CN106154228B - Localization method and its equipment based on no text navigation signal - Google Patents
Localization method and its equipment based on no text navigation signal Download PDFInfo
- Publication number
- CN106154228B CN106154228B CN201610440547.2A CN201610440547A CN106154228B CN 106154228 B CN106154228 B CN 106154228B CN 201610440547 A CN201610440547 A CN 201610440547A CN 106154228 B CN106154228 B CN 106154228B
- Authority
- CN
- China
- Prior art keywords
- navigation signal
- emitter
- text navigation
- text
- observation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000004807 localization Effects 0.000 title claims abstract description 30
- 238000009825 accumulation Methods 0.000 claims abstract description 28
- 238000004364 calculation method Methods 0.000 claims abstract description 19
- 230000001427 coherent effect Effects 0.000 claims abstract description 19
- 239000000284 extract Substances 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 20
- 238000000605 extraction Methods 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 239000013066 combination product Substances 0.000 claims 1
- 229940127555 combination product Drugs 0.000 claims 1
- 230000035945 sensitivity Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 3
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 3
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241001062009 Indigofera Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
- G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of localization method and its equipment based on no text navigation signal specifically include following steps applied in the navigation positioning system being made of multiple emitters, terminal and server：Time synchronization is carried out between emitter；The emitter emits a kind of no text navigation signal；Terminal receives the navigation signal, carries out acquisition and tracking to the navigation signal, extracts observation；Terminal calculates pseudorange and pseudorange rate according to observation；Self-position coordinate is sent to server by emitter, and the emitter position coordinate is sent to all terminals by server；Terminal carries out navigation calculation according to emitter position coordinate and the pseudorange, pseudorange rate, obtains itself three shaft position, speed, time difference, local clock frequency difference.Above method signal capture and tracking are not constrained by navigation message, therefore the coherent accumulation that can carry out the longer time obtains higher navigation sensitivity and tracking sensitivity, to effectively improve the indoor availability of pseudo satellite, pseudolite navigator fix.
Description
Technical field
The present invention relates to a kind of navigation locating method and system, especially a kind of no text pseudo satellite, pseudolite navigation locating method with
System belongs to wireless navigation technical field.
Background technology
Increasingly dependence with human society to satellite navigation, (Big Dipper, GPS etc. are referred to as existing Global Satellite Navigation System
For GNSS) the weak disadvantage of signal becomes increasingly conspicuous：It is difficult to position under low layer building, jungle and canyon environment；City high-rise building
It can not inside position substantially.Therefore, the navigation positioning problems under satellite navigation confined condition especially under indoor conditions become navigation
One problem in field.
To solve the problems, such as that indoor positioning, more companies are proposed a variety of solutions.For example Apple Inc. proposes
IBeacon is substantially a kind of matching scheme based on beacon；The indoor positioning chip of company of Botong is supported through WiFi, indigo plant
Tooth or short-range communication technique realize indoor positioning, are substantially also based on signal strength matching and the matched scheme of beacon.
The inertial navigation set of gyroscope, acceleration transducer as low cost in mobile phone, can also use them to realize in short-term
Navigation maintain.IndoorAtlas is a company for being absorbed in indoor navigation solution, their indoor positioning scheme is
Based on earth magnetic field, foundation is that the Magnetic Field of each specific location is different.It is navigated first using this technology
User needs to upload architectural plan, then also needs to you and holds mobile device around one circle of interior, records the ground of each position
Magnetic signal feature, these information need to upload to the server of IndoorAtlas.Finally, it needs to provide using IndoorAtlas
Kit develop one application could use positioning function.In addition a company, Qubulus companies are according to radio signal
(Radio Signature) is positioned.The radio signal quantity of each position, frequency, intensity etc. are also different,
Qubulus calculates your specific location according to these differences.Using the scheme of Qubulus, you also need to collect indoor
Radio signal.
The equal distinguishing feature of the above technology is that existing sensor on mobile phone is utilized, and hardware modifications are done without mobile phone.It lacks
Point is that positioning accuracy fluctuation is larger, and is only used for being familiar with, preprepared environment.Others are common to can be used for indoor positioning
Means further include：
(1) the higher feature of ultra wide band radio signal range accuracy is utilized in the indoor positioning scheme based on ultra wide band, real
High-precision indoor positioning is showed.But the transmission power that ultra-broadband emitter is allowed to is limited, therefore can only cover smaller
Region.
(2) in fact, a kind of close relative technology of the pseudo satellite, pseudolite class technology as Satellite Navigation Technique, receives work all the time
The attention of industry.For example LOCATA, NextNav are proposed special class pseudo satellite technology.The class of LOCATA, NextNav are pseudo-
Satellite technology has prodigious identical place with pseudo satellite, pseudolite in general sense.
Fig. 1 is referred to, the communication scheme of the pseudo satellite, pseudolite airmanship used in the prior art.A1 is terminal or reception
Device, A2-A5 are 4 pseudo satellite, pseudolites.General navigation satellite or the navigation signal of pseudo satellite, pseudolite transmitting can be collectively expressed as：
F (t)=A (t) D (t) C (t) cos (Wct+Φ)
Wherein：A (t) is signal amplitude, generally constant amount, in some cases to overcome the near-far interference A (t) to may be
There is the square-wave signal of certain duty ratio；D (t) is navigation message, and navigation message includes being indicated in a manner of directly or indirectly
The information such as the launch time of transmitter site speed and signal；C (t) is the ranging code being repeated cyclically, generally Gold codes, weight
The multiple period is T；wcFor carrier frequency；Φ is initial phase.
