CN106526616B - A kind of pseudo satellite, pseudolite indoor navigation method based on virtual grid - Google Patents
A kind of pseudo satellite, pseudolite indoor navigation method based on virtual grid Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
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Abstract
The pseudo satellite, pseudolite indoor navigation method based on virtual grid that the invention discloses a kind of comprising pseudo satellite, pseudolite in controlling chamber, it will be seen that No. PRN of GPS satellite is adjusted to pseudo satellite, pseudolite；Pseudo satellite, pseudolite after regulation is configured, Pseudolite signal is generated and sent；Wherein, setting every pseudo satellite, pseudolite simulation GPS receiver reference position is room area central point to be positioned；Pseudolite signal is received, and analyzes it processing, obtain the mapping point relative coordinate of GPS receiver and establishes virtual grid mapping table；Mapping point relative coordinate is input in virtual grid mapping table, retrieval judgement is carried out, obtains active user's coordinate；The pseudo satellite, pseudolite indoor navigation method universality based on virtual grid is strong, meets the behaviour in service of the terminals such as current mobile phone, while positioning accuracy is high, and service experience is good, has extensive practical value.
Description
Technical Field
The invention relates to the field of indoor navigation, in particular to a pseudo satellite indoor navigation method based on a virtual grid.
Background
The GNSS positioning navigation system represented by the GPS is widely applied at present, and has profound influence on the daily life of people; with the development of economic society and the continuous improvement of living standard of people, the requirement of people on navigation positioning becomes more and more strict, and the traditional positioning alone can not meet the requirement of people gradually. At present, the indoor navigation positioning requirement is urgent, particularly in large commercial basement, exhibition center and other densely populated areas, the navigation positioning service needs to be provided for users in indoor closed space, and the service requirement is similar to that of the outdoor space; up to now, indoor positioning systems include UWB, Wi-fi, classical pseudolite, and other positioning technologies.
The UWB technology is an ultra-wideband technology, ultra-wideband radio waves are used for transmitting signals, the Wi-fi technology is used for acquiring position information of a target according to the strength of wireless signals, and a classical pseudolite system defines a unique message specification and is matched with a specific receiver to realize indoor positioning; however, no product meeting the public indoor navigation positioning service requirement is available in the market, mainly because the hardware cost is high, the positioning accuracy is low, and the current navigation positioning means such as UWB, Wi-fi and classical pseudolite cannot achieve good service experience.
Disclosure of Invention
Aiming at the defects in the prior art, the pseudo satellite indoor navigation method based on the virtual grid is strong in universality, accords with the use conditions of the current mobile phones and other terminals, and is high in positioning accuracy, low in hardware cost, good in service experience and wide in practical value.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that: provided is a pseudo satellite indoor navigation method based on a virtual grid, comprising the following steps:
s1, regulating the indoor pseudo satellite, and regulating the PRN number of the visible GPS satellite to the pseudo satellite;
s2, configuring the regulated pseudolite, and generating and sending a pseudolite signal; setting the reference position of each pseudo satellite simulation GPS receiver as the central point of an indoor area to be positioned;
s3, receiving the pseudo satellite signal, analyzing and processing the pseudo satellite signal to obtain the relative coordinates of the mapping points of the GPS receiver and establishing a virtual grid mapping table;
and S4, inputting the relative coordinates of the mapping points into the virtual grid mapping table, and performing retrieval judgment to obtain the current user coordinates.
Further, the specific step of S1 is:
s11, resolving the coordinate (x) of all GPS satellites in the WGS-84 coordinate system according to the GPS satellite Kepler parameter stored in the GPS satellite almanac information stored in the local management centers,ys,zs) (ii) a Wherein, the almanac information is updated once every half year;
s12, evaluating the GPS satellite through the position coordinates of the central point of the area to be positioned to obtain the visible GPS satellite in the area; the evaluation criteria are: if the pitch angle is larger than 5 degrees, the satellite is a visible GPS satellite;
and S13, selecting a satellite number combination with good GDOP according to the visible GPS satellite, and regulating and controlling the PRN number of the satellite to each pseudo satellite.
