CN107015255A - A kind of base station equipment, terminal and localization method - Google Patents

A kind of base station equipment, terminal and localization method Download PDF

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Publication number
CN107015255A
CN107015255A CN201710121094.1A CN201710121094A CN107015255A CN 107015255 A CN107015255 A CN 107015255A CN 201710121094 A CN201710121094 A CN 201710121094A CN 107015255 A CN107015255 A CN 107015255A
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China
Prior art keywords
satellite
difference
signal
base station
algorithm
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CN201710121094.1A
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Chinese (zh)
Inventor
杨飞
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Nubia Technology Co Ltd
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Nubia Technology Co Ltd
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Priority to CN201710121094.1A priority Critical patent/CN107015255A/en
Publication of CN107015255A publication Critical patent/CN107015255A/en
Pending legal-status Critical Current

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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
    • 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
    • G01S5/009—Transmission of differential positioning data to mobile

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the invention discloses a kind of base station equipment, including：Difference resolves module and transmitter module；Difference resolves module and receives and handle the satellite-signal of visible satellite, the pseudorange value of measurement is parsed from the satellite-signal after processing and visible satellite is positioned, the pseudorange value of measurement is optimized according to the first algorithm, location data is optimized according to the second algorithm, and differential data is generated according to the pseudorange value after optimization and location data；Transmitter module is handled differential data to generate difference text, and difference text is transmitted into terminal.The embodiment of the invention also discloses a kind of terminal and localization method.By the scheme of the embodiment of the present invention, satellite fix is introduced into architecture, and the defect for overcoming conventional satellite to position, using base station as the base station in satellite fix, base station resource is rationally make use of, and improve positioning precision.

Description

A kind of base station equipment, terminal and localization method
Technical field
The present invention relates to communication technical field, more particularly to a kind of base station equipment, terminal and localization method.
Background technology
The principle of current architecture is as shown in Fig. 2 user is when sending positioning application, and operator extracts base station location letter Breath feeds back to mobile terminal, and mobile terminal measures the TOA (Time of Arrival, due in) of different base station descending pilot frequency And then telephone set is obtained to the distance of base station.The position of mobile terminal, this scheme are finally obtained using triangle formula algorithm for estimating Due to synchronously requiring very high base station and between base station and mobile terminal, implementing difficulty, and miss because TOA is measured Poor big, positioning precision is not enough.
The content of the invention
The main purpose of the embodiment of the present invention is to propose a kind of base station equipment, terminal and localization method, it is possible to increase eventually The positioning precision at end.
To achieve the above object, the embodiments of the invention provide a kind of base station equipment, the base station equipment includes：Difference is resolved Module and transmitter module.
Difference resolves module, and the satellite-signal for receiving and handling visible satellite is solved from the satellite-signal after processing Separate out the pseudorange value of measurement and visible satellite is positioned, the pseudorange value of measurement is optimized according to the first algorithm, according to Second algorithm is optimized to location data, and generates differential data according to the pseudorange value after optimization and location data.
Transmitter module, for being handled differential data to generate difference text, and is transmitted to terminal by difference text.
Alternatively, difference resolves module and included：Global navigation satellite system GNSS sensor.
Difference, which resolves module and receives and handle the satellite-signal of visible satellite, to be included：
GNSS sensors are scanned for and locked to visible satellite, and the visible satellite of locking is carried out signal trace to obtain Take real-time satellite signal；The real-time satellite signal progress radio-frequency front-end of acquisition is handled to obtain navigation message.
Wherein, GNSS sensors carry out radio-frequency front-end processing to the real-time satellite signal of acquisition includes：To the real-time of acquisition Satellite-signal is filtered, amplified, solution extends to demodulation process, and carries out pseudo range measurement and load to the real-time satellite signal after processing Wave phase is measured.
Alternatively, GNSS sensors support Chinese Beidou satellite navigation system BDS, global position system GPS and Ge Luona This satellite navigation system GLONASS.
Alternatively, the first algorithm includes：Carrier phase smoothing pseudo-range algorithm；Second algorithm includes：Weighted least-squares method；
Wherein, carrier phase smoothing pseudo-range algorithm is：Sliding window Hatch filter methods；Sliding window is dimensioned to 100S；After the weight matrix of the weighted least-squares method is normalized for the variance inverse of the pseudorange value of measurement The matrix of acquisition.
Alternatively, difference resolves module and also included：Measured value processor.
Difference resolves module and the pseudorange value of measurement is parsed from the satellite-signal after processing and visible satellite is determined Position includes：
Measured value processor is decoded to navigation message, is extracted the satellite ephemeris in navigation message and is obtained through pseudo range measurement The pseudorange value obtained, according to the instantaneous position of satellite ephemeris calculating visible satellite to realize the positioning of visible satellite, and obtains positioning Data.
Difference resolves module and the pseudorange value of measurement is optimized according to the first algorithm, according to the second algorithm to location data Optimize including：
Measured value processor extracts the carrier phase value obtained through carrier phase measurement in navigation message, according to extracting Pseudorange value and carrier phase value, and sliding window Hatch filter methods optimize to the precision of pseudorange value；And according to weighting Least square method is optimized to positioning precision and iteration speed.
Alternatively, difference resolves module and also included：Differential data processor；Differential data includes：Differential correctional and puppet Away from correction rate of change.
Difference resolves module to be included according to the pseudorange value after optimization and location data generation differential data：Differential data processing Device calculates the actual distance of current base station and visible satellite according to location data after optimization, by the actual distance and the puppet after optimization Ask difference to obtain differential correctional away from value, and differential correctional rate of change is calculated according to differential correctional.
Alternatively, transmitter module includes to differential data progress processing：Differential data is encoded and modulated.
Wherein, carrying out coding to differential data includes：Maritime affairs radio skill is used to GPS and GLONASS differential data Art committee RTCM2.3 reference formats coding, customized Big Dipper pseudo range difference form is used to BDS differential datas.
Alternatively, customized Big Dipper pseudo range difference form refers to：On the basis of GPS difference text Class1, by user Difference range error UDRE is changed to 1bit by 2 bit bit, and the 1bit having more is reassigned into satellite ID, so that the satellite ID is changed into 6bit from 5bit.
To achieve the above object, the embodiment of the present invention additionally provides a kind of terminal, and the terminal includes receiving module and correction Module.
Receiving module, for receiving the difference text that the satellite location data and base station equipment of visible satellite transmission are sent；
Module is corrected, satellite location data is corrected for the differential data in difference text.
To achieve the above object, the embodiment of the present invention additionally provides a kind of localization method, and this method is applied to base station equipment, This method includes：
Base station equipment is received and handles the satellite-signal of visible satellite, and measurement is parsed from the satellite-signal after processing Pseudorange value is simultaneously positioned to visible satellite, the pseudorange value of measurement is optimized according to the first algorithm, according to the second algorithm pair Location data is optimized, and generates differential data according to the pseudorange value after optimization and location data；
Base station equipment is handled differential data to generate difference text, and difference text is transmitted into terminal.
Alternatively, the satellite-signal for receiving and handling visible satellite includes：
Visible satellite is scanned for and locked, and the visible satellite of locking is carried out signal trace to obtain real-time satellite Signal；The real-time satellite signal progress radio-frequency front-end of acquisition is handled to obtain navigation message；
Wherein, the real-time satellite signal progress radio-frequency front-end processing to acquisition includes：The real-time satellite signal of acquisition is entered Row filtering, amplification, solution extend to demodulation process, and pseudo range measurement and carrier phase survey are carried out to the real-time satellite signal after processing Amount.
