12 and described gps signal source 10.When indoor positioning, a general gps signal source 10 covers a room, and now, its error is no more than 12 meters.

Due to the development of MEMS (micro electro mechanical system), inertial navigation element such as gyro, accelerometer and magnetometer have become the standard configuration of mobile device, and therefore, described gps signal receiver 12 can this inertial navigation element integrated further, thus improves positioning result further.

Please also refer to Fig. 1, the described positioning system 100 based on GNSS signal source may further include a central server 14, for receiving the geographical location information of described gps signal receiver 12, carries out following the tracks of and monitoring for other people.Described gps signal receiver 12 can pass through wireless network, as mobile Internet etc., geographical location information is delivered to central server 14, carries out following the tracks of and monitoring for other people.

The localization method of the described positioning system 100 based on GNSS signal source comprises the following steps:

S1: the satellite-signal of the GPS navigation satellite of more than 4 or 4 is also launched in the simulation of each gps signal source 10 simultaneously;

S2: described gps signal receiver 12 receives the satellite-signal that at least one gps signal source 10 is launched, and according to described satellite-signal determination self-position.

In step s 2, when described gps signal receiver 12 receives only the satellite-signal launched in a gps signal source 10, described gps signal receiver 12 also can calculate satellite-signal by existing autonomous integrity checking algorithm (ReceiverIntegrityAutonomousMonitoring, RAIM) according to this satellite-signal.

Please also refer to Fig. 2, when described gps signal receiver 12 receives two gps signal source A 11and A 12during the satellite-signal launched, owing to there is near-far interference, between the signal of different spreading code, still there will be interference.Now, for described gps signal receiver 12, there are two kinds of situations:

A kind of special circumstances are due to near-far interference, gps signal source A 12signal completely by gps signal source A 11interference (or gps signal source A 11signal completely by gps signal source A 12interference), described gps signal receiver 12 can only receive gps signal source A 11(gps signal source A 12) signal, now, the position that described gps signal receiver 12 calculates is gps signal source A 11(gps signal source A 12) geographic position, therefore, described gps signal receiver 12 and gps signal source A 11(gps signal source A 12) actual range be exactly positioning error.

Another situation, the power difference arriving described gps signal receiver 12 is little, and their signal can both be received by described gps signal receiver 12.Now, due to gps signal source A 11and A 12clock and asynchronous, therefore if resolve position by existing RAIM algorithm, the position that this gps signal receiver 12 obtains is neither gps signal source A 11position, neither gps signal source A 12position, but with gps signal source A 11and A 12the random site that all gap is larger.The accurate location of described gps signal receiver 12, can obtain by the following method:

S21: all satellite packet that described gps signal source 10 is simulated by described gps signal receiver 12, thus obtain multiple grouping G j, j is packet numbering, j=0,1,2,

S22: described gps signal receiver 12 is according to each grouping G jin satellite information resolve once, obtain each grouping G jthe positional information in each corresponding gps signal source, forms set P;

S23: described gps signal receiver 12 calculates each grouping G jin average carrier-to-noise ratio corresponding to satellite-signal, and according to described carrier-to-noise ratio calculate described gps signal receiver 12 to and each G that divides into groups jthe distance in corresponding gps signal source 10, forms set D; And

S24: described gps signal receiver 12 obtains self-position according to set P and set D.

In the step s 21, suppose that the position of simulated known satellite i is , described gps signal receiver 12 position is , the time of described gps signal receiver 12 and the clock difference of satellite i are t r, then the pseudorange that satellite i is corresponding expression formula be: , wherein for the light velocity.Please refer to Fig. 3, described multiple grouping G jthe RAIM algorithm acquisition can divided into groups based on pseudorange by one, the described RAIM algorithm based on pseudorange grouping comprises the following steps:

S211: all satellite i simulated in described gps signal source 10 according to its satellite mark generation one satellite S set;

S212: the initial position of given described gps signal receiver 12, and an optional satellite is as with reference to satellite r, the reference time of setting gps signal receiver 12, calculates with reference to pseudorange , and set one with reference to thresholding T h;

S213: according to initial position and the reference time of described gps signal receiver 12, calculate the pseudorange that in described satellite S set, next satellite i is corresponding if, , then satellite i is selected;

S214: repeat step S213 until no longer include in satellite S set satellite meet , be divided into reference to satellite and the satellite selected the G that divides into groups j; And

S215: by G jin satellite delete from S set, if S set non-NULL, makes j=j+1, get back to step S212, otherwise algorithm terminates.

Please refer to Fig. 2, in step S211, suppose described gps signal source A 11the satellite-signal of simulation comprises satellite { 0,1,2,3,4,5}, and described gps signal source A 12the satellite-signal of simulation comprises satellite { 6,7,8,9,10}.And described gps signal receiver 12 is positioned at described gps signal source A 11and described A 12overlapping region B 3, at this overlapping region B 3described in gps signal receiver 12 can receive gps signal source A 11and A 12simulate and the data of all satellites launched, therefore, generate satellite S set={ 0,1,2,3,4,5,6,7,8,9,10}.