Further, the specific step of S11 is:
s111, inputting local observation time information tinNormalization processing is carried out, and the normalization processing formula is as follows:
tk＝tin-toe；
wherein, toeReference time, t, for almanackIs the normalized time;
s112, calculating the average angular velocity of the running GPS satellite, wherein the calculation formula of the average angular velocity is as follows:
wherein n is0Representing the average angular velocity of each GPS satellite, G is a gravity constant, a is an ellipse semi-major axis, and the value of a can be obtained from information in an almanac;
s113, according to the normalized time tkAnd the average angular velocity n of the GPS satellite0Calculating the mean-near point angle M of the GPS satellite at the current momentkThe calculation formula is as follows:
Mk＝n0×tk+M0；
wherein M is0For GPS satellites at reference times toeThe mean and the anomaly of the GPS satellite can be provided by an almanac;
s114, resolving the GPS satellite at tkAngle of approach of time EkOff-angle of approach EkThe solving formula of (1) is as follows:
Ek＝Mk+esinEk；
wherein e is satellite orbit eccentricity and can be provided by an almanac;
s115, according to the GPS satellite at tkAngle of approach of time EkResolving the GPS satellite at tkTrue angle of approach f of timekTrue proximal angle fkThe solving formula of (1) is as follows:
s116, according to the true approach point angle fkCalculating the angle distance of the lifting intersection point, wherein the calculation formula of the angle distance of the lifting intersection point is as follows:
φk＝fk+ω；
wherein, omega is the arc angle of the near place of each GPS satellite in the almanac;
s117, the management center carries out the rising point right ascension parameter omega according to the reference time provided by the almanaceAnd the change rate omega' of the red channel of the liter intersection, calculating the GPS satellite at t according to a calculation formulakThe rising point right ascension at the moment, and the resolving formula of the rising point right ascension is as follows:
Ωk＝Ωe+Ω'×tk-ωe×tin；
wherein, ω iseIs the rotational angular velocity of the earth and is a fixed value omegae＝7.2921151467×10-5rad/s；
S118, resolving the satellite radial length through a management center, wherein the resolving formula of the satellite radial length is as follows:
rk＝as(1-escosEk)，
wherein the parameter asThe long radius of the GPS satellite motion can be acquired through an almanac which is stored locally;
s119, resolving coordinates of each GPS satellite; wherein (r)k,φk) Namely, the polar coordinates of the GPS satellite are converted into an orbital plane rectangular coordinate system:
xk＝rkcosΦk
yk＝rksinΦk；
at this time, the coordinates of each GPS satellite in the WGS-84 coordinates are:
further, the specific step of S2 is:
s21, setting the reference position of the receiver simulated by each pseudolite as the central point C (x) of the indoor area to be positioned0,y0,z0) Calculating a time delay parameter delta t according to the coordinates of the GPS satellite in a WGS-84 coordinate system;
s22, converting the time delay parameter delta t into a code phase parameter;
s23, calculating the instantaneous speed of each pseudolite and calculating the Doppler frequency shift according to the instantaneous speed;
s24, converting the time delay parameter and the Doppler frequency shift to obtain frequency control words of a carrier wave, a C/A code and a navigation message and an NCO phase;
and S25, processing the pseudolite according to the carrier wave, the C/A code, the frequency control word of the navigation message and the NCO phase, generating a corresponding pseudolite signal and sending the pseudolite signal through a radio frequency end.
Further, the calculation formula of the time delay parameter Δ t is:
wherein c is the speed of light, and the value is an internationally recognized value c which is 299792458 m/s;
the instantaneous speed is calculated as:
wherein,
g is 3986004.418 × 108(m3/s2), Pk is a unit vector in the direction of the near point, Qk is a unit vector perpendicular to the direction of the near point in the orbital plane in the satellite traveling direction, and EkIs the approximate point angle of the GPS satellite, omega is the arc angle of the approximate point of the GPS satellite, omegakIs the ascension point right ascension of GPS satellite, and ikIs the inclination angle of the GPS satellite orbit.
