CN105974455A - Land-based positioning method and apparatus based on fiber time service - Google Patents
Land-based positioning method and apparatus based on fiber time service Download PDFInfo
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- CN105974455A CN105974455A CN201610525126.XA CN201610525126A CN105974455A CN 105974455 A CN105974455 A CN 105974455A CN 201610525126 A CN201610525126 A CN 201610525126A CN 105974455 A CN105974455 A CN 105974455A
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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
- G01S19/38—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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electric Clocks (AREA)
Abstract
The invention discloses a land-based positioning method and apparatus based on fiber time service, and relates to the technical field of land-based positioning navigation. The technical solution of the invention includes: an atomic clock outputs a clock signal to a fiber time service device master station; the fiber time service device master station transmits the clock signal to a plurality of fiber time service device slave stations through optical cables; each fiber time service device transmits the received clock signal which serves as an external clock source to a pseudo-satellite signal-generator which is connected to the fiber time service device; each pseudo-satellite signal-generator simultaneously transmits a radio positioning signal based on the clock signal; a satellite signal receiver receives the radio positioning signal, and then, based on a position coordinate contained in the radio positioning signal of the pseudo-satellite signal-generator and the arriving time of the radio positioning signal, conducts resolution of the positioning algorithm so as to acquire position coordinate of the satellite signal receiver.
Description
Technical field
The present invention relates to continental rise location and navigation technology field, particularly to a kind of continental rise localization method based on optical fiber time service and device.
Background technology
Satellite navigation system possesses the serviceabilities such as the incomparable Global coverage of other navigation system, high accuracy, has become as global most important navigation mode at present.Existing navigation positioning system is mainly with GPS (Global Navigation
Satellite System, GNSS) it is main, the GPS of the such as U.S., Muscovite GLONASS, the GALILEO in Europe, the Beidou II (BD2) of China, these satellite-based navigation positioning systems are also referred to as space-based time service Position Fixing Navigation System.
Although GPS (GNSS) has many advantages, purposes is quite varied, but the most progressively presents clearly disadvantageous in some modern Application.Such as at the special area such as built-up " urban canyons ", indoor, basement, satellite-signal decay seriously or does not completely receive, and i.e. cannot provide hi-Fix at visible satellite less than " difficult region " of 4.Therefore, GNSS is not met by high-precision location requirement, such as at aspects such as structure monitoring, Machine automated, jungle and Mountainous Regions, warehouse, city and indoor positioning in many applications.
Summary of the invention
In order to solve existing GNSS above shortcomings, the present invention proposes a kind of continental rise localization method based on optical fiber time service and device.The method can not receive satellite-signal or satellite-signal blocked in the case of provide location navigation, do not rely on satellite, can be as the backup means of GNSS.
Continental rise localization method based on optical fiber time service in the present invention includes:
Step 1: atomic clock output clock signal is to optical fiber time service equipment main website；
Step 2: optical fiber time service equipment main website by optical cable by clock signal transmission to some optical fiber time service equipment slave stations；
Step 3: the clock signal received is sent to connected Pseudolite signal generator as external clock reference by each optical fiber time service equipment slave station；The clock signal received is sent to connected Pseudolite signal generator as external clock reference by optical fiber time service equipment main website；
Step 4: each Pseudolite signal generator launches radio location signals according to described clock signal simultaneously；
Step 5: after satellite signal receiver receives radio location signals, the position coordinates comprised in radio location signals according to Pseudolite signal generator and the time of advent of radio location signals, carry out the resolving of location algorithm, thus obtain the position coordinates of satellite signal receiver self；
Wherein, optical fiber time service equipment main website and optical fiber time service equipment slave station sum are at least 4, and optical fiber time service equipment main website connects has a Pseudolite signal generator, every optical fiber time service equipment slave station to be connected to a Pseudolite signal generator.
Further, described location algorithm is TOA location algorithm or TDOA location algorithm.
Further, described optical fiber time service equipment main website and each optical fiber time service equipment slave station form ring-shaped network mode by optical cable.
Further, optical fiber time service equipment main website is connected with each optical fiber time service equipment slave station respectively by optical cable thus forms star-like networking mode.
Further, optical fiber time service equipment main website and each optical fiber time service equipment slave station form tree group network mode by optical cable.
