CN107490797A - A kind of pseudo satellite, pseudolite layout method for being used to improve positioning precision - Google Patents
A kind of pseudo satellite, pseudolite layout method for being used to improve positioning precision Download PDFInfo
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
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Abstract
The invention discloses a kind of pseudo satellite, pseudolite layout method for being used to improve positioning precision, the influence of quality is laid out to pseudo satellite, pseudolite for GDOP values, GDOP values corresponding to classical layout are calculated first, this GDOP value is optimized followed by optimized algorithm, and the pseudo satellite, pseudolite layout of optimization is applied in positioning, obtain high-precision user's positioning result.The present invention effectively raises the precision of positioning, can expand in the pseudo satellite, pseudolite layout of any number.
Description
Technical field
The invention belongs to Overview of Pseudolite Positioning field, and in particular to a kind of pseudo satellite, pseudolite layout for being used to improve positioning precision
The design of method.
Background technology
Currently, GPS have been widely used for navigating, position and fields of measurement in, but aeronautical satellite
The height for being all distributed in 20000km from the ground is aerial so that the perpendicular positioning precision of user is poor, while visible satellite quantity by
The influence of the natural environments such as weather, it is therefore necessary to introduce pseudo satellite, pseudolite to solve the two problems.Introducing pseudo satellite, pseudolite can improve
The layout of satellite system, so as to significantly improve positioning precision, therefore many scientific research personnel have carried out substantial amounts of research to this.
Young et al. has summed up increase pseudo satellite, pseudolite quantity using positional matrix can reduce system GDOP while optimize puppet
The layout of satellite system；Chien-Sheng et al. is proposed based on the genetic algorithm of least mean-square error to optimize GDOP values；
Mosavi et al. is utilized based on the auto-adaptive filtering technique of genetic algorithm to calculate GDOP values, and is discussed and how to be calculated using heredity
The machine learning algorithm such as method and simulated annealing optimizes to be laid out to pseudo satellite, pseudolite；The ridge regression algorithm that Kelly is proposed is not
The global mean square error of positioning result is only reduced, while reduces position error variance；Xu et al. using singular value decomposition come
Abnormal conditions caused by solving space-based aeronautical satellite lazy weight, by increasing pseudo satellite, pseudolite quantity, optimize the geometry of aeronautical satellite
Distribution has finally given optimal geometry distribution and high-precision system clock.
The polyhedron volume that these methods make to be made up of pseudo satellite, pseudolite is maximized to improve average positioning precision.It is however, right
In some specific user, for instance in the user of a certain fixing point, these layouts possibly can not obtain optimal positioning result.
The content of the invention
The invention aims to give a positioning scene, the layout of pseudo satellite, pseudolite is optimized, and by after optimization
Pseudo satellite, pseudolite be laid out for position in, so as to provide the user high-precision positioning result, it is proposed that one kind be used for improve positioning
The pseudo satellite, pseudolite layout method of precision.
The technical scheme is that：A kind of pseudo satellite, pseudolite layout method for being used to improve positioning precision, comprises the following steps：
S1, customer location is set, generate N number of initial layout, and the initial position and initial velocity of every kind of layout are set.
S2, the initial GDOP values for calculating according to customer location and the initial position of every kind of layout every kind of layout.
S3, using the minimum layout of initial GDOP values as initial optimization target, and update the position of every kind of layout.
S4, according to the position after the initial velocity of every kind of layout and renewal and its GDOP values, continued more using optimized algorithm
New layout, obtain optimization position and the optimization GDOP values of pseudo satellite, pseudolite layout.
S5, the optimization position being laid out according to pseudo satellite, pseudolite and optimization GDOP values are laid out to pseudo satellite, pseudolite.
The beneficial effects of the invention are as follows：The present invention is for single point user, under the scene of four stars layout so that GDOP
Value optimizes 15.5%, and position error average optimizes 14.4%, and position error variance optimizes 50.8%；Field is laid out in five-pointed star
Under scape so that GDOP values optimize 5.1%, and position error average optimizes 4%；It is laid out in six stars under scene so that GDOP values
11.1% is optimized, position error average optimizes 11.2%.Therefore the present invention effectively raises the precision of positioning, Ke Yikuo
In the pseudo satellite, pseudolite layout for opening up any number.