Further, the specific step of S3 is:
s31, receiving pseudo satellite signals by using a GPS receiver, outputting positioning longitude and latitude according to an NMEA0183 protocol, and converting the positioning longitude and latitude into coordinates (x) under a WGS-84 coordinate system0,y0,z0) And defining the coordinates asMapping point f;
s32, analyzing and judging the mapping point f, and judging a large positioning area;
s33, analyzing and processing the mapping point f according to the large positioning area to obtain the relative coordinates of the mapping point;
s34, dividing the positioning large area into 1m multiplied by 1m positioning cells, and establishing a one-to-one mapping relation between each positioning cell and the mapping point thereof to form a virtual grid.
Further, the specific step of S33 is:
setting the central reference coordinate of each positioning large area as (x)c,yc,zc) And converting the mapping point f into the relative coordinates of the positioning cell, wherein the conversion formula is as follows:
wherein, (x'0,y'0,z'0) I.e. the relative coordinates of the mapped points of the GPS receiver in the positioning cell.
Further, the specific step of S34 is:
s341, resolving the coordinate (x) of the current visible GPS satellite in the WGS-84 coordinate systems,ys,zs) Set as set S;
s342, setting the center coordinates (x ') of each positioning cell'c,y'c,z'c) The pseudolite coordinates (x) of each set P, map sidep,yp,zp) As a set PseCalculating P from the absolute distance calculation formulaseDistance d from each point in S to each point in Spse_pSet to set D;
s343, resolving visible GPS satellite coordinate S to pseudo satellite PseDistance d of coordinatespse_sThe calculation formula is as follows:
s344, solving theoretical mapping point coordinates (X ') of each point in the set P in the positioning large area'0,Y′0,Z'0) The calculation formula is as follows:
wherein k represents the number of used satellites, k is more than or equal to 4, and delta is clock error;
s345, converting the theoretical mapping point coordinates into relative coordinates of the mapping points in the positioning large area to obtain a theoretical relative coordinate set T; wherein, the number N of elements in T is the number of positioning cells contained in the positioning large area, and any element in T is represented as (X ″)0,Y″0,Z″0)；
S346, generating and storing the virtual grid mapping table from the set P to the set T, and updating the virtual grid mapping table when the user enters a new positioning large area.
Further, the specific step of S4 is:
inputting the relative coordinates of mapping points acquired by a current user through a GPS receiver into a virtual grid mapping table, retrieving according to a retrieval sequence, and judging a retrieval result, wherein the judgment standard is as follows:
wherein, the determination value of delta (X ″)0,Y″0,Z″0) Is any element in the set T, (x'0,y'0,z'0) Mapping point relative coordinates of the GPS receiver in a positioning cell;
if delta is less than or equal to 1, the point in T is judged to be a mapping point for positioning, and the virtual grids of the sets T and P are inquired, so that the current user coordinate can be obtained.
And if no point which enables the delta to be less than or equal to 1 exists in the T, selecting a point M which enables the delta to be the minimum value as a mapping point for positioning, inquiring the virtual grid, and obtaining the current user coordinate.
And if the point M enables the delta to be larger than or equal to 2.6, averaging the prior coordinate and the coordinate mapped by the point M to serve as the current user coordinate.
Further, the search sequence is:
if the coordinate of the user at the last moment is known, the mapping point of the prior coordinate in the set P in the set T is calculated and used as a first-level retrieval;
taking the coordinates of the entrance and the exit positioned in the set P and the coordinates of the set T mapped with the coordinates as secondary retrieval;
indoor sensitive areas, such as driving route areas, are retrieved as three levels in the set T;
and other area coordinates are retrieved as four levels.
The invention has the beneficial effects that: the pseudo satellite indoor navigation method based on the virtual grid is specifically based on a GNSS pseudo satellite and a common GNSS receiver, and the design of indoor navigation is completed by using the virtual grid; the method comprises the steps that a management center distributes a GPS satellite number to each pseudo satellite, the receiver position simulated by each pseudo satellite is an indoor area center, after the GPS receiver receives the pseudo satellite number, corresponding processing is carried out, the obtained relative coordinates of mapping points are input into a virtual grid mapping table, retrieval judgment is carried out, the current user coordinates are determined, and the indoor navigation requirement is met; the method has strong universality, conforms to the use conditions of the current mobile phones and other terminals, and has high positioning precision, good service experience and wide practical value.