No matter conventional satellite navigation signal or Pseudolite signal, all final can not demodulate navigation because signal is excessively weak
Text D (t) and can not use, to limit the sensitivity of navigation neceiver, affect the available coverage of navigation signal.
Invention content
In view of this, being directed to the seamless fine indoor and outdoor navigator fix demand in region, propose that a kind of navigated based on no text is believed
Number localization method and its equipment it is actually necessary.
A kind of localization method based on no text navigation signal, specifically includes following steps：
S1, receive N number of time synchronization without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), and to institute
It states no text navigation signal and carries out acquisition and tracking, wherein i=N, N are the integer more than 1；
S2 selects any one without text navigation signal, in Δ T after this is originated without the text navigation signal ranging code period
It carves and observation is extracted without text navigation signal to remaining N-1, obtain First Observation value, and in time behind periodically
Observation is extracted to the navigation signal of all tracking, obtains non-First Observation value；
S3 calculates pseudorange and pseudorange rate according to the observation；And
S4 carries out navigation calculation according to the location information of multiple emitters and the pseudorange, pseudorange rate, obtains three axis
Position, speed and the time difference between the terminal hypothesis time, local clock frequency difference.
In step S1, carrying out acquisition and tracking to the no text navigation signal includes：
S11 carries out the no text navigation signal relevant for a long time given frequency point and ranging code phase combination
Accumulation, accumulated time Tco；
S12 preserves N-1 a length of TcoHistory coherent accumulation as a result, with it is current when a length of TcoCoherent accumulation result one
It rises and constitutes N number of coherent accumulation result altogether；
N number of coherent accumulation result is summed, relevant peaks is found in summed result, if it is found, then capturing by S13
It completes, otherwise enters step S14；
N number of coherent accumulation result is carried out non-coherent accumulation, relevant peaks is found in accumulation results, if looked for by S14
It arrives, then captures completion, otherwise enter step S15；And
S15, if all alternative frequency points and the limit of ranging code phase combination, capture terminates, and otherwise updates institute
Frequency point and ranging code phase combination are stated, step S11 is returned to).
In step S1, whether there is or not the ranging code cycle phase of text navigation signal is same, be all T, the no text navigation signal
The initial time in ranging code period is aligned with the whole millisecond of UTC Universal Time Coordinated.
In step S2, the observation includes：
(1) for no text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), corresponding First Observation value
All include whole half number of chips λ with non-First Observation valueciWith the half chip value Δ of score less than half chipci；
(2) for no text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), non-First Observation value further includes phase
It is less than the score carrier cycle time value of a carrier cycle in carrier cycle issue and adjacent observed quantity interval in adjacent observed quantity interval.
In step S3, the computation of pseudoranges method is achieved by the following way：Local zone time is set as Δ T, then is led without text
Navigate signal fi(t)=Aci(t)cos(wct+Φi) pseudorange be：ρi=c { T (λci+Δci)/λmaxΔ T }, wherein λmaxIt is one
Corresponding total half number of chips of a yard of cycle T, c is the light velocity.
In step S3, the pseudorange rate is equal to carrier cycle issue and adjacent observed quantity interval in adjacent observed quantity interval
The sum of the score carrier cycle time value for being inside less than a carrier cycle is multiplied by carrier wavelength.
The localization method based on no text navigation signal includes before step S 4, first according to reference to known to one
Reference terminal positional information calculation goes out the time synchronization error of the no text navigation signal, and eliminates it and navigate to no text and believe
The influence that number position and speed resolves.
The no text navigation signal air navigation aid further comprises a step S5, when according to the time difference and local
Clock frequency difference corrects time and the frequency of local clock.
A kind of localization method based on no text navigation signal specifically includes following steps from emitter side：
S1 obtains time synchronization for any one emitter i in multiple emitters with other emitters；
S2, transmitting is with other emitter time synchronizations without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+
Φi), for by capture terminal and tracking；And
S3 sends self-position, corresponding emitter number to server, so that server collects the position of all emitters
It sets and number information, and sends that information to terminal, the ranging code C of emitter number i and emitter transmittingi(t) one is a pair of
It answers.
A kind of localization method based on no text navigation signal specifically includes following steps from terminal side：
S1, receive N number of time synchronization without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), and to institute
It states no text navigation signal and carries out acquisition and tracking, wherein i numbers for emitter, and N is the integer more than 3；
S2 selects any one without text navigation signal, the Δ T moment pair after this is originated without the text navigation signal code period
Remaining N-1 are extracted First Observation value without text navigation signal, and periodically to described in all tracking in the time behind
Navigation signal extracts non-First Observation value；
The observation of extraction and the corresponding emitter number of observation are sent to server, are used for navigation calculation by S3.
A kind of localization method based on no text navigation signal describes from emitter side, includes the following steps：
S1 obtains time synchronization for any one emitter i in multiple emitters with other emitters；
S2, transmitting is with other emitter time synchronizations without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+
Φi)；
S3 sends self-position, corresponding emitter number to server, so that server collects the position of all emitters
It sets and number information.
A kind of localization method based on no text navigation signal describes from server-side, includes the following steps：
S1 receives position and number that all emitters are sent；
S2 receives emitter number and its corresponding First Observation value and non-First Observation value that all terminals are sent；
S3 calculates pseudorange and pseudorange rate according to the observation；And
S4 carries out navigation calculation according to the location information of emitter and the pseudorange, pseudorange rate, obtains three axle positions
Set, speed and terminal assume the time between time difference, local clock frequency difference.
