CN106908757A - A kind of method that single system realizes indoor and outdoor continuous precise positioning on a large scale - Google Patents
A kind of method that single system realizes indoor and outdoor continuous precise positioning on a large scale Download PDFInfo
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- CN106908757A CN106908757A CN201710124367.8A CN201710124367A CN106908757A CN 106908757 A CN106908757 A CN 106908757A CN 201710124367 A CN201710124367 A CN 201710124367A CN 106908757 A CN106908757 A CN 106908757A
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- outdoor
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
Abstract
The invention discloses a kind of method that single system realizes indoor and outdoor continuous precise positioning on a large scale, following steps, step one are provided with：It is determined that suitable for the radio navigation signal system of indoor and outdoor consecutive tracking, including carrier frequency selection and the determination of modulation system；Selection carrier frequency：Select a frequency range in 50MHz 200MHz as the carrier wave frequency range of radio navigation signal, width is within 5MHz；Selecting modulation mode：Radio signal uses CPM modulation systems；Step 2：Carry out the continuous high precision wireless electricity positioning of single system indoor and outdoor.Positioning precision of the present invention is high, sphere of action is wide；Emission stop signal is erected at outdoor, can be used under the special unregulated power environment such as fight against terrorism and violence.
Description
Technical field
The present invention relates to radio position finding radio directional bearing field, more particularly to indoor and outdoor continuous precise radio location method.
Background technology
Due to GNSS technologies indoors using when be extremely restricted, indoor and outdoor consecutive tracking technology starts to be subject in recent years
The concern of researcher, Major Difficulties are indoor positioning and indoor and outdoor seamless positioning.Based on IEEE802.11b/g agreements
WiFi signal intensity location technology is increasingly subject to pay attention to, and the positioning precision under indoor environment better than 3 meters is can reach based on the technology.
But the limited coverage area of the localization method WiFi signal, and need to set up received signals fingerprint database in advance, system Construction into
This is too high.Typical indoor positioning means also have pseudo satellite, pseudolite ranging localization and inertial positioning etc..For ease of integrated with GNSS system
And algorithm optimization, L-band is used the broadcast frequency of pseudo satellite, pseudolite more, but penetration power is not enough indoors, and the influence such as multipath effect brings
Error it is excessive, be especially difficult in the case of pseudo satellite, pseudolite negligible amounts effectively positioning and indoor and outdoor consecutive tracking.Inertia
The subject matter of positioning be the error of inertial navigation system with accumulated time, wherein diverging is produced in the inertia device short time of low cost
Error it is bigger.
There is following limitation in current existing indoor and outdoor consecutive tracking method：Coverage is small or positioning precision is low,
Or both all have；The method that indoor and outdoors positioning is used is different, and the system for using is different, increased the same of terminal complexity
When also make to be difficult to solve the problems, such as indoor and outdoor consecutive tracking；The integrated navigation scheme of multi-source fusion, although can provide preferably
Service performance, but it is complex structure, with high costs, and being unfavorable for promoting should
The content of the invention
The invention aims to solve the above problems, propose that a kind of single radio system realizes that indoor and outdoor is continuously high-precision
The method for spending positioning, realizes the high accuracy positioning in the range of 30-50Km.Localization method of the present invention has independent, on a large scale and high
The characteristics of precision, it is also possible to be applied to the indoor and outdoor consecutive tracking under unregulated power background, can build up on this basis corresponding
Indoor and outdoor radio positioning system.
The strong radio navigation signal of the penetration power of outdoor multiple Base Transmitters present invention design, each base station in the present invention
It is laid out according to preferably GDOP according to target area, the geographical coordinate of base station is demarcated in advance or in real time, between base station
Time synchronized realized using the differential technique (accurate atomic clock can be aided with) of Time transfer receiver technology or satellite navigation.Indoor and outdoor one
Body positioning terminal carries out navigation message information extraction and aerogram by receiving the radio navigation signal that multiple base stations radiate
Number bigness scale away from accurate measurement away from calculating the high accuracy positioning information of terminal user.