Drawings
Fig. 1 is a schematic block diagram of a pseudo satellite indoor navigation method based on a virtual grid.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiment is only one embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the sake of simplicity, common technical knowledge known to those skilled in the art is omitted in the following.
As shown in fig. 1, the virtual grid-based pseudolite indoor navigation method includes:
s1, regulating the indoor pseudo satellite, and regulating the PRN number of the visible GPS satellite to the pseudo satellite; in a specific implementation, the coordinates (x) of all GPS satellites in the WGS-84 coordinate system are solved according to GPS satellite Kepler parameters stored in GPS satellite almanac information stored locally in a management centers,ys,zs) (ii) a Wherein almanac information is updated every half year.
In the specific implementation, the input local observation time information tinNormalization processing is carried out, and the normalization processing formula is as follows:
tk＝tin-toe；
wherein, toeReference time, t, for almanackIs the normalized time; after obtaining the normalized time, the management center follows the formulaResolving the mean angle of GPS satellite operationSpeed; wherein n is0Representing the average angular velocity of each GPS satellite, G is the gravity constant, a is the ellipse semi-major axis, and the value of a can be obtained from the information in the almanac.
Then the management center obtains the normalized time t according tokAnd the average angular velocity n of the GPS satellite0Calculating the mean and near point angle M of the GPS satellite at the current momentkThe calculation formula is as follows:
Mk＝n0×tk+M0；
wherein M is0For GPS satellites at reference times toeThe mean anomaly of the GPS satellites may be provided by an almanac.
Then, the management center follows the formula Ek＝Mk+esinEkResolving the GPS satellite at tkAngle of approach of time EkWherein e is GPS satellite orbit eccentricity and can be provided by an almanac; the management center then resolves the GPS satellite at tkTrue angle of approach f of timekThe solving formula of the true anomaly angle is as follows:
then, the management center follows the true approach point angle fkAnd calculating the angular distance phi of the elevation intersection point by combining the near-place arc angle omega of each GPS satellite in the almanack＝fk+ ω; rising point right ascension parameter omega of reference time provided by almanac of management centereAnd the change rate omega' of the red channel of the liter intersection, resolving the satellite at t according to a resolving formulakThe rising point right ascension at the moment has the following calculation formula:
Ωk＝Ωe+Ω'×tk-ωe×tin；
wherein, ω iseIs the rotational angular velocity of the earth and is a fixed value omegae＝7.2921151467×10-5rad/s; at the same time, manageCentral resolving GPS satellite radial length rk＝as(1-escosEk) Parameter asThe long radius of motion of the GPS satellite can be obtained through an almanac which is stored locally.
Finally, the management center resolves the GPS satellite coordinates, wherein (r)k,φk) Namely, the polar coordinates of the GPS satellite are converted into an orbital plane rectangular coordinate system:
xk＝rkcosΦk
yk＝rksinΦk；
at this time, under the WGS-84 coordinate, the coordinates of each GPS satellite are as follows:
evaluating the GPS satellite through the position coordinates of the central point of the area to be positioned to obtain a visible GPS satellite in the area; the evaluation criteria are: if the pitch angle is larger than 5 degrees, the satellite is a visible GPS satellite; selecting a satellite number combination with good GDOP according to a visible GPS satellite, and regulating and controlling PRN numbers of the satellite number combination to each pseudo satellite; the GDOP is a geometric precision factor, the good standard is artificially set according to the actual situation, and the PRN is a pseudo-random noise code.
S2, configuring the regulated pseudolite, and generating and sending a pseudolite signal; setting the reference position of each pseudo satellite simulation GPS receiver as the central point of an indoor area to be positioned;
in the specific implementation, the reference position of the receiver simulated by each pseudolite is set to be the central point C (x) of the indoor area to be positioned0,y0,z0) Calculating a time delay parameter delta t according to the coordinates of the GPS satellite in a WGS-84 coordinate system, wherein the calculation formula of the time delay parameter delta t is as follows:
wherein c is the speed of light, and the value is an internationally recognized value c which is 299792458 m/s; converting the time delay parameter delta t into a code phase parameter; in specific implementation, the transcoding process is as follows:
1. determining the number of navigation messages in the time delay:
Delay_Nav＝floor(Δt/20)；
wherein Delay _ Nav represents the number of navigation messages, floor represents rounding-down, and the unit of the time Delay parameter is ms.