A kind of localization method based on no text navigation signal describes from server-side, includes the following steps：
S1 receives position and number that all emitters are sent；
S2 receives emitter number and its corresponding First Observation value that reference terminal and all ordinary terminals are sent and non-
First Observation value；
S3 calculates pseudorange and pseudorange rate, further according to reference terminal according to the corresponding observation of reference terminal
Known location calculate emitter between clock synchronous error；
S3 calculates the pseudorange and pseudorange rate of ordinary terminal according to the observation；And
S4, according to the location information of emitter and the clock synchronous error, the corresponding pseudorange of ordinary terminal, pseudorange speed
Rate carries out navigation calculation, obtains three shaft positions, speed and the time difference between the terminal hypothesis time, local clock frequency difference.
A kind of terminal device for the localization method based on no text navigation signal comprising：First unit is navigation
Signal capture tracking cell, for carrying out acquisition and tracking to the no text navigation signal；
Second unit is navigation observation extraction unit, for extracting First Observation value and non-First Observation value；And
Third unit is terminal communication unit, for the observation of extraction and its corresponding emitter number to be sent to
Server.
A kind of emitter equipment for the localization method based on no text navigation signal comprising：
First unit is time synchronization unit, for realizing the time synchronization with other emitters；
Second unit is navigation signal transmitter unit, is navigated without text with other emitter time synchronizations for emitting
Signal fi(t)=A (t) Ci(t)cos(Wct+Φi)；And
Third unit is emitter communication unit, for sending self-position, corresponding emitter number to server,
So that server collects position and the number information of all emitters.
Localization method proposed by the present invention based on no text navigation signal does not have navigation message D (t), navigation neceiver
Sensitivity can significantly improve, to effectively expand the available coverage of navigation signal.The great advantage of technical solution of the present invention
It is that signal capture and tracking are not constrained by navigation message, therefore the coherent accumulation that can carry out the longer time obtains higher lead
Boat sensitivity and tracking sensitivity, to effectively improve the indoor availability of pseudo satellite, pseudolite navigator fix.
Description of the drawings
Fig. 1 is general pseudo satellite, pseudolite navigation positioning system schematic diagram.
Fig. 2 is the positioning system communication direction schematic diagram without text navigation signal that first embodiment of the invention provides.
Fig. 3 (a) is the terminal side flow chart without text navigation signal air navigation aid that the first embodiment of the present invention provides.
Fig. 3 (b) is that the terminal without text navigation signal air navigation aid that the first embodiment of the present invention provides is received without electricity
The flow chart of literary navigation signal.
Fig. 3 (c) is emitter side's flow without text navigation signal air navigation aid that the first embodiment of the present invention provides
Figure.
Fig. 4 is the positioning system communication direction schematic diagram without text navigation signal that second embodiment of the invention provides.
Fig. 5 (a) is the terminal side flow chart without text navigation signal air navigation aid that the second embodiment of the present invention provides.
Fig. 5 (b) is the stream for the emitter side without text navigation signal air navigation aid that the second embodiment of the present invention provides
Cheng Tu.
Fig. 5 (c) is the stream for the server side without text navigation signal air navigation aid that the second embodiment of the present invention provides
Cheng Tu.
Fig. 6 is the positioning system communication direction schematic diagram without text navigation signal that third embodiment of the invention provides.
Fig. 7 is the flow for the server side without text navigation signal air navigation aid that the third embodiment of the present invention provides
Figure.
Main element symbol description
Terminal 10
Emitter 20
Server 30
Reference terminal 40
Wireless communication link 50
Following specific implementation mode will be further illustrated the present invention in conjunction with above-mentioned attached drawing.
Specific implementation mode
The invention will be further elaborated with reference to the accompanying drawings and examples, with reference to attached drawing.It should be understood that these embodiments
It is only illustrative of the invention and is not intended to limit the scope of the invention.In addition, it should also be understood that, having read the content of the invention lectured
Afterwards, those skilled in the art can make various modifications or changes to the present invention, and such equivalent forms are equally fallen within appended by the application
Claims limited range.
Refer to Fig. 2, the positioning system communication direction schematic diagram without text navigation signal of first embodiment of the invention.Appoint
Multiple emitters 20 of meaning distribution can emit no text navigation signal.One terminal 10 can receive the no text navigation letter
Number.One server 30 can receive the signal of the transmitting of the emitter 20 and the transmitting signal of the terminal 10.Channel radio
Letter link 50 shows the transmission direction of wireless signal.The multiple emitter 20 can be multiple pseudo satellite, pseudolites or existing skill
Any equipment that can emit no text navigation signal in art.The server 30 can be a public network node,
It can also be the background server of a website, have and collect emitter 20 position, the number of emitter 20 and by the letter of collection
Breath is sent to 10 function of terminal.The terminal 10 can be any equipment with navigation locating function in the prior art, such as
Support the smart mobile phone, children's navigation watch, navigation magic box of the technical program function.The channel radio of the wireless communication link 50
Letter mode can be any wireless communication means in the prior art, 404 such as GPRS/3G/4G/5G public mobile communications, numbers pass,
WLAN (WiFi) etc..Preferably, the emitter 20 used in the embodiment of the present invention is pseudo satellite, pseudolite.The terminal 10
For portable special positioning tracker.The server 30 is location server.The wireless communication link 50 uses public affairs
The communication of many mobile communication.
