CN104898129A - Universal GPS indoor and outdoor positioning system and method - Google Patents
Universal GPS indoor and outdoor positioning system and method Download PDFInfo
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- CN104898129A CN104898129A CN201510333368.4A CN201510333368A CN104898129A CN 104898129 A CN104898129 A CN 104898129A CN 201510333368 A CN201510333368 A CN 201510333368A CN 104898129 A CN104898129 A CN 104898129A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a universal GPS indoor and outdoor positioning system and method. The universal GPS indoor and outdoor positioning system comprises a GPS pseudo satellite main station, three or more GPS pseudo satellite auxiliary stations, and a user receiver. The GPS pseudo satellite main station receives outdoor GPS signals in real time, acquires PPS (pulse per second) signal and a current visible satellite parameter, disciplines the clock of a local pseudo satellite main station by means of the PPS signal, synchronously generates two radiofrequency signals by means of a local disciplined clock, sends one radiofrequency signal to a user, and send the other radiofrequency signal to the GPS pseudo satellite auxiliary stations. The GPS pseudo satellite auxiliary stations receive signal sent from the GPS pseudo satellite main station, achieve synchronization between the local clocks of the GPS pseudo satellite auxiliary stations and the clock of the GPS pseudo satellite main station, and synchronously generate virtual GPS satellite simulating signals. The user synchronously receives the virtual GPS satellite signals sent from the visible pseudo satellite main station and pseudo satellite auxiliary stations and completes indoor and outdoor positioning of the user in real time. The universal GPS indoor and outdoor positioning system is simple and is not required to change the software and the hardware of a conventional GPS receiver.
Description
Technical field
The present invention relates to satellite navigation positioning field, be specifically related to a kind of general GPS indoor and outdoor positioning system and method.
Background technology
Due to some congenital factor restrictions of satellite navigation system itself, cause the weakness that some is difficult to overcome.Such as the user of indoor, due to blocking of around body of wall or other barriers, when making satellite-signal arrive indoor, satellite-signal is very faint, just cannot complete location by traditional GNSS receiver at all.
At present, pseudo satellite, pseudolite is a kind of method solving indoor positioning, and because GPS fake satellite positioning system launches the signal being similar to gps satellite, its location algorithm is also based on GPS positioning principle.But indoor pseudo satellite, pseudolite is fixed on some fixed positions, and gps satellite does periodic motion along track, its location algorithm difference to some extent again.So, traditional pseudolite positioning can not adopt GPS directly to locate, but need to revise some programs in GPS, or after adopting GPS Received signal strength, add a CPU more below, realize positioning calculation specially, namely this just needs change GPS software and hardware, this not only makes troubles to user, too increases cost.
Summary of the invention
Technical matters to be solved by this invention is to provide existing GPS pseudolite systems to be needed to change the deficiency that GPS software and hardware could realize indoor positioning, provides a kind of general GPS indoor and outdoor positioning system and method.
For solving the problem, the present invention is achieved by the following technical solutions:
A kind of general GPS indoor and outdoor localization method, comprises the steps:
Step 1, according to doors structure and size, determine the position at pseudo satellite, pseudolite station, and accurately measure the three-dimensional position at each pseudo satellite, pseudolite station; Above-mentioned pseudo satellite, pseudolite station comprises the pseudo satellite, pseudolite extension station of 1 pseudo satellite, pseudolite main website and more than 3 or 3, and wherein pseudo satellite, pseudolite main website needs visible gps satellite;
Step 2, choose indoor 1 reference point, accurately measure the three-dimensional position of this reference point simultaneously;
The outer visible gps satellite signal of step 3, pseudo satellite, pseudolite main website receiving chamber, extracts the ephemeris parameter of visible satellite, and realizes the output of PPS pps pulse per second signal; Pseudo satellite, pseudolite main website utilizes this PPS pps pulse per second signal to realize local clock and tames; Meanwhile, pseudo satellite, pseudolite main website synchronous 2 tunnels that generate under the effect of PPS pps pulse per second signal transmit, and riches all the way penetrates signal and issue pseudo satellite, pseudolite extension station, synchronous with pseudo satellite, pseudolite main station time for realizing pseudo satellite, pseudolite extension station, and informs the visible gps satellite information of current outdoor; Another road transmits and issues receiver user, for realizing user location;
Step 4, each pseudo satellite, pseudolite extension station receive the signal that pseudo satellite, pseudolite main website sends, and complete the local zone time of each pseudo satellite, pseudolite extension station and the time synchronized of pseudo satellite, pseudolite main website, and extract visible gps satellite information; The immediate gps satellite of the line that each pseudo satellite, pseudolite extension station selected distance reference point and this pseudo satellite, pseudolite extension station are formed, carry out gps satellite signal simulation, in simulation process, by revising the ephemeris parameter of satellite, the movement velocity of the gps satellite simulated made declines;
Step 5, when receiver user receives the signal sent at more than 4 or 4 pseudo satellite, pseudolite stations simultaneously, can the three-dimensional position of real-time resolving user.