2. Determining a CA code period corresponding to time delay in a navigation message:
Delay_CA＝floor(Δt-Delay_Nav×20)；
wherein Delay _ CA represents the CA code period corresponding to the time Delay.
3. Determining code phase delay within one CA code period:
Delay_Phase＝floor(Δt-Delay_Nav×20-Dealy_CA)；
wherein Delay _ Phase represents a code Phase Delay; setting the frequency of the CA code used in the conversion to be 1.023 MHz; calculating the instantaneous speed of each pseudolite and calculating the Doppler frequency shift according to the instantaneous speed; in a specific implementation, the instantaneous speed calculation formula is:
wherein,
g is 3986004.418 × 108(m3/s2), Pk is a unit vector in the direction of the near point, Qk is a unit vector perpendicular to the direction of the near point in the orbital plane in the satellite traveling direction, and EkIs the approximate point angle of the GPS satellite, omega is the arc angle of the approximate point of the GPS satellite, omegakIs the ascension point right ascension of GPS satellite, and ikIs the inclination angle of the GPS satellite orbit.
Then, converting the time delay parameter and the Doppler frequency shift to obtain a carrier wave, a C/A code, a frequency control word of a navigation message and an NCO phase; in a specific implementation, the carrier frequency control word is calculated by the following formula:
wherein f iscFor intermediate frequency signals, dop for Doppler shift, fsIs the sampling frequency;
the carrier phase is calculated as:
carrier_ph＝(ft+dop)*Δt；
wherein f istIs the carrier frequency, takes the value ft1575.42 MHZ; dop is Doppler frequency shift, and delta t is a time delay parameter; similarly, the frequency control word and NCO phase of the C/A code and the navigation message can be processed in the same way according to the conversion work in the prior art; then, processing the pseudo satellite according to the carrier, the C/A code, the frequency control word of the navigation message and the NCO phase to generate a corresponding pseudo satellite signal, and sending the signal through a radio frequency end; the NCO phase is a code numerical control oscillator.
S3, receiving the pseudo satellite signal, analyzing and processing the pseudo satellite signal to obtain the relative coordinates of the mapping points of the GPS receiver and establishing a virtual grid mapping table; in practice, use is made ofThe ordinary GPS receiver can complete the receiving of the pseudo satellite signal, after receiving the pseudo satellite signal, according to the general processing method of the mobile phone equipment, the GPS chip outputs the positioning longitude and latitude according to the NMEA0183 protocol, and converts the positioning longitude and latitude into the coordinate (x) under the WGS-84 coordinate system0,y0,z0) And defines the coordinate as a mapping point f.
Analyzing and judging the mapping point f, and judging a large positioning area; in a specific implementation, the coordinates of each large positioning area, for example, a parking lot, have a unique identifier ID in the GPS receiver, and if the mapping point f is located in the positioning area with the identifier ID1, it is determined that the user is located in the large positioning area with the identifier ID 1.
Analyzing and processing the mapping point f according to the large positioning area to obtain the relative coordinates of the mapping point; in specific implementation, the reference coordinate of the center of each positioning large area is set as (x)c,yc,zc) And converting the mapping point f into the relative coordinates of the positioning cell, wherein the conversion formula is as follows:
wherein, (x'0,y'0,z'0) The relative coordinates of the mapping points of the GPS receiver in the positioning cell are obtained; and meanwhile, dividing the positioning large area into 1m multiplied by 1m positioning cells, and establishing a one-to-one mapping relation between each positioning cell and the mapping point thereof to form a virtual grid.
In the specific implementation, almanac information is stored in the GPS receiver such as a mobile phone, and the coordinates (x) of the current visible GPS satellite in a WGS-84 coordinate system are calculateds,ys,zs) Set as set S; at this time, the GPS satellite coordinates are known, and the mapping point coordinates can be estimated from the coordinates of each positioning cell by the following calculation method.
1. Let each positioning cell center coordinate (x'c,y'c,z'c) Is set P, groundUser pseudolite coordinates (x) provided by map sidep,yp,zp) As a set PseCalculating P from the absolute distance calculation formulaseDistance d from each point in S to each point in Spse_pSet to set D.
