CN106886039A - Ground digital television broadcast based on city three-dimensional map filters localization method with aeronautical satellite stuff and other stuff - Google Patents
Ground digital television broadcast based on city three-dimensional map filters localization method with aeronautical satellite stuff and other stuff Download PDFInfo
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- CN106886039A CN106886039A CN201510915864.0A CN201510915864A CN106886039A CN 106886039 A CN106886039 A CN 106886039A CN 201510915864 A CN201510915864 A CN 201510915864A CN 106886039 A CN106886039 A CN 106886039A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Localization method is filtered the invention discloses a kind of ground digital television broadcast based on city three-dimensional map and aeronautical satellite stuff and other stuff.Including step：The non-line-of-sight propagation error (NLOS) calculated using city three-dimensional map in positioning region corrects map；According to the navigation signal for receiving and ground digital television signal (DTMB), each signal emitting-source is calculated to the pseudorange of receiver and preliminary positioning result is calculated；Sampling particle is spread according to Primary Location result, and optimizes the formation zone of particle using existing map；The NLOS error compensation values of each particle position are inquired about, observed result and error and weight after compensation is calculated, resampling is carried out further according to weight.The inventive method builds NLOS amendment maps according to city three-dimensional map, and compensates NLOS errors using particle filter, can effectively overcome the influence of multipath in the complex environment of city, and positioning is accurately and efficiently completed under severe channel circumstance.
Description
Technical field
Localization method is filtered the present invention relates to a kind of ground digital television broadcast based on city three-dimensional map and aeronautical satellite stuff and other stuff, belongs to wireless
The technical field of positioning.
Background technology
In recent years, with the fast development of the technologies such as wireless communication technology, intelligent mobile terminal technology and unmanned automobile, location Based service turns into
One of most popular demand for services.In outdoor open space, ripe global position system is used for the various fields for needing location services information
In conjunction.But in the most of the time, the positioning activity of people all occurs in the urban environment that global position system is limited, and people are no longer satisfied with only
Location information services can be enjoyed in outdoor open space, the demand to location information in complicated urban environment becomes more and more stronger.But due to
The number of satellite and the geometric figure structure of satellite to be observed in the urban district of tall buildings exit are all extremely difficult to pinpoint requirement.In addition,
In communication process, because building are numerous in city, signal can only be propagated electromagnetic wave with modes such as reflection, refraction, scatterings, extra so as to bring
Non-market value.Therefore satellite navigation is relied solely in city obviously cannot meet demand of the people to positional information.
Positioned in built-up urban area using satellite-signal, due to blocking for Adjacent Buildings, it will usually face single position location satellite star
Seat visible satellite is not enough, and the geometry and between receiver and visible satellite is distributed the problem of difference.GDOP is an important indicator for weighing satellite fix precision.
Geometry distribution is better, and GDOP values are just smaller, and positioning precision is higher.The introducing of DTMB signals can make the GDOP of alignment system diminish, and
Value meets the demand of actual location.Mixed positioning is carried out using DTMB signals and navigation satellite signal, aeronautical satellite lazy weight can made up
While well improve alignment system urban area geometrical distribution.
In urban environment, " near-far interference " causes in the multi-path jamming and non-market value and cellular communication system that are caused due to barrier obstruction
Multi-access inference all greatly influence running fix precision, wherein NLOS errors are one of the most key key elements.Correlative study discovery, averagely
Position error linearly increases with the increase of NLOS errors.Compared with systematic error, NLOS errors can bring bigger passiveness to positioning result
Influence.NLOS errors can produce tens meters of position error when more serious.Ensure the correctness of positioning result, it should which selection avoids the presence of NLOS
The scope of error, or selection compensation NLOS errors.
At present, many researchs attempt simultaneously using some motion sensing devices such as city 3D maps and gyroscope come in obtaining city target it is accurate
Position.When receiver moves to the position being disturbed from the position that can be properly oriented, these researchs can be tied according to its motion vector to positioning
Fruit carries out certain correction.But these researchs still suffer from many defects, such as visible satellite quantity very little when the problem that is deteriorated with the time of correction, reception
Problem that machine cannot be positioned when being still in the position being disturbed etc..
