CN106932757A - A kind of lunar rover combined positioning-method based on TDOA and Doppler - Google Patents
A kind of lunar rover combined positioning-method based on TDOA and Doppler Download PDFInfo
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- CN106932757A CN106932757A CN201710204397.XA CN201710204397A CN106932757A CN 106932757 A CN106932757 A CN 106932757A CN 201710204397 A CN201710204397 A CN 201710204397A CN 106932757 A CN106932757 A CN 106932757A
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- lunar rover
- tdoa
- doppler
- lunar
- positioning
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a kind of lunar rover combined positioning-method based on TDOA and Doppler.Establish three suitable position coordinateses for receiving base station and determining reception base station on the ground first, then receive the radiation signal from lunar rover and gather signal by receiving base station；The signal arrival time difference that multigroup two receivers are collected is calculated afterwards, and the position of lunar rover is tentatively obtained using TDOA positioning modes.But because lunar rover is a kind of mobile robot of execution task, rather than static, this causes that TDOA telemetrys occur very big error, so it is proposed that a kind of lunar rover combined positioning-method based on TDOA and Doppler, one kind supplement of the Doppler frequency shift that base station is obtained as TDOA telemetrys.The speed of lunar rover is obtained using Doppler equation, offset displacement of the lunar rover in moonscape is calculated in conjunction with the time difference for obtaining before, redefine the position of lunar rover.Technical solution of the present invention can improve positioning precision.
Description
Technical field
The present invention relates to lunar rover location technology, more particularly to a kind of lunar rover joint based on TDOA and Doppler is fixed
Position method and system.
Background technology
Lunar rover is to be travelled in moonscape and the special-purpose vehicle of sample is investigated and collected and surveyed to the moon.Lunar rover only has
Be aware of oneself accurate positional information could lunar rover is safe and reliable, be accurately guided to destination.Therefore, lunar rover
Location technology predetermined scientific exploration task successfully completed for it have great importance.Positioned for lunar rover, both at home and abroad
Scholar proposes wireless navigation location technology.Radionavigation localization method is the radio launched by tracking measurement lunar rover
Signal frequency, calculates its Doppler frequency shift to determine the positional information of lunar rover.By the wireless of lunar rover and ground tracking station
Electricity communication measurement, can with accurate measurement they the distance between.At present, the most base for being used in lunar rover wireless location system
This location technology has angle of arrival (AOA) location technology, arrival time (TOA) location technology, step-out time (TDOA) to position
Technology and frequency difference of arrival (FDOA) location technology.Before with it is most to be TDOA location technologies obtain the position of lunar rover,
But because lunar rover is a kind of mobile robot of execution task, moved constantly, rather than actionless, this is just
Very big error can be carried out for lunar rover positioning belt.
Now invent a kind of new lunar rover localization method --- a kind of lunar rover joint based on TDOA and Doppler is fixed
Position method, high accuracy and high reliability that lunar rover is positioned are realized as necessity and useful supplement of lunar rover navigation system.
The content of the invention
The present invention is based on the lunar rover positioning mode of TDOA, it is contemplated that to lunar rover be a kind of being adapted in complicated lunar surface
The mobile robot for visiting wiping task is performed in environment, and not actionless object and the lunar rover speed of service are very fast, can be
Lunar rover positioning produces very big error and has influence on accuracy of the lunar rover to moon information gathering indirectly.In order to improve the moon
The accuracy and reliability of car positioning, proposes that a kind of lunar rover combined positioning-method based on TDOA and Doppler is above-mentioned to solve
The problem for being proposed.
First, three suitable reception base stations are established on the ground and determine the position coordinates of base station.Then base station starts
Receive the radiation signal of lunar rover and filtering process is acquired to the signal, determined to lunar rover with the signal for generating useful
Position is used.TDOA positioning modes, the signal arrival time difference determination that two base stations collect are utilized to the useful signal for obtaining afterwards
A pair of hyperbolas, multiple hyperbolas are intersecting just can tentatively to obtain moon truck position.Such method be simply also easy to get to, but
It haves the shortcomings that very big is exactly that lunar rover is a kind of mobile robot of execution task, rather than static, can be to lunar rover
Positioning produces very big error.In order to solve the above problems, the setting accuracy and reliability of lunar rover are improved, we have proposed
A kind of lunar rover combined positioning-method based on TDOA and Doppler.Doppler of the multiple base stations of our utilizations to lunar rover signal
Sampled, then using Doppler shift formula fd=2f0V/c calculates moon vehicle speed, then before combining us when
Between it is poor, we can be with the offset displacement of lunar rover, and this position obtains accurate moon truck position there is provided beneficial complement.Finally I
By lunar rover offset information consider lunar rover positioning in, redefine the position of lunar rover, improve to lunar rover position
Accuracy and reliability.
Brief description of the drawings
A kind of lunar rover combined positioning-method schematic diagrams based on TDOA and Doppler of Fig. 1.
Specific embodiment
A kind of lunar rover combined positioning-method based on TDOA and Doppler of the present invention, comprising following step
Suddenly：
1. determine three base stations on ground, and determine their positional information
2. base station receives and gathers the radiation signal from lunar rover
3. pair 2 signals for obtaining are processed come the preliminary position for obtaining lunar rover, specific implementation using TDOA positioning modes
It is as follows：The signal arrival time difference that two base stations collect determines a pair of hyperbolas, and multiple hyperbolas are intersecting just can tentatively to be obtained
To the rough location of lunar rover.