2. Resolving visible GPS satellite coordinates S to pseudolite PseDistance d of coordinatespse_sThe calculation formula is as follows:
3. solving theoretical mapping point coordinates (X ') of each point in set P in positioning large area'0,Y′0,Z'0) The calculation formula is as follows:
where k represents the number of satellites used, k ≧ 4, and δ is the clock error.
4. Converting the theoretical mapping point coordinates into relative coordinates of the mapping points in the large positioning area to obtain a theoretical relative coordinate set T; wherein, the number N of elements in T is the number of positioning cells contained in the positioning large area, and any element in T is represented as (X ″)0,Y″0,Z″0)。
5. And (3) generating and storing a virtual grid mapping table from the set P to the set T, updating the virtual grid mapping table when a user enters a new positioning large area, and repeating the algorithms of the steps 1-5.
S4, inputting the relative coordinates of the mapping points into a virtual grid mapping table, and performing retrieval judgment to obtain the current user coordinates; in specific implementation, the relative coordinates (x ') of the mapping point obtained by the current user through the GPS receiver'0,y'0,z'0) Inputting into the virtual grid mapping table, and performing detection according to the search sequenceSearching and judging the search result; when searching is carried out, any element in the known set P can be expressed as (x'c,y'c,z'c) And the element in set T (X ″)0,Y″0,Z″0) And (3) a one-to-one mapping relation exists, and the elements in the T are searched and sorted, wherein the searching sequence is as follows:
if the coordinate of the user at the last moment is known, the mapping point of the prior coordinate in the set P in the set T is calculated and used as a first-level retrieval;
taking the coordinates of the entrance and the exit positioned in the set P and the coordinates of the set T mapped with the coordinates as secondary retrieval;
indoor sensitive areas, such as driving route areas, are retrieved as three levels in the set T;
and other area coordinates are retrieved as four levels.
And then, judging the searched result, wherein the judgment standard is as follows:
wherein, the determination value of delta (X ″)0,Y″0,Z″0) Is any element in the set T, (x'0,y'0,z'0) Mapping point relative coordinates of the GPS receiver in a positioning cell;
if delta is less than or equal to 1, the point in T is judged to be a mapping point for positioning, and the virtual grids of the sets T and P are inquired, so that the current user coordinate can be obtained.
And if no point which enables the delta to be less than or equal to 1 exists in the T, selecting a point M which enables the delta to be the minimum value as a mapping point for positioning, inquiring the virtual grid, and obtaining the current user coordinate.
And if the point M enables the delta to be larger than or equal to 2.6, averaging the prior coordinate and the coordinate mapped by the point M to serve as the current user coordinate.
In summary, the pseudo satellite indoor navigation method based on the virtual grid sets the simulated receiving coordinate of the pseudo satellite as the midpoint of the positioning large area, and the user can identify the indoor positioning large area by outputting the coordinate through the GPS chip; and the mapping relation between the virtual grid and the output coordinate of the GPS chip can be established by retrieving the point with the minimum distance between the relative coordinate of the mapping point and the output coordinate set of the GPS chip.
Meanwhile, a virtual grid of mapping point coordinates and actual coordinates to be positioned is established to form a mapping table, indoor positioning navigation can be realized by inquiring the virtual grid, a four-level retrieval rule is established, and a position which is most likely to appear by a user is taken as a high-level retrieval, so that the positioning speed is improved, and the user experience is improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A pseudo satellite indoor navigation method based on virtual grids is characterized by comprising the following steps:
s1, regulating an indoor pseudo satellite, and regulating a PRN (pseudo random number) of a visible GPS satellite to the pseudo satellite;
s2, configuring the regulated pseudolite, and generating and sending a pseudolite signal; setting the reference position of each pseudo satellite simulation GPS receiver as the central point of an indoor area to be positioned;
s3, receiving the pseudo satellite signal, analyzing and processing the pseudo satellite signal to obtain the relative coordinates of the mapping points of the GPS receiver and establishing a virtual grid mapping table;
s4, inputting the relative coordinates of the mapping points into a virtual grid mapping table, and performing retrieval judgment to obtain the current user coordinates;
the specific steps of S1 are as follows:
s11, resolving the coordinate (x) of all GPS satellites in the WGS-84 coordinate system according to the GPS satellite Kepler parameter stored in the GPS satellite almanac information stored in the local management centers,ys,zs) (ii) a Wherein, the almanac information is updated once every half year;
s12, evaluating the GPS satellite through the position coordinates of the central point of the area to be positioned to obtain the visible GPS satellite in the area; the evaluation criteria are: if the pitch angle is larger than 5 degrees, the satellite is a visible GPS satellite;
and S13, selecting a satellite number combination with good GDOP according to the visible GPS satellite, and regulating and controlling the PRN number of the satellite to each pseudo satellite.