In said method, reference point is selected in indoor near center position.
In said method, the 2 tunnel radiofrequency signals that pseudo satellite, pseudolite main website sends adopt different transmission frequencies, and the transmission frequency of 2 tunnel radiofrequency signals is not in the frequency range of gps signal.
A kind of general GPS indoor and outdoor positioning system, comprises pseudo satellite, pseudolite station and receiver user; Wherein pseudo satellite, pseudolite station is made up of the pseudo satellite, pseudolite extension station of 1 pseudo satellite, pseudolite main website and more than 3 or 3; Pseudo satellite, pseudolite main website and pseudo satellite, pseudolite extension station are placed in indoor, and the visible gps satellite of pseudo satellite, pseudolite main website;
Pseudo satellite, pseudolite main website comprises gps signal receiving unit, master clock tames part, main website to extension station signal imitation radiating portion and main website to subscriber signal analog transmissions part; The outer visible gps satellite signal of gps signal receiving unit receiving chamber, extracts the ephemeris parameter of visible satellite, and realizes the output of PPS pps pulse per second signal; Master clock tames PPS pps pulse per second signal that part utilizes gps signal receiving unit to export, and to realize local clock taming; Main website generates under the effect of PPS pps pulse per second signal that riches all the way penetrate signal to extension station signal imitation radiating portion and issues pseudo satellite, pseudolite extension station; Main website generates another road to subscriber signal analog transmissions part and transmits and issue receiver user under the effect of PPS pps pulse per second signal, for realizing user location;
Pseudo satellite, pseudolite extension station comprises master station signal receiving unit, the taming part of extension station clock and extension station to subscriber signal analog transmissions part; Master station signal receiving unit receives the signal that pseudo satellite, pseudolite main website sends, and extracts visible gps satellite information; Extension station clock is tamed part and is completed the local zone time of each pseudo satellite, pseudolite extension station and the time synchronized of pseudo satellite, pseudolite main website; Extension station is to the immediate gps satellite of line of subscriber signal analog transmissions part selected distance reference point and this pseudo satellite, pseudolite extension station, carry out gps satellite signal simulation, and in simulation process, by revising the ephemeris parameter of satellite, the movement velocity of this simulating GPS satellite is declined;
Receiver user receives the signal that more than 4 or 4 pseudo satellite, pseudolite stations are sent simultaneously, with the real-time resolving of completing user three-dimensional position.
In said system, reference point is selected in indoor near center position.
In said system, the 2 tunnel radiofrequency signals that pseudo satellite, pseudolite main website sends adopt different transmission frequencies, and the transmission frequency of 2 tunnel radiofrequency signals is not in the frequency range of gps signal.
Compared with prior art, the outer gps satellite signal of pseudo satellite, pseudolite main website of the present invention receiving chamber, first completes the time service of pseudo satellite, pseudolite main website, and completes the time synchronized of pseudo satellite, pseudolite extension station by the signal that pseudo satellite, pseudolite main website launches; A virtual GPS satellite is all simulated by each pseudo satellite, pseudolite main website or extension station; User can adopt traditional GPS receiver can complete indoor and outdoor location.The method realizes simple, can on the basis not changing current GPS software and hardware structure, the indoor and outdoor location of completing user, and cost is lower.