Refer to Fig. 3 (a), first embodiment provide without text navigation signal air navigation aid, mainly carried out from end side
Description comprising following steps：
S1, receive N number of time synchronization without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), and to institute
It states no text navigation signal and carries out acquisition and tracking, wherein i numbers for emitter 20, and N is the integer more than 3；
S2 selects any one without text navigation signal, the Δ T moment pair after this is originated without the text navigation signal code period
Remaining N-1 are extracted First Observation value without text navigation signal, and periodically to described in all tracking in the time behind
Navigation signal extracts non-First Observation value；
S3 calculates pseudorange and pseudorange rate according to the observation；And
S4 carries out navigation calculation according to the location information of multiple emitters 20 and the pseudorange, pseudorange rate, obtains three
Shaft position, speed and the time difference between the terminal hypothesis time, local clock frequency difference.
It refers to Fig. 3 (b), in step S1, acquisition and tracking is carried out to the no text navigation signal, capture therein is wrapped
It includes：
S11 carries out the no text navigation signal relevant for a long time given frequency point and ranging code phase combination
Accumulation, accumulated time Tco；
S12 preserves N-1 a length of TcoHistory coherent accumulation as a result, with it is current when a length of TcoCoherent accumulation result one
It rises and constitutes N number of coherent accumulation result altogether；
N number of coherent accumulation result is summed, relevant peaks is found in summed result, if it is found, then capturing by S13
It completes, otherwise enters step S14；
N number of coherent accumulation result is carried out non-coherent accumulation, relevant peaks is found in accumulation results, if looked for by S14
It arrives, then captures completion, otherwise enter step S15；And
S15, if all alternative frequency points and the limit of ranging code phase combination, capture terminates, and otherwise updates institute
Frequency point and ranging code phase combination are stated, step S11 is returned to).
S11-S15 is acquisition procedure of the terminal 10 to no text navigation signal in step.According to this field engineering skill
Art personnel's it is generally understood that navigation signal capture be a time-frequency two-dimensional search process.For each search frequency point, search is surveyed
Method away from code phase includes the search of time domain associated serial and the parallel search based on Fast Fourier Transform (FFT).For given frequency
Point and ranging code phase, first carry out coherent accumulation, then carry out non-coherent accumulation.Relevant peaks are found in accumulation results, if do not had
It detects relevant peaks, changes a frequency point and scan for again.
The catching method of the present invention, has with existing navigation aid system such as AGPS (Aided GPS) system and both had any different
There is similar place again.In AGPS, navigation neceiver obtains current time and historical navigation text, and root by AGPS server
The value that Present navigation text is guessed according to historical navigation text scrubs (data wipe to carry out data in acquiring satellite step
Off), influence of the navigation message to acquisition sensitivity can also be effectively reduced.In the embodiment of the present invention without text pseudo satellite, pseudolite,
It is scrubbed in the capture step without carrying out navigation message, it is therefore, primary relevant without being stored in each textual time length
Cumulative data, to effectively reduce the requirement to navigation neceiver baseband chip part to memory space.This is the present invention
Catching method essential innovation.
By capture, the terminal 10 realizes the code synchronization to no text navigation signal.Since there is no navigation message,
The reception signal for completing code synchronization is a unifrequency, it is obtained using the frequency analysis method based on Fast Fourier Transform (FFT)
In specific frequency values, and be set as the frequency-tracking that local carrier frequency completes no text pseudo satellite, pseudolite transmitting signal.By
In there is no navigation messages, therefore only need to be to frequency into line trace, without the carrier phase to navigation signal into line trace.
In step S1, each transmitting position without text navigation signal in N number of no text navigation signal is received
Setting coordinate can be obtained ahead of time and be stored in the terminal 10, and institute is then forwarded to after can also being collected by a server 30
State terminal 10.
In step S1, whether there is or not the code cycle phase of text navigation signal is same, be all T, the no text navigation signal code week
The initial time of phase is aligned with the whole millisecond of UTC Universal Time Coordinated.
In step S2, the observation includes：
(1) for no text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), corresponding First Observation value
All include whole half number of chips λ with non-First Observation valueciWith the half chip value Δ of score less than half chipci；
(2) for no text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), non-First Observation value further includes phase
It is less than the score carrier cycle time value of a carrier cycle in carrier cycle issue and adjacent observed quantity interval in adjacent observed quantity interval.
In step S3, the computation of pseudoranges method is achieved by the following way：Local zone time is set as Δ T, then is led without text
Navigate signal fi(t)=Aci(t)cos(wct+Φi) pseudorange be：ρi=c { T (λci+Δci)/λmaxΔ T }, wherein λmaxIt is one
Corresponding total half number of chips of a yard of cycle T, c is the light velocity.
In step S3, the pseudorange rate is equal to carrier cycle issue and adjacent observed quantity interval in adjacent observed quantity interval
The sum of the score carrier cycle time value for being inside less than a carrier cycle is multiplied by carrier wavelength.
The localization method based on no text navigation signal includes before step S 4, first according to reference to known to one
The positional information calculation of reference terminal goes out the time synchronization error of the no text navigation signal, and eliminates it and navigate to no text
The influence of signal location and velocity calculated.
The no text navigation signal air navigation aid further comprises a step S5, when according to the time difference and local
Clock frequency difference corrects time and the frequency of local clock.
