CN106595667B - A kind of indoor pseudo satellite, pseudolite two point positioning system and method based on mutually synchronization - Google Patents
A kind of indoor pseudo satellite, pseudolite two point positioning system and method based on mutually synchronization Download PDFInfo
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- CN106595667B CN106595667B CN201611114700.9A CN201611114700A CN106595667B CN 106595667 B CN106595667 B CN 106595667B CN 201611114700 A CN201611114700 A CN 201611114700A CN 106595667 B CN106595667 B CN 106595667B
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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 kind of indoor pseudo satellite, pseudolite two point positioning system and method based on mutually synchronization, including two pseudo satellite, pseudolites and Beidou/GPS navigation receiver user；Two pseudo satellite, pseudolites include Beidou/GPS signal receiver, position signal transmitter, transmitting antenna, receiving antenna and power supply module；Beidou/GPS signal receiver of each pseudo satellite, pseudolite receives itself Beidou/GPS navigation signal with another pseudo satellite, pseudolite respectively, calculates satellite number and pseudo-range information, and be transferred to the position signal transmitter of itself；The position signal transmitter of each pseudo satellite, pseudolite calculates the clock deviation of two pseudolite positioning signal transmitters；Adjust respective clock；And it simulates regeneration Beidou/GPS navigation signal and emits to coverage；Beidou/GPS navigation receiver user receives two pseudo satellite, pseudolites and simulates regenerated Beidou/GPS navigation signal, the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites are calculated, is calculated respectively to the distance of the transmitting antenna of the first pseudo satellite, pseudolite and the transmitting antenna of the second pseudo satellite, pseudolite.
Description
Technical field
The present invention relates to indoor and tunnel placement field, especially a kind of indoor pseudo satellite, pseudolite double dot systems based on mutually synchronization
And method.
Background technique
Currently, the demand of indoor positioning is more more and more urgent, it is desirable in megastore, public place, longer
Velocity tunnel etc. knows the position where itself, and can quickly arrive at the destination.
It is the satellite navigation system of representative using more and more extensive using Beidou and GPS, and has become smart phone, vehicle
Carry the essential functions such as navigator.However, occlusion effect of the satellite navigation signals because of building, can not penetrate building wall
Wall, so that satellite navigation receiver be made to lose positioning function.
For these reasons, need the pseudolite systems of a kind of compatible Beidou and GPS navigation signal, can smart phone,
Under conditions of the Beidou of the configurations such as automatic navigator/GPS navigation chip module of software and hardware does not change, when Beidou/GPS user seat in the plane
, it can be achieved that indoor positioning when on the line between two pseudolite transmitters.
Summary of the invention
The object of the present invention is to provide a kind of indoor pseudo satellite, pseudolite two point positioning system and method based on mutually synchronization, can be
Under conditions of the Beidous such as smart 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 of the present invention is realized as follows:
A kind of indoor pseudo satellite, pseudolite two point positioning system based on mutually synchronization, comprising: the first pseudo satellite, pseudolite, the second pseudo satellite, pseudolite and north
Bucket/GPS navigation receiver user；It is characterized in that, first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite includes Beidou/GPS letter
Number receiver, position signal transmitter, transmitting antenna, receiving antenna and power supply module；
Beidou/GPS signal receiver of each pseudo satellite, pseudolite passes through respective receiving antenna respectively and receives itself simulation regeneration
And another pseudo satellite, pseudolite simulate regenerated Beidou/GPS navigation signal, satellite number is calculated according to Beidou/GPS navigation signal
And pseudo-range information, satellite number and pseudo-range information are transferred to 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 deviation of number transmitter；The clock of respective position signal transmitter is adjusted separately using the clock deviation；And simulate regeneration Beidou/GPS
Navigation signal will simulate regenerated Beidou/GPS navigation signal and be emitted by transmitting antenna to coverage；
Beidou/GPS navigation receiver user receives two pseudo satellite, pseudolites and simulates regenerated Beidou/GPS navigation signal, according to north
Bucket/GPS navigation signal calculates the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites, and using two point positioning at
Reason method calculates Beidou/GPS navigation user according to the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites and receives
Machine is respectively to the distance of the transmitting antenna of the first pseudo satellite, pseudolite and the transmitting antenna of the second pseudo satellite, pseudolite.