Accompanying drawing explanation
Fig. 1 is general GPS indoor and outdoor positioning system theory diagram.
Fig. 2 is pseudo satellite, pseudolite main website fundamental diagram.
Fig. 3 is that fundamental diagram tamed by clock.
Fig. 4 is pseudo satellite, pseudolite extension station fundamental diagram.
Fig. 5 is receiver user workflow.
Embodiment
A kind of general GPS indoor and outdoor positioning system, as shown in Figure 1, system comprises 1 GPS pseudo satellite, pseudolite main website (S1 as in figure), 3 or more GPS pseudo satellite, pseudolite extension station (S2-S4 as in figure) and receiver users.First, the position of pseudo satellite, pseudolite main website and extension station is obtained by precision measurement.Secondly, the outdoor gps signal of pseudo satellite, pseudolite main website energy real-time reception, obtain the information such as PPS pps pulse per second signal and current visible satellite numbering, satellite position, and utilize PPS pulse per second (PPS) to tame local pseudo satellite, pseudolite master clock, local clock synchronous of taming is utilized to generate two kinds of radiofrequency signals, riches all the way gives user, and riches all the way gives pseudo satellite, pseudolite extension station.Again, pseudo satellite, pseudolite extension station receives the signal that pseudo satellite, pseudolite main website sends, and realizes the local clock of each pseudo satellite, pseudolite extension station and the synchronous of pseudo satellite, pseudolite master clock, and synchronous generation one road virtual GPS Satellite Simulation signal; User synchronously receives the virtual GPS satellite-signal of all visible pseudo satellite, pseudolite main websites and the transmitting of pseudo satellite, pseudolite extension station, the indoor and outdoor location of real-time completing user.
Introduce its composition below in detail:
1, pseudo satellite, pseudolite main website
As shown in Figure 2, pseudo satellite, pseudolite main website comprises gps signal receiving unit, master clock tames part, main website to extension station signal imitation radiating portion and main website to subscriber signal analog transmissions part.Wherein, pseudo satellite, pseudolite main website position is fixing, and position in advance high-acruracy survey obtain, as adopted GNSS carrier phase RTK technology, to ensure that positioning precision is more than cm level.
1.1, gps signal receiving unit
Gps signal receiving unit extracts mould by GPS receiving antenna, main website down conversion module, main website A/D modular converter, main website hyperchannel baseband signal processing module and master information successively and is formed by connecting.Wherein, main website hyperchannel baseband signal processing module mainly completes catching of gps signal and follows the tracks of.Information extraction modules mainly extracts visible satellite numbering, position, main website to the information such as distance, range rate of satellite.
1.2, master clock tames part
VCXO (VCO) theory diagram is tamed as shown in 3 of figure in PPS pps pulse per second signal this locality that GPS exports, clock calculation device exports counting to the CLK clock of local VCXO, such as, local oscillator is the crystal oscillator of 62MHz, per secondly should export 1600000 clock numbers.Compare at the rising edge of PPS arteries and veins second of GPS, and with count comparator, two count results compared:
Δn＝n-1600000 (1)
Wherein, n is the CLK number that VCXO exports for 1 second, if Δ n is greater than 0, illustrates that local clock is fast, and reduce the external voltage of VCXO, namely can change the load capacitance of VCXO, its oscillation frequency is diminished, i.e. the CLK clock number of output per second diminishes; On the contrary, if Δ n is less than 0, illustrate that local clock is slow, improve the external voltage of VCXO, namely can change the load capacitance of VCXO, make its oscillation frequency become large, i.e. the CLK clock number of output per second becomes large.
1.3, main website is to extension station signal imitation radiating portion
Main website is formed by connecting to extension station emitting antenna to extension station up-converter module and main website to extension station D/A modular converter, main website to extension station signal generation module, main website to extension station information coding module, main website by main website successively to extension station signal imitation radiating portion.
