CN104935391A - Self-closed-loop time synchronization method of indoor pseudo-satellites - Google Patents
Self-closed-loop time synchronization method of indoor pseudo-satellites Download PDFInfo
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Abstract
The invention discloses a self-closed-loop time synchronization method of indoor pseudo-satellites, and relates to the field of indoor and tunnel positioning. The method comprises that 1) an indoor pseudo-satellite measurement configuration of zero base line self-closed-loop is constructed, the pseudo-satellite measurement configuration includes a main indoor pseudo-satellite and a slavery indoor pseudo-satellite, and each of the main and slavery indoor pseudo-satellites comprises a satellite signal generator and a self-closed-loop synchronization receiver; 2) the self-closed-loop synchronization receivers of the main and slavery pseudo-satellites receive navigation signals of the main and slavery indoor pseudo-satellites simultaneously, and the clock difference between the main and slavery indoor pseudo-satellites is calculated; 3) the clock difference between the pseudo-satellites is processed to obtain a rough clock different control word and a fine clock different parameter, and the rough clock difference word is sent to the signal generators to realize rough synchronization of the pseudo-satellites; and the fine clock different parameter is written into a pseudo-satellite text to realize fine synchronization of the pseudo-satellites. Thus, the method can realize high-precision time synchronization between the indoor pseudo-satellites, and is low in cost, simple and practical.
Description
Technical field
The present invention relates to indoor and tunnel placement field, particularly a kind of indoor pseudo satellite, pseudolite is from closed loop method for synchronizing time.
Background technology
At present, the demand of indoor positioning is more and more urgent, people wish can in megastore, public place, longer velocity tunnel etc. know the position at self place.
The satellite navigation system being representative with the Big Dipper and GPS application is more and more extensive, and has become the requisite function such as smart mobile phone, automatic navigator.But satellite navigation signals, because of the occlusion effect of building, cannot penetrate building walls, thus makes satellite navigation receiver lose positioning function.
For these reasons, need the pseudo satellite, pseudolite equipment of a kind of compatible Big Dipper and GPS navigation signal, under the condition that can not change at the Big Dipper/GPS navigation chip module of software and hardware of the configuration such as smart mobile phone, automatic navigator, realize the method for indoor positioning.And the subject matter that pseudo satellite, pseudolite faces in indoor is time synchronization implementation mode, this patent provide between a kind of pseudo satellite, pseudolite from closed loop method for synchronizing time.
Summary of the invention
The object of the invention is: for the Time synchronization technique needed for pseudo satellite, pseudolite indoor positioning, design a kind of indoor pseudo satellite, pseudolite from closed loop method for synchronizing time.
In order to achieve the above object, a kind of indoor pseudo satellite, pseudolite comprises the following steps from closed loop method for synchronizing time:
1. the indoor pseudo satellite, pseudolite Measurement architecture of zero base line from closed loop is built; Described indoor pseudo satellite, pseudolite Measurement architecture comprises indoor main pseudo satellite, pseudolite and indoor from pseudo satellite, pseudolite, indoor main pseudo satellite, pseudolite and indoorly include Pseudolite signal generator and from closed loop synchrodyne from pseudo satellite, pseudolite;
2. the indoor navigation signal launched from the main pseudo satellite, pseudolite of navigation signal and indoor launched from pseudo satellite, pseudolite in closed loop synchrodyne simultaneously receiving chamber of pseudo satellite, pseudolite, calculates indoor main pseudo satellite, pseudolite and indoor from the time deviation between pseudo satellite, pseudolite according to indoor from the pseudo-range measurements exported from closed loop synchrodyne of pseudo satellite, pseudolite;
3. indoor process from the time deviation between pseudo satellite, pseudolite from pseudo satellite, pseudolite the main pseudo satellite, pseudolite in indoor and indoor, obtain thick clock correction control word and smart clock correction parameter, thick clock correction control word is sent to the indoor signal generator from pseudo satellite, pseudolite, realize between indoor pseudo satellite, pseudolite thick synchronous;
4. indoor are from pseudo satellite, pseudolite by indoor for the smart clock correction parameter read-in text from pseudo satellite, pseudolite, realize essence between indoor pseudo satellite, pseudolite synchronous;
Complete indoor pseudo satellite, pseudolite from closed loop method for synchronizing time.