The content of the invention
The present invention proposes that a kind of ground digital television broadcast based on city three-dimensional map filters localization method with aeronautical satellite stuff and other stuff, overcomes city
Adverse effect of the built-up landform in terms of Dilution of Precision in city, realizes the efficiently accurate positioning in the urban environment of numerous barriers.
Realize that technical scheme is as follows：
The method uses DTMB signal auxiliary satellite navigation signals, using the NLOS error correction maps of city 3D map structuring framing signals,
And NLOS errors are compensated using particle filter, and the positioning precision under poor channel environments is effectively improved, concretely comprise the following steps：
(1) the NLOS error correction maps of framing signal in positioning region are built according to the real time position of city three-dimensional map and framing signal emission source；
(2) each framing signal emission source is calculated to the pseudorange of receiver and calculates preliminary positioning result；
(3) sample area is generated according to Primary Location result in its vicinity and generates sampling particle using importance probability density；
(4) using the region of map optimization particle generation, the NLOS error compensation values of each particle position of map inquiry, meter are corrected according to NLOS
Calculate observed result and error and weight after compensation；
(5) resampling is carried out according to weight, draws the optimal estimation of positioning result.
Further, framing signal of the present invention includes navigation satellite signal and DTMB signals, and the emission source of navigation signal is the navigation of motion
Satellite, the emission source of DTMB signals is fixed television tower.
Further, NLOS error corrections map record each position navigation signal of city and the DTMB signals of framing signal of the present invention
NLOS error amounts.NLOS errors DisNLOSComputing formula be：
Wherein α is observation station to the elevation angle of satellite, and β is reflection position to the elevation angle of satellite, h be satellite to ground level,
DisdirectIt is air line distance of the observation station to satellite, DiSmultiIt is refraction distance of the observation station to satellite.
The update cycle of the NLOS error amounts of aeronautical satellite is set to 1 minute, and the NLOS error amounts of DTMB signals are without frequent updating.
Further, the sampling particle in step of the present invention (3) is generated according to importance probability density, it is generally the case that work as NLOS
When weaker, its influence to positioning result within 10 meters, and NLOS it is stronger when, its influence to positioning result is within 60 meters.Therefore adopt
Like-particles 60% are distributed in the range of 10 meters of state point, and remaining particle is distributed in the range of 60 meters of state point.
Further, the region of optimization particle generation is arranged in step of the present invention (4), is in generation sampling particle, using city three-dimensional
Map excludes the particle in building region, reduces actual samples area.
Further, the weight in step of the present invention (4) depends on the error between measurement error, i.e. observation and state value.Observation
It is the positioning result obtained according to revised its computation of pseudoranges, is represented by observation vector Z=(xGPS, yGPS, zGPS), state value is the position of particle
Coordinate is put, state vector X=(x, y, z) is represented by, if the measure function of error is r, then：
Wherein, σ is the variance of positioning result error on x, y, z direction.It is expressed as using the weight w of NLOS error correction maps：
γ represents incomplete Gamma function, and Γ represents Gamma functions.If the measurement error of a particle is smaller, the weight of this particle is just
It is bigger.
Further, the detailed process of step of the present invention (5) is：The error of weight soprano is checked, is calculated if error is less than threshold value
Method terminates, if bigger error and iterations are less than 4 times, is carried out with importance probability density generation sampling particle centered on weight soprano
Resampling simultaneously repeats (4), (5) step, if bigger error and iterations are more than 4 times, particle life is expanded centered on preliminary positioning result
Into scope, uniform generation sampling particle carries out resampling and repeats (4), (5) step to error less than threshold value or iteration to 8 times.
Localization method proposed by the present invention has the advantage that compared with existing technology：
1. positioned relative to exclusive use satellite navigation signals, method introduces DTMB signal auxiliary positionings.In urban area, Neng Gouyou
Improve the geometrical distribution of alignment system while making up visible satellite number deficiency to effect well.DTMB signal auxiliary positionings can overcome the disadvantages that building
Between visible satellite number deficiency lead to not the defect of positioning, and overcome unfavorable shadow of the built-up landform in terms of Dilution of Precision in city
Ring.
2., relative to the method for DTMB signal assisting navigation satellite fixes, this method compensates NLOS errors using the method for three dimensional particles filtering, real
In the urban environment of present numerous barriers can still reliable location be carried out to either statically or dynamically target.The method can accurately and effectively in severe channel
Positioning is completed under environment, positioning result is more accurately and reliably.
