CN106595667A - Mutual synchronization-based indoor pseudolite double-point positioning system and method - Google Patents
Mutual synchronization-based indoor pseudolite double-point positioning system and method Download PDFInfo
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- CN106595667A CN106595667A CN201611114700.9A CN201611114700A CN106595667A CN 106595667 A CN106595667 A CN 106595667A CN 201611114700 A CN201611114700 A CN 201611114700A CN 106595667 A CN106595667 A CN 106595667A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a mutual synchronization-based indoor pseudolite double-point positioning system and method. The system comprises two pseudolites and a Beidou/GPS navigation user receiver, wherein each of the two pseudolites comprises a Beidou/GPS signal receiver, a positioning signal transmitter, a transmitting antenna, a receiving antenna and a power supply module; the Beidou/GPS signal receiver of each pseudolite receives Beidou/GPS navigation signals of the own and the other pseudolite, resolves satellite number and pseudo-range information and transmits the satellite number and pseudo-range information to the own positioning signal transmitter; the positioning signal transmitter of each pseudolite resolves the clock correction of the positioning signal transmitters of the two pseudolites; the clocks of the positioning signal transmitters are adjusted; Beidou/GPS navigation signals are simulated, regenerated and transmitted to a service region; the Beidou/GPS navigation user receiver receives the Beidou/GPS navigation signals simulated and regenerated by the two pseudolites, resolves the satellite number of the two pseudolites and the pseudo-range of the two pseudolites, and calculates the distance between the Beidou/GPS navigation user receiver and the transmitting antenna of the first pseudolite as well as between the Beidou/GPS navigation user receiver and the transmitting antenna of the second pseudolite separately.
Description
Technical field
The present invention relates to indoor and tunnel placement field, particularly a kind of indoor pseudo satellite, pseudolite double dot system based on mutually synchronization
And method.
Background technology
At present, the demand of indoor positioning is more and more urgent, it is desirable in megastore, public place, longer
Velocity tunnel etc. knows the position that itself is located, and can quickly arrive at.
Satellite navigation system application with the Big Dipper and GPS as representative is more and more extensive, and has become smart mobile phone, car
Carry the requisite functions such as navigator.However, occlusion effect of the satellite navigation signals because of building, it is impossible to penetrate building wall
Wall, so that satellite navigation receiver loses positioning function.
For these reasons, need the pseudolite systems of a kind of compatible Big Dipper and GPS navigation signal, can smart mobile phone,
Under conditions of the Big Dipper of the configurations such as automatic navigator/GPS navigation chip module of software and hardware does not change, when the Big Dipper/GPS user seat in the plane
When on the line between two pseudolite transmitters, indoor positioning is capable of achieving.
The content of the invention
The purpose of the present invention is：A kind of indoor pseudo satellite, pseudolite two point alignment system and method based on mutually synchronization is provided, can be
Under conditions of the Big Dipper such as smart mobile phone, automatic navigator/GPS chip module of software and hardware does not change, indoor positioning is realized.
In order to achieve the above object, the technical scheme is that what is be achieved in that：
A kind of indoor pseudo satellite, pseudolite two point alignment system based on mutually synchronization, including：First pseudo satellite, pseudolite, the second pseudo satellite, pseudolite and north
Bucket/GPS navigation receiver user；Characterized in that, the first described pseudo satellite, pseudolite and the second pseudo satellite, pseudolite include the Big Dipper/GPS letters
Number receiver, position signal transmitter, transmitting antenna, reception antenna and supply module；
The Big Dipper/the gps signal receiver of each pseudo satellite, pseudolite receives itself simulation regeneration by respective reception antenna respectively
And the simulation regeneration of another pseudo satellite, pseudolite the Big Dipper/GPS navigation signal, satellite number is calculated according to the Big Dipper/GPS navigation signal
And pseudo-range information, satellite number and pseudo-range information are transferred to into the position signal transmitter of itself；
The position signal transmitter of each pseudo satellite, pseudolite calculates two pseudolite positioning letters according to satellite number and pseudo-range information
The clock correction of number emitter；The clock of respective position signal transmitter is adjusted respectively using the clock correction；And simulate the regeneration Big Dipper/GPS
Navigation signal, the Big Dipper/GPS navigation signal of simulation regeneration is launched to coverage by transmitting antenna；
The Big Dipper/GPS navigation receiver user receives the Big Dipper/GPS navigation signal of two pseudo satellite, pseudolite simulation regeneration, according to north
Bucket/GPS navigation signal calculates the pseudo-range information of the satellite number of two pseudo satellite, pseudolites and two pseudo satellite, pseudolites, and using two point positioning at
Reason method calculates the Big Dipper/GPS navigation user and receives according to the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites
Machine respectively to the first pseudo satellite, pseudolite transmitting antenna and the second pseudo satellite, pseudolite transmitting antenna distance.