The PPS pulse per second (PPS) that module utilizes gps signal receiving unit to extract is tamed to extension station local clock by main website, tames the clock of pseudo satellite, pseudolite main website, makes the clock of pseudo satellite, pseudolite main website synchronous with gps time.Under the local clock effect of taming, main website carries out information coding to extension station information coding module information such as the Doppler parameters of local zone time, three-dimensional position, pseudo satellite, pseudolite station numbering, visible satellite numbering, satellite.In order to simplify pseudo satellite, pseudolite station hardware configuration, its coded format can adopt the navigation message coded system of GPS or BD2.Information after coding and spreading code are carried out band spectrum modulation to extension station signal generation module by main website, spreading code also can with reference to the spreading code of GPS, i.e. the same all with GPS of code shape, code length and bit rate, spread spectrum mode can adopt BPSK to modulate, and the signal after spread spectrum generates digital baseband signal through carrier modulation again.The digital baseband signal generated through main website to the D/A of extension station D/A modular converter conversion and main website to the up-conversion of extension station up-converter module, finally by main website, extension station transmission antennas transmit is gone out.In order to avoid the interference between signal, the frequency of signal does not select the frequency range of GPS.
1.4, main website is to subscriber signal analog transmissions part
Main website is formed by connecting to user's emitting antenna to user's up-converter module and main website to user D/A modular converter, main website to subscriber signal generation module, main website to customer parameter calculating and information coding module, main website by main website successively to subscriber signal analog transmissions part.
Main website calculates customer parameter and information coding module mainly processes the visible satellite numbering that GPS receiving unit transmits, position, main website is to the distance of satellite, the information such as range rate, and on reference point O (three-dimensional position of this reference point O in advance accurate measurement records) and pseudo satellite, pseudolite main website line a virtual gps satellite i in the gps satellite approximate location of space, the numbering of satellite is the satellite received according to GPS receiving unit, and satellite is near on reference point O and pseudo satellite, pseudolite main website line, and revise i satellite ephemeris parameter, satellite is made just to be on reference point O and pseudo satellite, pseudolite main website line, and satellite does and slowly moves, and message encoding format completes the same with GPS.Main website mainly completes the CA code of GPS to subscriber signal generation module, carrier wave produces, band spectrum modulation and carrier modulation, generate GPS digital baseband signal, CA code and carrier phase problem to be considered time signal generates, broadcast from virtual satellite during owing to being simulating signal, so pseudo satellite, pseudolite station will be changed to code and carrier phase to the distance of virtual satellite.The GPS baseband digital signal generated becomes GPS analog intermediate frequency signal after main website changes user D/A modular converter D/A.GPS analog intermediate frequency signal becomes GPS radio-frequency signal through main website to after user's up-converter module up-conversion.GPS radio-frequency signal is gone out to user's transmission antennas transmit by main website.
If the signal of i-th virtual satellite transmitting is expressed as:
P in formula---i-th virtual satellite L frequency average power signal;
C
i(t)---the pseudo-random sequence of i-th virtual satellite;
D
i(t)---the navigation message that the signal of i-th virtual satellite is modulated;
F
l---the carrier frequency (if GPS L1 is 1575.42MHz) of i-th virtual satellite.
Pseudo satellite, pseudolite station needs to consider the distance of virtual satellite to the pseudo satellite, pseudolite station time, and need this information to join in above-mentioned signal, above formula can become:
In formula, Δ t Δ t postpones for virtual satellite signal arrives pseudo satellite, pseudolite station institute elapsed time, Δ f
lfor the Doppler shift that pseudo satellite, pseudolite station relative satellite motion produces.
Finally, signal is gone out through antenna transmission, when designing pseudo satellite, pseudolite transmit signal strength, needs the power taking into full account signal power level.If signal power level is too low, subscriber equipment is difficult to receive signal, if signal power level is too high, can produce interference mutually between signal.According to ICD-GPS-200, the lowest power that the antenna of 0dB gain on earth surface can receive L1C/A coded signal is-160dBW or-130dBm.As, assuming that pseudo satellite, pseudolite and receiver at a distance of propagation distance at 100m, pad value theory is-67.36dBm, then the power of Pseudolite signal generator output should at-67.36dBm.For this reason, according to indoor operating distance, by power amplifying device, the emissive power of control signal, to ensure that user normally receives and locates.