Brief description of the drawings
Fig. 1 is the flow chart that ground digital television broadcast of the present invention based on city three-dimensional map filters localization method with aeronautical satellite stuff and other stuff；
Fig. 2 is that NLOS errors produce principle schematic；
Fig. 3 is influence schematic diagram of the aeronautical satellite motion to NLOS errors；
Fig. 4 is the operational effect schematic diagram of this method when measurement result does not exist NLOS errors；
Fig. 5 is the operational effect schematic diagram of this method when measurement result has NLOS errors.
Specific embodiment
With reference to drawings and Examples, method of the present invention is elaborated.
As shown in figure 1, the ground digital television broadcast based on city three-dimensional map filters localization method with aeronautical satellite stuff and other stuff, detailed process is：
(1) framing signal NLOS error correction maps in positioning region are built according to the real time position of city three-dimensional map and framing signal emission source.
According to the real time position of framing signal emission source, navigation satellite signal and DTMB signals are calculated respectively to map using city 3D maps
The actual propagation distance of each location point and the difference of air line distance, i.e. NLOS error amounts.Fig. 2 shows NLOS in aeronautical satellite position fixing process
The principle that error is produced, because building is blocked, signal can only be by reflexing to up to identical position, and its propagation path is elongated.NLOS errors DisNLOS
Be calculated as：
Wherein α is observation station to the elevation angle of satellite, and β is reflection position to the elevation angle of satellite, and h is satellite to ground level, DisdirectIt is observation
Point arrives the air line distance of satellite, DismultiIt is refraction distance of the observation station to satellite.
Because aeronautical satellite is around the motion of earth rule, then observation station is also ceaselessly changing to the distance of satellite, it is therefore desirable to NLOS errors
Value carries out real-time update.Fig. 3 show satellite move 1 minute after influence to same location NLOS errors.By taking gps satellite as an example, its fortune
Line period is about 12 hours, then α, and β is per minute to reduce about 0.5 °, meanwhile, h reduction about 147km per minute.Found by calculating, 1
The change of NLOS errors is in 1.2m or so after minute.Therefore, the update cycle of the NLOS error amounts of navigation satellite signal be set to 1 minute,
Not only precision had been ensured but also had ensured there is time enough to update NLOS error amounts.And for DTMB signals, because the position of its emission source television tower is long
Phase is fixed, and its NLOS error amounts keep constant in a long time, are not required to frequent updating.
(2) each framing signal emission source is calculated to the pseudorange of receiver and calculates preliminary positioning result.
Navigation signal and DTMB signals are received using receiver, navigation signal to the pseudorange of receiver and the puppet of DTMB signals to receiver is calculated
Away from calculating preliminary positioning result using the pseudorange.
(3) sample area is generated according to Primary Location result in its vicinity and generates sampling particle using importance probability density.
Sample area is generated near Primary Location result, sampling particle is spread, the position coordinates of each particle is represented by state vector
X=(x, y, z).Introduce importance probability density, it is ensured that 60% is distributed in the range of 10 meters of state point in the sampling particle of generation, remaining particle point
Cloth is in the range of 60 meters of state point.In some extreme cases NLOS error ranges up to 150 meters, therefore in this case, generation sampling particle
Scope will be changed to 150 meters, while uniform generation sampling particle.
(4) using the region of map row's optimization particle generation, the NLOS error compensation values of each particle position of map inquiry are corrected according to NLOS,
Calculate observed result and error and weight after compensation.
Contrast city three-dimensional map and the formation zone of sampling particle, if including partial building in formation zone, some particles are rejected.Root
NLOS error correction maps are inquired about according to the coordinate of each particle state vector X, pseudorange is measured with corresponding error correction values amendment, further according to repairing
Its computation of pseudoranges after just goes out observed result, and the result is expressed as vector Z=(xGPS, yGPS, zGPS)。
Due to the presence of measurement error, there is certain error in positioning result in x, y, z on direction.The two errors are mutually independent, in just
State is distributed, and has identical variances sigma.Derived by probability theory, if positioning result is correct, and during σ=1, measurement position and physical location
Between range error square in the chi square distribution that the free degree is 3.So the measure function for setting error is r, then have：
Using the weight w of NLOS error correction maps, can be expressed as：
Wherein, γ represents incomplete Gamma function, and Γ represents Gamma functions.Weighted value is calculated according to above formula, if point
Closer to reasonable interval, then this particle point is bigger with regard to weight for error between the state value of observation and particle.