Wherein, described position signal transmitter includes communication module, the Big Dipper/gps data emulation module, clock synchronization mould
Block, the indoor Big Dipper/GPS navigation signal generation module and framing signal transmitter module；Communication module is used to receive the Big Dipper/GPS letters
Satellite number and pseudo-range information that number receiver is exported by serial ports, satellite number and pseudo-range information are exported to clock synchronization module；
Clock synchronization module calculates clock correction according to satellite number and pseudo-range information, and by clock correction row clock adjustment is entered, and according to clock correction meter
Calculate clock skew rate；The Big Dipper/gps data emulation module by satellite number, second in week, all countings, clock jitter, clock skew and
Calculated clock skew rate analog simulation joins the signal into the signal parameter of the outdoor Big Dipper/GPS satellite navigation system
Number output is to the indoor Big Dipper/GPS navigation signal generation module；The indoor Big Dipper/GPS navigation signal generation module is according to signal parameter
The simulation regeneration Big Dipper/GPS navigation signal, by the Big Dipper/GPS navigation signal output of simulation regeneration to framing signal transmitter module；
Framing signal transmitter module launches the Big Dipper/emitted antenna of GPS navigation signal for simulating regeneration to coverage.
Wherein, clock synchronization module calculates clock correction according to satellite number and pseudo-range information, and by clock correction row clock adjustment is entered,
And clock skew rate is calculated according to clock correction；Computing formula is as follows：
Δ dt=(P11(t)-P12(t))+(R-R0)
In formula, Δ dt is the position signal transmitter of the position signal transmitter of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite in t
The clock correction at moment；P11T () is the pseudorange of the transmitting antenna with reception antenna of pseudo- first pseudo satellite, pseudolite；P12T () is pseudo- first pseudo satellite, pseudolite
Reception antenna and the second pseudo satellite, pseudolite transmitting antenna pseudorange；R is the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
The actual distance of transmitting antenna, R0The actual distance of transmitting antenna and reception antenna for the first pseudo satellite, pseudolite.
Row clock adjustment is entered according to clock correction, clock adjustment includes the adjustment of text frame control word, the adjustment of text word control word, electricity
The adjustment of lteral data position, the adjustment of spreading code control word and the adjustment of spread-spectrum code chip control word；Wherein,
Text frame control word N1=seeks integer (Δ dt/ text frame lengths)；
Text word control word N2=seeks integer [(Δ dt-N1* text frame lengths)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word lengths)/telegraph text data position according to position N3=
It is long]；
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit lengths；
Spreading code control word N4=seeks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=seeks integer [(Δ dt1-N4* spreads code length)/chip length]；
Δ dt2=a0+a1* (t-t0)+a2* (t-t0)2
In formula, a0 is clock jitter, and a1 is clock skew, and a2 is clock skew rate, is obtained by least square fitting；t
For the current time that Beidou navigation subscriber computer is positioned using Pseudolite signal, t0 is to refer to the moment；Wherein, clock correction fractional part
Divide Δ dt2=Δs dt1-N4* spread spectrum code length-N5* chips long.
Wherein, the Big Dipper/GPS navigation receiver user uses two point location processing method according to the satellite number of two pseudo satellite, pseudolites
With the pseudo-range information of two pseudo satellite, pseudolites the Big Dipper/GPS navigation receiver user is calculated respectively to the transmitting antenna of the first pseudo satellite, pseudolite
With the distance of the transmitting antenna of the second pseudo satellite, pseudolite, computing formula is：
In formula, Pu1And Pu2The first pseudo satellite, pseudolite is received respectively for the Big Dipper/GPS navigation receiver user t and the second puppet is defended
The pseudo-range information of star；The current time that t is positioned for the Big Dipper/GPS navigation receiver user using Pseudolite signal, Rx(t)
And RyT () is the Big Dipper/GPS navigation receiver user t respectively to the transmitting antenna and the second pseudo satellite, pseudolite of the first pseudo satellite, pseudolite
The actual distance of transmitting antenna.
Wherein, the Big Dipper/GPS navigation signal format and content of the simulation regeneration of pseudo satellite, pseudolite transmitting is led respectively with big-dipper satellite
The navigation signal format and content that boat system is launched with GPS satellite navigation system is identical.
A kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization, it is characterised in that comprise the following steps：
Step 1：The Big Dipper/the gps signal receiver of each pseudo satellite, pseudolite receives itself mould by respective reception antenna respectively
Intend the Big Dipper/GPS navigation signal of regeneration and another pseudo satellite, pseudolite transmitting simulation regeneration, according to the Big Dipper/GPS navigation signal
Satellite number and pseudo-range information are calculated, satellite number and pseudo-range information are transferred to into the position signal transmitter of itself；
Step 2：The position signal transmitter of each pseudo satellite, pseudolite solves two pseudo satellite, pseudolites according to satellite number and pseudo-range information to be determined
The clock correction of position signal transmitter；The clock of respective position signal transmitter is adjusted respectively using the clock correction, and according to clock correction meter
Calculate clock skew rate；
Step 3：The position signal transmitter simulation regeneration Big Dipper/GPS navigation signal of each pseudo satellite, pseudolite, by simulation regeneration
The Big Dipper/GPS navigation signal is launched to coverage by transmitting antenna to room；
Step 4：The Big Dipper/GPS navigation receiver user receives the Big Dipper/GPS navigation signal of two pseudo satellite, pseudolite simulation regeneration,
The satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites are calculated according to the Big Dipper/GPS navigation signal；
Step 5：The Big Dipper/GPS user navigation neceiver is according to the satellite number of two pseudo satellite, pseudolites and the pseudorange of two pseudo satellite, pseudolites
Information calculates the Big Dipper/GPS navigation receiver user respectively to the transmitting day of the first pseudo satellite, pseudolite using two point location processing method
The distance of the transmitting antenna of line and the second pseudo satellite, pseudolite.