Brief description of the drawings
Fig. 1 show a kind of pseudo satellite, pseudolite layout method flow for being used to improve positioning precision provided in an embodiment of the present invention
Figure.
Fig. 2 show simulated layout environment schematic provided in an embodiment of the present invention.
Fig. 3 show GDOP value Optimal Curve figures under the conditions of the star of single-point four provided in an embodiment of the present invention.
Fig. 4 show classical layout positioning result schematic diagram provided in an embodiment of the present invention.
Fig. 5 show optimization layout positioning result schematic diagram provided in an embodiment of the present invention.
Embodiment
The illustrative embodiments of the present invention are described in detail referring now to accompanying drawing.It should be appreciated that shown in accompanying drawing and
What the embodiment of description was merely exemplary, it is intended that explain the principle and spirit of the present invention, and not limit the model of the present invention
Enclose.
The embodiments of the invention provide a kind of pseudo satellite, pseudolite layout method for being used to improve positioning precision, as shown in figure 1, including
Following steps S1-S5：
S1, customer location is set, generate N number of initial layout, and the initial position and initial velocity of every kind of layout are set.
By the three-dimensional position (x of n pseudo satellite, pseudolitej,yj,zj) it is combined into the layout of Q dimension, wherein j=1,2 ..., n,
Q=n × 3.N kinds layout is set altogether, wherein the positional representation of i-th of layout is Si=(si1,si2,...,siQ), speed represents
For vi=(vi1,vi2,...,viQ), wherein i=1,2 ..., N.Being randomly provided the initial position that this N kind is laid out isWith it is initial
Speed isIn order to solve to obtain the optimal pseudo satellite, pseudolite layout for a fixed subscriber location, it would be desirable to know user position
Put, therefore it is U=(u to set customer location1,u2,u3)。
S2, the initial GDOP values for calculating according to customer location and the initial position of every kind of layout every kind of layout.
In satellite navigation system, quality of the GDOP (geometric dilution of precision) commonly used to weigh pseudo satellite, pseudolite layout, GDOP
Be worth it is smaller, then pseudo satellite, pseudolite layout it is better, conversely, pseudo satellite, pseudolite layout it is poorer.
In satellite navigation theory, GDOP is defined as follows：
The wherein mark of tr () representing matrix, incited somebody to action when calculating GDOP valuesSubstitute into formula (1).H is weight coefficient matrix, definition
For：
H=(GTG)-1 (2)
Wherein G is geometric matrix, is defined as：
Wherein n is pseudo satellite, pseudolite quantity, gabCalculation formula be：
Wherein 1≤a≤n, 1≤b≤3.
S3, using the minimum layout of initial GDOP values as initial optimization target, and update the position of every kind of layout.
Using the minimum placement position of initial GDOP values as initial global optimum positionStart global optimum's layout to search
Rope, by it is all layout all towardsIt is mobile 1 time.
S4, according to the position after the initial velocity of every kind of layout and renewal and its GDOP values, continued more using optimized algorithm
New layout, obtain optimization position and the optimization GDOP values of pseudo satellite, pseudolite layout.
Step S4 specifically includes following S41-S47 step by step：
S41, Initialize installation optimized algorithm itself cognition parameter c1With social recognition parameter c2。
Wherein itself cognition parameter c1Represent that every kind of layout tracks the weight coefficient of itself history optimal value, Initialize installation
For 2.05；Social recognition parameter c2The weight coefficient of every kind of layout tracking integral layout optimal value is represented, Initialize installation is
2.05。
S42, i-th kind of Initialize installation are laid out the layout that minimum GDOP values are corresponding before the iteration
For the initial position of i-th kind of layoutInitialize installation is all to be laid out the layout that minimum GDOP values are corresponding before the iterationFor initial global optimum position
S43, Initialize installation random number ξ, η and weight coefficient ω.