Wherein, step 2. in indoor main pseudo satellite, pseudolite and indoor be specially from the computational methods of the time deviation between pseudo satellite, pseudolite:
Wherein: Δ dt is indoor from the time deviation between the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor; Dt
pL-fromfor indoor are from the system time deviation of pseudo satellite, pseudolite; Dt
pL-masterfor the system time deviation of the main pseudo satellite, pseudolite in indoor;
for indoor are from the pseudo-range measurements of pseudo satellite, pseudolite;
for indoor from pseudo satellite, pseudolite from closed loop synchrodyne reception antenna and indoor from the geometric distance between the Pseudolite signal generator transmitting antenna of pseudo satellite, pseudolite;
for the pseudo-range measurements of the main pseudo satellite, pseudolite in indoor;
for indoor are from the geometric distance between the Pseudolite signal generator transmitting antenna of the main pseudo satellite, pseudolite of closed loop synchrodyne reception antenna and indoor of pseudo satellite, pseudolite; C is the light velocity.
Wherein, step 3. in thick clock correction control word comprise text frame control word, text word control word, the number of words of telegram according to position, spreading code control word and spread-spectrum code chip control word; Essence clock correction parameter comprises clock jitter a0, clock skew a1 and clock skew rate a2;
Text frame control word N1=asks integer (Δ dt/ text frame length);
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length];
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data position is long] according to position N3=;
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data position is long;
Spreading code control word N4=asks integer (Δ dt1/ spread spectrum code length);
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spread spectrum code length)/chip is long];
Clock correction fractional part Δ dt2=Δ dt1-N4* spread spectrum code length-N5* chip is long;
Δdt2＝a0+a1*(t-t0)+a2*(t-t0)
2；
Wherein, Δ dt is indoor from the time deviation between the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor, and t is current time, and t0 be the reference moment.
Wherein, the main pseudo satellite, pseudolite in described indoor is identical from the structure of pseudo satellite, pseudolite with indoor.
The technology of the present invention tool has the following advantages:
I () the present invention adopts the mathematical processing methods from closed loop timing synchronization of indoor pseudo satellite, pseudolite, have the simple advantage of time synchronization implementation.
(ii) the present invention proposes the processing method of thick clock correction control word and smart clock correction data, the pseudo satellite, pseudolite pseudo range measurement value stabilization that receiver is exported.
Accompanying drawing explanation
Fig. 1 is pseudo satellite, pseudolite indoor locating system schematic diagram of the present invention;
Fig. 2 is that indoor of the present invention calculate schematic diagram from the time deviation of the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor;
Fig. 3 be indoor of the present invention from pseudo satellite, pseudolite to indoor from the time deviation process schematic diagram between the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor.
Embodiment
Below in conjunction with specific embodiments and the drawings, the present invention will be further described:
A kind of indoor pseudo satellite, pseudolite, from closed loop method for synchronizing time, comprises the following steps:
1. also launch navigation signal respectively at indoor deployment two pseudo satellite, pseudolites and build the indoor pseudo satellite, pseudolite Measurement architecture of zero base line from closed loop; Wherein, pseudo satellite, pseudolite Measurement architecture comprises indoor main pseudo satellite, pseudolite with indoor from pseudo satellite, pseudolite, and indoor principal and subordinate's pseudo satellite, pseudolite forms by Pseudolite signal generator with from closed loop synchrodyne;
2. indoor from pseudo satellite, pseudolite in closed loop synchrodyne simultaneously receiving chamber from the main pseudo satellite, pseudolite navigation signal of pseudo satellite, pseudolite navigation signal and indoor, calculate indoor main pseudo satellite, pseudolite and indoor from the time deviation between pseudo satellite, pseudolite according to indoor from the pseudo-range measurements exported from closed loop synchrodyne of pseudo satellite, pseudolite; Fig. 2 is that indoor calculate schematic diagram from the time deviation of the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor, comprises the following steps:
(201) indoor are set up as follows from the Pseudo-range Equation of pseudo satellite, pseudolite:
Wherein:
for to the pseudo-range measurements of indoor from pseudo satellite, pseudolite, obtained from the observed quantity of closed loop synchrodyne from pseudo satellite, pseudolite by indoor;
for indoor from pseudo satellite, pseudolite from closed loop synchrodyne reception antenna and indoor from the geometric distance between the Pseudolite signal generator transmitting antenna of pseudo satellite, pseudolite, by measuring acquisition in advance; Dt
rfor indoor from pseudo satellite, pseudolite from closed loop synchrodyne time deviation; Dt
pL-fromfor indoor are from the system time deviation of pseudo satellite, pseudolite; ε
pL-fromfor multipath and thermal noise; C is the light velocity.
(202) Pseudo-range Equation setting up indoor main pseudo satellite, pseudolite is as follows:
Wherein:
for the pseudo-range measurements to the main pseudo satellite, pseudolite in indoor, obtain by from the observed quantity of closed loop synchrodyne;
for indoor are from the geometric distance between the Pseudolite signal generator transmitting antenna of the main pseudo satellite, pseudolite of closed loop synchrodyne reception antenna and indoor of pseudo satellite, pseudolite, by measuring acquisition in advance; Dt
rfor from closed loop synchrodyne time deviation; Dt
pL-masterfor the system time deviation of the main pseudo satellite, pseudolite in indoor; ε
pL-masterfor multipath and thermal noise; C is the light velocity.
