CN106054226B - A kind of mobile cellular net combines satellite-signal blind zone positioning method with satellite navigation system - Google Patents
A kind of mobile cellular net combines satellite-signal blind zone positioning method with satellite navigation system Download PDFInfo
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- CN106054226B CN106054226B CN201610663098.8A CN201610663098A CN106054226B CN 106054226 B CN106054226 B CN 106054226B CN 201610663098 A CN201610663098 A CN 201610663098A CN 106054226 B CN106054226 B CN 106054226B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000001413 cellular effect Effects 0.000 title claims abstract description 11
- 238000001914 filtration Methods 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 9
- 230000007704 transition Effects 0.000 claims description 4
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 8
- 238000004891 communication Methods 0.000 abstract description 2
- 230000004807 localization Effects 0.000 abstract 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000001228 spectrum Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005754 cellular signaling Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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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
-
- 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
- G01S19/12—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 telecommunication base stations
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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)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention belongs to electronic communications and automation field, are related to a kind of mobile cellular net and combine realization satellite-signal blind area inner receiver localization method with satellite navigation system.In the localization method, two different method independence calculation position coordinates will be respectively adopted in the satellite-signal that receiver is forwarded using base station first：A kind of method is that positioning result of the receiver based on previous moment derives subsequent time position coordinates；Another method is that receiver measures base station to the pseudorange of receiver using satellite-signal, recycles triangulation location principle calculation position.Then, receiver is joined together by the positioning result that two methods obtain as observation, and result is filtered using Kalman filtering algorithm to determine end user's position coordinates.Present invention arrangement in practical application is at low cost and installation is easy, and can obtain higher positioning accuracy.
Description
Technical Field
The invention belongs to the field of electronics, communication and automatic control, and relates to user positioning based on a navigation satellite, in particular to user positioning in a signal blind area of the navigation satellite.
Background
In a navigation satellite signal blind area, such as inside a building or a tunnel, under a viaduct, and the like, a user receiver generally cannot directly acquire a satellite signal, that is, cannot directly calculate a position by using the navigation satellite signal. In this case, if positioning using satellite signals is still needed, the satellite signals are amplified and forwarded by other devices located in good areas of the satellite signals so that users in the blind areas receive valid satellite signals to realize positioning, such as satellite signal repeater forwarding technology used for indoor positioning. But for environments where the infrastructure is incomplete, satellite repeater deployment will encounter significant challenges. At present, the coverage rate of a mobile cellular network is very high, the coverage radius of a cellular cell base station is gradually reduced, and the blind area of a mobile signal is small, so that a user can still receive a satellite signal in the blind area of the navigation satellite signal by forwarding the navigation satellite signal by using the mobile cellular base station, and further positioning is realized; in the area where the user can directly receive the satellite signal, the receiver can further improve the positioning accuracy by using the forwarded satellite signal.
Disclosure of Invention
The invention provides a method for realizing positioning of a receiver in a satellite signal blind area by combining a mobile cellular network and a satellite navigation system. When a base station receives a navigation satellite signal, the signal is processed to obtain navigation data, then the navigation data is modulated by using a new spread spectrum code (different from the spread spectrum codes used by all navigation satellites), and then the signal is forwarded at a certain power on the frequency band used by the same navigation satellite signal. When the satellite signal is forwarded, the base station maintains the code phase, the carrier phase and the doppler shift of the original satellite signal by using certain signal processing. The transmission power of the base station for transmitting the satellite signals is to ensure that each receiver can simultaneously receive the satellite signals transmitted by three or more base stations. The receiver can realize navigation positioning by using the received and retransmitted satellite signals. The receiver adopts two different methods for positioning, and then the data measured by the two methods are fused through a Kalman filter to realize the final high-precision positioning.