The advantage of the invention is that：
(1) positioning precision is high, sphere of action is wide；
(2) emission stop signal is erected at outdoor, can be used under the special unregulated power environment such as fight against terrorism and violence.
Brief description of the drawings
The radio location method schematic diagram of Fig. 1 single systems indoor and outdoor consecutive tracking on a large scale；
Step schematic diagram is realized in the indoor and outdoor radio position finding radio directional bearing on a large scale of Fig. 2 single systems；
The schematic diagram of Fig. 3 penetration capacitys；
Fig. 4 CPM modulate the power spectrum modulated with BPSK, BOC and compare figure；
The resolving of Fig. 5 ambiguity of carrier phase and precision distance measurement realize schematic diagram.
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is a kind of method that single system realizes indoor and outdoor continuous precise positioning on a large scale, including following step
Suddenly：
Step one：It is determined that suitable for the radio navigation signal system of indoor and outdoor consecutive tracking, including carrier frequency choosing
Select and modulation system determination.
Selection carrier frequency：A frequency range in 50MHz-200MHz is selected as the carrier wave frequency range of radio navigation signal
(width is within 5MHz).
The frequency range is selected to consider propagation performance, electricity of the electromagnetic wave in the exterior space and interior architecture wall
Magnetic wave realizes difficulty etc. in the transmission performance at interface, the demand of positioning precision and hardware.Decay of the signal in construction wall is public
Formula isWherein ε "=ε, ε '=σ/ω, μ be magnetic conductivity, ε be the dielectric constant of wall, σ be
Electrical conductivity, ω are angular frequency, it can be seen that the signal of the frequency range compares the signal in the range of 500MHz-20GHz no matter
In atmosphere or in construction wall, its decay can be substantially reduced, especially to the penetration capacity of construction wall and floor significantly
Increase, therefore its coverage outer indoors can be substantially increased.
Selecting modulation mode：Radio signal of the invention uses CPM modulation systems, selects the modulation system to consider
Available bandwidth, attenuation degree of signal secondary lobe etc..Compared to the bpsk signal and the modulation spectrum of BOC signals of satellite navigation,
CPM signal power concentration degrees are higher, side lobe attenuation is rapider, smaller to out-of-band interference, so obtaining signal to noise ratio higher
Meanwhile, the signal interference to adjacent frequency band is also smaller, is easier to drop within the scope of national regulation.
Step 2：The continuous high precision wireless electricity positioning of single system indoor and outdoor is carried out, is illustrated as shown in figure 1, implementation process
Comprising 4 steps as shown in Figure 2, including：
First, according to being serviced area size and environmental characteristic, signal transmitting base station is set up, base station needs to ensure when setting up
Being serviced zone user at least receives the signal that 4 different base stations send within the same time, and the air line distance between base station is
1km to 20km, to ensure positioning precision, the positioning network of each base station composition should make the DOP values of coverage as far as possible small；
Second, after the completion of base station sets up, the accurate geographical position in base station need to be known, the geographical coordinate of base station can be by prior
Demarcate, or obtained using GNSS differential techniques；
3rd, the clock synchronization between base station (can be aided with essence using Time transfer receiver technology or the differential technique of satellite navigation
Close atomic clock) realize；
4th, the navigation signal according to Base Transmitter carries out indoor and outdoor consecutive tracking resolving.
Step 3：Positioning terminal measuring method is the side that pseudo noise code pseudo range measurement and carrier phase pseudo range measurement are combined
Method：Pseudo range measurement is carried out by the way of pseudo-code and carrier phase are combined.
First, using pseudo noise code in addition to it can obtain spreading gain, pseudo-random code ranging carries out bigness scale, can be carrier phase
The resolving of integer ambiguity provides support, such as can realize 1.5~3 under conditions of chip lengths 150 meters (pseudo- bit rate 2MHz)
The range accuracy (0.01~0.02 chip) of rice.