Wherein, the position signal transmitter includes communication module, Beidou/GPS data emulation module, the synchronous mould of clock
Block, indoor Beidou/GPS navigation signal generation module and positioning signal transmitting module；Communication module is for receiving Beidou/GPS letter
The satellite number and pseudo-range information that number receiver is exported by serial ports export satellite number and pseudo-range information to clock synchronization module；
Clock synchronization module calculates clock deviation according to satellite number and pseudo-range information, carries out clock adjustment by clock deviation, and according to clock deviation meter
Calculate clock skew rate；Beidou/GPS data emulation module by satellite number, second in week, all countings, clock jitter, clock skew and
The clock skew rate analog simulation being calculated joins the signal at outdoor Beidou/GPS satellite navigation system signal parameter
Number is exported to indoor Beidou/GPS navigation signal generation module；Indoor Beidou/GPS navigation signal generation module is according to signal parameter
Simulation regeneration Beidou/GPS navigation signal, will simulate regenerated Beidou/GPS navigation signal and export to positioning signal transmitting module；
Positioning signal transmitting module will simulate regenerated Beidou/emitted antenna of GPS navigation signal and emit to coverage.
Wherein, clock synchronization module calculates clock deviation according to satellite number and pseudo-range information, carries out clock adjustment by clock deviation,
And clock skew rate is calculated according to clock deviation；Calculation formula is as follows:
Δ dt=(P11(t)-P12(t))+(R-R0)
In formula, Δ dt is the position signal transmitter of the first pseudo satellite, pseudolite and the position signal transmitter of the second pseudo satellite, pseudolite in t
The clock deviation at moment；P11It (t) is the pseudo- transmitting antenna of first pseudo satellite, pseudolite and the pseudorange of receiving antenna；P12It (t) is pseudo- first pseudo satellite, pseudolite
Receiving antenna and the second pseudo satellite, pseudolite transmitting antenna pseudorange；R is the transmitting antenna and the second pseudo satellite, pseudolite of the first pseudo satellite, pseudolite
The actual distance of transmitting antenna, R0For the transmitting antenna of the first pseudo satellite, pseudolite and the actual distance of receiving antenna.
Clock adjustment is carried out according to clock deviation, 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=asks integer (Δ dt/ text frame length)；
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data position according to position N3=
It is long]；
Clock deviation surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit length；
Spreading code control word N4=asks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spreads code length)/chip is long]；
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 with reference to the moment；Wherein, clock deviation fractional part
Divide Δ dt2=Δ dt1-N4* spread spectrum code length-N5* chip long.
Wherein, Beidou/GPS navigation receiver user is using two point location processing method according to the satellite number of two pseudo satellite, pseudolites
Beidou/GPS navigation receiver user is calculated respectively to the transmitting antenna of the first pseudo satellite, pseudolite with the pseudo-range information of two pseudo satellite, pseudolites
With the distance of the transmitting antenna of the second pseudo satellite, pseudolite, calculation formula are as follows:
In formula, Pu1And Pu2The first pseudo satellite, pseudolite is received respectively for Beidou/GPS navigation receiver user t moment and the second puppet is defended
The pseudo-range information of star；T is the current time that Beidou/GPS navigation receiver user is positioned using Pseudolite signal, Rx(t)
And RyIt (t) is Beidou/GPS navigation receiver user t moment respectively to the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
The actual distance of transmitting antenna.
Wherein, the regenerated Beidou of the simulation/GPS navigation signal format and content of pseudo satellite, pseudolite transmitting are led with big-dipper satellite respectively
The navigation signal format and content that boat system and GPS satellite navigation system emit is identical.
A kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization, comprising the following steps:
Step 1: Beidou/GPS signal receiver of each pseudo satellite, pseudolite passes through respective receiving antenna respectively and receives itself mould
The regenerated Beidou of the simulation/GPS navigation signal for intending the transmitting of regenerated and another pseudo satellite, pseudolite, according to Beidou/GPS navigation signal
Satellite number and pseudo-range information are calculated, satellite number and pseudo-range information are transferred to the position signal transmitter of itself；
Step 2: the position signal transmitter of each pseudo satellite, pseudolite, which solves two pseudo satellite, pseudolites according to satellite number and pseudo-range information, to be determined
The clock deviation of position signal transmitter；The clock of respective position signal transmitter is adjusted separately using the clock deviation, and according to clock deviation meter
Calculate clock skew rate；
Step 3: position signal transmitter simulation regeneration Beidou/GPS navigation signal of each pseudo satellite, pseudolite will simulate regenerated
Beidou/GPS navigation signal is emitted to room to coverage by transmitting antenna；
Step 4: Beidou/GPS navigation receiver user receives two pseudo satellite, pseudolites and simulates regenerated Beidou/GPS navigation signal,
The satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites are calculated according to Beidou/GPS navigation signal；
Step 5: Beidou/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 Beidou/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 the 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 using two point location processing method according to satellite number and pseudo-range information and determines
The clock deviation of position signal transmitter carries out clock adjustment by the clock deviation, and calculates clock skew rate according to clock deviation.