Wherein, step 2 specifically includes following steps：
(201) communication module receives satellite number and pseudo-range information in the position signal transmitter of each pseudo satellite, pseudolite, by satellite
Number and pseudo-range information export the clock synchronization module into position signal transmitter；
(202) clock synchronization module calculates two and determines according to satellite number and pseudo-range information using two point location processing method
The clock correction of position signal transmitter, by the clock correction row clock adjustment is entered, and calculates clock skew rate according to clock correction.
Wherein, step 3 specifically includes following steps：
(301) in the position signal transmitter of each pseudo satellite, pseudolite the Big Dipper/gps data emulation module by satellite number, week in the second,
All countings, the clock jitter, the clock skew Big Dipper/gps satellite into outdoor with calculated clock skew rate analog simulation is led
The signal parameter of boat system, the signal parameter is exported to the indoor Big Dipper/GPS navigation signal generation module；
(302) the indoor Big Dipper/GPS navigation signal generation module is according to the signal parameter simulation regeneration Big Dipper/GPS navigation letter
Number, by the Big Dipper/GPS navigation signal output of simulation regeneration to framing signal transmitter module；
(303) framing signal transmitter module launches the Big Dipper/emitted antenna of GPS navigation signal for simulating regeneration to service
Region.
Wherein, step (201) is specific as follows：
Δ dt=(P11(t)-P12(t))+(R-R0)
Wherein Δ dt is the position signal transmitter of the position signal transmitter of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite in t
The clock correction at quarter；P11T () is the pseudorange of the transmitting antenna with reception antenna of pseudo- first pseudo satellite, pseudolite；P12T () is pseudo- first pseudo satellite, pseudolite
The pseudorange of the transmitting antenna of reception antenna and the second pseudo satellite, pseudolite；R is sending out for the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
Penetrate the actual distance of antenna, R0The actual distance of transmitting antenna and reception antenna for the first pseudo satellite, pseudolite.
Row clock adjustment is entered according to clock correction, clock adjustment includes the adjustment of text frame control word, the adjustment of text word control word, electricity
The adjustment of lteral data position, the adjustment of spreading code control word and the adjustment of spread-spectrum code chip control word；Wherein,
Text frame control word N1=seeks integer (Δ dt/ text frame lengths)；
Text word control word N2=seeks integer [(Δ dt-N1* text frame lengths)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word lengths)/telegraph text data position according to position N3=
It is long]；
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit lengths；
Spreading code control word N4=seeks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=seeks integer [(Δ dt1-N4* spreads code length)/chip length]；
Calculate clock skew rate a2：
Δ dt2=a0+a1* (t-t0)+a2* (t-t0)2
In formula, a0 is clock jitter, and a1 is clock skew, and a2 is clock skew rate, and t is that Beidou navigation subscriber computer uses puppet
The current time that satellite-signal is positioned, t0 is ginseng
Examine the moment；Wherein, clock correction fractional part Δ dt2=Δs dt1-N4* spread spectrums code length-N5* chips are long.
Wherein, step 4 specifically,
Computing formula is：
In formula, Pu1And Pu2The first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite are received respectively for the Big Dipper/GPS navigation subscriber computer t
Pseudo-range information；The current time that t is positioned for the Big Dipper/GPS navigation subscriber computer using Pseudolite signal, Rx(t) and RyT () is
The Big Dipper/GPS navigation subscriber computer t respectively to the first pseudo satellite, pseudolite transmitting antenna and the second pseudo satellite, pseudolite transmitting antenna it is true
Distance.
The technology of the present invention has the advantage that：
I () present invention proposes a kind of indoor pseudo satellite, pseudolite two point alignment system based on mutually synchronization and method, can be not
Change and realize indoor positioning function on the basis of the Big Dipper and GPS navigation chip module of software and hardware, with the high compatible positioning of indoor and outdoor
The characteristics of.
(ii) present invention proposes a kind of indoor two point position signal transmitter inter-synchronuos method, only using two pseudo satellite, pseudolites
Itself is capable of achieving clock synchronization, and overhead is little.
(iii) present invention proposes a kind of indoor pseudo satellite, pseudolite two point alignment system based on mutually synchronization, pseudo satellite, pseudolite linearisation
Deployment, simple and fast.
Description of the drawings
Fig. 1 is a kind of indoor pseudo satellite, pseudolite two point alignment system schematic diagram based on mutually synchronization of the present invention；
Fig. 2 is the pseudo satellite, pseudolite composition figure of the compatibility Big Dipper of the invention and GPS navigation signal；
Fig. 3 is a kind of indoor pseudo satellite, pseudolite two point alignment system localization method flow chart based on mutually synchronization of the present invention.