In step S212, the initial position of described gps signal receiver 12 can be set as { 0,0,0} or certain known historical position.In the present embodiment, set the initial position of described gps signal receiver 12 as { 0,0,0}.The reference time of described gps signal receiver 12 can be equal with the signal transmission time of reference satellite r, or add a constant on the signal transmission time basis of reference satellite r.In the present embodiment, the reference time setting described gps signal receiver 12 is equal with the signal transmission time of reference satellite r, that is, t r=0.In addition, in order to without loss of generality and be convenient to understand, can obtain with reference to pseudorange in systems in practice, the distance of gps signal receiver 12 described in each satellite distance is not in this magnitude, and identical, therefore, does not affect the actual motion of this RAIM algorithm for km().Described with reference to thresholding T hcan select according to actual needs.In the present embodiment, described with reference to thresholding T h=10000km.

In step S213 and S214, the satellite-signal of described satellite 0,1,2,3,4,5 is all described gps signal source A 11launch at one time, that is, described satellite 0,1,2,3, the launch time of 4,5 is identical, is t 1; And the satellite-signal of described satellite 6,7,8,9,10 is all described gps signal source A 12launch at one time, that is, described satellite 6,7,8,9, the launch time of 10 is also identical, is t 2; But t 2with t 1difference is comparatively large, and resolves Shi Douhui change each time, stochastic assumption t here 1-t 2=1s.Suppose that can calculate satellite 1,2,3,4, the pseudorange of 5 is all 27200km, and the pseudorange of satellite 6,7,8,9,10 is 327200km using satellite 0 as reference satellite r.Thus, in the first round calculates, meet first grouping G 0={ 0,1,2,3,4,5}.

In step S215, by G 0=0,1,2,3,4,5} deletes from described satellite S set, obtains S set '={ 6,7,8,9,10}.Due to S set '={ therefore 6,7,8,9,10} non-NULL, makes j=j+1=1, and repeats step S212.

According to above-mentioned algorithm, select further satellite 6 as with reference to satellite r, setting reference time of described gps signal receiver 12 identically with the launch time of satellite 6 is , known with reference to pseudorange =27200km, now satellite 7, the pseudorange of 8,9,10 is also all 27200km, all satisfied so, obtain second grouping G 1={ 6,7,8,9,10}.Further, by G 1={ 6,7,8,9,10} deletes from S, obtains S ' ' for empty set.Owing to taking turns in calculating second, obtain empty set S ' ', therefore algorithm terminates, and output grouping G 0={ 0,1,2,3,4,5} and G 1={ 6,7,8,9,10}.

All satellite-signals are launched because same gps signal source 10 is interior at one time, and there is larger gap the launch time between different gps signal source 10, and just the pseudorange of corresponding 300,000 kilometers is poor to differ 1 second launch time, and the pseudorange difference between satellites different is normally within 20,000 kilometers.Therefore, according to the above-mentioned grouping G finally obtained based on the RAIM algorithm of pseudorange grouping jquantity, the quantity in usual corresponding gps signal source 10.In fig. 2, described gps signal receiver 12 can obtain two grouping G 0and G 1, wherein, grouping G 0corresponding described gps signal source A 11, and G 1corresponding described gps signal source A 12.

In step S22, described gps signal receiver 12 can according to grouping G 0and G 1in satellite information resolve respectively once, obtain G respectively 0corresponding described gps signal source A 11position P 11={ x 11, y 11, z 11and G 1corresponding described gps signal source A 12position P 12={ x 12, y 12, z 12.Therefore, set P={P is obtained 11, P 12.

In step S23, in GPS, carrier-to-noise ratio evaluates the index of received signal quality, reflection be path attenuation in signals transmission, therefore, can be used for estimating the distance between described gps signal receiver 12 and gps signal source 10.Indicate the method that calculate distance identical with by signal to noise ratio (S/N ratio) with the signal intensity of gps signal receiver 12 by the method for carrier-to-noise ratio estimated distance, have a lot of disclosed method in the literature, be therefore not repeated.In the present embodiment, suppose that the strong then distance of carrier-to-noise ratio is near, carrier-to-noise ratio is distance far then, and noise is not with distance change, and useful signal is decayed according to 2-6 power with distance.Please with reference to Fig. 2, described gps signal receiver 12 can according to grouping G 0and G 1in carrier-to-noise ratio resolve respectively, thus obtain described gps signal receiver 12 to described gps signal source A 11distance d 1and gps signal source A 12distance d 2.Therefore, set D={d is obtained 1, d 2.