The invention discloses a method for positioning a satellite signal blind area by combining a mobile cellular network and a satellite navigation system, which comprises the following steps:
the method comprises the following steps: positioning by two positioning methods
The invention requires the cellular network base station to be able to transmit the navigation satellite signal, the signal transmitting power meets the relevant regulations and ensures that each user receiver can receive at least 3 or more than 3 satellite signals transmitted by the base station at any time. The coordinates of each base station are accurately measured and may be transmitted to the user receiver via cellular signaling data. Each base station first needs to process the received satellite signals to obtain ephemeris data. Since the amount of mobile network traffic handled by each base station at the same time may be different, the delay time for satellite signal processing may also be different. Different signal processing delays can cause receiver-to-base station ranging errors even if the receiver differentially processes signals from different base stations. The invention adopts two positioning methods, which are specifically as follows:
the first positioning method comprises the following steps:
first, a signal transfer processing time error is eliminated. Is recorded at time tkSignals measured by the receiver from satellites siVia base station bjThe time elapsed for forwarding to the receiver isThen
Wherein,is the signal from a satellite siTo base station bjThe time of (d);is a signal from the base station bjTime to receiver; δ tcIs the receiver clock error;is the signal from a satellite siTo base station bjPropagation errors experienced by the receiver;the time that the signal is transmitted from the base station antenna after the signal reaches the base station antenna and is processed by the base station;representing other measurement errors.
The differential operation of the propagation times of the signals coming from the same satellite and forwarded to the receiver via the same base station, but measured at different times, results in:
wherein the receiver clock difference deltatcWill be eliminated;
t0and t1The interval between the two is less than or equal to 1 second,andconsidered to be zero. The receiver can obtain satellite coordinates after decoding the satellite data. The receiver can obtain the coordinate information of the base station through signaling when accessing the base station,and the coordinate calculation of the satellite and the base station can be used for obtaining.
The receiver respectively transmits signals to different base stations at two successive time instants (t)0And t1) The measured propagation times being differentially operated, i.e.
Let Can be expressed asWhereini is 0,1, i.e. at time tiCoordinates of the user;is a base station bj(j is 1,2,3) andis represented at time tiSlave base station bjThe distance to the user receiver. Equation (3) can be further expressed as:
equation (4) can be further organized as:
if the subscriber receiver is at time t0When the position of the receiver is known, the receiver is calculated according to the formula (5) at the time t1The position of the time. The calculated user position is
The second positioning method comprises the following steps:
when the subscriber receiver receives the retransmitted signal from the base station, it can use the signal to measure the time taken for the signal to be retransmitted from the satellite to the subscriber via the base stationAt time tkMeasured timeWill be shown in equation (1). The signals from the same satellite are retransmitted through different base stations and the time required for them to reach the user receiver will be different. Assuming the same satellite(s)1) Signals are transmitted through four base stations bj(j-1, 2,3,4) forwarding, then there are
Let To measure, andis the signal from a satellite s1To base station bjThe time required for propagation can be determined by satellite s1And base station bjThe coordinates of (2) are calculated.Can be expressed as follows:
base station bj(j ═ 1,2,3,4) are typically close together, and the receiver can receive the retransmitted signals from these four base stations simultaneously;considered to be equal. Satellite signal retransmission processing time of each base stationEquality is assumed in the present positioning method. According to equation (8), one can further obtain:
letWhereinAt a time tkCoordinates of the user receiver;is a base station bjThe coordinates of (a). Equation (9) can be written as:
according to the formula (10), the user position coordinates can be obtained by calculationThe calculated user position is recorded as
The second step is that: fusing two positioning results by using Kalman filter
The main errors of the respective positioning results of the first step and the second step are caused by different factors, and if the two positioning results are combined to determine the coordinates of the receiver, the influence of the respective factors on the positioning errors can be weakened, and the positioning accuracy can be improved. Therefore, the positioning results of the two positioning methods in the first step are taken as observed values, and the results are filtered by using a Kalman filter to determine the final positioning result.
The state transition matrix of the Kalman filter is a unit matrix, and the state transition model is as follows:
whereinRepresenting the measurement at the k-th measurement instantThe user position coordinates ofIs a process noise vector.
The positioning results measured by the first positioning method and the second positioning method are combined to be used as an observed value of the Kalman filter, namely
WhereinWhile
The relationship matrix h (k) between the observed values and the state values is defined as:
anddefined as a unit matrix. The corresponding measurement noise matrix is defined as:
wherein v is1(k) And v2(k) Are respectively corresponding measured valuesAndmeasurement error and noise. The observation model is
And filtering by using a standard Kalman filtering algorithm to obtain the position coordinates of the final user.
The method for jointly positioning the mobile cellular network and the satellite navigation system can improve the positioning precision of the user, and is low in deployment cost and easy to install in practical application.