2, pseudo satellite, pseudolite extension station
As shown in Figure 4, pseudo satellite, pseudolite extension station comprises master station signal receiving unit, the taming part of extension station clock and extension station to subscriber signal analog transmissions part.Wherein, pseudo satellite, pseudolite extension station position is fixing, and position in advance high-acruracy survey obtain, as adopted GNSS carrier phase RTK technology, to ensure that positioning precision is more than cm level.
2.1, master station signal receiving unit
Master station signal receiving unit is formed by connecting by master station signal receiving antenna, extension station down conversion module, extension station A/D modular converter, extension station single channel baseband signal processing module and extension station information extraction modules successively.Wherein, extension station down conversion module is that the radiofrequency signal received is changed to intermediate-freuqncy signal, the signal for time synchronized launched due to pseudo satellite, pseudolite main website is different from GPS radio-frequency signal frequency, therefore this down coversion part is different from the down coversion of pseudo satellite, pseudolite main website GPS receiving unit.Extension station single channel baseband signal processing module mainly settling signal is caught and is followed the tracks of.The extension station such as time and visible satellite information extraction modules, by the extraction of time signal and the decoding of textual information, obtains the information such as numbering, ephemeris parameter of PPS pps pulse per second signal and visible satellite.
2.2, part tamed by extension station clock
Extension station clock tames the signal processing of part with taming part with master clock.
2.3, extension station is to subscriber signal analog transmissions part
Extension station is formed by connecting to user's emitting antenna to user's up-converter module and extension station to user D/A modular converter, extension station to subscriber signal generation module, extension station to customer parameter calculating and information coding module, extension station by extension station successively to subscriber signal analog transmissions part.Signal processing with main website to subscriber signal analog transmissions part.
3, receiver user
As shown in Figure 5, receiver user resolves the model calling such as module by user's receiving antenna, user's down conversion module, subscriber signal trapping module, subscriber signal tracking module, user's decoder module, user's range finder module and user PVT successively and forms.In order to the indoor and outdoor completing general GPS user is located in real time, generally in indoor configuration 1 pseudo satellite, pseudolite main website, the pseudo satellite, pseudolite extension station of 3 or more.The signal of the subscriber signal simulation produced due to each pseudo satellite, pseudolite main website and pseudo satellite, pseudolite extension station is not that slave station itself sends, but a virtual GPS satellite of simulation, therefore the signal that receiver user receives just follows actual gps satellite signal the same, and its location settlement process is just the same with GPS common receiver positioning calculation process.The pseudo satellite, pseudolite station simultaneously receiving 4 or more as user antenna send signal time, positioning equation can be expressed as:
In formula, (x
u, y
u, z
u) be the three-dimensional position of user;
be the position of i-th GPS virtual satellite, obtained by information decoding; ρ
iit is the pseudo-range measurements that user observes the i-th pseudo satellite, pseudolite station; cdt
uit is the range error that user clock causes.
In above-mentioned equation (4), unknown quantity has 4, is x respectively
u, y
u, z
u, cdt
u, when observed quantity is 4 or more, above-mentioned equation just can resolve.
Based on the one general GPS indoor and outdoor localization method that said system realizes, comprise the steps:
Step 1, according to doors structure and size, first determine the position of 1 pseudo satellite, pseudolite main website and 3 or more pseudo satellite, pseudolite extension station, wherein pseudo satellite, pseudolite main website needs visible gps satellite, meanwhile, needs the three-dimensional position accurately measuring these pseudo satellite, pseudolite main websites and pseudo satellite, pseudolite extension station.
Step 2, choose an indoor reference point, this reference point is preferably selected in indoor near center, after determining reference point, accurately measures the three-dimensional position of this reference point.
The outer gps satellite signal of step 3, pseudo satellite, pseudolite main website receiving chamber, extracts the ephemeris parameter of visible satellite, and realizes the output of high-precision PPS pps pulse per second signal, and pseudo satellite, pseudolite main website utilizes this PPS signal to realize local clock and tames.Meanwhile, pseudo satellite, pseudolite main website synchronous two-way that generates under PPS effect transmits, and pseudo satellite, pseudolite extension station is issued on a road, synchronous with main station time for pseudo satellite, pseudolite extension station, and informs the visible satellite of current outdoor and parameter thereof.Receiver user is issued on another road, locates for user.The two-way radiofrequency signal that pseudo satellite, pseudolite main website sends adopts different transmission frequencies.In addition, in order to avoid the interference between signal, the frequency of two-way radiofrequency signal does not select the frequency range of GPS.