2. The virtual grid-based pseudolite indoor navigation method of claim 1, wherein the specific steps of S11 are as follows:
s111, inputting local observation time information tinCarrying out normalization treatment:
tk＝tin-toe；
wherein, toeReference time, t, for almanackIs the normalized time;
s112, calculating the average angular speed of the running GPS satellite:
wherein n is0Representing the average angular velocity of each GPS satellite in operation, G is a gravity constant, and a is an ellipse major semi-axis;
s113, according to the normalized time tkAnd the average angular velocity n of the GPS satellite0Calculating the mean-near point angle M of the GPS satellite at the current momentk：
Mk＝n0×tk+M0；
Wherein M0 is the reference time t of the GPS satelliteoeThe mean and the anomaly of the GPS satellite can be provided by an almanac;
s114, resolving the GPS satellite at tkApproximate point angle Ek of time:
Ek＝Mk+e sin Ek；
wherein e is satellite orbit eccentricity;
s115, according to the GPS satellite at tkAngle of approach of time EkSolving the true approximate point angle f of the GPS satellite at the time tkkSaid true proximal angle fkThe solving formula of (1) is as follows:
s116, according to the true near point angle fkCalculating the angle distance of the intersection point:
wherein, omega is the arc angle of the near place of the GPS satellite;
s117, the management center carries out the rising point right ascension parameter omega according to the reference time provided by the almanaceCalculating the change rate omega' of the red channel of the Hei-L-crossing at t of the GPS satellitekAscending crossing right ascension at time:
Ωk＝Ωe+Ω'×tk-ωe×tin；
wherein, ω iseIs the rotational angular velocity of the earth and is a fixed value omegae＝7.2921151467×10-5rad/s；
S118, resolving the satellite radial length through a management center:
rk＝as(1-escos Ek)，
wherein the parameter asIs the GPS satellite motion long radius;
s119, resolving coordinates of each GPS satellite; wherein,namely, the polar coordinates of the GPS satellite are converted into an orbital plane rectangular coordinate system:
xk＝rkcosΦk
yk＝rksinΦk；
at this time, the coordinates of each GPS satellite in the WGS-84 coordinates are:
3. the virtual grid-based pseudolite indoor navigation method of claim 1, wherein the specific steps of S2 are as follows:
s21, setting the reference position of the receiver simulated by each pseudolite as the central point C (x) of the indoor area to be positioned0,y0,z0) Calculating a time delay parameter delta t according to the coordinates of the GPS satellite in a WGS-84 coordinate system;
s22, converting the time delay parameter delta t into a code phase parameter;
s23, calculating the instantaneous speed of each pseudolite and calculating the Doppler frequency shift according to the instantaneous speed;
s24, converting the time delay parameter and the Doppler frequency shift to obtain frequency control words of a carrier wave, a C/A code and a navigation message and an NCO phase;
and S25, processing the pseudolite according to the carrier wave, the C/A code, the frequency control word of the navigation message and the NCO phase, generating a corresponding pseudolite signal and sending the pseudolite signal through a radio frequency end.
4. The virtual grid-based pseudolite indoor navigation method of claim 3, wherein: the calculation formula of the time delay parameter delta t is as follows:
wherein c is the speed of light, and the value is an internationally recognized value c which is 299792458 m/s;
the calculation formula of the instantaneous speed is as follows:
wherein,
G＝3986004.418×108unit is m3/s2，PkUnit vector in the direction of the near point, QkIs a unit vector in the orbital plane perpendicular to the direction of the perigee according to the direction of satellite travel, EkIs the approximate point angle of the GPS satellite, omega is the arc angle of the approximate point of the GPS satellite, omegakIs the ascension point right ascension of GPS satellite, and ikIs the inclination angle of the GPS satellite orbit.