(203) indoor main pseudo satellite, pseudolite and indoor are calculated from the time deviation between pseudo satellite, pseudolite.According to Pseudo-range Equation (202) Simultaneous Equations of the indoor in (201) from the main pseudo satellite, pseudolite of Pseudo-range Equation and indoor of pseudo satellite, pseudolite, by offseting process, obtaining new accounting equation is
Ignore the impact of multipath and receiver thermal noise, i.e. (ε
pL-master-ε
pL-from)=0.Then step 3. in indoor from the computational methods of time deviation between the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor be:
Wherein: Δ dt is the indoor time deviation from the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor;
for to the pseudo-range measurements of indoor from pseudo satellite, pseudolite;
for indoor from pseudo satellite, pseudolite from closed loop synchrodyne reception antenna and indoor from the geometric distance between the Pseudolite signal generator transmitting antenna of pseudo satellite, pseudolite;
for the pseudo-range measurements to the main pseudo satellite, pseudolite in indoor.
for indoor are from the geometric distance between the Pseudolite signal generator transmitting antenna of the main pseudo satellite, pseudolite of closed loop synchrodyne reception antenna and indoor of pseudo satellite, pseudolite; C is the light velocity.
3. indoor process from the time deviation between pseudo satellite, pseudolite from pseudo satellite, pseudolite the main pseudo satellite, pseudolite in indoor and indoor, obtain thick clock correction control word and smart clock correction parameter, thick clock correction control word is sent to indoor from Pseudolite signal generator, realize between indoor pseudo satellite, pseudolite thick synchronous;
4. by indoor for smart clock correction parameter read-in from pseudo satellite, pseudolite text, realize essence between indoor pseudo satellite, pseudolite synchronous; Complete indoor pseudo satellite, pseudolite from closed loop method for synchronizing time.
Fig. 3 is from the time deviation process chart between the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor to indoor.
Step 3. in thick clock correction control word comprise text frame control word, text word control word, the number of words of telegram according to position, spreading code control word and spread-spectrum code chip control word; Wherein,
Text frame control word N1=asks integer (Δ dt/ text frame length), if pseudo satellite, pseudolite adopts similar GPS L1 text structure, text frame length is 6s;
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length], if pseudo satellite, pseudolite adopts similar GPS L1 text structure, text word length is 0.6s.
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data position is long] according to position N3=, if pseudo satellite, pseudolite adopts similar GPS L1 text structure, telegraph text data bit length is 0.02s;
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data position is long;
Spreading code control word N4=asks integer (Δ dt1/ spread spectrum code length), if adopt the spreading code of similar GPSL1-CA, code length is 1us;
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spread spectrum code length)/chip is long], if adopt the spreading code of similar GPS L1-CA, chip lengths is 1/1023us.
Step 3. in smart clock correction parameter comprise clock jitter a0, clock skew a1 and clock skew rate a2, computing formula is as follows:
Δdt2＝a0+a1*(t-t0)+a2*(t-t0)
2
Wherein, clock correction fractional part Δ dt2=Δ dt1-N4* spread spectrum code length-N5* chip is long, and t is the current time that subscriber computer use Pseudolite signal positions, and t0 is with reference to the moment.
Claims (4)
1. indoor pseudo satellite, pseudolite is from a closed loop method for synchronizing time, it is characterized in that: comprise the following steps:
1. the indoor pseudo satellite, pseudolite Measurement architecture of zero base line from closed loop is built; Described indoor pseudo satellite, pseudolite Measurement architecture comprises indoor main pseudo satellite, pseudolite and indoor from pseudo satellite, pseudolite, indoor main pseudo satellite, pseudolite and indoorly include Pseudolite signal generator and from closed loop synchrodyne from pseudo satellite, pseudolite;
2. the indoor navigation signal launched from the main pseudo satellite, pseudolite of navigation signal and indoor launched from pseudo satellite, pseudolite in closed loop synchrodyne simultaneously receiving chamber of pseudo satellite, pseudolite, calculates indoor main pseudo satellite, pseudolite and indoor from the time deviation between pseudo satellite, pseudolite according to indoor from the pseudo-range measurements exported from closed loop synchrodyne of pseudo satellite, pseudolite;
3. indoor process from the time deviation between pseudo satellite, pseudolite from pseudo satellite, pseudolite the main pseudo satellite, pseudolite in indoor and indoor, obtain thick clock correction control word and smart clock correction parameter, thick clock correction control word is sent to the indoor signal generator from pseudo satellite, pseudolite, realize between indoor pseudo satellite, pseudolite thick synchronous;
4. indoor are from pseudo satellite, pseudolite by indoor for the smart clock correction parameter read-in text from pseudo satellite, pseudolite, realize essence between indoor pseudo satellite, pseudolite synchronous;
Complete indoor pseudo satellite, pseudolite from closed loop method for synchronizing time.