Specific embodiment
With reference to specific embodiments and the drawings, the present invention will be further described：
Fig. 1 is a kind of indoor pseudo satellite, pseudolite two point alignment system schematic diagram based on mutually synchronization of the present invention, the first pseudo satellite, pseudolite 1,
Second pseudo satellite, pseudolite 2 and the Big Dipper/GPS navigation receiver user,
Described the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite includes the Big Dipper/gps signal receiver, position signal transmitter,
Transmitting antenna, reception antenna and supply module；As shown in Fig. 2
The Big Dipper/the gps signal receiver of each pseudo satellite, pseudolite receives itself simulation regeneration by respective reception antenna respectively
And the simulation regeneration of another pseudo satellite, pseudolite the Big Dipper/GPS navigation signal, satellite number is calculated according to the Big Dipper/GPS navigation signal
And pseudo-range information, satellite number and pseudo-range information are transferred to into the position signal transmitter of itself；
The position signal transmitter of each pseudo satellite, pseudolite calculates two pseudolite positioning letters according to satellite number and pseudo-range information
The clock correction of number emitter；The clock of respective position signal transmitter is adjusted respectively using the clock correction；And simulate the regeneration Big Dipper/GPS
Navigation signal, the Big Dipper/GPS navigation signal of simulation regeneration is launched to coverage by transmitting antenna；
4th, the Big Dipper/GPS navigation receiver user receives the Big Dipper/GPS navigation signal of two pseudo satellite, pseudolite simulation regeneration, according to
The Big Dipper/GPS navigation signal calculates the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites, and is positioned using two point
Processing method calculates the Big Dipper/GPS navigation user and connects according to the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites
Receipts machine respectively to the first pseudo satellite, pseudolite transmitting antenna and the second pseudo satellite, pseudolite transmitting antenna distance.Computing formula is：
In formula, Pu1And Pu2The first pseudo satellite, pseudolite is received respectively for the Big Dipper/GPS navigation receiver user t and the second puppet is defended
The pseudo-range information of star；The current time that t is positioned for the Big Dipper/GPS navigation receiver user using Pseudolite signal, Rx(t)
And RyT () is the Big Dipper/GPS navigation receiver user t respectively to the transmitting antenna and the second pseudo satellite, pseudolite of the first pseudo satellite, pseudolite
The actual distance of transmitting antenna.
Fig. 2 is the compatible Big Dipper and GPS navigation signal pseudo satellite, pseudolite composition figure, and described position signal transmitter includes communication mould
Block, the Big Dipper/gps data emulation module, clock synchronization module, the indoor Big Dipper/GPS navigation signal generation module and framing signal are sent out
Penetrate module；Communication module is used to receive satellite number and the pseudo-range information that the Big Dipper/gps signal receiver is exported by serial ports, will defend
Asterisk and pseudo-range information are exported to clock synchronization module；Clock synchronization module calculates clock correction according to satellite number and pseudo-range information,
Row clock adjustment is entered by clock correction, and clock skew rate is calculated according to clock correction；Computing formula is as follows：
Δ dt=(P11(t)-P12(t))+(R-R0)
In formula, Δ dt is the position signal transmitter of the position signal transmitter of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite in t
The clock correction at moment；P11T () is the pseudorange of the transmitting antenna with reception antenna of pseudo- first pseudo satellite, pseudolite；P12T () is pseudo- first pseudo satellite, pseudolite
Reception antenna and the second pseudo satellite, pseudolite transmitting antenna pseudorange；R is the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
The actual distance of transmitting antenna, R0The actual distance of transmitting antenna and reception antenna for the first pseudo satellite, pseudolite.
Row clock adjustment is entered according to clock correction, clock adjustment includes the adjustment of text frame control word, the adjustment of text word control word, electricity
The adjustment of lteral data position, the adjustment of spreading code control word and the adjustment of spread-spectrum code chip control word；Wherein,
Text frame control word N1=seeks integer (Δ dt/ text frame lengths)；
Text word control word N2=seeks integer [(Δ dt-N1* text frame lengths)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word lengths)/telegraph text data position according to position N3=
It is long]；
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit lengths；
Spreading code control word N4=seeks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=seeks integer [(Δ dt1-N4* spreads code length)/chip length]；
Calculate clock skew rate a2：
Δ dt2=a0+a1* (t-t0)+a2* (t-t0)2
In formula, a0 is clock jitter, and a1 is clock skew, and a2 is clock skew rate, and t is that Beidou navigation subscriber computer uses puppet
The current time that satellite-signal is positioned, t0 is ginseng
Examine the moment；Wherein, clock correction fractional part Δ dt2=Δs dt1-N4* spread spectrums code length-N5* chips are long.
The Big Dipper/gps data emulation module by satellite number, second in week, all countings, clock jitter a0, clock skew a1 and when
Clock deviation ratio a2 analog simulation exports the signal parameter to room into the signal parameter of the outdoor Big Dipper/GPS satellite navigation system
The interior Big Dipper/GPS navigation signal generation module；The indoor Big Dipper/GPS navigation signal generation module is according to signal parameter simulation regeneration north
Bucket/GPS navigation signal, by the Big Dipper/GPS navigation signal output of simulation regeneration to framing signal transmitter module；Framing signal is sent out
Penetrate module to launch the Big Dipper/emitted antenna of GPS navigation signal for simulating regeneration to coverage.