Detailed Description
The first positioning method comprises the following steps:
the signal forwarding processing time error is first eliminated. Is recorded at time tkSignals measured by the receiver from satellites siVia base station bjThe time elapsed for forwarding to the receiver isThen there is
Wherein,is the signal from a satellite siTo base station bjThe time of (d);is a signal from the base station bjTime to receiver; δ tcIs the receiver clock error;is the signal from a satellite siTo base station bjPropagation errors experienced by the receiver;the time that the signal is transmitted from the base station antenna after the signal reaches the base station antenna and is processed by the base station;representing other measurement errors.
By operating differentially the propagation times of signals coming from the same satellite and forwarded to the receiver via the same base station, but measured at different times, it is obtained
Wherein the receiver clock difference deltatcWill be eliminated; in general, t is0And t1The interval therebetween is small (1 second or less), and therefore,andmay be considered to be zero. The receiver can obtain satellite coordinates after decoding the satellite data, and can obtain the coordinate information of the base station through signaling when accessing the base station, so that the receiver can obtain the satellite coordinates after decoding the satellite dataAnd the coordinate calculation of the satellite and the base station can be used for obtaining.
The receiver respectively transmits signals to different base stations at two successive time instants (t)0And t1) The measured propagation times being differentially operated, i.e.
Let Can be expressed asWhereini is 0,1, i.e. at time tiCoordinates of the user;is a base station bj(j is 1,2,3) andis represented at time tiSlave base station bjThe distance to the user receiver. Thus, equation (3) can be further expressed as:
equation (4) can be further organized as:
thus, if the user receiver is at time t0The position of the time is known and,then, according to equation (5), the receiver at time t can be calculated1The position of the time. The calculated user position is recorded as
With positioning method one, the receiver can calculate its position at the next time from the position at the previous time. When a user enters a satellite signal blind area from a satellite signal effective area, the user's first position in the blind area can be calculated from the precise position obtained at the previous moment. When the user moves in the blind area, the position of the next moment can be continuously calculated according to the position of the previous moment. However, the problem is that if the position calculation at the previous time has an error, the error will be caused to the current position calculation, and then the accumulated error will become larger. Therefore, to reduce the accumulated error, two errors will be corrected by the method.
The second positioning method comprises the following steps:
when the subscriber receiver receives the retransmitted signal from the base station, it can use the signal to measure the time taken for the signal to be retransmitted from the satellite to the subscriber via the base stationAt time tkMeasured timeWill be shown in equation (1). The signals from the same satellite are retransmitted through different base stations and the time required for them to reach the user receiver will be different. Assuming the same satellite(s)1) Signals are transmitted through four base stations bj(j-1, 2,3,4) forwarding, then there are
Let To measure, andis the signal from a satellite s1To base station bjThe time required for propagation can be determined by satellite s1And base station bjThe coordinates of (2) are calculated. In this way it is possible to obtain,can be expressed as follows:
because of the base station bj(j ═ 1,2,3,4) are typically close together (the receiver can receive the retransmitted signals from these four base stations simultaneously), so the receiver can receive the retransmitted signals from these four base stations at the same timeMay be considered equal. In addition, the satellite signal retransmission processing time of each base stationEquality is also assumed in the present method. Thus, ignoring the difference in measurement error, according to equation (8), one can further obtain:
letWhereinAt a time tkUser' sCoordinates of the receiver;is a base station bjThe coordinates of (a). Thus, equation (9) can be written as:
according to the formula (10), the user position coordinates can be obtained by calculationThe calculated user position is recorded as
For the two positioning methods, as for the first method, the main positioning error is that the positioning error at each moment is accumulated in the positioning result at each subsequent moment; for the second method, the main positioning errors come from different signal processing times of each base station. The main errors of the respective positioning results of the two methods are caused by different factors, and if the two positioning results are combined to determine the coordinates of the receiver, the influence of the respective factors on the positioning errors can be weakened, and the positioning accuracy can be improved. Therefore, the positioning results of the two methods can be used as observation values to filter the results by using a Kalman filter to determine the final positioning result.