Refer to Fig. 3 (c), first embodiment of the invention provide without text navigation signal air navigation aid, mainly from transmitting
Body side describes, and for arbitrary i-th of emitter 20, specifically includes following steps：
S1 obtains time synchronization with other emitters 20；
S2, transmitting is with other 20 time synchronizations of emitter without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+
Φi), for being captured and being tracked by the terminal 10；
S3 sends self-position, corresponding emitter number to server 30, so that server 30 collects all emitters
20 position and number information, and all emitter information (including the position of emitter 20 and number) are sent to the terminal
The ranging code C that 10, emitter number i emit with emitter 20i(t) it corresponds, the terminal 10 is numbered only using emitter
One one emitter of identification, and further self-position is solved using the position of the emitter 20 and observation.
The method that the emitter 20 obtains self-position has very much, and simplest mode is manually entered or in outdoor
In the case of using satellite navigation receiver obtain self-position.
Fig. 4 is referred to, the positioning system communication direction without text navigation signal provided for second embodiment of the invention
Schematic diagram.In the second embodiment of Fig. 4, collected emitter information is not sent the terminal by the server 30
10, but the First Observation value of extraction and non-First Observation value are sent to server 30 by the terminal 10；By the service
Device 30 completes following step：Pseudorange and pseudorange rate are calculated according to the observation；According to the location information of the emitter 20
And the pseudorange carries out navigation calculation, obtain three shaft positions, speed and the terminal 10 assume time difference between the time,
Local clock frequency difference.In this case, the terminal 10 no longer needs to carry out navigation calculation, thus advantageously reduces power consumption.It is this
Mode is suitble to target into the occasion of line trace, such as to the tracking of important item.
Refer to Fig. 5 (a), second embodiment of the invention provide without text navigation signal air navigation aid, from terminal 10 1
Side describes, and includes the following steps：
S1, receive N number of time synchronization without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), and to institute
It states no text navigation signal and carries out acquisition and tracking, wherein i numbers for emitter, and N is the integer more than 3；
S2 selects any one without text navigation signal, the Δ T moment pair after this is originated without the text navigation signal code period
Remaining N-1 are extracted First Observation value without text navigation signal, and periodically to described in all tracking in the time behind
Navigation signal extracts non-First Observation value；
The observation of extraction and the corresponding number of emitter 20 of observation are sent to server 30 by S3.
It may be noted that terminal 10 is that the correspondence numbered with emitter 20 by the ranging code number captured obtains at this time
The emitter number obtained.
Refer to Fig. 5 (b), second embodiment of the invention provide without text navigation signal air navigation aid, from emitter one
Side describes, and includes the following steps：
S1 obtains time synchronization with other emitters 20；
S2, transmitting is with other 20 time synchronizations of emitter without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+
Φi)；
S3 sends self-position, corresponding emitter number to server 30, so that server 30 collects all emitters
20 position and number information.
Refer to Fig. 5 (c), second embodiment of the invention provide without text navigation signal air navigation aid, from server one
Side describes, and includes the following steps：
S1 receives position and the number of the transmission of all emitters 20；
S2 receives emitter number and its corresponding First Observation value and non-First Observation value that all terminals 10 are sent；
S3 calculates pseudorange and pseudorange rate according to the observation；
S4 carries out navigation calculation according to the location information of emitter 20 and the pseudorange, pseudorange rate, obtains three axle positions
Set, speed and terminal assume the time between time difference, local clock frequency difference.
Fig. 6 is referred to, the positioning system communication direction without text navigation signal provided for third embodiment of the invention
Schematic diagram.Comparison diagram 4, Fig. 6 further increases a reference terminal 40, for the sake of comparison, our previously described terminals 10
It is further defined as ordinary terminal.In systems in practice, when can not accomplish stringent ideal between the multiple emitter 20
Between it is synchronous, eliminate the clock synchronous error between emitter 20 by introducing Differential positioning mechanism in general navigator fix.
In view of this consideration, it therefore at this moment needs there are a reference terminal 40, its position is known.The server 30 is connected on
Before realizing to the navigation calculation of no text pseudo satellite, pseudolite navigation neceiver position and speed, according to reference reference terminal 40 first
Know clock synchronous error between positional information calculation goes out the multiple emitter 20, and then eliminates emitter clock synchronous error and lead
The pseudorange error of cause, to reduce the site error of finally obtained ordinary terminal.Difference Solution is the common methods of this field,
General engineering technology personnel can realize.
Third embodiment of the invention provide without text navigation signal air navigation aid, described from emitter side, with second
Embodiment is identical.
Third embodiment of the invention provide without text navigation signal air navigation aid, described from ordinary terminal side, with the
Two embodiments are identical.Reference terminal 40 and ordinary terminal 10 the difference is that：Oneself is also identified in step S3 reference terminals 40
For reference terminal 40, and self-position is sent to server 30.
Refer to Fig. 7, third embodiment of the invention provide without text navigation signal air navigation aid, retouched from server-side
It states, includes the following steps：
S1 receives position and the number of the transmission of all emitters 20；
S2 receives emitter number and its corresponding First Observation that the reference terminal 40 and all ordinary terminals are sent
Value and non-First Observation value；
S3 calculates pseudorange and pseudorange rate, further according to institute according to the corresponding observation of the reference terminal 40
The known location for stating reference terminal 40 calculates clock synchronous error between the multiple emitter 20；
S3 calculates the pseudorange and pseudorange rate of ordinary terminal according to the observation；
S4, according to the location information of emitter 20 and the clock synchronous error, the corresponding pseudorange of ordinary terminal, pseudorange
Rate carries out navigation calculation, obtains three shaft positions, speed and the time difference between the terminal hypothesis time, local clock frequency difference.