Wherein the Big Dipper/GPS navigation receiver user is located on the line between two pseudo satellite, pseudolites, between two emitting antennas
Distance be R, can be obtained by measurement；The transmitting antenna of pseudo satellite, pseudolite is R with itself reception antenna spacing0, can be by measuring
Arrive；Pseudo satellite, pseudolite 1 and the framing signal transmitter module clock correction of pseudo satellite, pseudolite 2 are respectively Tt1And Tt2；The Big Dipper/the GPS receiver of two pseudo satellite, pseudolites
The clock correction of machine is respectively Rt1And Rt2；The Big Dipper/GPS navigation subscriber computer connects clock correction for Ut；The Big Dipper/GPS navigation subscriber computer is to pseudo satellite, pseudolite
1 and the distance of pseudo satellite, pseudolite 2 be respectively RxAnd Ry。
The Big Dipper/GPS navigation the signal format and Beidou satellite navigation system of the simulation regeneration of the pseudo satellite, pseudolite transmitting of the system,
The navigation signal form of GPS satellite navigation system transmitting is identical.Therefore, it is ensured that the software and hardware mould of the Big Dipper/GPS navigation subscriber computer
Block does not do any change, you can fixed according to carrying out with Beidou satellite navigation system, GPS satellite navigation system identical localization method
Position.
The navigation message that the pseudolite positioning signal of the system is carried and outdoor Beidou satellite navigation system, gps satellite
Navigation system is identical, and the Big Dipper/GPS navigation subscriber computer can be made to realize seamless switching outside indoors.
Fig. 3 is a kind of indoor pseudo satellite, pseudolite two point alignment system localization method flow chart based on mutually synchronization of the present invention, step
It is as follows：
Step 1：The Big Dipper/the gps signal receiver of each pseudo satellite, pseudolite receives itself mould by respective reception antenna respectively
Intend the Big Dipper/GPS navigation signal of regeneration and another pseudo satellite, pseudolite transmitting simulation regeneration, according to the Big Dipper/GPS navigation signal
Satellite number and pseudo-range information are calculated, satellite number and pseudo-range information are transferred to into the position signal transmitter of itself；
Step 2：The position signal transmitter of each pseudo satellite, pseudolite solves two pseudo satellite, pseudolites according to satellite number and pseudo-range information to be determined
The clock correction of position signal transmitter；The clock of respective position signal transmitter is adjusted respectively using the clock correction, and according to clock correction meter
Calculate clock skew rate；
Step 3：The position signal transmitter simulation regeneration Big Dipper/GPS navigation signal of each pseudo satellite, pseudolite, by simulation regeneration
The Big Dipper/GPS navigation signal is launched to coverage by transmitting antenna to room；
Step 4：The Big Dipper/GPS navigation receiver user receives the Big Dipper/GPS navigation signal of two pseudo satellite, pseudolite simulation regeneration,
The satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites are calculated according to the Big Dipper/GPS navigation signal；
Step 5：The Big Dipper/GPS user navigation neceiver is according to the satellite number of two pseudo satellite, pseudolites and the pseudorange of two pseudo satellite, pseudolites
Information calculates the Big Dipper/GPS navigation receiver user respectively to the transmitting day of the first pseudo satellite, pseudolite using two point location processing method
The distance of the transmitting antenna of line and the second pseudo satellite, pseudolite.
Step 2 specifically includes following steps：
(201) communication module receives satellite number and pseudo-range information in the position signal transmitter of each pseudo satellite, pseudolite, by satellite
Number and pseudo-range information export the clock synchronization module into position signal transmitter；
(202) clock synchronization module calculates two and determines according to satellite number and pseudo-range information using two point location processing method
The clock correction of position signal transmitter, by the clock correction row clock adjustment is entered, and calculates clock skew rate according to clock correction.Specifically such as
Under：
Δ dt=(P11(t)-P12(t))+(R-R0)
Wherein Δ dt is the position signal transmitter of the position signal transmitter of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite in t
The clock correction at quarter；P11T () is the pseudorange of the transmitting antenna with reception antenna of pseudo- first pseudo satellite, pseudolite；P12T () is pseudo- first pseudo satellite, pseudolite
The pseudorange of the transmitting antenna of reception antenna and the second pseudo satellite, pseudolite；R is sending out for the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
Penetrate the actual distance of antenna, R0The actual distance of transmitting antenna and reception antenna for the first pseudo satellite, pseudolite.