Alternatively, the base station equipment supports BDS, GPS and GLONASS.
Alternatively, the first algorithm includes：Carrier phase smoothing pseudo-range algorithm；Second algorithm includes：Weighted least-squares method；
Wherein, carrier phase smoothing pseudo-range algorithm is：Sliding window Hatch filter methods；Sliding window is dimensioned to 100S。
Alternatively, the first algorithm includes：Carrier phase smoothing pseudo-range algorithm；Second algorithm includes：Weighted least-squares method；
Wherein, carrier phase smoothing pseudo-range algorithm is：Sliding window Hatch filter methods；Sliding window is dimensioned to 100S；The square that the weight matrix of weighted least-squares method is obtained after being normalized for the variance inverse of the pseudorange value of measurement Battle array.
Alternatively,
The pseudorange value of measurement is parsed from the satellite-signal after processing and positioning is carried out to visible satellite includes：
Navigation message is decoded, the satellite ephemeris in navigation message and the pseudorange value obtained through pseudo range measurement is extracted, According to the instantaneous position of satellite ephemeris calculating visible satellite to realize the positioning of visible satellite, and obtain location data.
The pseudorange value of measurement is optimized according to the first algorithm, bag is optimized to location data according to the second algorithm Include：
The carrier phase value obtained through carrier phase measurement in navigation message is extracted, according to the pseudorange value and load extracted Wave phase value, and sliding window Hatch filter methods are optimized to the precision of pseudorange value；And according to weighted least-squares method pair Positioning precision and iteration speed are optimized.
Alternatively, differential data includes：Differential correctional and differential correctional rate of change.
Included according to the pseudorange value after optimization and location data generation differential data：Calculated and worked as according to location data after optimization Preceding base station and the actual distance of visible satellite, ask difference to obtain differential correctional, and root actual distance with the pseudorange value after optimization Differential correctional rate of change is calculated according to differential correctional.
Alternatively, differential data progress processing is included：Differential data is encoded and modulated.
Wherein, carrying out coding to differential data includes：RTCM2.3 reticles are used to GPS and GLONASS differential data Formula is encoded, and customized Big Dipper pseudo range difference form is used to BDS differential datas.
Alternatively, customized Big Dipper pseudo range difference form refers to：On the basis of GPS difference text Class1, by user Difference range error UDRE is changed to 1bit by 2 bit bit, and the 1bit having more is reassigned into satellite ID, so that the satellite ID is changed into 6bit from 5bit.
To achieve the above object, the embodiment of the present invention additionally provides a kind of localization method, and this method is applied to terminal, the party Method includes：
Receive the difference text that the satellite location data and base station equipment of visible satellite transmission are sent；
Differential data in difference text corrects satellite location data.
The base station equipment that the embodiment of the present invention is proposed includes：Difference resolves module and transmitter module；Difference resolves module The satellite-signal of visible satellite is received and handled, the pseudorange value of measurement is parsed from the satellite-signal after processing and is defended to visible Star is positioned, and the pseudorange value of measurement is optimized according to the first algorithm, and location data is optimized according to the second algorithm, And differential data is generated according to the pseudorange value after optimization and location data；Transmitter module is handled differential data to generate difference Divide text, and difference text is transmitted to terminal.By the scheme of the embodiment of the present invention, satellite fix is introduced into architecture, And the defect for overcoming conventional satellite to position, using base station as the base station in satellite fix, base station resource is rationally make use of, and carry High positioning precision.
Brief description of the drawings
Fig. 1 is the hardware architecture diagram for realizing the optional mobile terminal of each embodiment one of the invention；
Fig. 2 is current architecture principle schematic；
Fig. 3 is the architecture principle schematic of the embodiment of the present invention；
Fig. 4 is the base station equipment composition frame chart of the embodiment of the present invention；
Fig. 5 is the base station equipment operation principle schematic diagram of the embodiment of the present invention；
Fig. 6 is directed to normalization for the weighted least-squares method of the embodiment of the present invention and does not normalize the iteration in the case of two kinds The Comparison of experiment results schematic diagram of number of times；
Fig. 7 is the terminal composition frame chart of the embodiment of the present invention；
Fig. 8 is the localization method flow chart applied to base station equipment side of the embodiment of the present invention；
Fig. 9 is the localization method flow chart applied to terminal station side of the embodiment of the present invention.
Realization, functional characteristics and the advantage of purpose of the embodiment of the present invention will be done furtherly referring to the drawings in conjunction with the embodiments It is bright.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The optional mobile terminal of each embodiment one of the invention is realized referring now to accompanying drawing description.In follow-up description In, using the suffix of such as " module ", " part " or " unit " for representing element only for being conducive to the explanation of the present invention, Itself do not have specific meaning.Therefore, " module " can be used mixedly with " part ".
Mobile terminal can be implemented in a variety of manners.For example, the terminal described in the present invention can include such as moving Phone, smart phone, notebook computer, digit broadcasting receiver, PDA (personal digital assistant), PAD (tablet personal computer), PMP The mobile terminal of (portable media player), guider etc. and such as numeral TV, desktop computer etc. are consolidated Determine terminal.Hereinafter it is assumed that terminal is mobile terminal.However, it will be understood by those skilled in the art that, except being used in particular for movement Outside the element of purpose, construction according to the embodiment of the present invention can also apply to the terminal of fixed type.
Fig. 1 illustrates for the hardware configuration of the mobile terminal of realization each embodiment of the invention.
Mobile terminal 1 00 can include wireless communication unit 110, A/V (audio/video) input block 120, user's input Unit 130, sensing unit 140, output unit 150, memory 160, interface unit 170, controller 180 and power subsystem 190 Etc..Fig. 1 shows the mobile terminal with various assemblies, it should be understood that being not required for implementing all groups shown Part.More or less components can alternatively be implemented.The element of mobile terminal will be discussed in more detail below.
Wireless communication unit 110 generally includes one or more assemblies, and it allows mobile terminal 1 00 and wireless communication system Or the radio communication between network.For example, wireless communication unit can include broadcasting reception module 111, mobile communication module 112nd, at least one in wireless Internet module 113, short range communication module 114 and location information module 115.
Broadcasting reception module 111 receives broadcast singal and/or broadcast via broadcast channel from external broadcast management server Relevant information.Broadcast channel can include satellite channel and/or terrestrial channel.Broadcast management server can be generated and sent The broadcast singal and/or broadcast related information generated before the server or reception of broadcast singal and/or broadcast related information And send it to the server of terminal.Broadcast singal can include TV broadcast singals, radio signals, data broadcasting Signal etc..Moreover, broadcast singal may further include the broadcast singal combined with TV or radio signals.Broadcast phase Closing information can also provide via mobile communications network, and in this case, broadcast related information can be by mobile communication mould Block 112 is received.Broadcast singal can exist in a variety of manners, for example, it can be with DMB (DMB) electronics The form of program guide (EPG), the electronic service guidebooks (ESG) of digital video broadcast-handheld (DVB-H) etc. and exist.Broadcast Receiving module 111 can receive signal broadcast by using various types of broadcast systems.Especially, broadcasting reception module 111 Can be wide by using such as multimedia broadcasting-ground (DMB-T), DMB-satellite (DMB-S), digital video Broadcast-hand-held (DVB-H), forward link media (MediaFLO@) Radio Data System, received terrestrial digital broadcasting integrated service Etc. (ISDB-T) digit broadcasting system receives digital broadcasting.Broadcasting reception module 111, which may be constructed such that, to be adapted to provide for extensively Broadcast the various broadcast systems and above-mentioned digit broadcasting system of signal.Via broadcasting reception module 111 receive broadcast singal and/ Or broadcast related information can be stored in memory 160 (or other types of storage medium).