(5) resampling is carried out according to weight, draws the optimal estimation of positioning result.
The error of weight soprano is checked, algorithm terminates if error is less than threshold value, if bigger error and iterations are less than 4 times, to weigh
Carry out resampling and repeat (4), (5) step with importance probability density generation sampling particle centered on weight soprano, if bigger error and iteration time
Number is more than 4 times, then expand particle formation range centered on preliminary positioning result, uniform generation sampling particle carry out resampling and repetition (4),
(5) step to error is less than threshold value or iteration to 8 times.
Fig. 4 and Fig. 5 are schematically illustrated under different situations, the ruuning situation of the inventive method.Fig. 4 is that measurement result does not exist NLOS errors
When situation, shadow region represents the region that is influenceed by NLOS errors.Now No. 1, No. 2 particles are not modified to pseudorange, so it is seen
Result is surveyed consistent as shown in Figure 4, now No. 1 particle is closer to observation station, so its weight is more than No. 2 particles.And No. 3 particles are to pseudorange
Certain amendment has been carried out, but due to amendment mistake, its positioning result deviation is huge, so it is believed that No. 1 particle of its weight ratio is small.Fig. 5 is
There is situation during NLOS errors in measurement result, shadow region represents the region influenceed by NLOS errors.Now No. 1, No. 2 particles are not right
Pseudorange is modified, so its observed result is consistent as shown in Figure 5, now No. 1 particle is closer to observation station, so its weight is more than No. 2
Particle.And No. 3 particles have carried out certain amendment to pseudorange, because amendment is correct, its distance and between observed result is minimum, and weight is maximum.
Simply the present invention is further illustrated above, and is not used to limit practicing for this patent, and all is equivalence enforcement of the present invention, all should be wrapped
It is contained within the right of this patent.
Claims (9)
1. a kind of ground digital television broadcast based on city three-dimensional map filters localization method with aeronautical satellite stuff and other stuff, it is characterised in that according to city
Three-dimensional map builds the NLOS amendment maps in positioning region, and NLOS errors are compensated using particle filter, effectively improves under poor channel environments
Positioning precision, the method is concretely comprised the following steps：
(1) the NLOS error correction maps of framing signal in positioning region are built according to the real time position of city three-dimensional map and framing signal emission source；
(2) each framing signal emission source is calculated to the pseudorange of receiver and calculates preliminary positioning result；
(3) sample area is generated according to Primary Location result in its vicinity and generates sampling particle using importance probability density；
(4) using the region of map optimization particle generation, the NLOS error compensation values of each particle position of map inquiry are corrected according to NLOS, is calculated
Observed result and error and weight after compensation；
(5) resampling is carried out according to weight, draws the optimal estimation of positioning result.
2. the ground digital television broadcast based on city three-dimensional map as claimed in claim 1 filters localization method, its feature with aeronautical satellite stuff and other stuff
It is that described framing signal includes navigation satellite signal and DTMB signals, navigation signal emission source is the aeronautical satellite of motion, DTMB letters
Number emission source is fixed television tower.
3. the ground digital television broadcast based on city three-dimensional map as claimed in claim 1 filters localization method, its feature with aeronautical satellite stuff and other stuff
It is that the NLOS error correction maps of described framing signal are the NLOS errors for recording each position navigation signal of city and DTMB signals
The map of value, and the update cycle of the NLOS error amounts of aeronautical satellite be set to 1 minute, the NLOS error amounts of DTMB signals are without frequent updating.
4. the ground digital television broadcast based on city three-dimensional map as claimed in claim 1 filters localization method, its feature with aeronautical satellite stuff and other stuff
It is that the generation of described sampling particle is based on importance probability density, it is ensured that the sampling particle 60% for generating under normal conditions is distributed in state point
In the range of 10 meters, remaining particle is distributed in the range of 60 meters of state point.
5. the ground digital television broadcast based on city three-dimensional map as claimed in claim 4 filters localization method, its feature with aeronautical satellite stuff and other stuff
It is that when described normal conditions refer to that NLOS is weaker, within 10 meters, when NLOS is stronger, it is tied to positioning for its influence to positioning result
The influence of fruit is within 60 meters.