In step S23, described gps signal receiver 12 can obtain self-position P according to geometric method or least square method b3={ x b3, y b3, z b3.In the present embodiment, , and .

Refer to Fig. 4, the present invention second executes example and provides a kind of positioning system 200 based on GNSS signal source, comprising: multiple gps signal source 20 and at least one gps signal receiver 12.

The described positioning system 200 based on GNSS signal source is substantially identical with the positioning system 100 based on GNSS signal source in first embodiment of the invention, difference is, described gps signal source 20 geographic position of self is directly embedded its to simulate and in the navigation message of each satellite-signal launched.Therefore, described gps signal receiver 12, can geographic position in this navigation message of extracting directly without the need to resolving, thus obtains the position in described gps signal source 20.Therefore, the described positioning system 200 based on GNSS signal source can obtain the geographic position of self fast.

General gps navigation message is totally 5 subframes, constantly repeats to send.Therefore, the geographic position in described gps signal source 20 self can be put into the spare area of GPS text, as the 1st of the 4th subframe, 6,11,12,13,14,15,16 and 19 ~ 24 pages; Or the geographic position in described gps signal source 20 self being filled on all pages of the 4th and the 5th all subframes, the benefit done like this is that described gps signal receiver 12 can be located fast.For Beidou II system, also can fill all almanacs with the geographic position in described gps signal source 20 self equally and to be correlated with text.

Because each gps signal source 20 covers a room substantially, and all ephemeris account for 2 subframes in 5 subframes of gps navigation message, therefore, in order to the needs of further service space inner position, further place, gps signal source 20 floor, room number and the geographic position of himself together can also be filled in the relevant text of all almanacs and replace original almanac to be correlated with text.Further, navigation map can also be put into almanac text of being correlated with together to broadcast.

The localization method of the described positioning system 200 based on GNSS signal source comprises the following steps:

S3: the satellite-signal of the GPS navigation satellite of more than 4 or 4 is launched in each gps signal source 20 simultaneously, is embedded with the geographic position in this gps signal source 20 self in the navigation message of each satellite-signal; And

S4: described gps signal receiver 12 receives this satellite-signal, and the geographic position in this gps signal source 20 of extracting directly self.

In step s 4 which, when described gps signal receiver 12 receives only the satellite-signal launched in a gps signal source 20, described gps signal receiver 12 can extracting directly obtain the geographic position in this gps signal source 20 self.

Please also refer to Fig. 5, when described gps signal receiver 12 receives two gps signal source A 21and A 22during the satellite-signal launched, owing to there is near-far interference, there will be interference.Now, for described gps signal receiver 12, there are two kinds of situations:

A kind of special circumstances are due to near-far interference, gps signal source A 22satellite-signal completely by gps signal source A 21interference (or gps signal source A 21satellite-signal completely by gps signal source A 22interference), described gps signal receiver 12 can only receive gps signal source A 21(gps signal source A 12) satellite-signal, now, the self-position that described gps signal receiver 12 obtains is gps signal source A 21(gps signal source A 22) geographic position, therefore, described gps signal receiver 12 and gps signal source A 21(gps signal source A 22) actual range be exactly positioning error.

Another situation, the power difference arriving described gps signal receiver 12 is little, and their satellite-signal can both be received by described gps signal receiver 12.Now, due to gps signal source A 21and A 22clock and asynchronous, therefore the position that this gps signal receiver 12 obtains is neither gps signal source A 21position, neither gps signal source A 22position, but with gps signal source A 21and A 22the random site that all gap is larger.The accurate location of described gps signal receiver 12, can obtain by the following method:

S41: according to the positional information of navigation message in each satellite-signal, by simulated all satellite packet, thus obtains multiple grouping G j, j is packet numbering, j=0,1,2,

S42: the geographic position in each gps signal source 20 is formed set P;

S43: described gps signal receiver 12 calculates each grouping G jthe average carrier-to-noise ratio of Satellite signal, and calculate described gps signal receiver 12 to each grouping G according to described carrier-to-noise ratio jthe distance in corresponding gps signal source 20, forms set D; And

S44: obtain self-position according to set P and set D.

In step S41, due to gps signal source A 21the geographic position in signal of launching an artificial satellite embedded by navigation message all identical, that is, be: { x 21, y 21, z 21, therefore, obtain grouping G 0; And gps signal source A 22the geographic position in signal of launching an artificial satellite embedded by navigation message also identical, that is, be: { x 22, y 22, z 22, therefore, obtain grouping G 1.

In step S42, described gps signal receiver 12 extracting directly also obtains described gps signal source A 21position P 21={ x 21, y 21, z 21and described gps signal source A 22position P 22={ x 22, y 22, z 22.Therefore, set P={P is obtained 21, P 22.