Wherein random number ξ, η is the orthogonal random number between 0 and 1, and weight coefficient ω is defined as：
Wherein k is current iteration number, and M is the iteration total degree set, and t is nonlinear adjustment index, ωmaxRepresent most
Big weight coefficient, is arranged to 0.9, ωminMinimum weighting coefficient is represented, is arranged to 0.4.
S44, according to c1、c2, ξ, η and ω calculate speed of i-th kind of layout in kth time iterative process
Being laid out speed more new formula is：
Wherein d=1,2 ..., Q, using layout initial velocity during first time iteration
S45, basisCalculate position of i-th kind of layout in kth time iterative processIt is laid out position
Putting more new formula is：
S46, basisEvery kind of layout is calculated from layout optimal in preceding k iterative processAnd at first k times repeatedly
The optimal location screened during generation from all layouts
More new formula be：
More new formula be：
Wherein i=1,2 ..., N, m=1,2 ..., i.
S47, repeat step S41-S46, iteration update M times, obtain optimization position and the optimization GDOP values of pseudo satellite, pseudolite layout.
Wherein, layout optimal in M iterative process before the optimization position of every kind of layout isFurther according to formula (1)
The optimization GDOP values of every kind of layout can be calculated.WillFormula (9) is substituted into obtain in preceding M iterative process from all cloth
The optimal location screened in office The as optimization position of pseudo satellite, pseudolite layout, can be calculated further according to formula (1)
To the optimization GDOP values of pseudo satellite, pseudolite layout.
S5, the optimization position being laid out according to pseudo satellite, pseudolite and optimization GDOP values are laid out to pseudo satellite, pseudolite.
In the embodiment of the present invention, classical pseudo satellite, pseudolite is laid out and optimized pseudo satellite, pseudolite layout and is respectively used in location algorithm to comment
Estimate lifting of the present invention in terms of positioning precision.In order to apply the present invention in actual life, all pseudo satellite, pseudolites are added
Random phase error, it is contemplated that the precision of receiver user carrier loop, therefore add 0.19m carrier phase error,
This is traditional carrier phase error as caused by carrier loop, is then laid out and optimizes pseudo satellite, pseudolite cloth score of the game by classical pseudo satellite, pseudolite
It is other that 300 positioning are carried out to receiver user, finally assess positioning result.
The method according to the invention, the synchronous pseudo satellite, pseudolite of certain amount (4,5,6) is laid out in an a length of 10m,
In a width of 8m, a height of 4m rectangular body region, this region can be understood as the room areas such as a classroom or laboratory, such as
Shown in Fig. 2.4 are produced first, the classical layout of 5 and 6 pseudo satellite, pseudolites, followed by optimized algorithm provided by the invention to this
A little classical layouts optimize.Experiment shows, method fast convergence rate of the invention, as a result more optimizes, and phase is laid out with classics
Than either GDOP values or position error are obtained for obvious optimization, as shown in Figure 3-Figure 5.Table 1 and 2 respectively show
Specific optimization comparing result.With reference to Tables 1 and 2 as can be seen that GDOP optimum results and position error optimum results and reality
Situation is substantially coincide.
Table 1
Table 2
Wherein, the iterations M of the positioning result of table 2 is 300 times.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
The specific deformation of kind and combination, these deform and combined still within the scope of the present invention.
Claims (10)
1. a kind of pseudo satellite, pseudolite layout method for being used to improve positioning precision, it is characterised in that comprise the following steps：
S1, customer location is set, generate N number of initial layout, and the initial position and initial velocity of every kind of layout are set；
S2, the initial GDOP values for calculating according to customer location and the initial position of every kind of layout every kind of layout；
S3, using the minimum layout of initial GDOP values as initial optimization target, and update the position of every kind of layout；
S4, according to the position after the initial velocity of every kind of layout and renewal and its GDOP values, continue to update cloth using optimized algorithm
Office, obtain optimization position and the optimization GDOP values of pseudo satellite, pseudolite layout；
S5, the optimization position being laid out according to pseudo satellite, pseudolite and optimization GDOP values are laid out to pseudo satellite, pseudolite.