Mobile communication module 112 sends radio signals to base station (for example, access point, node B etc.), exterior terminal And in server at least one and/or receive from it radio signal.Such radio signal can be logical including voice Talk about signal, video calling signal or the various types of data for sending and/or receiving according to text and/or Multimedia Message.
Wireless Internet module 113 supports the Wi-Fi (Wireless Internet Access) of mobile terminal.The module can be internally or externally It is couple to terminal.Wi-Fi (Wireless Internet Access) technology involved by the module can include WLAN (WLAN) (Wi-Fi), Wibro (WiMAX), Wimax (worldwide interoperability for microwave accesses), HSDPA (high-speed downlink packet access) etc..
Short range communication module 114 is the module for supporting junction service.Some examples of short-range communication technology include indigo plant ToothTM, radio frequency identification (RFID), Infrared Data Association (IrDA), ultra wide band (UWB), purple honeybeeTMEtc..
Location information module 115 is the module for checking or obtaining the positional information of mobile terminal.Location information module Typical case be GPS (global positioning system).According to current technology, GPS module 115, which is calculated, comes from three or more satellites Range information and correct time information and for the Information application triangulation of calculating so that according to longitude, latitude Highly accurately calculate three-dimensional current location information.Currently, defended for calculating the method for position and temporal information using three Star and the position calculated by using other satellite correction and the error of temporal information.In addition, GPS module 115 Can be by Continuous plus current location information in real time come calculating speed information.
A/V input blocks 120 are used to receive audio or video signal.A/V input blocks 120 can include the He of camera 121 Microphone 1220, the static map that 121 pairs of camera is obtained in video acquisition mode or image capture mode by image capture apparatus The view data of piece or video is handled.Picture frame after processing may be displayed on display unit 151.At camera 121 Picture frame after reason can be stored in memory 160 (or other storage mediums) or be carried out via wireless communication unit 110 Send, two or more cameras 1210 can be provided according to the construction of mobile terminal.Microphone 122 can be in telephone relation mould Sound (voice data) is received via microphone in formula, logging mode, speech recognition mode etc. operational mode, and can be by Such acoustic processing is voice data.Audio (voice) data after processing can be changed in the case of telephone calling model For the form output of mobile communication base station can be sent to via mobile communication module 112.Microphone 122 can implement all kinds Noise eliminate (or suppress) algorithm with eliminate noise that (or suppression) produce during receiving and sending audio signal or Person disturbs.
The order that user input unit 130 can be inputted according to user generates key input data to control each of mobile terminal Plant operation.User input unit 130 allows user to input various types of information, and can include keyboard, metal dome, touch Plate (for example, detection due to being touched caused by resistance, pressure, electric capacity etc. change sensitive component), roller, rocking bar etc. Deng.Especially, when touch pad is superimposed upon on display unit 151 in the form of layer, touch-screen can be formed.
Sensing unit 140 detects the current state of mobile terminal 1 00, (for example, mobile terminal 1 00 opens or closes shape State), the position of mobile terminal 1 00, user is for the presence or absence of contact (that is, touch input) of mobile terminal 1 00, mobile terminal The acceleration or deceleration movement of 100 orientation, mobile terminal 1 00 and direction etc., and generate for controlling mobile terminal 1 00 The order of operation or signal.For example, when mobile terminal 1 00 is embodied as sliding-type mobile phone, sensing unit 140 can be sensed The sliding-type phone is opening or closing.In addition, sensing unit 140 can detect power subsystem 190 whether provide electric power or Whether person's interface unit 170 couples with external device (ED).Sensing unit 140, which can include proximity transducer 1410, to be combined below This is described touch-screen.
Interface unit 170 is connected the interface that can pass through as at least one external device (ED) with mobile terminal 1 00.For example, External device (ED) can include wired or wireless head-band earphone port, external power source (or battery charger) port, wired or nothing Line FPDP, memory card port, the port for connecting the device with identification module, audio input/output (I/O) end Mouth, video i/o port, ear port etc..Identification module can be that storage is used to verify that user uses each of mobile terminal 1 00 Plant information and subscriber identification module (UIM), client identification module (SIM), Universal Subscriber identification module (USIM) can be included Etc..In addition, the device (hereinafter referred to as " identifying device ") with identification module can take the form of smart card, therefore, know Other device can be connected via port or other attachment means with mobile terminal 1 00.Interface unit 170 can be used for reception and come from The input (for example, data message, electric power etc.) of external device (ED) and the input received is transferred in mobile terminal 1 00 One or more elements can be used for transmitting data between mobile terminal and external device (ED).
In addition, when mobile terminal 1 00 is connected with external base, interface unit 170 may be used as allowing by it by electricity Power provides to the path of mobile terminal 1 00 from base or may be used as allowing passing through it from the various command signals that base is inputted It is transferred to the path of mobile terminal.The various command signals or electric power inputted from base may be used as being used to recognize that mobile terminal is The no signal being accurately fitted within base.Output unit 150 is configured to provide defeated with vision, audio and/or tactile manner Go out signal (for example, audio signal, vision signal, alarm signal, vibration signal etc.).Output unit 150 can include display Unit 151, dio Output Modules 152, alarm unit 153 etc..
Display unit 151 may be displayed on the information handled in mobile terminal 1 00.For example, when mobile terminal 1 00 is in electricity When talking about call mode, display unit 151 can be shown with conversing or other communicating (for example, text messaging, multimedia file Download etc.) related user interface (UI) or graphic user interface (GUI).When mobile terminal 1 00 is in video calling pattern Or during image capture mode, display unit 151 can show the image of capture and/or the image of reception, show video or figure UI or GUI of picture and correlation function etc..
Meanwhile, when display unit 151 and touch pad in the form of layer it is superposed on one another to form touch-screen when, display unit 151 may be used as input unit and output device.Display unit 151 can include liquid crystal display (LCD), thin film transistor (TFT) In LCD (TFT-LCD), Organic Light Emitting Diode (OLED) display, flexible display, three-dimensional (3D) display etc. at least It is a kind of.Some in these displays may be constructed such that transparence to allow user to be watched from outside, and this is properly termed as transparent Display, typical transparent display can be, for example, TOLED (transparent organic light emitting diode) display etc..According to specific Desired embodiment, mobile terminal 1 00 can include two or more display units (or other display devices), for example, moving Dynamic terminal can include outernal display unit (not shown) and inner display unit (not shown).Touch-screen can be used for detection to touch Input pressure and touch input position and touch input area.
Dio Output Modules 152 can mobile terminal be in call signal reception pattern, call mode, logging mode, It is that wireless communication unit 110 is received or in memory 160 when under the isotypes such as speech recognition mode, broadcast reception mode The voice data transducing audio signal of middle storage and it is output as sound.Moreover, dio Output Modules 152 can be provided and movement The audio output (for example, call signal receives sound, message sink sound etc.) for the specific function correlation that terminal 100 is performed. Dio Output Modules 152 can include loudspeaker, buzzer etc..