6. the ground digital television broadcast based on city three-dimensional map as claimed in claim 1 filters localization method, its feature with aeronautical satellite stuff and other stuff
It is, in generation sampling particle, the particle in building region to be excluded using city three-dimensional map to be, the region that described optimization particle is generated.
7. the ground digital television broadcast based on city three-dimensional map as claimed in claim 1 filters localization method, its feature with aeronautical satellite stuff and other stuff
Be that described weight is based on the error between measurement error, i.e. observation and state value, the measurement error of a particle is smaller, then this particle
Weight is bigger.
8. the ground digital television broadcast based on city three-dimensional map as claimed in claim 7 filters localization method, its feature with aeronautical satellite stuff and other stuff
It is that the observation of described particle is the positioning result obtained according to revised its computation of pseudoranges, state value is the position coordinates of particle.
9. the ground digital television broadcast based on city three-dimensional map as claimed in claim 1 filters localization method, its feature with aeronautical satellite stuff and other stuff
It is that the detailed process of described step (5) is：The error of weight soprano is checked, algorithm terminates if error is less than threshold value, if by mistake
The bigger than normal and iterations of difference is less than 4 times, then carried out resampling and repeated with importance probability density generation sampling particle centered on weight soprano
(4), (5) step, if bigger error and iterations are more than 4 times, expands particle formation range, uniformly centered on preliminary positioning result
Generation sampling particle carries out resampling and repeats (4), (5) step to error less than threshold value or iteration to 8 times.
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| CN109506653A (en) * | 2018-11-12 | 2019-03-22 | 上海理工大学 | Based on the indoor positioning pedestrian's method for improving particle filter under NLOS environment |
| CN109581900A (en) * | 2019-01-04 | 2019-04-05 | 程志勇 | A kind of intelligent control system based on movable building |
| CN109870716A (en) * | 2017-12-01 | 2019-06-11 | 北京京东尚科信息技术有限公司 | Localization method and positioning device and computer readable storage medium |
| CN110426717A (en) * | 2019-09-12 | 2019-11-08 | 香港理工大学 | It is a kind of based on the co-located method and system of three-dimensional map assisted GNSS, positioning device, storage medium |
| CN112444829A (en) * | 2019-08-29 | 2021-03-05 | 华为技术有限公司 | GNSS satellite selection method, device, chip, equipment and storage medium |
| CN112731481A (en) * | 2020-11-19 | 2021-04-30 | 中国科学院深圳先进技术研究院 | Positioning optimization method, system and application thereof |
| CN117111101A (en) * | 2023-06-26 | 2023-11-24 | 北京航空航天大学 | Fault detection method for eliminating lever effect of double-layer space-based navigation enhanced ad hoc network |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109870716A (en) * | 2017-12-01 | 2019-06-11 | 北京京东尚科信息技术有限公司 | Localization method and positioning device and computer readable storage medium |
| CN109506653A (en) * | 2018-11-12 | 2019-03-22 | 上海理工大学 | Based on the indoor positioning pedestrian's method for improving particle filter under NLOS environment |
| CN109581900A (en) * | 2019-01-04 | 2019-04-05 | 程志勇 | A kind of intelligent control system based on movable building |
| CN112444829A (en) * | 2019-08-29 | 2021-03-05 | 华为技术有限公司 | GNSS satellite selection method, device, chip, equipment and storage medium |
| CN112444829B (en) * | 2019-08-29 | 2024-04-12 | 华为技术有限公司 | GNSS satellite selection method, GNSS satellite selection device, GNSS chip, GNSS satellite selection equipment and GNSS satellite selection storage medium |
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| CN112731481A (en) * | 2020-11-19 | 2021-04-30 | 中国科学院深圳先进技术研究院 | Positioning optimization method, system and application thereof |
| CN112731481B (en) * | 2020-11-19 | 2023-06-16 | 中国科学院深圳先进技术研究院 | Positioning optimization method, system and application thereof |
| CN117111101A (en) * | 2023-06-26 | 2023-11-24 | 北京航空航天大学 | Fault detection method for eliminating lever effect of double-layer space-based navigation enhanced ad hoc network |
| CN117111101B (en) * | 2023-06-26 | 2024-03-22 | 北京航空航天大学 | Fault detection method for eliminating lever effect of double-layer space-based navigation enhanced ad hoc network |
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