2. according to the indoor pseudo satellite, pseudolite of the one described in claim 1 from closed loop method for synchronizing time, it is characterized in that: described step 2. in indoor main pseudo satellite, pseudolite and indoor be specially from the computational methods of the time deviation between pseudo satellite, pseudolite:
Wherein: Δ dt is indoor from the time deviation between the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor; Dt
pL-fromfor indoor are from the system time deviation of pseudo satellite, pseudolite; Dt
pL-masterfor the system time deviation of the main pseudo satellite, pseudolite in indoor;
for indoor are from the pseudo-range measurements of pseudo satellite, pseudolite;
for indoor from pseudo satellite, pseudolite from closed loop synchrodyne reception antenna and indoor from the geometric distance between the Pseudolite signal generator transmitting antenna of pseudo satellite, pseudolite;
for the pseudo-range measurements of the main pseudo satellite, pseudolite in indoor;
for indoor are from the geometric distance between the Pseudolite signal generator transmitting antenna of the main pseudo satellite, pseudolite of closed loop synchrodyne reception antenna and indoor of pseudo satellite, pseudolite; C is the light velocity.
3. according to the indoor pseudo satellite, pseudolite of the one described in claim 1 from closed loop method for synchronizing time, it is characterized in that: described step 3. in thick clock correction control word comprise text frame control word, text word control word, the number of words of telegram according to position, spreading code control word and spread-spectrum code chip control word; Essence clock correction parameter comprises clock jitter a0, clock skew a1 and clock skew rate a2;
Text frame control word N1=asks integer (Δ dt/ text frame length);
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length];
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data position is long] according to position N3=;
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data position is long;
Spreading code control word N4=asks integer (Δ dt1/ spread spectrum code length);
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spread spectrum code length)/chip is long];
Clock correction fractional part Δ dt2=Δ dt1-N4* spread spectrum code length-N5* chip is long;
Δdt2＝a0+a1*(t-t0)+a2*(t-t0)
2；
Wherein, Δ dt is indoor from the time deviation between the main pseudo satellite, pseudolite of pseudo satellite, pseudolite and indoor, and t is current time, and t0 be the reference moment.
4. according to the indoor pseudo satellite, pseudolite of the one described in claim 1 from closed loop method for synchronizing time, it is characterized in that: the main pseudo satellite, pseudolite in described indoor and indoor identical from the structure of pseudo satellite, pseudolite.
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| CN106595667A (en) * | 2016-12-07 | 2017-04-26 | 中国电子科技集团公司第五十四研究所 | Mutual synchronization-based indoor pseudolite double-point positioning system and method |
| CN106877965A (en) * | 2017-03-03 | 2017-06-20 | 中国电子科技集团公司第五十四研究所 | A kind of time synchronizing method of micro-base station central station |
| CN107635280A (en) * | 2017-08-24 | 2018-01-26 | 中国电子科技集团公司第五十四研究所 | Signal source method for synchronizing time based on signal fusing and frequency difference On-line Estimation |
| CN107659366A (en) * | 2017-07-25 | 2018-02-02 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | The method of time difference measurement system channel null value between real-time calibration star |
| CN111342888A (en) * | 2020-04-02 | 2020-06-26 | 桂林电子科技大学 | Wireless feedback type pseudo satellite system time synchronization method and system |
| CN113341685A (en) * | 2021-06-30 | 2021-09-03 | 北京微纳星空科技有限公司 | Satellite time management method, electronic device and medium |
| CN117880955A (en) * | 2023-12-28 | 2024-04-12 | 湖南矩阵电子科技有限公司 | Pseudo satellite time synchronization method and system based on error repair |
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| CN107635280A (en) * | 2017-08-24 | 2018-01-26 | 中国电子科技集团公司第五十四研究所 | Signal source method for synchronizing time based on signal fusing and frequency difference On-line Estimation |
| CN111342888A (en) * | 2020-04-02 | 2020-06-26 | 桂林电子科技大学 | Wireless feedback type pseudo satellite system time synchronization method and system |
| CN111342888B (en) * | 2020-04-02 | 2023-06-06 | 桂林电子科技大学 | Wireless feedback type pseudolite system time synchronization method and system |
| CN113341685A (en) * | 2021-06-30 | 2021-09-03 | 北京微纳星空科技有限公司 | Satellite time management method, electronic device and medium |
| CN117880955A (en) * | 2023-12-28 | 2024-04-12 | 湖南矩阵电子科技有限公司 | Pseudo satellite time synchronization method and system based on error repair |
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Application publication date: 20150923 |