Present invention also offers a kind of continental rise positioner based on optical fiber time service, including:
Atomic clock, optical fiber time service equipment main website, some optical fiber time service equipment slave stations and some Pseudolite signal generators；
Described atomic clock is connected with optical fiber time service equipment main website, optical fiber time service equipment main website is also connected with a Pseudolite signal generator, optical fiber time service equipment main website is for receiving the clock signal that atomic clock produces, and described clock signal is exported to connected Pseudolite signal generator as external clock；
Optical fiber time service equipment main website is additionally operable to described clock signal transmission by optical cable to each optical fiber time service equipment slave station；
Described each optical fiber time service equipment slave station is connected to a Pseudolite signal generator, and each optical fiber time service equipment slave station is for exporting described clock signal to connected Pseudolite signal generator as external clock；
Described Pseudolite signal generator is for sending radio location signals under control of the clock signal.
Wherein, Pseudolite signal generator sum is at least 4.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows:
The continental rise location technology that the present invention proposes is a kind of new, entirely autonomous ground Overview of Pseudolite Positioning.Compared with traditional GPS (GNSS), it has, and signal is strong, positioning precision is high, reliability is high, the system expandability is strong, can flexible networking, can be used for the advantages such as indoor positioning.The positioner of the present invention can expand or shrink area coverage along with application or the demand of user, and its coverage can be from playground, a room to, then to the most whole city, a community.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is the first embodiment of continental rise positioner based on optical fiber time service in the present invention.
Fig. 2 is the second embodiment of continental rise positioner based on optical fiber time service in the present invention.
Fig. 3 is the 3rd embodiment of continental rise positioner based on optical fiber time service in the present invention.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, in addition to mutually exclusive feature and/or step, all can combine by any way.
Any feature disclosed in this specification, unless specifically stated otherwise, all can be by other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, an example during each feature is a series of equivalence or similar characteristics.
Continental rise positioner based on optical fiber time service in the present invention includes atomic clock, optical fiber time service equipment main website, some optical fiber time service equipment slave stations and some Pseudolite signal generators.
In one embodiment, OSA company of atomic clock employing cesium-beam atomic clock OSA 3230B Cs Clock(Switzerland)；Optical fiber time service equipment main website and slave station are actually identical equipment, only because its position difference in a network gives to name respectively.Optical fiber time service equipment uses the optical fiber time service equipment that model is TFT3001 that letter ground Big Dipper Science and Technology Co., Ltd. of Sichuan Futong of Thailand produces；Pseudolite signal generator uses Beijing Hua Yunzhi and joins the Pseudolite signal generator that model is HY-SPL-9000 that Science and Technology Ltd. produces；Satellite signal receiver can use gps satellite signal receiver Ublox-LEA-8T that U-blox company of Switzerland produces or the Big Dipper satellite signal receiver TGM332D that Hangzhou Zhongke Microelectronic Co., Ltd. produces.
The annexation of these equipment is as follows:
Atomic clock is connected with optical fiber time service equipment main website, optical fiber time service equipment main website is also connected with a Pseudolite signal generator, optical fiber time service equipment main website is for receiving the clock signal that atomic clock produces, and described clock signal is exported to connected Pseudolite signal generator as external clock.
Optical fiber time service equipment main website is additionally operable to described clock signal transmission by optical cable to each optical fiber time service equipment slave station；Described each optical fiber time service equipment slave station is connected to a Pseudolite signal generator, and each optical fiber time service equipment slave station is for exporting described clock signal to connected Pseudolite signal generator as external clock；Described Pseudolite signal generator is for sending radio location signals under control of the clock signal.
In order to realize location, Pseudolite signal generator sum is needed to be at least 4.
What Fig. 1 showed is the continental rise positioner of ring-shaped network mode, the split-second precision frequency signal that wherein atomic clock source provides is delivered to optical fiber time service equipment A(main website by optical fiber), it is delivered to optical fiber time service equipment B(slave station again) by optical cable, by that analogy, optical fiber time service equipment E(slave station is passed up to by optical cable).Every optical fiber time service equipment provides time synchronizing signal, the precision of time synchronizing signal≤± 10ns to corresponding Pseudolite signal generator.Each Pseudolite signal generator launches radio location signals to receiver user under the control of time synchronizing signal simultaneously.The duty of every optical fiber time service equipment can remotely be monitored by webmaster computer by webmastering software.Meanwhile, have employed best master clock algorithm (Best Master Clock, BMC) avoids optical ring network network timing loop occur.