Alarm unit 153 can provide output to notify event to mobile terminal 1 00.Typical event can be with Including calling reception, message sink, key signals input, touch input etc..In addition to audio or video is exported, alarm unit 153 can provide output in a different manner with the generation of notification event.For example, alarm unit 153 can be in the form of vibration Output is provided, when receiving calling, message or some other entrance communications (incomingcommunication), alarm list Member 153 can provide tactile output (that is, vibrating) to notify to user.Exported by providing such tactile, even in When the mobile phone of user is in the pocket of user, user also can recognize that the generation of various events.Alarm unit 153 The output of the generation of notification event can be provided via display unit 151 or dio Output Modules 152.
Memory 160 can store software program of the processing performed by controller 180 and control operation etc., Huo Zheke Temporarily to store oneself data (for example, telephone directory, message, still image, video etc.) through exporting or will export.And And, memory 160 can store the vibration of various modes on being exported when touching and being applied to touch-screen and audio signal Data.
Memory 160 can include the storage medium of at least one type, and the storage medium includes flash memory, hard disk, many Media card, card-type memory (for example, SD or DX memories etc.), random access storage device (RAM), static random-access storage Device (SRAM), read-only storage (ROM), Electrically Erasable Read Only Memory (EEPROM), programmable read only memory (PROM), magnetic storage, disk, CD etc..Moreover, mobile terminal 1 00 can be with performing memory by network connection The network storage device cooperation of 160 store function.
The overall operation of the generally control mobile terminal of controller 180.For example, controller 180 is performed and voice call, data Communication, video calling etc. related control and processing.In addition, controller 180 can include being used to reproduce (or playback) many matchmakers The multi-media module 1810 of volume data, multi-media module 1810 can be constructed in controller 180, or can be structured as and control Device 180 processed is separated.Controller 180 can be with execution pattern identifying processing, by the handwriting input performed on the touchscreen or figure Piece draws input and is identified as character or image.
Power subsystem 190 receives external power or internal power under the control of controller 180 and provides operation each member Appropriate electric power needed for part and component.
Various embodiments described herein can be with use such as computer software, hardware or its any combination of calculating Machine computer-readable recording medium is implemented.Implement for hardware, embodiment described herein can be by using application-specific IC (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), scene can Programming gate array (FPGA), processor, controller, microcontroller, microprocessor, it is designed to perform function described herein At least one of electronic unit is implemented, and in some cases, such embodiment can be implemented in controller 180. For software implementation, the embodiment of such as process or function can be with allowing to perform the single of at least one function or operation Software module is implemented.Software code can by the software application (or program) write with any appropriate programming language Lai Implement, software code can be stored in memory 160 and be performed by controller 180.
So far, oneself according to its function through describing mobile terminal.Below, for the sake of brevity, will description such as folded form, Slide type mobile terminal in various types of mobile terminals of board-type, oscillating-type, slide type mobile terminal etc. is as showing Example.Therefore, the present invention can be applied to any kind of mobile terminal, and be not limited to slide type mobile terminal.
Mobile terminal 1 00 as shown in Figure 1 may be constructed such that using via frame or packet transmission data it is all if any Line and wireless communication system and satellite-based communication system are operated.
The communications system embodiment that mobile terminal according to embodiments of the present invention can be operated will now be described.
Such communication system can use different air interfaces and/or physical layer.For example, used by communication system Air interface includes such as frequency division multiple access (FDMA), time division multiple acess (TDMA), CDMA (CDMA) and universal mobile communications system System (UMTS) (especially, Long Term Evolution (LTE)), global system for mobile communications (GSM) etc..As non-limiting example, under The description in face is related to cdma communication system, but such teaching is equally applicable to other types of system.
Cdma wireless communication system can include multiple mobile terminal 1s 00, multiple base stations (BS) 270, base station controller (BSC) 275 and mobile switching centre (MSC) 280.MSC280 is configured to and the formation of Public Switched Telephony Network (PSTN) 290 Interface.MSC280 is also structured to the BSC275 formation interfaces with that can be couple to base station 270 via back haul link.Back haul link If any of interface that can be known according to Ganji is constructed, the interface is included in such as E1/T1, ATM, IP, PPP, frame After, HDSL, ADSL or xDSL.It will be appreciated that system can include multiple BSC2750 as shown in Figure 2.
Each BS270 can service one or more subregions (or region), by multidirectional antenna or the day of sensing specific direction Each subregion of line covering is radially away from BS270.Or, each subregion can be by two or more for diversity reception Antenna is covered.Each BS270 may be constructed such that the multiple frequency distribution of support, and each frequency distribution has specific frequency spectrum (for example, 1.25MHz, 5MHz etc.).
What subregion and frequency were distributed, which intersects, can be referred to as CDMA Channel.BS270 can also be referred to as base station transceiver System (BTS) or other equivalent terms.In this case, term " base station " can be used for broadly representing single BSC275 and at least one BS270.Base station can also be referred to as " cellular station ".Or, specific BS270 each subregion can be claimed For multiple cellular stations.
Broadcast singal is sent to the mobile terminal 1 00 operated in system by broadcsting transmitter (BT) 295.Such as institute in Fig. 1 The broadcasting reception module 111 shown is arranged at mobile terminal 1 00 to receive the broadcast singal sent by BT295.In fig. 2, Show several global positioning systems (GPS) satellite 300.Satellite 300 helps to position at least one in multiple mobile terminal 1s 00 It is individual.
Depict multiple satellites 300, it is understood that be, it is possible to use any number of satellite obtains useful positioning letter Breath.GPS module 115 as shown in Figure 1 is generally configured to coordinate with satellite 300 to obtain desired location information.Substitute GPS tracking techniques or outside GPS tracking techniques, can use the other technologies for the position that can track mobile terminal.Separately Outside, at least one gps satellite 300 can optionally or additionally handle satellite dmb transmission.
As a typical operation of wireless communication system, BS270 receives the reverse link from various mobile terminal 1s 00 Signal.Mobile terminal 1 00 generally participates in call, information receiving and transmitting and other types of communication.It is each anti-that certain base station 270 is received Handled to link signal in specific BS270.The data of acquisition are forwarded to the BSC275 of correlation.BSC provides call Resource allocation and the mobile management function of coordination including the soft switching process between BS270.BSC275 is also by the number received According to MSC280 is routed to, it is provided for the extra route service with PSTN290 formation interfaces.Similarly, PSTN290 with MSC280 formation interfaces, MSC and BSC275 formation interface, and BSC275 correspondingly control BS270 with by forward link signals It is sent to mobile terminal 1 00.
Based on above-mentioned optional mobile terminal hardware configuration and communication system, each embodiment of the inventive method is proposed.
As shown in Fig. 3, Fig. 4, Fig. 5, first embodiment of the invention proposes a kind of base station equipment 1, and the base station equipment includes： Difference resolves module 11 and transmitter module 12.
Difference resolves module 11, the satellite-signal for receiving and handling visible satellite, from the satellite-signal after processing Parse the pseudorange value of measurement and visible satellite is positioned, the pseudorange value of measurement is optimized according to the first algorithm, root Location data is optimized according to the second algorithm, and differential data is generated according to the pseudorange value after optimization and location data.