Row clock adjustment is entered according to clock correction, clock adjustment includes the adjustment of text frame control word, the adjustment of text word control word, electricity
The adjustment of lteral data position, the adjustment of spreading code control word and the adjustment of spread-spectrum code chip control word；Wherein,
Text frame control word N1=seeks integer (Δ dt/ text frame lengths)；
Text word control word N2=seeks integer [(Δ dt-N1* text frame lengths)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word lengths)/telegraph text data position according to position N3=
It is long]；
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit lengths；
Spreading code control word N4=seeks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=seeks integer [(Δ dt1-N4* spreads code length)/chip length]；
Calculate clock skew rate a2：
Δ dt2=a0+a1* (t-t0)+a2* (t-t0)2
In formula, a0 is clock jitter, and a1 is clock skew, and a2 is clock skew rate, and t is that Beidou navigation subscriber computer uses puppet
The current time that satellite-signal is positioned, t0 is ginseng
Examine the moment；Wherein, clock correction fractional part Δ dt2=Δs dt1-N4* spread spectrums code length-N5* chips are long.
By taking pseudo satellite, pseudolite 1 as an example (operation principle of pseudo satellite, pseudolite 2 is with pseudo satellite, pseudolite 1), 1 Big Dipper of pseudo satellite, pseudolite/GPS receiver module parsing
The pseudorange equation for obtaining is as follows：
Wherein Rt1T () is clock correction of 1 Big Dipper of the pseudo satellite, pseudolite/GPS receiver module 1 in t.Above-mentioned two formula is made the difference, will
Item side's equation the right is understood, the unknown side equation left side obtains：
Tt1(t)-Tt2(t)=(P11(t)-P12(t))+(R-R0)
Wherein, Tt1(t)-Tt2T () is the position signal transmitter of pseudo satellite, pseudolite 1 and the position signal transmitter of pseudo satellite, pseudolite 2 in t
Quarter is poor, and pseudolite positioning signal transmitter clock is corrected by coarse adjustment and accurate adjustment using the clock correction, realizes clock synchronization, then repair
Changing above formula is
0=(P11(t)-P12(t))+(R-R0)
Step 4 is specific as follows, and the Big Dipper/GPS navigation subscriber computer receives the framing signal of pseudo satellite, pseudolite 1 and the transmitting of pseudo satellite, pseudolite 2, solution
Analysis obtains pseudorange Pu1And Pu2, can be by following formula gained：
Wherein, RutThe clock correction of (t) puppet Big Dipper/GPS navigation subscriber computer t.Above-mentioned two formula is made the difference, it is known that item is placed on
The right, the unknown side left side obtains：
Ry(t)-Rx(t)=(Tt1(t)-Tt2(t))+(Pu2(t)-Pu1(t))
Wherein Tt1(t)-Tt2T () is 0 Jing after clock synchronization, then above formula is revised as：
Ry(t)-Rx(t)=Pu2(t)-Pu1(t)
The Big Dipper/GPS navigation subscriber computer is that on the line between the transmitting antenna of pseudo satellite, pseudolite 1 and the antenna of pseudo satellite, pseudolite 2, then have
Ry(t)+Rx(t)=R
In formula, Pu1And Pu2The first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite are received respectively for the Big Dipper/GPS navigation subscriber computer t
Pseudo-range information；The current time that t is positioned for the Big Dipper/GPS navigation subscriber computer using Pseudolite signal, Rx(t) and RyT () is
The Big Dipper/GPS navigation subscriber computer t respectively to the first pseudo satellite, pseudolite transmitting antenna and the second pseudo satellite, pseudolite transmitting antenna it is true
Distance.
Obviously the Big Dipper/GPS navigation subscriber computer can be tried to achieve respectively to the transmitting antenna of pseudo satellite, pseudolite 1 apart from R by above-mentioned two formulaxAnd puppet
The transmitting antenna of satellite 2 is apart from Ry, that is, try to achieve the Big Dipper/GPS navigation subscriber computer position.
The above, an only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, at this
Invention disclose technical scope in, it will be appreciated that the conversion expected, all should cover the present invention include in the range of.
Claims (10)
1. a kind of indoor pseudo satellite, pseudolite two point alignment system based on mutually synchronization, including：First pseudo satellite, pseudolite, the second pseudo satellite, pseudolite and north
Bucket/GPS navigation receiver user；Characterized in that, the first described pseudo satellite, pseudolite and the second pseudo satellite, pseudolite include the Big Dipper/GPS letters
Number receiver, position signal transmitter, transmitting antenna, reception antenna and supply module；
The Big Dipper/the gps signal receiver of each pseudo satellite, pseudolite receives respectively the sum of itself simulation regeneration by respective reception antenna
The Big Dipper/GPS navigation the signal of another pseudo satellite, pseudolite simulation regeneration, according to the Big Dipper/GPS navigation signal satellite number and puppet are calculated
Away from information, satellite number and pseudo-range information are transferred to into the position signal transmitter of itself；
The position signal transmitter of each pseudo satellite, pseudolite calculates two pseudolite positioning signals and sends out according to satellite number and pseudo-range information
Penetrate the clock correction of machine；The clock of respective position signal transmitter is adjusted respectively using the clock correction；And simulate the regeneration Big Dipper/GPS navigation
Signal, the Big Dipper/GPS navigation signal of simulation regeneration is launched to coverage by transmitting antenna；
The Big Dipper/GPS navigation receiver user receives the Big Dipper/GPS navigation signal of two pseudo satellite, pseudolites simulation regeneration, according to the Big Dipper/
GPS navigation signal calculates the pseudo-range information of the satellite number of two pseudo satellite, pseudolites and two pseudo satellite, pseudolites, and using two point localization process
Method calculates the Big Dipper/GPS navigation receiver user according to the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites
Respectively to the first pseudo satellite, pseudolite transmitting antenna and the second pseudo satellite, pseudolite transmitting antenna distance.