Step 4, pseudo satellite, pseudolite extension station receive the signal that pseudo satellite, pseudolite main website sends, and complete the local zone time of pseudo satellite, pseudolite extension station and the time synchronized of pseudo satellite, pseudolite main website, extract visible satellite information.According to the line of reference point and pseudo satellite, pseudolite extension station, calculate and choose and simulate near the gps satellite on this line, to obtain a virtual GPS satellite.The above-mentioned gps satellite chosen can, on line, can, near line, be also that precision declines a little to some extent.In simulation process, revise the ephemeris parameter of this virtual GPS satellite, its movement velocity lowered greatly, with allow simulate virtual GPS satellite, reference point, pseudo satellite, pseudolite extension station three as far as possible near point-blank, improve precision.
Step 5, receiver user directly can adopt GPS, locate the same with outdoor GPS, when receiver user receives the signal sent at 4 or more pseudo satellite, pseudolite stations simultaneously, and just can the three-dimensional position of real-time resolving user.
Claims (6)
1. general GPS indoor and outdoor localization method, is characterized in that, comprise the steps:
Step 1, according to doors structure and size, determine the position at pseudo satellite, pseudolite station, and accurately measure the three-dimensional position at each pseudo satellite, pseudolite station; Above-mentioned pseudo satellite, pseudolite station comprises the pseudo satellite, pseudolite extension station of 1 pseudo satellite, pseudolite main website and more than 3 or 3, and wherein pseudo satellite, pseudolite main website needs visible gps satellite;
Step 2, choose indoor 1 reference point, accurately measure the three-dimensional position of this reference point simultaneously;
The outer visible gps satellite signal of step 3, pseudo satellite, pseudolite main website receiving chamber, extracts the ephemeris parameter of visible satellite, and realizes the output of PPS pps pulse per second signal; Pseudo satellite, pseudolite main website utilizes this PPS pps pulse per second signal to realize local clock and tames; Meanwhile, pseudo satellite, pseudolite main website synchronous 2 tunnels that generate under the effect of PPS pps pulse per second signal transmit, and riches all the way penetrates signal and issue pseudo satellite, pseudolite extension station, synchronous with pseudo satellite, pseudolite main station time for realizing pseudo satellite, pseudolite extension station, and informs the visible gps satellite information of current outdoor; Another road transmits and issues receiver user, for realizing user location;
Step 4, each pseudo satellite, pseudolite extension station receive the signal that pseudo satellite, pseudolite main website sends, and complete the local zone time of each pseudo satellite, pseudolite extension station and the time synchronized of pseudo satellite, pseudolite main website, and extract visible gps satellite information; The immediate gps satellite of the line that each pseudo satellite, pseudolite extension station selected distance reference point and this pseudo satellite, pseudolite extension station are formed, carry out gps satellite signal simulation, in simulation process, by revising the ephemeris parameter of satellite, the movement velocity of the gps satellite simulated made declines;
Step 5, when receiver user receives the signal sent at more than 4 or 4 pseudo satellite, pseudolite stations simultaneously, can the three-dimensional position of real-time resolving user.
2. general GPS indoor and outdoor localization method according to claim 1, is characterized in that, reference point is selected in indoor near center position.
3. general GPS indoor and outdoor localization method according to claim 1, is characterized in that, the 2 tunnel radiofrequency signals that pseudo satellite, pseudolite main website sends adopt different transmission frequencies, and the transmission frequency of 2 tunnel radiofrequency signals is not all in the frequency range of gps signal.