Wherein, step 3 specifically includes the following steps:
(301) in the position signal transmitter of each pseudo satellite, pseudolite Beidou/GPS data emulation module by satellite number, week in the second,
All countings, clock jitter, clock skew and the clock skew rate analog simulation being calculated are led at outdoor Beidou/GPS satellite
The signal parameter of boat system exports the signal parameter to indoor Beidou/GPS navigation signal generation module；
(302) indoor Beidou/GPS navigation signal generation module is simulated regeneration Beidou/GPS navigation according to signal parameter and is believed
Number, regenerated Beidou/GPS navigation signal will be simulated and exported to positioning signal transmitting module；
(303) positioning signal transmitting module will simulate regenerated Beidou/emitted antenna of GPS navigation signal and emit to service
Region.
Wherein, step (202) is specific as follows:
Δ dt=(P11(t)-P12(t))+(R-R0)
Wherein Δ dt is the position signal transmitter of the first pseudo satellite, pseudolite and the position signal transmitter of the second pseudo satellite, pseudolite in t
The clock deviation at quarter；P11It (t) is the pseudo- transmitting antenna of first pseudo satellite, pseudolite and the pseudorange of receiving antenna；P12It (t) is pseudo- first pseudo satellite, pseudolite
The pseudorange of the transmitting antenna of receiving antenna and the second pseudo satellite, pseudolite；R is the transmitting antenna of the first pseudo satellite, pseudolite and the hair of the second pseudo satellite, pseudolite
Penetrate the actual distance of antenna, R0For the transmitting antenna of the first pseudo satellite, pseudolite and the actual distance of receiving antenna.
Clock adjustment is carried out according to clock deviation, 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=asks integer (Δ dt/ text frame length)；
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data position according to position N3=
It is long]；
Clock deviation surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit length；
Spreading code control word N4=asks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spreads code length)/chip is long]；
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 leads for Beidou
The current time that boat subscriber computer is positioned using Pseudolite signal, t0 are with reference to the moment；Wherein, clock deviation fractional part
Divide Δ dt2=Δ dt1-N4* spread spectrum code length-N5* chip long.
Wherein, step 5 specifically,
Calculation formula are as follows:
In formula, Pu1And Pu2The first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite are received respectively for Beidou/GPS navigation subscriber computer t moment
Pseudo-range information；T is the current time that Beidou/GPS navigation subscriber computer is positioned using Pseudolite signal, Rx(t) and Ry(t) it is
Beidou/GPS navigation subscriber computer t moment is respectively to the true of the transmitting antenna of the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
Distance.
The technology of the present invention has the advantages that
(i) the invention proposes a kind of indoor pseudo satellite, pseudolite two point positioning system and method based on mutually synchronization, can be not
Indoor positioning function is realized on the basis of change Beidou and GPS navigation chip module of software and hardware, and there is the high compatible positioning of indoor and outdoor
The characteristics of.
(ii) the invention proposes a kind of indoor two point position signal transmitter inter-synchronuos method, two pseudo satellite, pseudolites are used only
It is synchronous that clock itself can be realized, overhead is small.
(iii) the indoor pseudo satellite, pseudolite two point positioning system based on mutually synchronization that the invention proposes a kind of, pseudo satellite, pseudolite linearisation
Deployment, it is simple and fast.
Detailed description of the invention
Fig. 1 is a kind of indoor pseudo satellite, pseudolite two point positioning system schematic diagram based on mutually synchronization of the present invention；
Fig. 2 is the pseudo satellite, pseudolite composition figure of the present invention compatible Beidou and GPS navigation signal；
Fig. 3 is a kind of indoor pseudo satellite, pseudolite two point positioning system localization method flow chart based on mutually synchronization of the present invention.