2. a kind of indoor pseudo satellite, pseudolite two point alignment system based on mutually synchronization, it is characterised in that described position signal transmitter
Including communication module, the Big Dipper/gps data emulation module, clock synchronization module, the indoor Big Dipper/GPS navigation signal generation module and
Framing signal transmitter module；Communication module is used to receive satellite number and the pseudorange that the Big Dipper/gps signal receiver is exported by serial ports
Information, satellite number and pseudo-range information are exported to clock synchronization module；Clock synchronization module is according to satellite number and pseudo-range information solution
Clock correction is calculated, row clock adjustment is entered by clock correction, and clock skew rate is calculated according to clock correction；The Big Dipper/gps data emulation module
By satellite number, interior second in week, all countings, clock jitter, clock skew with calculated clock skew rate analog simulation into outdoor
The Big Dipper/GPS satellite navigation system signal parameter, the signal parameter is exported to the indoor Big Dipper/GPS navigation signal generation mould
Block；The indoor Big Dipper/GPS navigation signal generation module will be simulated again according to the signal parameter simulation regeneration Big Dipper/GPS navigation signal
The raw Big Dipper/GPS navigation signal output is to framing signal transmitter module；The Big Dipper that framing signal transmitter module regenerates simulation/
The emitted antenna of GPS navigation signal is launched to coverage.
3. according to a kind of indoor pseudo satellite, pseudolite double dot system based on mutually synchronization described in claim 2, it is characterised in that：Clock is same
Step module calculates clock correction according to satellite number and pseudo-range information, and by clock correction row clock adjustment is entered, and when being calculated according to clock correction
Clock deviation ratio；Two pseudo satellite, pseudolite kind difference computing formula are as follows：
Δ dt=(P11(t)-P12(t))+(R-R0)
In formula, Δ dt is the position signal transmitter of the position signal transmitter of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite in t
Clock correction；P11T () is the pseudorange of the transmitting antenna with reception antenna of pseudo- first pseudo satellite, pseudolite；P12T () is connecing for pseudo- first pseudo satellite, pseudolite
Receive the pseudorange of the transmitting antenna of antenna and the second pseudo satellite, pseudolite；R is the transmitting of the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
The actual distance of antenna, R0The actual distance of transmitting antenna and reception antenna for the first pseudo satellite, pseudolite.
Row clock adjustment is entered according to clock correction, clock adjustment includes the adjustment of text frame control word, the adjustment of text word control word, text word
Data bit adjustment, the adjustment of spreading code control word and the adjustment of spread-spectrum code chip control word；Wherein,
Text frame control word N1=seeks integer (Δ dt/ text frame lengths)；
Text word control word N2=seeks integer [(Δ dt-N1* text frame lengths)/text word length]；
The number of words of telegram seeks integer [(Δ dt-N1* text frame length-N2* text word lengths)/telegraph text data bit length] according to position N3=；
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit lengths；
Spreading code control word N4=seeks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=seeks integer [(Δ dt1-N4* spreads code length)/chip length]；
Calculate clock skew rate a2：
Δ dt2=a0+a1* (t-t0)+a2* (t-t0)2
In formula, a0 is clock jitter, and a1 is clock skew, and a2 is clock skew rate, and t uses pseudo satellite, pseudolite for Beidou navigation subscriber computer
The current time that signal is positioned, t0 is to refer to the moment；Wherein, clock correction fractional part Δ dt2=Δs dt1-N4* spreading codes
Long-N5* chips are long.
4. according to a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization described in claim 1, it is characterised in that：North
Bucket/GPS navigation receiver user is using two point location processing method according to the satellite number of two pseudo satellite, pseudolites and two pseudo satellite, pseudolites
Pseudo-range information calculates the Big Dipper/GPS navigation receiver user respectively to the transmitting antenna and the second pseudo satellite, pseudolite of the first pseudo satellite, pseudolite
The distance of transmitting antenna, computing formula is：
In formula, Pu1And Pu2The first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite are received respectively for the Big Dipper/GPS navigation receiver user t
Pseudo-range information；The current time that t is positioned for the Big Dipper/GPS navigation receiver user using Pseudolite signal, Rx(t) and Ry
T () is the Big Dipper/GPS navigation receiver user t transmitting antenna respectively to the first pseudo satellite, pseudolite and the transmitting of the second pseudo satellite, pseudolite
The actual distance of antenna.
5. according to a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization described in claim 1, it is characterised in that：
The Big Dipper/GPS navigation the signal format and content of the simulation regeneration of pseudo satellite, pseudolite transmitting is defended respectively with Beidou satellite navigation system and GPS
The navigation signal format and content of star navigation system transmitting is identical.
6. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization, it is characterised in that comprise the following steps：
Step 1：The Big Dipper/the gps signal receiver of each pseudo satellite, pseudolite receives itself simulation again by respective reception antenna respectively
The Big Dipper/GPS navigation the signal of raw and another pseudo satellite, pseudolite transmitting simulation regeneration, resolves according to the Big Dipper/GPS navigation signal
Go out satellite number and pseudo-range information, satellite number and pseudo-range information are transferred to into the position signal transmitter of itself；
Step 2：The position signal transmitter of each pseudo satellite, pseudolite solves two pseudolite positioning letters according to satellite number and pseudo-range information
The clock correction of number emitter；The clock of respective position signal transmitter is adjusted respectively using the clock correction, and is calculated according to clock correction
Clock skew rate；
Step 3：The position signal transmitter simulation regeneration Big Dipper/GPS navigation signal of each pseudo satellite, pseudolite, by the north of simulation regeneration
Bucket/GPS navigation signal is by transmitting antenna to indoor transmitting to coverage；
Step 4：The Big Dipper/GPS navigation receiver user receives the Big Dipper/GPS navigation signal of two pseudo satellite, pseudolite simulation regeneration, according to
The Big Dipper/GPS navigation signal calculates the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites；
Step 5：The Big Dipper/GPS user navigation neceiver is according to the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites
Using two point location processing method calculate the Big Dipper/GPS navigation receiver user respectively to the first pseudo satellite, pseudolite transmitting antenna and
The distance of the transmitting antenna of the second pseudo satellite, pseudolite.
7. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization according to claim 6, it is characterised in that step
Rapid 2 specifically include following steps：
(201) communication module receives satellite number and pseudo-range information in the position signal transmitter of each pseudo satellite, pseudolite, by satellite number and
Pseudo-range information exports the clock synchronization module into position signal transmitter；
(202) clock synchronization module calculates two positioning letters according to satellite number and pseudo-range information using two point location processing method
The clock correction of number emitter, by the clock correction row clock adjustment is entered, and calculates clock skew rate according to clock correction.
8. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization according to claim 6, it is characterised in that step
Rapid 3 specifically include following steps：
(301) Big Dipper/gps data emulation module is counted in second, week by satellite number, in week in the position signal transmitter of each pseudo satellite, pseudolite
The into outdoor Big Dipper/GPS satellite navigation system of number, clock jitter, clock skew and calculated clock skew rate analog simulation
The signal parameter of system, the signal parameter is exported to the indoor Big Dipper/GPS navigation signal generation module；
(302) the indoor Big Dipper/GPS navigation signal generation module, will according to the signal parameter simulation regeneration Big Dipper/GPS navigation signal
The Big Dipper/GPS navigation the signal output of simulation regeneration is to framing signal transmitter module；
(303) framing signal transmitter module launches the Big Dipper/emitted antenna of GPS navigation signal for simulating regeneration to service area
Domain.
9. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization according to claim 7, it is characterised in that step
Suddenly (201) are specific as follows：
Δ dt=(P11(t)-P12(t))+(R-R0)
Wherein Δ dt is the position signal transmitter of the position signal transmitter of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite in t
Clock correction；P11T () is the pseudorange of the transmitting antenna with reception antenna of pseudo- first pseudo satellite, pseudolite；P12T () is the reception of pseudo- first pseudo satellite, pseudolite
The pseudorange of the transmitting antenna of antenna and the second pseudo satellite, pseudolite；R is the transmitting day of the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
The actual distance of line, R0The actual distance of transmitting antenna and reception antenna for the first pseudo satellite, pseudolite.
Row clock adjustment is entered according to clock correction, clock adjustment includes the adjustment of text frame control word, the adjustment of text word control word, text word
Data bit adjustment, the adjustment of spreading code control word and the adjustment of spread-spectrum code chip control word；Wherein,
Text frame control word N1=seeks integer (Δ dt/ text frame lengths)；
Text word control word N2=seeks integer [(Δ dt-N1* text frame lengths)/text word length]；
The number of words of telegram seeks integer [(Δ dt-N1* text frame length-N2* text word lengths)/telegraph text data bit length] according to position N3=；
Clock correction surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit lengths；
Spreading code control word N4=seeks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=seeks integer [(Δ dt1-N4* spreads code length)/chip length]；
Δ dt2=a0+a1* (t-t0)+a2* (t-t0)2
In formula, a0 is clock jitter, and a1 is clock skew, and a2 is clock skew rate, is obtained by least square fitting；T is north
At the current time that bucket navigation subscriber computer is positioned using Pseudolite signal, t0 is to refer to the moment；Wherein, clock correction fractional part Δ
Dt2=Δs dt1-N4* spread spectrum code length-N5* chips are long.
10. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization according to claim 6, it is characterised in that
Step 4 specifically,
Computing formula is：
In formula, Pu1And Pu2For the pseudorange that the Big Dipper/GPS navigation subscriber computer t receives respectively the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
Information；The current time that t is positioned for the Big Dipper/GPS navigation subscriber computer using Pseudolite signal, Rx(t) and Ry(t) be the Big Dipper/
GPS navigation subscriber computer t respectively to the first pseudo satellite, pseudolite transmitting antenna and the second pseudo satellite, pseudolite transmitting antenna actual distance.
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