In embodiments of the present invention, with the raising of Modern Urban Living trip rhythm, convenient and efficient positioning can be provided The life influence serviced on people is very big.The positioning method used mostly at present is GPS (Global Positioning System global positioning systems) position or BDS (BeiDou Navigation Satellite System China big-dipper satellites Navigation system) positioning, but due to being blocked the influence of thing in urban road, signal easily has dead angle, and precision often has not Foot, it is impossible to meet many trip requirements of user, most realistic example is exactly that drop calls a taxi department often and passenger is close at hand but looks for Less than passenger, high moral digital map navigation band driver detours.Further, since 3G/4G signal coverage rates are wider, another universal determines Position mode is exactly architecture, but because base station measurement range error is larger, positioning precision is only less than 50m.The present invention is implemented Example is directed to the defect of above two positioning method, in order that two kinds of positioning methods play respective advantages, it is proposed that a kind of new Localization method, it is desirable to provide a kind of precision is higher, the more preferable positioning service of coverage rate.Specifically, due to nowadays 3G/4G base stations number Amount alreadys exceed more than 200 ten thousand, and especially coverage rate is extremely wide in city, if it is possible to make good use of current base station equipment resource, And overcome urban transportation to block conventional satellite positioning signal, inherently provide the user with higher positioning precision.Based on upper Consideration is stated, satellite positioning tech is introduced into architecture by scheme of the embodiment of the present invention, and the defect for overcoming conventional satellite to position, Using base station as the base station in satellite fix, base station resource is rationally make use of, and improve positioning precision.
In embodiments of the present invention, in order to improve positioning precision, carried based on the pseudo range difference technology in satellite positioning tech Scheme of the embodiment of the present invention is gone out, for the ease of the understanding of scheme of the embodiment of the present invention, letter is carried out to pseudo range difference technology first It is single to introduce.
In pseudo range difference system, including base station, differential data link and the part of receiver user three.Base station is suitable In the BDS receivers for being fixed on some known accurate coordinates, the pseudorange and ephemeris of whole satellites are collected, satellite is calculated using ephemeris Instantaneous position at a timeDue to benchmark station coordinates (Xo,Yo,Zo), it is known that utilizing satellite and base station Coordinate can calculate satellite to the actual distance of base station
I represents i-th satellite in formula, and i is positive integer.
Base station pseudorange value measured directly is ρi, calculation formula is：ρi=(tr-tsv)c；Wherein trRepresent satellite-signal The time of reception, tsvRepresent satellite-signal emission time.trBy OEM, (Original Equipment Manufacturer are original to be set Standby manufacturer) plate output, tsvIt is calculated as follows：
tsv=bit*0.02+ms*0.001+codephase/2046000.0+codepcophase/20460 000/ 1024.0；
Wherein, bit represents 20ms epoch counts, and ms represents 1ms epoch counts, codephase code phase integer parts, Codephase code phase fractional parts, tsvPrecision can provide hundred meters or so of pseudorange essence between us even tens ns Degree, in addition by satellite signal strength, multipath effect, the influence of receiver noise etc., original measurement pseudorange value has larger ripple It is dynamic, and there may come a time when to provide a noise larger improper value, this has had a strong impact on locating effect.It is flat using integrated Doppler Sliding pseudorange or following carrier phase smoothing pseudo-ranges can greatly improve pseudorange accuracy, utilize a weighting described below most young waiter in a wineshop or an inn The influence of noise can be reduced by multiplying.
Due to being influenceed by ephemeris error, ionospheric error, tropospheric error etc., base station pseudorange value measured directly with it is true Actual distance is from difference, and both ask difference to obtain differential correctional：Δρi=Ri-ρi, differential correctional rate of change is:Base station will ΔρiWith d ρiPass to user.The pseudorange of receiver user amendment correspondence satellite： The coordinate of receiver user can be calculated using revised pseudorange value：
Wherein d τ are receiver clock-offsets, and ν is receiver noise.
Satellite ephemeris error, satellite clock error, ionospheric error and troposphere has been substantially eliminated in above formula to miss Difference.Receiver user carries out positioning calculation using the pseudorange after correction, improves positioning precision.
In scheme of the embodiment of the present invention, the above using the base station currently built up it has been noted that directly can be made On the basis of stand, receiver user can be the terminal that user holds, for example, mobile phone, Ipad etc..
In embodiments of the present invention, based on above-mentioned pseudo range difference technology, in order to realize that satellite positioning tech is determined with base station The combination of position technology, using base station as the base station in satellite fix, difference can be pre-set in base station equipment and resolves mould Block 11, the satellite-signal for receiving and handling visible satellite, and the pseudorange value of measurement is optimized, commonly defended with overcoming The defect of star positioning, so as to reach pinpoint purpose.
In embodiments of the present invention, difference resolves module 11 and can included：Global navigation satellite system GNSS sensor 111, it is mainly used in receiving satellite-signal, radio-frequency front-end processing is carried out to visible satellite signal, extracts useful signal.
Specifically, difference resolves module 11 and receives and handle the satellite-signal of visible satellite and includes：
GNSS sensors 111 are scanned for and locked to visible satellite, and carry out signal trace to the visible satellite of locking To obtain real-time satellite signal；The real-time satellite signal progress radio-frequency front-end of acquisition is handled to obtain navigation message.
Wherein, the real-time satellite signal of 111 pairs of acquisitions of GNSS sensors, which carries out radio-frequency front-end processing, includes：To the reality of acquisition When satellite-signal is filtered, amplified, solution extends to demodulation process, and to after processing real-time satellite signal carry out pseudo range measurement, Carrier phase measurement and Doppler shift measurement etc..
Alternatively, GNSS sensors 111 support Chinese Beidou satellite navigation system BDS, global position system GPS and Ge Luo Receive this satellite navigation system GLONASS.
In embodiments of the present invention, difference resolves module 11 and can also included：Measured value processor 112, is mainly used in pair Navigation message after the processing of GNSS sensors is extracted and parsed, for example, extracting satellite ephemeris, pseudorange value etc.；And to visible Satellite is positioned, and the pseudorange value of measurement is optimized according to the first algorithm, location data is carried out according to the second algorithm excellent Change.
In embodiments of the present invention, difference resolves the pseudorange value that module 11 parses measurement from the satellite-signal after processing And visible satellite progress positioning is included：
Measured value processor 112 is decoded to navigation message, is extracted the satellite ephemeris in navigation message and is surveyed through pseudorange The pseudorange value obtained is measured, according to the instantaneous position of satellite ephemeris calculating visible satellite to realize the positioning of visible satellite, and is obtained Location data.
In embodiments of the present invention, it has been ripe due to being positioned by satellite ephemeris to the instantaneous position of visible satellite Technology, will not be repeated here.
Alternatively, the first algorithm includes：Carrier phase smoothing pseudo-range algorithm；Second algorithm includes：Weighted least-squares method；
Wherein, carrier phase smoothing pseudo-range algorithm is：Sliding window Hatch filter methods；Sliding window is dimensioned to 100S；After the weight matrix of the weighted least-squares method is normalized for the variance inverse of the pseudorange value of measurement The matrix of acquisition.
Difference resolves module 11 and the pseudorange value of measurement is optimized according to the first algorithm, according to the second algorithm to positioning number According to optimize including：
Measured value processor 112 extracts the carrier phase value obtained through carrier phase measurement in navigation message, according to carrying The pseudorange value and carrier phase value of taking-up, and sliding window Hatch filter methods are optimized to the precision of pseudorange value；And according to Weighted least-squares method is optimized to positioning precision and iteration speed.