Specific embodiment
The present invention will be further described with attached drawing combined with specific embodiments below:
Fig. 1 is a kind of indoor pseudo satellite, pseudolite two point positioning system schematic diagram based on mutually synchronization of the present invention, the first pseudo satellite, pseudolite 1,
Second pseudo satellite, pseudolite 2 and Beidou/GPS navigation receiver user,
First pseudo satellite, pseudolite and the second pseudo satellite, pseudolite includes Beidou/GPS signal receiver, position signal transmitter,
Transmitting antenna, receiving antenna and power supply module；As shown in Fig. 2,
Beidou/GPS signal receiver of each pseudo satellite, pseudolite passes through respective receiving antenna respectively and receives itself simulation regeneration
And another pseudo satellite, pseudolite simulate regenerated Beidou/GPS navigation signal, satellite number is calculated according to Beidou/GPS navigation signal
And pseudo-range information, satellite number and pseudo-range information are transferred to 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 deviation of number transmitter；The clock of respective position signal transmitter is adjusted separately using the clock deviation；And simulate regeneration Beidou/GPS
Navigation signal will simulate regenerated Beidou/GPS navigation signal and be emitted by transmitting antenna to coverage；
Beidou/GPS navigation receiver user receives two pseudo satellite, pseudolites and simulates regenerated Beidou/GPS navigation signal, according to north
Bucket/GPS navigation signal calculates the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites, and using two point positioning at
Reason method calculates Beidou/GPS navigation user according to the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites and receives
Machine is respectively to the distance of the transmitting antenna of the first pseudo satellite, pseudolite and the transmitting antenna of the second pseudo satellite, pseudolite.Calculation formula are as follows:
In formula, Pu1And Pu2The first pseudo satellite, pseudolite is received respectively for Beidou/GPS navigation receiver user t moment and the second puppet is defended
The pseudo-range information of star；T is the current time that Beidou/GPS navigation receiver user is positioned using Pseudolite signal, Rx(t)
And RyIt (t) is Beidou/GPS navigation receiver user t moment respectively to the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
The actual distance of transmitting antenna.
Fig. 2 is compatible Beidou and GPS navigation signal pseudo satellite, pseudolite composition figure, and the position signal transmitter includes communication mould
Block, Beidou/GPS data emulation module, clock synchronization module, indoor Beidou/GPS navigation signal generation module and positioning signal hair
Penetrate module；Communication module will be defended for receiving satellite number and pseudo-range information that Beidou/GPS signal receiver is exported by serial ports
Asterisk and pseudo-range information are exported to clock synchronization module；Clock synchronization module calculates clock deviation according to satellite number and pseudo-range information,
Clock adjustment is carried out by clock deviation, and clock skew rate is calculated according to clock deviation；Calculation formula is as follows:
Δ dt=(P11(t)-P12(t))+(R-R0)
In formula, Δ dt is the position signal transmitter of the first pseudo satellite, pseudolite and the position signal transmitter of the second pseudo satellite, pseudolite in t
The clock deviation at moment；P11It (t) is the pseudo- transmitting antenna of first pseudo satellite, pseudolite and the pseudorange of receiving antenna；P12It (t) is pseudo- first pseudo satellite, pseudolite
Receiving antenna and the second pseudo satellite, pseudolite transmitting antenna pseudorange；R is the transmitting antenna and the second pseudo satellite, pseudolite of the first pseudo satellite, pseudolite
The actual distance of transmitting antenna, R0For the transmitting antenna of the first pseudo satellite, pseudolite and the actual distance of receiving antenna.
Clock adjustment is carried out according to clock deviation, 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=asks integer (Δ dt/ text frame length)；
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data position according to position N3=
It is long]；
Clock deviation surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit length；
Spreading code control word N4=asks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spreads code length)/chip is long]；
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 are with reference to the moment；Wherein, clock deviation fractional part Δ dt2=Δ dt1-N4* is spread
Code length-N5* chip is long.
Beidou/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 at outdoor Beidou/GPS satellite navigation system signal parameter
Interior Beidou/GPS navigation signal generation module；Indoor Beidou/GPS navigation signal generation module simulates regeneration north according to signal parameter
Bucket/GPS navigation signal will simulate regenerated Beidou/GPS navigation signal and export to positioning signal transmitting module；Positioning signal hair
It penetrates module and will simulate regenerated Beidou/emitted antenna of GPS navigation signal and emit to coverage.