5. The virtual grid-based pseudolite indoor navigation method of claim 1, wherein the specific steps of S3 are as follows:
s31, receiving the pseudo satellite signal by using a GPS receiver, outputting positioning longitude and latitude according to an NMEA0183 protocol, and converting the positioning longitude and latitude into a coordinate (x) under a WGS-84 coordinate system0,y0,z0) Defining the coordinate as a mapping point f;
s32, analyzing and judging the mapping point f, and judging a large positioning area;
s33, analyzing and processing the mapping point f according to the large positioning area to obtain the relative coordinate of the mapping point;
s34, dividing the positioning large area into 1m multiplied by 1m positioning cells, and establishing a one-to-one mapping relation between each positioning cell and the mapping point thereof to form a virtual grid.
6. The virtual grid-based pseudolite indoor navigation method of claim 5, wherein the specific steps of S33 are as follows: setting the central reference coordinate of each positioning large area as (x)c,yc,zc) And converting the mapping point f into the relative coordinates of the positioning cell, wherein the conversion formula is as follows:
wherein, (x'0,y'0,z'0) I.e. the relative coordinates of the mapped points of the GPS receiver in the positioning cell.
7. The virtual grid-based pseudolite indoor navigation method of claim 5, wherein the specific steps of S34 are as follows:
s341, resolving the coordinate (x) of the current visible GPS satellite in the WGS-84 coordinate systems,ys,zs) Set as set S;
s342, setting the center coordinates (x ') of each positioning cell'c,y'c,z'c) The pseudolite coordinates (x) of each set P, map sidep,yp,zp) As a set PseCalculating P from the absolute distance calculation formulaseDistance d from each point in S to each point in Spse_pSet to set D;
s343, resolving visible GPS satellite coordinate S to pseudo satellite PseDistance d of coordinatespse_s：
S344, solving the problem of positioning the large area of each point in the set PReflection point coordinate (X'0,Y'0,Z'0)：
Wherein k represents the number of used satellites, k is more than or equal to 4, and delta is clock error;
s345, converting the theoretical mapping point coordinates into relative coordinates of the mapping points in the large positioning area to obtain a theoretical relative coordinate set T; wherein, the number N of elements in T is the number of positioning cells contained in the positioning large area, and any element in T is represented as (X ″)0,Y″0,Z″0)；
S346, generating and storing the virtual grid mapping table from the set P to the set T, and updating the virtual grid mapping table when the user enters a new positioning large area.
8. The virtual grid-based pseudolite indoor navigation method of claim 7, wherein the step of S4 is as follows: inputting the relative coordinates of mapping points acquired by a current user through a GPS receiver into a virtual grid mapping table, retrieving according to a retrieval sequence, and judging a retrieval result, wherein the judgment standard is as follows:
wherein, the delta decision value (X '0, Y'0, Z '0) is any element in the set T, and (X'0, Y '0, Z'0) is the relative coordinate of the mapping point of the GPS receiver in the positioning cell;
if delta is less than or equal to 1, judging that the point in T is a positioned mapping point, inquiring the virtual grids of the sets T and P, and acquiring the current user coordinate;
if no point which enables the delta to be less than or equal to 1 exists in the T, selecting a point M which enables the delta to be the minimum value as a mapping point for positioning, inquiring the virtual grid, and obtaining the current user coordinate;
and if the point M enables the delta to be larger than or equal to 2.6, averaging the prior coordinate and the coordinate mapped by the point M to serve as the current user coordinate.
9. The virtual grid-based pseudolite indoor navigation method of claim 8, wherein: the retrieval sequence is as follows:
if the coordinate of the user at the last moment is known, the mapping point of the prior coordinate in the set P in the set T is calculated and used as a first-level retrieval;
taking the coordinates of the entrance and the exit positioned in the set P and the coordinates of the set T mapped with the coordinates as secondary retrieval;
indoor sensitive areas, such as driving route areas, are retrieved as three levels in the set T;
and other area coordinates are retrieved as four levels.
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