What Fig. 2 showed is the continental rise positioner of star-like networking mode, the split-second precision frequency signal that atomic clock source provides is delivered to optical fiber time service equipment A(main website by optical cable), then centered by optical fiber time service equipment A, it is delivered to optical fiber time service equipment B, C, D, E(slave station by a plurality of optical cable is star-like).Every optical fiber time service equipment provides time synchronizing signal, the precision of time synchronizing signal≤± 10ns for corresponding pseudolite transmitter.Each pseudolite transmitter launches radio location signals to receiver user under the control of time synchronizing signal simultaneously.The duty of every optical fiber time service equipment can remotely be monitored by webmaster computer by webmastering software.
What Fig. 3 showed is the continental rise positioner of tree group network mode, the split-second precision frequency signal that atomic clock source provides is delivered to optical fiber time service equipment A(main website by optical fiber), then centered by optical fiber time service equipment A, it is delivered to optical fiber time service equipment B(slave station by optical cable is star-like), then it is delivered to optical fiber time service equipment C, D(slave station by optical cable)；It is delivered to optical fiber time service equipment E(slave station by another optical cable is star-like), then it is delivered to optical fiber time service equipment F, G(slave station by optical cable).Every optical fiber time service equipment provides time synchronizing signal, the precision of time synchronizing signal≤± 10ns for corresponding pseudolite transmitter.Each pseudolite transmitter launches radio location signals to receiver user under the control of time synchronizing signal simultaneously.The duty of every optical fiber time service equipment can remotely be monitored by webmaster computer by webmastering software.
In addition to typical three kinds (ring-like, star-like, tree-shaped) networking modes of ground Big Dipper Position Fixing Navigation System that the present invention is given, it is also possible to have other networking mode.Therefore, networking mode includes but not limited to above-mentioned three kinds of modes, can also be combined arbitrarily by these several networking modes simultaneously.
A specific embodiment of continental rise localization method of based on optical fiber time service is described below in the present invention, comprises the following steps:
(1), after cesium-beam atomic clock OSA 3230B starts shooting 48 hours, 10MHz output absolute accuracy is 5E-14,1PPS and the 10MHz clock signal of cesium-beam atomic clock output exports optical fiber time service equipment main website TFT3001；
(2) optical fiber time service equipment main website TFT3001 passes through the optical cable of different length by the clock signal transmission of 1PPS and 10MHz to the multiple optical fiber time service equipment slave station TFT3001 being positioned at far-end；
(3) 1PPS and the 10MHz clock signal of each optical fiber time service equipment TFT3001 output inputs as the external clock reference of connected Pseudolite signal generator HY-SPL-9000, it is achieved thereby that the time synchronized of multiple Pseudolite signal generator (timing tracking accuracy≤± 10ns)；
(4) known to position, 4 (or more than 4) Pseudolite signal generator HY-SPL-9000(may be simply referred to as pseudo satellite, pseudolite) under the control of external timing signal, launch the radio location signals being similar to the GPS/ Big Dipper simultaneously；
(5) after gps satellite signal receiver Ublox-LEA-8T or Big Dipper satellite signal receiver ATGM332D receives the GPS/ Big Dipper radio location signals that pseudo satellite, pseudolite sends, according to the position coordinates comprised in the radio location signals that pseudo satellite, pseudolite is launched and the time of advent of radio location signals, carry out the resolving of TOA location algorithm, thus obtain the position coordinates (positioning precision≤2m) of satellite signal receiver self.
The present invention uses Pseudolite signal generator, it is not necessary to resolving the position of pseudo satellite, pseudolite, pseudo satellite, pseudolite all broadcasts the position coordinates of oneself voluntarily by its " ephemeris ".All effective pseudo satellite, pseudolite in the present invention all keeps Tong Bu by high-precision optical fiber time service equipment with the atomic clock source in net, and keeps the fixed skew netting interior pseudo satellite, pseudolite transmitting signal.In the present invention, geographical position residing for pseudo satellite, pseudolite and receiver user is not far from one another (being separated by a few km～tens km), and the distance of GPS user receiver and satellite-signal transmitter is about 20000 km, so the signal intensity that receives of terrestrial user receiver is apparently higher than the signal intensity of GPS, more conducively user receives radio location signals.
Owing to ground Pseudolite signal strength ratio GNSS signal is much better than, the continental rise positioner in the present invention can use in a variety of contexts, its hi-Fix signal provided, and can use, have broad application prospects in outdoor, indoor or combination environment.