In embodiments of the present invention, due to the precision of carrier phase observation data two number almost higher than Pseudo-range Observations Magnitude, and the Multipath Errors suffered by phase observations amount are smaller, then the embodiment of the present invention is put down using carrier phase observation data Sliding pseudorange, to improve the range accuracy of pseudorange, improves the degree of accuracy of differential data.
Earliest and most widely used carrier phase smoothed pseudorange method is Hatch filtering methods, and Hatch filter method methods are as follows：
Wherein ρs,kPseudorange after representing smoothly, ΦkCarrier phase observation data is represented, M represents smoothing time constant.
The performance and its smoothingtime of Hatch filtering are closely related, in principle for, with the growth of smoothingtime, Pseudorange accuracy after smooth will more and more higher.Because more epoch of observation participates in smooth, it is smooth after pseudorange accuracy it is higher, And closer to the precision of carrier phase.But in a practical situation, Hatch filtering there are problems that one it is very important, that If being exactly that smoothingtime exceedes a certain particular value, wave filter just has effect weakening, because ionosphere is to pseudorange and carrier wave Delay is equal in magnitude in opposite direction, and this effect is referred to as ionosphere diverging.
Filtered herein on the basis of Hatch filtering using the Hatch of sliding window, window is sized to 100S. Test result indicates that, the Hatch filtering of sliding window can obtain good smooth effect.
In embodiments of the present invention, in satellite positioning algorithm, what traditional least-squares algorithm to be considered is in side The component of each Satellite observation vector errors of Cheng Zuzhong has identical variance, but due to being influenceed by environment, Satellite observation to The variance for measuring error is often different, causes positioning precision to decline.Weighted least-squares method makes the satellite that reception signal is good, precision is high Shared weight is larger, and weight shared by the poor satellite of reception signal difference, precision is smaller, and this of least square method can be overcome to lack Point.In addition, the variance of the weight matrix selection pseudo-range measurements of some weighted least-squares methods is reciprocal, but need the timing of storage one Between pseudorange after calculate variance, delay can be brought.The weight matrix selection carrier-to-noise ratio of some weighted least-squares methods is used as weight The coefficient of matrix, can be handled pseudorange value in real time.The embodiment of the present invention is on the basis of latter algorithm, to weight Matrix is optimized.
Weighted least-squares method solve equation for：Wb=WH* Δs x；
Solution vector is：Δ x=(HTWH)-1HTWb；
H is：
Wherein, (xi,yi,zi) represent i-th satellite coordinate；Represent user position during solution Newton iteration Put；
B is pseudorange residuals matrix：
Wherein, ρiFor pseudorange value, dRotat is error caused by earth rotation, and dRtrop is tropospheric propagation error, DIonoTime is ionospheric error.
W is weight matrix, W=wwt, w is:
Weight matrix W is not in the case where considering multipath and other interference, and the sources of measurement error of pseudorange mainly includes heat Code phase shake and dynamic stress error two parts caused by noise, therefore signal carrier-to-noise ratio is introduced to the calculating for weighting weight Cheng Zhong, it is effective to utilize high carrier-to-noise ratio satellite information, improve the good observation weight of satellite-signal, the sight of reduction satellite-signal difference Measured value weight, can overcome the disadvantages that the defect of traditional least square method positioning.
In addition, in weighted least-squares method of the selection carrier-to-noise ratio as weight matrix coefficient, although to weighted least-squares The precision of method is analyzed, but the problem of do not consider amount of calculation increase.In actually calculating, because the load that OEM plates are exported is made an uproar Than being the value obtained after filtering with power amplification, therefore weight matrix coefficient is larger, changing when can increase solution customer location Generation number.This embodiment of the present invention is during processing, to a weighting most young waiter in a wineshop or an inn of the selection carrier-to-noise ratio as weight matrix coefficient Weight matrix in multiplication is optimized.
Normalization W is changed into：
Experiment is carried out to normalization and not normalized weighted least-squares method iterations to compare, as shown in fig. 6, hair Existing weight matrix can accelerate positioning calculation iterative convergence speed after normalization.
In embodiments of the present invention, difference resolves module 11 and can also included：Differential data processor 113；Differential data Including：Differential correctional and differential correctional rate of change.
Difference resolves module 11 to be included according to the pseudorange value after optimization and location data generation differential data：At differential data The actual distance that device 113 calculates current base station and visible satellite according to location data after optimization is managed, by the actual distance and optimization Pseudorange value afterwards asks difference to obtain differential correctional, and calculates differential correctional rate of change according to differential correctional.
In embodiments of the present invention, after being optimized by such scheme to pseudorange value and positioning precision so that pseudorange value It is more accurate, and the current base station and the actual distance of visible satellite that calculate are more accurate, change so as to obtain more accurately pseudorange Positive number and differential correctional rate of change.Due to having been described above differential correctional and differential correctional rate of change in foregoing teachings Computational methods will not be repeated here.
Transmitter module 12, for being handled differential data to generate difference text, and is transmitted to end by difference text End.
In embodiments of the present invention, the differential data obtained by such scheme needs further processing to generate differential electrical Text, and broadcast by data link to user terminal.
Alternatively, transmitter module 12 includes to differential data progress processing：Differential data is encoded and modulated.
In embodiments of the present invention, can carry out coding to differential data by encoder can be by modulator to coding Differential data afterwards carries out signal modulation, can make it that signal coverage rate is wider after signal modulation.
In embodiments of the present invention, carrying out coding to differential data includes：GPS and GLONASS differential data is used RTCM's RTCM2.3 reference formats coding, customized Big Dipper pseudo range difference is used to BDS differential datas Form.
In embodiments of the present invention, the general V2.3 versions issued using RTCM SC-104 in the positioning of pseudo- pseudo range difference Coded system.Because RTCM SC-104 do not define the electricity of Big Dipper difference also temporarily mainly towards GPS and GLONASS Text, so we need the self-defined Big Dipper difference text on the basis of RTCM SC-104.
Whole Beidou II system satellite has 35 altogether, and the satellite ID of RTCM Class1 only has 5bit, if complete The full form for indiscriminately imitating Class1 can not meet the requirement of dipper system, it is therefore desirable to which the form of Class1 is improved.In definition During the text of Big Dipper difference, we try one's best cause customized Big Dipper difference text and GPS pseudo range differences text largely On being consistent property.The Retention Type 41 in selection RTCM2.3 forms is used as the text type of Big Dipper pseudo range difference, text herein It is defined as follows shown in table 1：
The content of one Big Dipper pseudo range difference text type of table 41
The scale factor of the text type 41 of table two
Code PRC(m) RRC(m/s)
0 0.02 0.002
1 0.32 0.032
The UDRE of the text type 41 of table three
User should use the upper limit of table three to be multiplied by the UDRE in text head in reference station health status mark when calculating UDRE Scale factor.
In embodiments of the present invention, customized Big Dipper pseudo range difference form refers to：In the base of GPS difference text Class1 On plinth, user difference range error UDRE is changed to 1bit by 2 bit bit, the 1bit having more is reassigned to satellite ID, with The satellite ID is set to be changed into 6bit from 5bit.The satellite number that can be numbered is 64, has thus met requirement.UDRE is changed by 2bit It is to be multiplied by what scale factor was obtained by the UDRE upper limit to be mainly based upon user range error for 1bit, and it is mainly a reference Value, UDRE changes are little after changing, and simply its scope is somewhat reduced a little, simultaneously because S/A policy (U.S. national defenses Limitation of the portion to GPS) cancel after, error range is greatly reduced, therefore the method is little to the location precision of user.