Claims (1)
1. A method for positioning a satellite signal blind area by combining a mobile cellular network and a satellite navigation system comprises the following steps:
the method comprises the following steps: positioning by two positioning methods
The first positioning method comprises the following steps:
firstly, eliminating the error of signal forwarding processing time; is recorded at time tkSignals measured by the receiver from satellites siVia base station bjThe time elapsed for forwarding to the receiver isThen
Wherein,is the signal from a satellite siTo base station bjThe time of (d);is a signal from the base station bjTime to receiver; δ tcIs the receiver clock error;is the signal from a satellite siTo base station bjPropagation errors experienced by the receiver;the time that the signal is transmitted from the base station antenna after the signal reaches the base station antenna and is processed by the base station;represents other measurement errors;
the differential operation of the propagation times of the signals coming from the same satellite and forwarded to the receiver via the same base station, but measured at different times, results in:
wherein the receiver clock difference deltatcWill be eliminated;
t0and t1The interval between the two is less than or equal to 1 second,andconsidered to be zero; the receiver decodes the satellite data to obtain satellite coordinates; the receiver obtains the coordinate information of the base station through signaling when accessing the base station,calculating and obtaining coordinates of a satellite and a base station;
the receiver respectively transmits signals to different base stations at two successive time instants t0And t1The measured propagation times being differentially operated, i.e.
Let Is shown asWhereini is 0,1, i.e. at time tiCoordinates of the user;is a base station bjWherein j is 1,2,3, andis represented at time tiSlave base station bjDistance to the user receiver; equation (3) is further expressed as:
equation (4) is further organized as:
if the subscriber receiver is at time t0When the position of the receiver is known, the receiver is calculated according to the formula (5) at the time t1The position of the time; the calculated user position is
The second positioning method comprises the following steps:
when the subscriber receiver receives the retransmitted signal from the base station, it uses the signal to measure the time it takes for the signal to be retransmitted from the satellite to the subscriber via the base stationAt time tkMeasured timeWill be as shown in equation (1); the signals from the same satellite are forwarded through different base stations, and the time required for them to reach the user receiver will be different; assuming the same satellite s1Signals are transmitted through four base stations bjForwarding, where j is 1,2,3,4, then
Letj＝1,2,3,4；To measure, andis the signal from a satellite s1To base station bjTime required for propagation through satellite s1And base station bjCalculating the coordinates of the target;where j is 1,2,3, 4:
base station bjThe distance is close, and the receiver simultaneously receives the retransmission signals from the four base stations, wherein j is 1,2,3 and 4;considered equal, where j is 1,2,3, 4; satellite signal retransmission processing time of each base stationEqual is assumed, where j is 1,2,3, 4; according to equation (8), further obtained is:
letWhereinAt a time tkThe coordinates of the user receiver, j ═ 1,2, 3;is a base station bjThe coordinates of (a); equation (9) is written as:
according to the formula (10), calculating and obtaining the position coordinates of the userThe calculated user position is recorded as
The second step is that: fusing two positioning results by using Kalman filter
The state transition matrix of the Kalman filter is a unit matrix, and the state transition model is as follows:
whereinRepresents the coordinates of the user's position at the k-th measurement instant, andis a process noise vector;
the positioning results measured by the first positioning method and the second positioning method are combined to be used as an observed value of the Kalman filter, namely
WhereinWhile
The relationship matrix h (k) between the observed values and the state values is defined as:
anddefining the array as a unit array; the corresponding measurement noise matrix is defined as:
wherein v is1(k) And v2(k) Are respectively corresponding measured valuesAndthe measurement error and noise of (2); the observation model is
And filtering by using a standard Kalman filtering algorithm to obtain the position coordinates of the end user.
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| CN109100746A (en) * | 2018-09-30 | 2018-12-28 | 武汉大学 | A kind of tunnel placement system and method based on forward node |
| CN110231631B (en) * | 2019-06-27 | 2021-03-30 | Oppo广东移动通信有限公司 | Positioning method, terminal, network access device, electronic device and storage medium |
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| CN101158719B (en) * | 2007-11-16 | 2011-01-26 | 上海伽利略导航有限公司 | False satellite sub-decimeter level indoor position location method |
| CN101526603A (en) * | 2008-03-07 | 2009-09-09 | 佛山市顺德区顺达电脑厂有限公司 | Indoor positioning system and operation method thereof |
| US8791857B2 (en) * | 2010-10-06 | 2014-07-29 | Electronics And Telecommunications Research Institute | System and method for indoor location tracking using pseudo GPS signal transmitter |
| CN103901456B (en) * | 2014-04-14 | 2016-11-16 | 东南大学 | A kind of GPS terminal indoor locating system and method |
| CN104898129B (en) * | 2015-06-16 | 2017-03-29 | 桂林电子科技大学 | General GPS indoor and outdoors alignment system and method |
| CN105549052B (en) * | 2015-12-14 | 2017-10-13 | 大连理工大学 | A kind of indoor orientation method and method for improving accuracy based on GNSS repeaters |
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