The invention is not limited in aforesaid detailed description of the invention.The present invention can expand to any new feature disclosed in this manual or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (9)
1. a continental rise localization method based on optical fiber time service, it is characterised in that including:
Step 1: atomic clock output clock signal is to optical fiber time service equipment main website；
Step 2: optical fiber time service equipment main website by optical cable by clock signal transmission to some optical fiber time service equipment slave stations；
Step 3: the clock signal received is sent to connected Pseudolite signal generator as external clock reference by each optical fiber time service equipment slave station；The clock signal received is sent to connected Pseudolite signal generator as external clock reference by optical fiber time service equipment main website；
Step 4: each Pseudolite signal generator launches radio location signals according to described clock signal simultaneously；
Step 5: after satellite signal receiver receives radio location signals, the position coordinates comprised in radio location signals according to Pseudolite signal generator and the time of advent of radio location signals, carry out the resolving of location algorithm, thus obtain the position coordinates of satellite signal receiver self；
Wherein, optical fiber time service equipment main website and optical fiber time service equipment slave station sum are at least 4, and optical fiber time service equipment main website connects has a Pseudolite signal generator, every optical fiber time service equipment slave station to be connected to a Pseudolite signal generator.
A kind of continental rise localization method based on optical fiber time service the most according to claim 1, it is characterised in that described location algorithm is TOA location algorithm or TDOA location algorithm.
A kind of continental rise localization method based on optical fiber time service the most according to claim 1, it is characterised in that described optical fiber time service equipment main website and each optical fiber time service equipment slave station form ring-shaped network mode by optical cable.
A kind of continental rise localization method based on optical fiber time service the most according to claim 1, it is characterised in that optical fiber time service equipment main website is connected with each optical fiber time service equipment slave station respectively by optical cable thus forms star-like networking mode.
A kind of continental rise localization method based on optical fiber time service the most according to claim 1, it is characterised in that optical fiber time service equipment main website and each optical fiber time service equipment slave station form tree group network mode by optical cable.
6. a continental rise positioner based on optical fiber time service, it is characterised in that including:
Atomic clock, optical fiber time service equipment main website, some optical fiber time service equipment slave stations and some Pseudolite signal generators；
Described atomic clock is connected with optical fiber time service equipment main website, optical fiber time service equipment main website is also connected with a Pseudolite signal generator, optical fiber time service equipment main website is for receiving the clock signal that atomic clock produces, and described clock signal is exported to connected Pseudolite signal generator as external clock；
Optical fiber time service equipment main website is additionally operable to described clock signal transmission by optical cable to each optical fiber time service equipment slave station；
Described each optical fiber time service equipment slave station is connected to a Pseudolite signal generator, and each optical fiber time service equipment slave station is for exporting described clock signal to connected Pseudolite signal generator as external clock；
Described Pseudolite signal generator is for sending radio location signals under control of the clock signal；
Wherein, Pseudolite signal generator sum is at least 4.
A kind of continental rise positioner based on optical fiber time service the most according to claim 6, it is characterised in that described optical fiber time service equipment main website and each optical fiber time service equipment slave station form ring-shaped network mode by optical cable.
A kind of continental rise positioner based on optical fiber time service the most according to claim 6, it is characterised in that optical fiber time service equipment main website is connected with each optical fiber time service equipment slave station respectively by optical cable thus forms star-like networking mode.
A kind of continental rise positioner based on optical fiber time service the most according to claim 6, it is characterised in that optical fiber time service equipment main website and each optical fiber time service equipment slave station form tree group network mode by optical cable.
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| CN201610525126.XA CN105974455A (en) | 2016-07-06 | 2016-07-06 | Land-based positioning method and apparatus based on fiber time service |
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Cited By (6)
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| CN107422301A (en) * | 2017-06-27 | 2017-12-01 | 北京航空航天大学 | A kind of big region high-precision locating method of alternative conventional wireless electricity navigation system |
| CN109211235A (en) * | 2017-06-29 | 2019-01-15 | 深圳市耀航信息技术有限公司 | Indoor fake satellite positioning system and method |
| CN109274424A (en) * | 2018-10-30 | 2019-01-25 | 中国科学院国家授时中心 | A kind of automatic compensating method of optical fiber time dissemination system and its sagnac effect |
| CN110850362A (en) * | 2019-11-27 | 2020-02-28 | 博微宇空(重庆)科技有限公司 | Foundation positioning system and method based on scene assistance |
| JP2021032561A (en) * | 2019-08-13 | 2021-03-01 | 東芝エレクトロニックシステムズ株式会社 | Positioning environment provision system |
| CN113311462A (en) * | 2021-06-03 | 2021-08-27 | 陈潇潇 | Positioning method for analog GNSS signal proximity broadcast |
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