4., in order to improve the setting accuracy and reliability of lunar rover, we are using multiple base stations to many of lunar rover signal
Pu Le is sampled, using formula fd=2f0V/c calculates moon vehicle speed, and the joint time difference obtains the bits of offset of lunar rover
Move.
5. the moon truck position of higher precision is redefined.
Claims (4)
1. a kind of lunar rover combined positioning-method based on TDOA and Doppler, it is characterised in that comprise the steps of：
S1：Determine three base stations on ground, receive and gather the radiation signal of lunar rover.
S2：Calculate reaching time-difference and using TDOA positioning modes come the preliminary position for obtaining lunar rover.
S3：A kind of mode of use Doppler alignment by union is proposed, moon vehicle speed is calculated using Doppler frequency shift, obtained indirectly
The displacement that lunar rover offsets in lunar surface.
S4：The position of lunar rover is retrieved, the accuracy and reliability of lunar rover positioning is improve.
2. a kind of lunar rover combined positioning-method based on TDOA and Doppler as claimed in claim 1, the step S2 enters
One step includes：Using TDOA positioning modes, the signal arrival time difference that two base stations collect determines a pair of hyperbolas, multiple hyperbolics
The intersecting position that just can tentatively obtain lunar rover of line.
3. a kind of lunar rover combined positioning-method based on TDOA and Doppler as claimed in claim 1, the step S3 enters
One step includes：Multiple base stations can sample to the Doppler of lunar rover signal, using formulaThe moon can be obtained
The speed of ball car, the displacement of lunar rover skew can be obtained in conjunction with the time difference, be provided with to obtain accurate moon truck position
Information.
4. a kind of lunar rover combined positioning-method based on TDOA and Doppler as claimed in claim 1, the step S4 enters
One step includes：The displacement offset using lunar rover, the position of lunar rover is retrieved by algorithm, greatly improves lunar rover
The accuracy and reliability of positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204397.XA CN106932757A (en) | 2017-03-31 | 2017-03-31 | A kind of lunar rover combined positioning-method based on TDOA and Doppler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204397.XA CN106932757A (en) | 2017-03-31 | 2017-03-31 | A kind of lunar rover combined positioning-method based on TDOA and Doppler |
Publications (1)
| Publication Number | Publication Date |
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| CN106932757A true CN106932757A (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710204397.XA Pending CN106932757A (en) | 2017-03-31 | 2017-03-31 | A kind of lunar rover combined positioning-method based on TDOA and Doppler |
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| CN (1) | CN106932757A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488311A (en) * | 2019-08-05 | 2019-11-22 | Oppo广东移动通信有限公司 | Depth distance measurement method, device, storage medium and electronic equipment |
| WO2020052752A1 (en) * | 2018-09-12 | 2020-03-19 | Nokia Technologies Oy | Location-hiding based on variation of transmission |
| CN115494448A (en) * | 2022-08-27 | 2022-12-20 | 西北工业大学 | Lunar lander positioning method based on radio beacon cooperation signal |
Citations (5)
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| CN1413058A (en) * | 2001-10-18 | 2003-04-23 | 华为技术有限公司 | Method for estimating position of mobile station by utilizing time for receiving signal and time difference and its equipment |
| CN1413057A (en) * | 2001-10-18 | 2003-04-23 | 华为技术有限公司 | Method for estimating position of mobile station and its device |
| US20070046530A1 (en) * | 2005-08-25 | 2007-03-01 | Honeywell International Inc. | Methods and systems for satellite navigation |
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Patent Citations (5)
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| CN1413058A (en) * | 2001-10-18 | 2003-04-23 | 华为技术有限公司 | Method for estimating position of mobile station by utilizing time for receiving signal and time difference and its equipment |
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| US20070046530A1 (en) * | 2005-08-25 | 2007-03-01 | Honeywell International Inc. | Methods and systems for satellite navigation |
| CN101272605A (en) * | 2007-03-22 | 2008-09-24 | 东南大学 | Mobile terminal locating method and positioning device |
| CN104076349A (en) * | 2014-05-29 | 2014-10-01 | 西北大学 | Passive type moving target locating method on the basis of Doppler frequency shift |
Non-Patent Citations (1)
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| K.C.HO 等: "Location of a Moving Source Using TDOA and FDOA Measurements", 《PROCEEDINGS OF THE 2003 INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS，2003》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020052752A1 (en) * | 2018-09-12 | 2020-03-19 | Nokia Technologies Oy | Location-hiding based on variation of transmission |
| CN110488311A (en) * | 2019-08-05 | 2019-11-22 | Oppo广东移动通信有限公司 | Depth distance measurement method, device, storage medium and electronic equipment |
| CN115494448A (en) * | 2022-08-27 | 2022-12-20 | 西北工业大学 | Lunar lander positioning method based on radio beacon cooperation signal |
| CN115494448B (en) * | 2022-08-27 | 2024-04-26 | 西北工业大学 | Lunar lander positioning method based on radio beacon cooperation signals |
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Application publication date: 20170707 |