Scheme of the embodiment of the present invention not only remains all information of pseudo range difference, and main information and form need not enter The big change of row, with feasibility and practicality.
To achieve the above object, second embodiment of the invention additionally provides a kind of terminal 2, as shown in fig. 7, the terminal includes Receiving module 21 and correction module 22.
Receiving module 21, for receiving the differential electrical that the satellite location data and base station equipment of visible satellite transmission are sent Text.
Module 22 is corrected, satellite location data is corrected for the differential data in difference text.
In embodiments of the present invention, mobile terminal is received after difference text, can be according to RTCM2.3 agreements to differential electrical Text is decoded, and the satellite location data that itself is received is entered using data such as the differential correctionals of decoding acquisition in positioning Row optimization, so as to improve the positioning precision to terminal.
To achieve the above object, third embodiment of the invention additionally provides a kind of localization method, as shown in figure 8, this method Suitable for base station equipment side, it is necessary to which any embodiment in explanation, above-mentioned base station equipment embodiment goes for In this method embodiment, it will not be repeated here.This method includes S101-S102：
S101, base station equipment receive and handle the satellite-signal of visible satellite, are parsed from the satellite-signal after processing The pseudorange value of measurement is simultaneously positioned to visible satellite, the pseudorange value of measurement is optimized according to the first algorithm, according to second Algorithm is optimized to location data, and generates differential data according to the pseudorange value after optimization and location data.
S102, base station equipment are handled differential data to generate difference text, and difference text are transmitted into terminal.
Alternatively, the satellite-signal for receiving and handling visible satellite includes：
Visible satellite is scanned for and locked, and the visible satellite of locking is carried out signal trace to obtain real-time satellite Signal；The real-time satellite signal progress radio-frequency front-end of acquisition is handled to obtain navigation message；
Wherein, the real-time satellite signal progress radio-frequency front-end processing to acquisition includes：The real-time satellite signal of acquisition is entered Row filtering, amplification, solution extend to demodulation process, and pseudo range measurement and carrier phase survey are carried out to the real-time satellite signal after processing Amount.
Alternatively, base station equipment supports BDS, GPS and GLONASS.
Alternatively, the first algorithm includes：Carrier phase smoothing pseudo-range algorithm；Second algorithm includes：Weighted least-squares method；
Wherein, carrier phase smoothing pseudo-range algorithm is：Sliding window Hatch filter methods；Sliding window is dimensioned to 100S。
Alternatively, the first algorithm includes：Carrier phase smoothing pseudo-range algorithm；Second algorithm includes：Weighted least-squares method；
Wherein, carrier phase smoothing pseudo-range algorithm is：Sliding window Hatch filter methods；Sliding window is dimensioned to 100S；The square that the weight matrix of weighted least-squares method is obtained after being normalized for the variance inverse of the pseudorange value of measurement Battle array.
Alternatively,
The pseudorange value of measurement is parsed from the satellite-signal after processing and positioning is carried out to visible satellite includes：
Navigation message is decoded, the satellite ephemeris in navigation message and the pseudorange value obtained through pseudo range measurement is extracted, According to the instantaneous position of satellite ephemeris calculating visible satellite to realize the positioning of visible satellite, and obtain location data.
The pseudorange value of measurement is optimized according to the first algorithm, bag is optimized to location data according to the second algorithm Include：
The carrier phase value obtained through carrier phase measurement in navigation message is extracted, according to the pseudorange value and load extracted Wave phase value, and sliding window Hatch filter methods are optimized to the precision of pseudorange value；And according to weighted least-squares method pair Positioning precision and iteration speed are optimized.
Alternatively, differential data includes：Differential correctional and differential correctional rate of change.
Included according to the pseudorange value after optimization and location data generation differential data：Calculated and worked as according to location data after optimization Preceding base station and the actual distance of visible satellite, ask difference to obtain differential correctional, and root actual distance with the pseudorange value after optimization Differential correctional rate of change is calculated according to differential correctional.
Alternatively, differential data progress processing is included：Differential data is encoded and modulated.
Wherein, carrying out coding to differential data includes：RTCM2.3 reticles are used to GPS and GLONASS differential data Formula is encoded, and customized Big Dipper pseudo range difference form is used to BDS differential datas.
Alternatively, customized Big Dipper pseudo range difference form refers to：On the basis of GPS difference text Class1, by user Difference range error UDRE is changed to 1bit by 2 bit bit, and the 1bit having more is reassigned into satellite ID, so that the satellite ID is changed into 6bit from 5bit.
To achieve the above object, fourth embodiment of the invention additionally provides a kind of localization method, as shown in figure 9, this method Suitable for end side, it is necessary to which any embodiment in explanation, above-mentioned terminal embodiment goes for this method reality Apply in example, will not be repeated here.This method includes S201-S202：
S201, the satellite location data for receiving visible satellite transmission and base station equipment transmission difference text.
S202, the differential data in difference text correct satellite location data.
The base station equipment that the embodiment of the present invention is proposed includes：Difference resolves module and transmitter module；Difference resolves module The satellite-signal of visible satellite is received and handled, the pseudorange value of measurement is parsed from the satellite-signal after processing and is defended to visible Star is positioned, and the pseudorange value of measurement is optimized according to the first algorithm, and location data is optimized according to the second algorithm, And differential data is generated according to the pseudorange value after optimization and location data；Transmitter module is handled differential data to generate difference Divide text, and difference text is transmitted to terminal.By the scheme of the embodiment of the present invention, satellite fix is introduced into architecture, And overcome conventional satellite position defect, using base station as miniature positioning in base station, rationally make use of base station resource, and improve Positioning precision.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row His property is included, so that process, method, article or device including a series of key elements not only include those key elements, and And also including other key elements being not expressly set out, or also include for this process, method, article or device institute inherently Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this Also there is other identical element in process, method, article or the device of key element.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases The former is more preferably embodiment.Understood based on such, technical scheme is substantially done to prior art in other words Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium In (such as ROM/RAM, magnetic disc, CD), including some instructions are to cause a station terminal equipment (can be mobile phone, computer, clothes It is engaged in device, air conditioner, or network equipment etc.) perform method described in each embodiment of the invention.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills Art field, is included within the scope of the present invention.

Claims (10)

1. a kind of base station equipment, it is characterised in that the base station equipment includes：Difference resolves module and transmitter module；
The difference resolves module, the satellite-signal for receiving and handling visible satellite, from the satellite-signal after processing In parse the pseudorange value of measurement and the visible satellite positioned, the pseudorange value of measurement is entered according to the first algorithm Row optimization, is optimized according to the second algorithm to location data, and generates difference according to the pseudorange value after optimization and location data Data；
The transmitter module, for being handled the differential data to generate difference text, and the difference text is sent out Penetrate to terminal.
2. base station equipment as claimed in claim 1, it is characterised in that the difference, which resolves module, to be included：Global navigational satellite System GNSS sensors；
The difference, which resolves module and receives and handle the satellite-signal of visible satellite, to be included：
The GNSS sensors are scanned for and locked to visible satellite, and the visible satellite of locking is carried out signal trace to obtain Take real-time satellite signal；The real-time satellite signal progress radio-frequency front-end of acquisition is handled to obtain navigation message；
Wherein, the GNSS sensors carry out radio-frequency front-end processing to the real-time satellite signal of acquisition includes：To acquisition The real-time satellite signal is filtered, amplified, solution extends to demodulation process, and the real-time satellite signal after processing is carried out Pseudo range measurement and carrier phase measurement.