Wherein Beidou/GPS navigation receiver user is located on the line between two pseudo satellite, pseudolites, between two emitting antennas
Distance be R, can by measurement obtain；The transmitting antenna of pseudo satellite, pseudolite and itself receiving antenna spacing are R0, can be by measuring
It arrives；Pseudo satellite, pseudolite 1 and 2 positioning signal transmitting module clock deviation of pseudo satellite, pseudolite are respectively Tt1And Tt2；Beidou/GPS receiver of two pseudo satellite, pseudolites
The clock deviation of machine is respectively Rt1And Rt2；It is Ut that Beidou/GPS navigation subscriber computer, which connects clock deviation,；Beidou/GPS navigation subscriber computer to pseudo satellite, pseudolite
1 and the distance of pseudo satellite, pseudolite 2 be respectively RxAnd Ry。
The regenerated Beidou of the simulation/GPS navigation signal format and Beidou satellite navigation system of the pseudo satellite, pseudolite transmitting of this system,
The navigation signal format of GPS satellite navigation system transmitting is identical.Therefore, it is ensured that Beidou/GPS navigation subscriber computer software and hardware mould
Block does not do any change, can be determined according to localization method identical with Beidou satellite navigation system, GPS satellite navigation system
Position.
The navigation message and outdoor Beidou satellite navigation system, GPS satellite that the pseudolite positioning signal of this system carries
Navigation system is identical, can make Beidou/GPS navigation subscriber computer is outer indoors to realize seamless switching.
Fig. 3 is a kind of indoor pseudo satellite, pseudolite two point positioning system localization method flow chart based on mutually synchronization of the present invention, step
It is as follows:
Step 1: Beidou/GPS signal receiver of each pseudo satellite, pseudolite passes through respective receiving antenna respectively and receives itself mould
The regenerated Beidou of the simulation/GPS navigation signal for intending the transmitting of regenerated and another pseudo satellite, pseudolite, according to Beidou/GPS navigation signal
Satellite number and pseudo-range information are calculated, satellite number and pseudo-range information are transferred to the position signal transmitter of itself；
Step 2: the position signal transmitter of each pseudo satellite, pseudolite, which solves two pseudo satellite, pseudolites according to satellite number and pseudo-range information, to be determined
The clock deviation of position signal transmitter；The clock of respective position signal transmitter is adjusted separately using the clock deviation, and according to clock deviation meter
Calculate clock skew rate；
Step 3: position signal transmitter simulation regeneration Beidou/GPS navigation signal of each pseudo satellite, pseudolite will simulate regenerated
Beidou/GPS navigation signal is emitted to room to coverage by transmitting antenna；
Step 4: Beidou/GPS navigation receiver user receives two pseudo satellite, pseudolites and simulates regenerated Beidou/GPS navigation signal,
The satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites are calculated according to Beidou/GPS navigation signal；
Step 5: Beidou/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 Beidou/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 the 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 using two point location processing method according to satellite number and pseudo-range information and determines
The clock deviation of position signal transmitter carries out clock adjustment by the clock deviation, and calculates clock skew rate according to clock deviation.Specifically such as
Under:
Δ dt=(P11(t)-P12(t))+(R-R0)
Wherein Δ dt is the position signal transmitter of the first pseudo satellite, pseudolite and the position signal transmitter of the second pseudo satellite, pseudolite in t
The clock deviation at quarter；P11It (t) is the pseudo- transmitting antenna of first pseudo satellite, pseudolite and the pseudorange of receiving antenna；P12It (t) is pseudo- first pseudo satellite, pseudolite
The pseudorange of the transmitting antenna of receiving antenna and the second pseudo satellite, pseudolite；R is the transmitting antenna of the first pseudo satellite, pseudolite and the hair of the second pseudo satellite, pseudolite
Penetrate the actual distance of antenna, R0For the transmitting antenna of the first pseudo satellite, pseudolite and the actual distance of receiving antenna.
Clock adjustment is carried out according to clock deviation, 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=asks integer (Δ dt/ text frame length)；
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data position according to position N3=
It is long]；
Clock deviation surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit length；
Spreading code control word N4=asks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spreads code length)/chip is long]；
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 are with reference to the moment；Wherein, clock deviation fractional part Δ dt2=Δ dt1-N4* is spread
Code length-N5* chip is long.