In step S43, described gps signal receiver 12 can according to each G that divides into groups 0and G 1in carrier-to-noise ratio resolve respectively, thus obtain described gps signal receiver 12 to described gps signal source A 21distance d 3and gps signal source A 22distance d 4.Therefore, set D={d is obtained 3, d 4.

In step S43, described gps signal receiver 12 can obtain self-position P according to geometric method or least square method b6={ x b6, y b6, z b6.In the present embodiment, , and .

In addition, those skilled in the art also can do other change in spirit of the present invention, and certainly, these changes done according to the present invention's spirit, all should be included within the present invention's scope required for protection.

Claims (5)

1. the localization method based on GNSS signal source electricity system, wherein, describedly comprise multiple GNSS signal source and at least one GNSS signal receiver based on GNSS signal source electricity system, each GNSS signal source is arranged in the fixed position of a target area in advance, wherein, described localization method comprises the following steps:
S1: the satellite-signal of the GNSS Navsat of more than 4 or 4 is also launched in the simulation of each GNSS signal source simultaneously; And
S2: described GNSS signal receiver receives the satellite-signal that at least one GNSS signal source is launched, and according to described satellite-signal determination self-position; When described GNSS signal receiver receives the satellite-signal launched at least two GNSS signal sources, and when the satellite-signal that described GNSS signal source is launched disturbs mutually, then, described GNSS signal receiver determines self-position by the following method:
S21: all satellite packet that described GNSS signal source is simulated, being detected by autonomous integrity thus obtaining multiple grouping Gj, j is packet numbering, j=0,1,2,
S22: resolve once according to the satellite information in each grouping Gj, obtain the position in each each the GNSS signal source of grouping corresponding to Gj, form set P;
S23: calculate the average carrier-to-noise ratio that each satellite-signal divided into groups in Gj is corresponding, and calculate the distance of described GNSS signal receiver to the GNSS signal source corresponding with each Gj that divides into groups according to described carrier-to-noise ratio, forms set D; And
S24: obtain self-position according to set P and set D.
2. localization method as claimed in claim 1, is characterized in that, is describedly detected by autonomous integrity thus obtains the method for multiple grouping Gj, comprises the following steps:
S211: all satellite i simulated in described GNSS signal source according to its satellite mark generation one satellite S set;
S212: the initial position of given described GNSS signal receiver, and an optional satellite is as with reference to satellite r, the reference time of setting GNSS signal receiver, calculates with reference to pseudorange ρ r, and set one with reference to thresholding T h;
S213: according to initial position and the reference time of described GNSS signal receiver, calculate the pseudorange that in described satellite S set, next satellite i is corresponding if then satellite i is selected;
S214: repeat step S213 until no longer include in satellite S set satellite meet the G that divides into groups is divided into reference to satellite and the satellite selected j; And
S215: by G jin satellite delete from S set, if S set non-NULL, makes j=j+1, get back to step S212, otherwise algorithm terminates.
3. localization method as claimed in claim 2, it is characterized in that, the reference time setting described GNSS signal receiver is equal with the signal transmission time of reference satellite r, with reference to pseudorange ρ r=27200km, and described with reference to thresholding Th=10000km.
4. localization method as claimed in claim 1, is characterized in that, described GNSS signal receiver according to set P and set D, and obtains self-position by geometric method or least square method.
5. the localization method based on GNSS signal source electricity system, wherein, describedly comprise multiple GNSS signal source and at least one GNSS signal receiver based on GNSS signal source electricity system, each GNSS signal source is arranged in the fixed position of a target area in advance, wherein, described localization method comprises the following steps:
S1: the satellite-signal of the GNSS Navsat of more than 4 or 4 is also launched in the simulation of each GNSS signal source simultaneously; And
S2: described GNSS signal receiver receives the satellite-signal that at least one GNSS signal source is launched, and according to described satellite-signal determination self-position; Each GNSS signal source simulate and be embedded with the geographic position that this GNSS signal is derived from body in the navigation message of each satellite-signal launched, when described GNSS signal receiver receives the satellite-signal launched at least two GNSS signal sources, and the satellite-signal that described GNSS signal source is launched is when mutually disturbing, then, described GNSS signal receiver determines self-position by the following method:
According to the geographical location information of navigation message in each satellite-signal, by simulated all satellite packet, thus to obtain multiple grouping Gj, j be packet numbering, j=0,1,2,
The geographic position in each GNSS signal source is formed set P;
Calculate the average carrier-to-noise ratio of the satellite-signal in each grouping Gj, and calculate the distance in the GNSS signal source corresponding to described GNSS signal receiver to each grouping Gj according to described carrier-to-noise ratio, form set D; And
Self-position is obtained according to set P and set D.
CN201310677320.6A 2013-12-13 2013-12-13 Based on positioning system and the localization method thereof in GNSS signal source CN103675872B (en)

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