3. base station equipment as claimed in claim 2, it is characterised in that first algorithm includes：Carrier phase smoothing pseudo-range Algorithm；Second algorithm includes：Weighted least-squares method；
Wherein, the carrier phase smoothing pseudo-range algorithm is：Sliding window Hatch filter methods；The size of the sliding window is set It is set to 100S；Place is normalized for the variance inverse of the pseudorange value of measurement in the weight matrix of the weighted least-squares method The matrix obtained after reason.
4. base station equipment as claimed in claim 3, it is characterised in that the difference, which resolves module, also to be included：Measured value processing Device；
The difference resolves module and the pseudorange value of measurement is parsed from the satellite-signal after processing and visible is defended to described Star, which carries out positioning, to be included：
The measured value processor is decoded to the navigation message, extracts satellite ephemeris in the navigation message and through institute The pseudorange value of pseudo range measurement acquisition is stated, the instantaneous position of the visible satellite is calculated according to the satellite ephemeris with can described in realizing See the positioning of satellite, and obtain the location data；
The difference resolves module and the pseudorange value of the measurement is optimized according to the first algorithm, according to the second algorithm to positioning Data optimize including：
The measured value processor extracts the carrier phase value obtained through the carrier phase measurement in the navigation message, root According to the pseudorange value and the carrier phase value extracted, and the sliding window Hatch filter methods are to the pseudorange value Precision optimize；And positioning precision and iteration speed are optimized according to the weighted least-squares method.
5. base station equipment as claimed in claim 1, it is characterised in that the transmitter module is handled the differential data Including：The differential data is encoded and modulated；
Wherein, it is described that differential data progress coding is included：The GPS and the GLONASS differential data are used RTCM's RTCM2.3 reference formats coding, customized Big Dipper pseudorange is used to the BDS differential datas Difference scheme；
The customized Big Dipper pseudo range difference form refers to：On the basis of GPS difference text Class1, by user's difference away from Be changed to 1bit by 2 bit bit from error UDRE, the 1bit having more be reassigned to satellite ID so that the satellite ID by 5bit is changed into 6bit.
6. a kind of terminal, it is characterised in that the terminal includes receiving module and corrects module；
The receiving module, for receiving the difference text that the satellite location data and base station equipment of visible satellite transmission are sent；
The correction module, the satellite location data is corrected for the differential data in the difference text.
7. a kind of localization method, it is characterised in that methods described is applied to base station equipment, methods described includes：
The base station equipment is received and handles the satellite-signal of visible satellite, and survey is parsed from the satellite-signal after processing The pseudorange value of amount is simultaneously positioned to the visible satellite, the pseudorange value of measurement is optimized according to the first algorithm, root Location data is optimized according to the second algorithm, and differential data is generated according to the pseudorange value after optimization and location data；
The base station equipment is handled the differential data to generate difference text, and the difference text is transmitted into end End.
8. method as claimed in claim 7, it is characterised in that the reception simultaneously handles the satellite-signal of visible satellite and included：
Visible satellite is scanned for and locked, and the visible satellite progress signal trace of locking is believed with obtaining real-time satellite Number；The real-time satellite signal progress radio-frequency front-end of acquisition is handled to obtain navigation message；
Wherein, the real-time satellite signal progress radio-frequency front-end processing to acquisition includes：To the real-time satellite letter of acquisition Number it is filtered, amplifies, solution extends to demodulation process, and pseudo range measurement and carrier wave is carried out to the real-time satellite signal after processing Phase measurement.
9. method as claimed in claim 8, it is characterised in that first algorithm includes：Carrier phase smoothing pseudo-range algorithm； Second algorithm includes：Weighted least-squares method；
Wherein, the carrier phase smoothing pseudo-range algorithm is：Sliding window Hatch filter methods；The size of the sliding window is set It is set to 100S；Place is normalized for the variance inverse of the pseudorange value of measurement in the weight matrix of the weighted least-squares method The matrix obtained after reason；
The pseudorange value of measurement is parsed in the satellite-signal after processing and positioning bag is carried out to the visible satellite Include：
The navigation message is decoded, the satellite ephemeris in the navigation message is extracted and is obtained through the pseudo range measurement Pseudorange value, according to the instantaneous position of the satellite ephemeris calculating visible satellite to realize the positioning of the visible satellite, and Obtain the location data；
It is described that the pseudorange value of the measurement is optimized according to the first algorithm, location data is optimized according to the second algorithm Including：
The carrier phase value obtained through the carrier phase measurement in the navigation message is extracted, according to the puppet extracted The precision of the pseudorange value is optimized away from value and the carrier phase value, and the sliding window Hatch filter methods；And Positioning precision and iteration speed are optimized according to the weighted least-squares method.
10. a kind of localization method, it is characterised in that methods described is applied to terminal, methods described includes：
The terminal receives the difference text that the satellite location data of visible satellite transmission and base station are sent；
Differential data of the terminal in the difference text corrects the satellite location data.
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CN109991637A (en) * 2017-12-29 2019-07-09 中国电信股份有限公司 Localization method, positioning device and computer readable storage medium
CN110320540A (en) * 2019-07-23 2019-10-11 南京九度卫星科技研究院有限公司 The centralized Differential positioning method of high-precision
WO2020034191A1 (en) * 2018-08-17 2020-02-20 华为技术有限公司 Data transmission method, device, and storage medium
CN110988939A (en) * 2019-12-06 2020-04-10 长沙海格北斗信息技术有限公司 Semi-distributed satellite navigation acquisition monitoring system and method
CN110988914A (en) * 2019-12-06 2020-04-10 长沙海格北斗信息技术有限公司 Semi-distributed satellite navigation acquisition monitoring charging method and system
CN110988916A (en) * 2019-12-06 2020-04-10 长沙海格北斗信息技术有限公司 Method and system for constructing satellite navigation mobile acquisition station network
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WO2020034191A1 (en) * 2018-08-17 2020-02-20 华为技术有限公司 Data transmission method, device, and storage medium
CN111650614A (en) * 2019-03-04 2020-09-11 北京桔智物联科技有限责任公司 Satellite positioning method, chip, module and electronic equipment
CN110320540A (en) * 2019-07-23 2019-10-11 南京九度卫星科技研究院有限公司 The centralized Differential positioning method of high-precision
CN110988916A (en) * 2019-12-06 2020-04-10 长沙海格北斗信息技术有限公司 Method and system for constructing satellite navigation mobile acquisition station network
CN110988914A (en) * 2019-12-06 2020-04-10 长沙海格北斗信息技术有限公司 Semi-distributed satellite navigation acquisition monitoring charging method and system
CN110988939A (en) * 2019-12-06 2020-04-10 长沙海格北斗信息技术有限公司 Semi-distributed satellite navigation acquisition monitoring system and method
CN115291261A (en) * 2022-08-10 2022-11-04 湖南北云科技有限公司 Satellite positioning method, device, electronic equipment and storage medium
CN116520367A (en) * 2023-07-04 2023-08-01 深圳市天龙世纪科技发展有限公司 Satellite positioning security method and device based on Internet of things, electronic equipment and medium
CN116520367B (en) * 2023-07-04 2023-09-08 深圳市天龙世纪科技发展有限公司 Satellite positioning security method and device based on Internet of things, electronic equipment and medium

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