The general fashion of time synchronization is obtained between the multiple emitter 20 to be realized by GPS Beidou navigation satellite system receivers
Synchronous, this is the universal method of this field, is widely used in telecomm base station, general pseudo satellite, pseudolite.Without between text pseudo satellite, pseudolite
Other methods common wireless time service method such as RTT (Round trip such as in wireless communication field may be used
Timing it) realizes and synchronizes.
In the technical solution of the present invention, i-th emitter 20, which is sent, leads with other 20 time synchronizations of emitter without text
Navigate signal fi(t)=A (t) Ci(t)cos(Wct+Φi).Time synchronization described here refers to the initial time and other hairs of code
The code initial time alignment for the no text navigation signal that beam 20 emits.
Fourth embodiment of the invention provides a kind of terminal device, with being led in this present embodiment without text navigation signal
Boat method realizes terminal 10 of the present invention comprising：
First unit is navigation signal acquisition and tracking unit, for carrying out acquisition and tracking to the no text navigation signal；
Second unit is navigation observation extraction unit, for extracting First Observation value and non-First Observation value；
Third unit is terminal communication unit, for the observation of extraction and its corresponding emitter number to be sent to
Server 30.
Fifth embodiment of the invention provides a kind of transmitting side apparatus, in this present embodiment without text navigation signal
Air navigation aid realizes emitter 20 of the present invention comprising：
First unit is time synchronization unit, for realizing the time synchronization with other emitters 20；
Second unit is navigation signal transmitter unit, is led without text with other 20 time synchronizations of emitter for emitting
Navigate signal fi(t)=A (t) Ci(t)cos(Wct+Φi)；
Third unit is emitter communication unit, for sending self-position, corresponding emitter number to server
30, so that server 30 collects position and the number information of all emitters 20.
In addition, those skilled in the art can also make other variations in spirit of that invention, these are smart according to the present invention certainly
Change made by god, should all be included in scope of the present invention.
Claims (15)
1. a kind of localization method based on no text navigation signal specifically includes following steps from terminal side：
S1, receive N number of time synchronization for sending out of emitter without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi),
And acquisition and tracking is carried out to the no text navigation signal, wherein i=N, N are the integer more than 1, and A (t) is signal amplitude, Ci
(t) it is the ranging code being repeated cyclically, repetition period T, WcFor carrier frequency, ΦiFor initial phase；
S2 selects any one without text navigation signal, the Δ T moment pair after this is originated without the text navigation signal ranging code period
Remaining N-1 extracts observation without text navigation signal, obtains First Observation value, and periodically to institute in time behind
The navigation signal extraction observation for having tracking, obtains non-First Observation value；
S3 calculates pseudorange and pseudorange rate according to the observation；And
S4 carries out navigation calculation according to the location information of multiple emitters and the pseudorange, pseudorange rate, obtains three axle positions
Set, speed and terminal assume the time between time difference, local clock frequency difference.
2. the localization method as described in claim 1 based on no text navigation signal, which is characterized in that in step S1, to institute
Stating no text navigation signal progress acquisition and tracking includes：
S11 carries out the no text navigation signal relevant for a long time tired given frequency point and ranging code phase combination
Product, accumulated time Tco；
S12 preserves N-1 a length of TcoHistory coherent accumulation as a result, with it is current when a length of TcoCoherent accumulation result together altogether
Constitute N number of coherent accumulation result；
N number of coherent accumulation result is summed, relevant peaks is found in summed result by S13, if it is found, completion is then captured,
Otherwise S14 is entered step；
N number of coherent accumulation result is carried out non-coherent accumulation, relevant peaks is found in accumulation results by S14, if it is found,
Completion is then captured, S15 is otherwise entered step；And
S15, if all alternative frequency points and the limit of ranging code phase combination, capture terminates, and otherwise updates the frequency
Point and ranging code phase combination, return to step S11.
3. the localization method as claimed in claim 2 based on no text navigation signal, which is characterized in that in step S1, own
Ranging code cycle phase without text navigation signal is same, is all T, the initial time in the no text navigation signal ranging code period with
The whole millisecond alignment of UTC Universal Time Coordinated.
4. the localization method as claimed in claim 3 based on no text navigation signal, which is characterized in that described in step S2
Observation includes：
(1) for no text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), the corresponding First Observation value
All include whole half number of chips λ with the non-First Observation valueciWith the half chip value Δ of score less than half chipci；And
(2) for no text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), the non-First Observation value further includes phase
It is less than the score carrier cycle time value of a carrier cycle in carrier cycle issue and adjacent observed quantity interval in adjacent observed quantity interval.
5. the localization method as claimed in claim 4 based on no text navigation signal, which is characterized in that described in step S3
Computation of pseudoranges method be achieved by the following way：Local zone time is set as Δ T, then the no text navigation signal fi(t)=Aci(t)
cos(wct+Φi) pseudorange be：ρi=c { T (λci+Δci)/λmaxΔ T }, wherein λmaxFor a code cycle T corresponding total half
Number of chips, c are the light velocity.
6. the localization method as described in claim 1 based on no text navigation signal, which is characterized in that described in step S3
Pseudorange rate is equal in the carrier cycle issue in adjacent observed quantity interval and adjacent observed quantity interval less than carrier cycle
The sum of score carrier cycle time value is multiplied by carrier wavelength.