4. general GPS indoor and outdoor positioning system, is characterized in that, comprise pseudo satellite, pseudolite station and receiver user; Wherein pseudo satellite, pseudolite station is made up of the pseudo satellite, pseudolite extension station of 1 pseudo satellite, pseudolite main website and more than 3 or 3; Pseudo satellite, pseudolite main website and pseudo satellite, pseudolite extension station are placed in indoor, and the visible gps satellite of pseudo satellite, pseudolite main website;
Pseudo satellite, pseudolite main website comprises gps signal receiving unit, master clock tames part, main website to extension station signal imitation radiating portion and main website to subscriber signal analog transmissions part; The outer visible gps satellite signal of gps signal receiving unit receiving chamber, extracts the ephemeris parameter of visible satellite, and realizes the output of PPS pps pulse per second signal; Master clock tames PPS pps pulse per second signal that part utilizes gps signal receiving unit to export, and to realize local clock taming; Main website generates under the effect of PPS pps pulse per second signal that riches all the way penetrate signal to extension station signal imitation radiating portion and issues pseudo satellite, pseudolite extension station; Main website generates another road to subscriber signal analog transmissions part and transmits and issue receiver user under the effect of PPS pps pulse per second signal, for realizing user location;
Pseudo satellite, pseudolite extension station comprises master station signal receiving unit, the taming part of extension station clock and extension station to subscriber signal analog transmissions part; Master station signal receiving unit receives the signal that pseudo satellite, pseudolite main website sends, and extracts visible gps satellite information; Extension station clock is tamed part and is completed the local zone time of each pseudo satellite, pseudolite extension station and the time synchronized of pseudo satellite, pseudolite main website; Extension station is to the immediate gps satellite of line of subscriber signal analog transmissions part selected distance reference point and this pseudo satellite, pseudolite extension station, carry out gps satellite signal simulation, and in simulation process, by revising the ephemeris parameter of satellite, the movement velocity of this simulating GPS satellite is declined;
Receiver user receives the signal that more than 4 or 4 pseudo satellite, pseudolite stations are sent simultaneously, with the real-time resolving of completing user three-dimensional position.
5. general GPS indoor and outdoor localization method according to claim 4, is characterized in that, reference point is selected in indoor near center position.
6. general GPS indoor and outdoor localization method according to claim 4, is characterized in that, the 2 tunnel radiofrequency signals that pseudo satellite, pseudolite main website sends adopt different transmission frequencies, and the transmission frequency of 2 tunnel radiofrequency signals is not all in the frequency range of gps signal.
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| CN106526616A (en) * | 2016-12-22 | 2017-03-22 | 格星微电子科技成都有限公司 | Pseudo-satellite indoor navigation method based on virtual grid |
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| CN106597474A (en) * | 2016-12-28 | 2017-04-26 | 格星微电子科技成都有限公司 | Indoor GNSS pseudo-satellite networking method |
| CN106772487A (en) * | 2016-12-22 | 2017-05-31 | 格星微电子科技成都有限公司 | A kind of pseudo satellite, pseudolite indoor navigation method based on pseudo- point |
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| CN109000661A (en) * | 2018-07-05 | 2018-12-14 | 格星微电子科技成都有限公司 | A kind of indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint |
| CN109000661B (en) * | 2018-07-05 | 2021-10-22 | 格星微电子科技成都有限公司 | Indoor navigation method based on pseudolite carrier-to-noise ratio fingerprint |
| CN109061695A (en) * | 2018-07-24 | 2018-12-21 | 北京遥测技术研究所 | A kind of navigation locating method suitable for attitude maneuver satellite |
| CN110927746A (en) * | 2018-09-20 | 2020-03-27 | 精工爱普生株式会社 | Positioning system, virtual station control device, and virtual satellite station control method |
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| CN112558131A (en) * | 2020-11-24 | 2021-03-26 | 北京百度网讯科技有限公司 | AR navigation method and apparatus, electronic device, navigation system, and storage medium |
| CN112698361A (en) * | 2021-03-24 | 2021-04-23 | 航天宏图信息技术股份有限公司 | Positioning method and device based on pseudo satellite |
| CN114200496A (en) * | 2021-12-09 | 2022-03-18 | 桂林电子科技大学 | Satellite signal simulation system and method capable of realizing real-time regeneration |
| CN114814919A (en) * | 2022-06-21 | 2022-07-29 | 东南大学 | Fusion positioning system and positioning method based on pseudolite and UWB |
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