By taking pseudo satellite, pseudolite 1 as an example (2 working principle of pseudo satellite, pseudolite is with pseudo satellite, pseudolite 1), 1 Beidou of pseudo satellite, pseudolite/GPS receiver module parsing
Obtained pseudorange equation is as follows:
Wherein Rt1It (t) is clock deviation of 1 Beidou of the pseudo satellite, pseudolite/GPS receiver module 1 in t moment.Above-mentioned two formula is made the difference, it will
It knows on the right of item side's equation, the unknown side equation left side obtains:
Tt1(t)-Tt2(t)=(P11(t)-P12(t))+(R-R0)
Wherein, Tt1(t)-Tt2It (t) is 1 position signal transmitter of pseudo satellite, pseudolite and 2 position signal transmitter of pseudo satellite, pseudolite in t
Quarter is poor, corrects pseudolite positioning signal transmitter clock by coarse adjustment and accurate adjustment using the clock deviation, realizes that clock is synchronous, then repair
Changing above formula is
0=(P11(t)-P12(t))+(R-R0)
Step 5 is specific as follows, and Beidou/GPS navigation subscriber computer receives the positioning signal that pseudo satellite, pseudolite 1 and pseudo satellite, pseudolite 2 emit, solution
Analysis obtains pseudorange Pu1And Pu2, it can be obtained by following formula:
Wherein, Rut(t) clock deviation of pseudo- Beidou/GPS navigation subscriber computer t moment.Above-mentioned two formula is made the difference, it is known that item is placed on
The right, the unknown are put the left side and are obtained:
Ry(t)-Rx(t)=(Tt1(t)-Tt2(t))+(Pu2(t)-Pu1(t))
Wherein Tt1(t)-Tt2It (t) is 0 after clock synchronizes, then above formula is modified are as follows:
Ry(t)-Rx(t)=Pu2(t)-Pu1(t)
Beidou/GPS navigation subscriber computer is that then have on the line between 2 antenna of 1 transmitting antenna of pseudo satellite, pseudolite and pseudo satellite, pseudolite
Ry(t)+Rx(t)=R
In formula, Pu1And Pu2The first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite are received respectively for Beidou/GPS navigation subscriber computer t moment
Pseudo-range information；T is the current time that Beidou/GPS navigation subscriber computer is positioned using Pseudolite signal, Rx(t) and Ry(t) it is
Beidou/GPS navigation subscriber computer t moment is respectively to the true of the transmitting antenna of the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
Distance.
Obviously Beidou/GPS navigation subscriber computer can be acquired respectively to 1 transmitting antenna distance R of pseudo satellite, pseudolite by above-mentioned two formulaxAnd puppet
2 transmitting antenna distance R of satellitey, that is, acquire Beidou/GPS navigation subscriber computer position.
The above, a specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto, at this
It invents in the technical scope disclosed, it will be appreciated that the transformation expected should all be covered in scope of the invention.
Claims (8)
1. a kind of indoor pseudo satellite, pseudolite two point positioning system based on mutually synchronization, comprising: the first pseudo satellite, pseudolite, the second pseudo satellite, pseudolite and north
Bucket/GPS navigation receiver user；It is characterized in that, first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite includes Beidou/GPS letter
Number receiver, position signal transmitter, transmitting antenna, receiving antenna and power supply module；
Beidou/GPS signal receiver of each pseudo satellite, pseudolite pass through respectively respective receiving antenna receive itself simulation it is regenerated and
Another pseudo satellite, pseudolite simulates regenerated Beidou/GPS navigation signal, calculates satellite number and puppet according to Beidou/GPS navigation signal
Away from information, satellite number and pseudo-range information are transferred to the position signal transmitter of itself；
The position signal transmitter of each pseudo satellite, pseudolite calculates two pseudolite positioning signal hairs according to satellite number and pseudo-range information
Penetrate the clock deviation of machine；The clock of respective position signal transmitter is adjusted separately using the clock deviation；And simulate regeneration Beidou/GPS navigation
Signal will simulate regenerated Beidou/GPS navigation signal and be emitted by transmitting antenna to coverage；
Beidou/GPS navigation receiver user receives two pseudo satellite, pseudolites and simulates regenerated Beidou/GPS navigation signals, according to Beidou/
GPS navigation signal calculates the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites, and uses two point localization process
Method calculates Beidou/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 distance of the transmitting antenna of the first pseudo satellite, pseudolite and the transmitting antenna of the second pseudo satellite, pseudolite；
The two point location processing method calculation formula are as follows:
In formula, Pu1And Pu2The first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite are received respectively for Beidou/GPS navigation receiver user t moment
Pseudo-range information；T is the current time that Beidou/GPS navigation receiver user is positioned using Pseudolite signal, Rx(t) and Ry
It (t) is Beidou/GPS navigation receiver user t moment respectively to the transmitting of the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
The actual distance of antenna, R0For the transmitting antenna of the first pseudo satellite, pseudolite and the actual distance of receiving antenna.