Secondly, accurate measurement then with ranging by measuring carrier phase is carried out, when such as carrier wavelength is 6 meters (carrier frequency is 50MHz),
Ranging by measuring carrier phase precision can be better than 0.2m (about 3% wavelength), can thus realize in the absence of integer ambiguity (or complete cycle mould
Paste degree very little is easily resolved), while realizing high-precision range measurement, and then obtain the purpose of high-precision positioning.
Fig. 3,4,5 be to present document relates to illustrating of carrying out of some technological means.
1. as shown in Figure 3：
Four radio navigation signals of Base Transmitter can decay after the obstruct of construction wall, the degree of decay with
The inherent parameters of wall are relevant with the frequency of signal, and the theoretical formula of decay is such asIt is described, typically
Frequency is higher, decays bigger, and some measured datas show that decay is substantially proportional to relation with frequency.
Wall parameter when building up it has been determined that the present invention selection frequency range carrier frequency it is relatively low, can preferably wear
Saturating wall, it is ensured that indoor user receives available signal intensity, realizes that large-scale indoor and outdoor is effectively covered.
2. as shown in Figure 4：
The radio navigation signal modulation system of present invention design is modulated for CPM, and Fig. 3 is msk signal (the one of CPM signals
Kind) and bpsk signal, the comparison diagram of BOC power spectrum signals.It is seen that compared to bpsk signal and BOC signals, MSK
Signal (CPM signals) energy is focused more at low frequency, side lobe attenuation faster, therefore more suitable for carrier frequency is low, available bandwidth
Certain frequency range in tens narrow MHz-200MHz scopes.
3. as shown in Figure 5：
Enter by taking the pseudo- bit rate (150 meters of chip lengths) and the carrier wavelength (carrier frequency is as 50MHz) of 6m of 2MHz as an example
The explanation of row range accuracy.Code phase pseudo range measurement is carried out first, the bigness scale precision of 1.5m is capable of achieving, and solves complete cycle during accurate measurement
Fuzziness；Then by carrier phase measurement, it is capable of achieving the pseudorange accurate measurement of about 0.2m.
Claims (1)
1. a kind of method that single system realizes indoor and outdoor continuous precise positioning on a large scale, including following steps：
Step one：It is determined that suitable for the radio navigation signal system of indoor and outdoor consecutive tracking, including carrier frequency selection with
And the determination of modulation system；
Selection carrier frequency：A frequency range in 50MHz-200MHz is selected as the carrier wave frequency range of radio navigation signal, it is wide
Spend within 5MHz；
Selecting modulation mode：Radio signal uses CPM modulation systems；
Step 2：The continuous high precision wireless electricity positioning of single system indoor and outdoor is carried out, including：
First, according to being serviced area size and environmental characteristic, signal transmitting base station is set up, being serviced zone user is with for the moment
Interior at least to receive the signal that 4 different base stations send, the air line distance between base station is 1km to 20km, each base station composition
Positioning network causes that the DOP values of coverage are minimum；
Second, the geographical coordinate of base station is demarcated in advance, or the geographical coordinate of base station is obtained using GNSS differential techniques；
3rd, the clock synchronization between base station is realized using the differential technique of Time transfer receiver technology or satellite navigation；
4th, the navigation signal according to Base Transmitter carries out indoor and outdoor consecutive tracking resolving；
Wherein, positioning terminal measuring method is the method that pseudo noise code pseudo range measurement and carrier phase pseudo range measurement are combined.
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| CN201710124367.8A CN106908757A (en) | 2017-03-03 | 2017-03-03 | A kind of method that single system realizes indoor and outdoor continuous precise positioning on a large scale |
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| CN201710124367.8A CN106908757A (en) | 2017-03-03 | 2017-03-03 | A kind of method that single system realizes indoor and outdoor continuous precise positioning on a large scale |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108156590A (en) * | 2017-12-28 | 2018-06-12 | 成都三朵云科技有限公司 | A kind of indoor locating system and method applied to hospital environment |
| WO2019001415A1 (en) * | 2017-06-27 | 2019-01-03 | 北京航空航天大学 | Large-area and high-precision positioning method capable of replacing conventional radio navigation system |
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Application publication date: 20170630 |
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