7. the localization method as described in claim 1 based on no text navigation signal, which is characterized in that wrap before step S 4
It includes, first calculates the time synchronization error of the no text navigation signal according to a known reference terminal positional information, and disappear
The influence that no text navigation signal position and speed is resolved except it.
8. the localization method based on no text navigation signal as described in claim 1 to 7 any one claim, feature
It is, further comprises a step S5, time and the frequency of local clock is corrected according to the time difference and local clock frequency difference
Rate.
9. a kind of localization method based on no text navigation signal specifically includes following steps from emitter side：
S1, the emitter for being i for any one number in multiple emitters obtain time synchronization with other emitters；
S2, the emitter transmitting that number is i is with other emitter time synchronizations without text navigation signal fi(t)=A (t) Ci(t)
cos(Wct+Φi), for by capture terminal and tracking, wherein A (t) is signal amplitude, Ci(t) it is the ranging being repeated cyclically
Code, repetition period T, WcFor carrier frequency, ΦiFor initial phase；And
S3, sends self-position, corresponding emitter number to server, for server collect all emitters position and
Number information, and terminal is sent that information to, the ranging code C of emitter number i and emitter transmittingi(t) it corresponds, institute
It states terminal and numbers uniquely one emitter of identification using emitter, and further utilize position and the observation of the emitter
Solve self-position.
10. a kind of localization method based on no text navigation signal specifically includes following steps from terminal side：
S1, receive N number of time synchronization for sending out of emitter without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi),
And acquisition and tracking is carried out to the no text navigation signal, wherein i numbers for emitter, and N is the integer more than 3, and A (t) is letter
Number amplitude, Ci(t) it is the ranging code being repeated cyclically, repetition period T, WcFor carrier frequency, ΦiFor initial phase；And
S2 selects any one without text navigation signal, and the Δ T moment is to remaining after this is originated without the text navigation signal code period
N-1 are extracted First Observation value without text navigation signal, and periodically to the navigation of all tracking in the time behind
The non-First Observation value of signal extraction；
The observation of extraction and the corresponding emitter number of observation are sent to server, are used for navigation calculation by S3.
11. a kind of localization method based on no text navigation signal describes from emitter side, includes the following steps：
S1 obtains time synchronization for any one emitter i in multiple emitters with other emitters；
S2, transmitting is with other emitter time synchronizations without text navigation signal fi(t)=A (t) Ci(t)cos(Wct+Φi), it uses
In by capture terminal and tracking, and the observation of the emitter is sent to server by the terminal, wherein A (t) is letter
Number amplitude, Ci(t) it is the ranging code being repeated cyclically, repetition period T, WcFor carrier frequency, ΦiFor initial phase；And
S3, sends self-position, corresponding emitter number to server, for server collect all emitters position and
Number information, the server calculates pseudorange and pseudorange rate according to the observation, and is believed according to the position of the emitter
Breath and the pseudorange carry out navigation calculation, obtain three shaft positions, speed and the terminal assume the time between time difference,
Local clock frequency difference.
12. a kind of localization method based on no text navigation signal describes from server-side, includes the following steps：
S1 receives position and number that all emitters are sent；
S2 receives emitter number and its corresponding First Observation value and non-First Observation value that all terminals are sent, the head
Secondary observation is first to select any one without text navigation signal, the Δ T after this is originated without the text navigation signal ranging code period
The observation that moment extracts remaining without text navigation signal, the non-First Observation value are the period in the time behind
The observation without text navigation signal extracted of the ground to all tracking；
S3 calculates pseudorange and pseudorange rate according to the observation；And
S4 carries out navigation calculation according to the location information of emitter and the pseudorange, pseudorange rate, obtains three shaft positions, speed
Degree and the time difference between the terminal hypothesis time, local clock frequency difference.
13. a kind of localization method based on no text navigation signal describes from server-side, includes the following steps：
S1 receives position and number that all emitters are sent；
S2, receive emitter number and its corresponding First Observation value that reference terminal and all ordinary terminals are sent and it is non-for the first time
Observation, the First Observation value are first to select any one without text navigation signal, this without text navigation signal ranging code
The observation that the Δ T moment extracts remaining without text navigation signal after period starting, the non-First Observation value are at it
Periodically to the observation of all tracking extracted without text navigation signal in time afterwards；
S3 calculates pseudorange and pseudorange rate, further according to reference terminal according to the corresponding observation of reference terminal
Know that position calculates clock synchronous error between emitter；
S3 calculates the pseudorange and pseudorange rate of ordinary terminal according to the observation；
S4, according to the location information of emitter and the clock synchronous error, the corresponding pseudorange of ordinary terminal, pseudorange rate into
Row navigation calculation obtains three shaft positions, speed and the time difference between the terminal hypothesis time, local clock frequency difference.
14. a kind of localization method based on no text navigation signal for as described in any one of claim 1~13
Terminal device comprising：
First unit is navigation signal acquisition and tracking unit, for carrying out acquisition and tracking to the no text navigation signal；
Second unit is navigation observation extraction unit, for selecting any one without text navigation signal, is led without text at this
The Δ T moment extracts First Observation value, and time behind to remaining without text navigation signal after the starting of boat signal code period
In non-First Observation value is extracted to the navigation signal of all tracking periodically；And
Third unit is terminal communication unit, for the observation of extraction and its corresponding emitter number to be sent to service
Device.