2. a kind of indoor pseudo satellite, pseudolite two point positioning system based on mutually synchronization according to claim 1, which is characterized in that institute
The position signal transmitter stated includes communication module, Beidou/GPS data emulation module, clock synchronization module, interior Beidou/GPS
Navigation signal generation module and positioning signal transmitting module；Communication module passes through serial ports for receiving Beidou/GPS signal receiver
The satellite number and pseudo-range information of output export satellite number and pseudo-range information to clock synchronization module；Clock synchronization module according to
Satellite number and pseudo-range information calculate clock deviation, carry out clock adjustment by clock deviation, and calculate clock skew rate according to clock deviation；North
Bucket/GPS data emulation module is inclined by satellite number, second in week, all countings, clock jitter, clock skew and the clock that is calculated
Shifting rate analog simulation exports the signal parameter to indoor north at outdoor Beidou/GPS satellite navigation system signal parameter
Bucket/GPS navigation signal generation module；Indoor Beidou/GPS navigation signal generation module according to signal parameter simulate regeneration Beidou/
GPS navigation signal will simulate regenerated Beidou/GPS navigation signal and export to positioning signal transmitting module；Positioning signal emits mould
Block will simulate regenerated Beidou/emitted antenna of GPS navigation signal and emit to coverage.
3. a kind of indoor pseudo satellite, pseudolite two point positioning system based on mutually synchronization according to claim 2, it is characterised in that: when
Clock synchronization module calculates clock deviation according to satellite number and pseudo-range information, carries out clock adjustment by clock deviation, and calculate according to clock deviation
Clock skew rate out；Two pseudo satellite, pseudolite clock deviation calculation formula are as follows:
Δ dt=(P11(t)-P12(t))+(R-R0)
In formula, Δ dt is the position signal transmitter of the first pseudo satellite, pseudolite and the position signal transmitter of the second pseudo satellite, pseudolite in t moment
Clock deviation；P11It (t) is the pseudo- transmitting antenna of first pseudo satellite, pseudolite and the pseudorange of receiving antenna；P12(t) 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 and the second pseudo satellite, pseudolite of the first pseudo satellite, pseudolite
The actual distance of antenna, R0For the transmitting antenna of the first pseudo satellite, pseudolite and the actual distance of receiving antenna；
Clock adjustment is carried out according to clock deviation, 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=asks integer (Δ dt/ text frame length)；
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data bit length] according to position N3=；
Clock deviation surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit length；
Spreading code control word N4=asks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spreads code length)/chip is long]；
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 pseudo satellite, pseudolite
The current time that signal is positioned, t0 are with reference to the moment；Wherein, clock deviation fractional part Δ dt2=Δ dt1-N4* spreading code
Long-N5* chip is long.
4. a kind of indoor pseudo satellite, pseudolite two point positioning system based on mutually synchronization according to claim 1, it is characterised in that:
The regenerated Beidou of the simulation/GPS navigation signal format and content of pseudo satellite, pseudolite transmitting are defended with Beidou satellite navigation system and GPS respectively
The navigation signal format and content of star navigation system transmitting is identical.
5. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization, which comprises the following steps:
Step 1: Beidou/GPS signal receiver of each pseudo satellite, pseudolite passes through respective receiving antenna respectively and receives itself simulation again
The regenerated Beidou of simulation/GPS navigation signal of raw and another pseudo satellite, pseudolite transmitting, resolves according to Beidou/GPS navigation signal
Satellite number and pseudo-range information are transferred to the position signal transmitter of itself by satellite number and pseudo-range information out；
Step 2: the position signal transmitter of each pseudo satellite, pseudolite, which solves two pseudolite positionings according to satellite number and pseudo-range information, to be believed
The clock deviation of number transmitter；The clock of respective position signal transmitter is adjusted separately using the clock deviation, and is calculated according to clock deviation
Clock skew rate；
Step 3: position signal transmitter simulation regeneration Beidou/GPS navigation signal of each pseudo satellite, pseudolite will simulate regenerated north
Bucket/GPS navigation signal is by transmitting antenna to indoor transmitting to coverage；
Step 4: Beidou/GPS navigation receiver user receives two pseudo satellite, pseudolites and simulates regenerated Beidou/GPS navigation signal, according to
Beidou/GPS navigation signal calculates the satellite number of two pseudo satellite, pseudolites and the pseudo-range information of two pseudo satellite, pseudolites；
Step 5: Beidou/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 Beidou/GPS navigation receiver user respectively to the transmitting antenna of the first pseudo satellite, pseudolite and
The distance of the transmitting antenna of second pseudo satellite, pseudolite；
The two point location processing method calculation formula are as follows:
In formula, Pu1And Pu2The first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite are received respectively for Beidou/GPS navigation receiver user t moment
Pseudo-range information；T is the current time that Beidou/GPS navigation receiver user is positioned using Pseudolite signal, Rx(t) and Ry
It (t) is Beidou/GPS navigation receiver user t moment respectively to the transmitting of the transmitting antenna of the first pseudo satellite, pseudolite and the second pseudo satellite, pseudolite
The actual distance of antenna, R0For the transmitting antenna of the first pseudo satellite, pseudolite and the actual distance of receiving antenna.
6. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization according to claim 5, which is characterized in that step
Rapid 2 specifically includes the 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 using two point location processing method according to satellite number and pseudo-range information and believes
The clock deviation of number transmitter carries out clock adjustment by the clock deviation, and calculates clock skew rate according to clock deviation；
The clock deviation that two position signal transmitters are calculated using two point location processing method, calculation formula is specifically such as
Under:
Δ dt=(P11(t)-P12(t))+(R-R0)
Wherein Δ dt is the position signal transmitter of the first pseudo satellite, pseudolite and the position signal transmitter of the second pseudo satellite, pseudolite in t moment
Clock deviation；P11It (t) is the pseudo- transmitting antenna of first pseudo satellite, pseudolite and the pseudorange of receiving antenna；P12It (t) 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 antenna of the first pseudo satellite, pseudolite and the transmitting day of the second pseudo satellite, pseudolite
The actual distance of line, R0For the transmitting antenna of the first pseudo satellite, pseudolite and the actual distance of receiving antenna.
7. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization according to claim 5, which is characterized in that step
Rapid 3 specifically includes the following steps:
(301) in the position signal transmitter of each pseudo satellite, pseudolite Beidou/GPS data emulation module by satellite number, week in the second, week count
Number, clock jitter, clock skew and the clock skew rate analog simulation being calculated are at outdoor Beidou/GPS satellite navigation system
The signal parameter of system exports the signal parameter to indoor Beidou/GPS navigation signal generation module；
(302) indoor Beidou/GPS navigation signal generation module simulates regeneration Beidou/GPS navigation signal according to signal parameter, will
Regenerated Beidou/GPS navigation signal is simulated to export to positioning signal transmitting module；
(303) positioning signal transmitting module will simulate regenerated Beidou/emitted antenna of GPS navigation signal and emit to service area
Domain.
8. a kind of indoor pseudo satellite, pseudolite two point localization method based on mutually synchronization according to claim 6, which is characterized in that step
Suddenly clock adjustment is carried out by clock deviation in (202), and it is specific as follows according to clock deviation to calculate clock skew rate:
Clock adjustment is carried out according to clock deviation, 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=asks integer (Δ dt/ text frame length)；
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length]；
The number of words of telegram asks integer [(Δ dt-N1* text frame length-N2* text word length)/telegraph text data bit length] according to position N3=；
Clock deviation surplus Δ dt1=Δ dt-N1* text frame length-N2* text word length-N3* telegraph text data bit length；
Spreading code control word N4=asks integer (Δ dt1/ spreads code length)；
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spreads code length)/chip is long]；
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
The current time that bucket navigation subscriber computer is positioned using Pseudolite signal, t0 are with reference to the moment；Wherein, clock deviation fractional part Δ
It is long that dt2=Δ dt1-N4* spreads code length-N5* chip.
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