2. pseudo satellite, pseudolite layout method according to claim 1, it is characterised in that the step S1 is specially：
By the three-dimensional position (x of n pseudo satellite, pseudolitej,yj,zj) it is combined into the layout of Q dimension, wherein j=1,2 ..., n, Q=n
× 3, N kinds layout is set altogether, wherein the positional representation of i-th of layout is Si=(si1,si2,...,siQ), speed is expressed as vi
=(vi1,vi2,...,viQ), wherein i=1,2 ..., N；Being randomly provided the initial position that this N kind is laid out isAnd initial velocity
ForIt is U=(u to set customer location simultaneously1,u2,u3)。
3. pseudo satellite, pseudolite layout method according to claim 2, it is characterised in that the step S2 is specially：
The initial GDOP values of every kind of layout are calculated according to formula (1)：
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Wherein the mark of tr () representing matrix, H are weight coefficient matrix, are defined as：
H=(GTG)-1 (2)
Wherein G is geometric matrix, is defined as：
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Wherein n is pseudo satellite, pseudolite quantity, gabCalculation formula be：
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4. pseudo satellite, pseudolite layout method according to claim 3, it is characterised in that the step S3 is specially：
Using the minimum placement position of initial GDOP values as initial global optimum positionStart global optimum's layout search, will
It is all layout all towardsIt is mobile 1 time.
5. pseudo satellite, pseudolite layout method according to claim 4, it is characterised in that the step S4 specifically includes following substep
Suddenly：
S41, Initialize installation optimized algorithm itself cognition parameter c1With social recognition parameter c2；
S42, i-th kind of Initialize installation are laid out the layout that minimum GDOP values are corresponding before the iterationFor
The initial position of i kinds layoutInitialize installation is all to be laid out the layout that minimum GDOP values are corresponding before the iterationFor initial global optimum position
S43, Initialize installation random number ξ, η and weight coefficient ω；
S44, according to c1、c2, ξ, η and ω calculate speed of i-th kind of layout in kth time iterative process
S45, basisCalculate position of i-th kind of layout in kth time iterative process
S46, basisEvery kind of layout is calculated from layout optimal in preceding k iterative processAnd in preceding k iteration mistake
The optimal location screened in all layouts of Cheng Zhongcong
S47, repeat step S41-S46, iteration update M times, obtain optimization position and the optimization GDOP values of pseudo satellite, pseudolite layout.
6. pseudo satellite, pseudolite layout method according to claim 5, it is characterised in that itself cognition parameter c in the step S411
Represent that every kind of layout tracks the weight coefficient of itself history optimal value, Initialize installation 2.05；Social recognition parameter c2Represent
The weight coefficient of every kind of layout tracking integral layout optimal value, Initialize installation 2.05.
7. pseudo satellite, pseudolite layout method according to claim 5, it is characterised in that random number ξ, η is Jie in the step S43
Orthogonal random number between 0 and 1, weight coefficient ω are defined as：
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Weight coefficient, is arranged to 0.9, ωminMinimum weighting coefficient is represented, is arranged to 0.4.
8. pseudo satellite, pseudolite layout method according to claim 5, it is characterised in that the layout speed in the step S44 is more
New formula is：
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9. pseudo satellite, pseudolite layout method according to claim 8, it is characterised in that the placement position in the step S45 is more
New formula is：
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<mi>s</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mo>=</mo>
<msubsup>
<mi>s</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mi>k</mi>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>v</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
<mo>.</mo>
</mrow>
10. pseudo satellite, pseudolite layout method according to claim 5, it is characterised in that in the step S46More new formula
For：
<mrow>
<msubsup>
<mi>L</mi>
<mi>i</mi>
<mi>k</mi>
</msubsup>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<msubsup>
<mi>L</mi>
<mi>i</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msubsup>
</mtd>
<mtd>
<mrow>
<mi>G</mi>
<mi>D</mi>
<mi>O</mi>
<mi>P</mi>
<mrow>
<mo>(</mo>
<msubsup>
<mi>S</mi>
<mi>i</mi>
<mi>k</mi>
</msubsup>
<mo>)</mo>
</mrow>
<mo>&GreaterEqual;</mo>
<mi>G</mi>
<mi>D</mi>
<mi>O</mi>
<mi>P</mi>
<mrow>
<mo>(</mo>
<msubsup>
<mi>L</mi>
<mi>i</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<msubsup>
<mi>S</mi>
<mi>i</mi>
<mi>k</mi>
</msubsup>
</mtd>
<mtd>
<mrow>
<mi>o</mi>
<mi>t</mi>
<mi>h</mi>
<mi>e</mi>
<mi>r</mi>
<mi>w</mi>
<mi>i</mi>
<mi>s</mi>
<mi>e</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
More new formula be：
<mrow>
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>L</mi>
<mi>g</mi>
<mi>k</mi>
</msubsup>
<mo>=</mo>
<msubsup>
<mi>L</mi>
<mi>m</mi>
<mi>k</mi>
</msubsup>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>s</mi>
<mo>.</mo>
<mi>t</mi>
<mo>.</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>G</mi>
<mi>D</mi>
<mi>O</mi>
<mi>P</mi>
<mrow>
<mo>(</mo>
<msubsup>
<mi>L</mi>
<mi>m</mi>
<mi>k</mi>
</msubsup>
<mo>)</mo>
</mrow>
<mo>&le;</mo>
<mi>G</mi>
<mi>D</mi>
<mi>O</mi>
<mi>P</mi>
<mrow>
<mo>(</mo>
<msubsup>
<mi>L</mi>
<mi>i</mi>
<mi>k</mi>
</msubsup>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>9</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein i=1,2 ..., N, m=1,2 ..., i.
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| CN109946718A (en) * | 2019-03-20 | 2019-06-28 | 北京交通大学 | A kind of pseudo satellite, pseudolite space layout method towards rail yard |
| CN111289999A (en) * | 2020-02-26 | 2020-06-16 | 东南大学 | Pseudo satellite layout method based on genetic algorithm |
| CN111856514A (en) * | 2020-06-11 | 2020-10-30 | 北斗天地股份有限公司 | Synchronous pseudolite positioning method and system |
| CN111948675A (en) * | 2020-07-10 | 2020-11-17 | 中国人民解放军61081部队 | Pseudo satellite layout method of ground-based enhanced satellite navigation system |
| CN113466896A (en) * | 2021-07-02 | 2021-10-01 | 阎镜予 | Pseudolite laying method and system suitable for long and narrow terrain environment |
| CN114173281A (en) * | 2021-12-24 | 2022-03-11 | 长安大学 | Optimal layout method of beacon nodes of positioning system based on TOA (time of arrival) under indoor NLOS (non-line of sight) environment |
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|---|---|---|---|---|
| CN109946718A (en) * | 2019-03-20 | 2019-06-28 | 北京交通大学 | A kind of pseudo satellite, pseudolite space layout method towards rail yard |
| CN111289999A (en) * | 2020-02-26 | 2020-06-16 | 东南大学 | Pseudo satellite layout method based on genetic algorithm |
| CN111856514A (en) * | 2020-06-11 | 2020-10-30 | 北斗天地股份有限公司 | Synchronous pseudolite positioning method and system |
| CN111948675A (en) * | 2020-07-10 | 2020-11-17 | 中国人民解放军61081部队 | Pseudo satellite layout method of ground-based enhanced satellite navigation system |
| CN111948675B (en) * | 2020-07-10 | 2021-10-29 | 中国人民解放军61081部队 | Pseudo satellite layout method of ground-based enhanced satellite navigation system |
| CN113466896A (en) * | 2021-07-02 | 2021-10-01 | 阎镜予 | Pseudolite laying method and system suitable for long and narrow terrain environment |
| CN113466896B (en) * | 2021-07-02 | 2024-04-30 | 上海方位角数据科技有限公司 | Pseudo satellite layout method and system suitable for long and narrow topography environment |
| CN114173281A (en) * | 2021-12-24 | 2022-03-11 | 长安大学 | Optimal layout method of beacon nodes of positioning system based on TOA (time of arrival) under indoor NLOS (non-line of sight) environment |
| CN114173281B (en) * | 2021-12-24 | 2023-10-27 | 长安大学 | TOA-based positioning system beacon node optimization layout method in indoor NLOS environment |
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