15. a kind of localization method based on no text navigation signal for as described in any one of claim 1~13
Emitter equipment comprising：
First unit is time synchronization unit, for realizing the time synchronization with other emitters；
Second unit is navigation signal transmitter unit, for emitting with other emitter time synchronizations without text navigation signal fi
(t)=A (t) Ci(t)cos(Wct+Φi), wherein A (t) is signal amplitude, Ci(t) it is the ranging code being repeated cyclically, repeats
Period is T, WcFor carrier frequency, ΦiFor initial phase；And
Third unit is emitter communication unit, for sending self-position, corresponding emitter number to server, for
Server collects position and the number information of all emitters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610440547.2A CN106154228B (en) | 2016-06-17 | 2016-06-17 | Localization method and its equipment based on no text navigation signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610440547.2A CN106154228B (en) | 2016-06-17 | 2016-06-17 | Localization method and its equipment based on no text navigation signal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106154228A CN106154228A (en) | 2016-11-23 |
| CN106154228B true CN106154228B (en) | 2018-10-19 |
Family
ID=57352906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610440547.2A Active CN106154228B (en) | 2016-06-17 | 2016-06-17 | Localization method and its equipment based on no text navigation signal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106154228B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109660309B (en) * | 2018-12-26 | 2021-08-13 | 中国人民解放军63921部队 | Method for measuring clock error frequency difference of range speed by using bidirectional communication transmission frame synchronous code |
| CN114499693B (en) * | 2021-11-29 | 2024-03-29 | 军事科学院系统工程研究院网络信息研究所 | Multi-physical field quantum measurement networking method based on coherent accumulation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1416530A (en) * | 2000-12-04 | 2003-05-07 | 伊纳维斯公司 | Location-determination method and appts. |
| CN101035379A (en) * | 2007-04-09 | 2007-09-12 | 中兴通讯股份有限公司 | Positioning method for the user plane to observe the reached time difference |
| CN104244405A (en) * | 2014-09-18 | 2014-12-24 | 电子科技大学 | Indoor positioning device and method based on code division multiple access |
| CN104280716A (en) * | 2014-08-22 | 2015-01-14 | 电子科技大学 | Indoor positioning device and method |
| CN104994580A (en) * | 2015-06-30 | 2015-10-21 | 长安大学 | Indoor positioning method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7692587B2 (en) * | 2004-09-22 | 2010-04-06 | Rosum Corporation | Rapid acquisition and correlation of synchronization codes for mobile devices with limited memory and computational power |
-
2016
- 2016-06-17 CN CN201610440547.2A patent/CN106154228B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1416530A (en) * | 2000-12-04 | 2003-05-07 | 伊纳维斯公司 | Location-determination method and appts. |
| CN101035379A (en) * | 2007-04-09 | 2007-09-12 | 中兴通讯股份有限公司 | Positioning method for the user plane to observe the reached time difference |
| CN104280716A (en) * | 2014-08-22 | 2015-01-14 | 电子科技大学 | Indoor positioning device and method |
| CN104244405A (en) * | 2014-09-18 | 2014-12-24 | 电子科技大学 | Indoor positioning device and method based on code division multiple access |
| CN104994580A (en) * | 2015-06-30 | 2015-10-21 | 长安大学 | Indoor positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106154228A (en) | 2016-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100377507C (en) | Determining time in a GPS receiver | |
| Bensky | Wireless positioning technologies and applications | |
| Dardari et al. | Satellite and terrestrial radio positioning techniques: a signal processing perspective | |
| CN100401093C (en) | Method and apparatus for determining an error estimate in a hybrid position determination system | |
| US7994981B1 (en) | System framework for mobile device location | |
| CN101185008B (en) | Method and apparatus for validating a position in a satellite positioning system using range-rate measurements | |
| ES2607466T3 (en) | Accurate absolute time transfer system from a satellite | |
| CN101206254B (en) | Positioning method of GPS receiver locating in doors and auxiliary satellite navigation positioning system | |
| CN100381835C (en) | Radio combined positioning method based on digital broadcasting-television signal | |
| Moeglein et al. | An introduction to SnapTrack server-aided GPS technology | |
| CN102753992B (en) | Trajectory-based location determination | |
| CN101099089B (en) | Method and apparatus for increasing coherent integration length while receiving positioning signal | |
| CN101464508B (en) | Method for capturing C/A code signal of GPS | |
| CN101305294B (en) | Method and system for mobile network auxiliary orientation | |
| WO2012036028A1 (en) | Navigation signal transmission device, location information providing device, method for transmitting navigation signal, and method for providing location information | |
| CN101937074B (en) | Method and device for acquiring navigation bit stream, GPS receiver and positioning method thereof | |
| KR101268291B1 (en) | Apparatus and Method for ultra-fast GNSS initial positioning scheme with peer assistance, and Recording medium thereof | |
| CN103562741A (en) | Differential correction system enhancement leverages roving receivers enabled for a non-GPS, secondary PN&T signal to characterize local errors | |
| CN106707315A (en) | Position determination using measurements from past and present epochs | |
| CN104459731B (en) | A kind of high rail Satellite Orbit Determination method of the weak GNSS signal of receiving pole | |
| Bartlett | Essentials of positioning and location technology | |
| US20120200457A1 (en) | System framework for mobile device location | |
| US20140266880A1 (en) | Method and apparatus for determining device location | |
| CN105005061B (en) | A kind of localization method and system based on satellite base station | |
| US20190086554A1 (en) | Method and apparatus for determining device location |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |