CN107656297A - A kind of localization method based on space-based opportunity signal - Google Patents
A kind of localization method based on space-based opportunity signal Download PDFInfo
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- CN107656297A CN107656297A CN201710696097.8A CN201710696097A CN107656297A CN 107656297 A CN107656297 A CN 107656297A CN 201710696097 A CN201710696097 A CN 201710696097A CN 107656297 A CN107656297 A CN 107656297A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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Abstract
The present invention provides a kind of localization method based on space-based opportunity signal, and process is：(1) at the time of obtaining opportunity signal arrival monitoring terminal；(2) choose one from the information source star of multiple space-based opportunity signals of reception and be used as proper star, obtain delay inequality between the star of monitoring terminal；(3) according to delay inequality, proper star and the rough ephemeris position of information source star, monitoring position of terminal information between the star, hyperboloid Temporal And Spatial Distribution Model modeling is carried out；(4) user terminal intercepts opportunity signal in hotspot service area, delay inequality between the star of acquisition proper star information source star arrival user terminal, based on the information source star and monitoring criteria station filtered out, delay inequality Temporal And Spatial Distribution Model between star is built, realizes user terminal location navigation.Available signal source of the present invention is the non-navigational satellite/constellations such as space-based telecommunication satellite, the randomization of space-based signal of communication feature, diversification, hiddenization, new realization means is provided for location navigation service.
Description
Technical field
The invention belongs to radionavigation communication technical field, more particularly to a kind of positioning side based on space-based opportunity signal
Method.
Background technology
GLONASS (Global Navigation Satellite System, GNSS), as current main
Flow Position Fixing Navigation System, can be global area, round-the-clock, round-the-clock for army/civilian family provides high accuracy/reliably position,
Navigation and time service (Position, Navigation and Time, PNT) function.Effectively apply extensively and infiltrated into its people
Economic every field, and play very important effect.
The ripe industry of satellite navigation system, which is promoted, and technology application is anti-causes the limitation of system and the sudden and violent leakage nothing left of deficiency.Star
Upper shortage of resources causes signal power faint (the congenital fragility of signal), sensitive to terrain shading/physical barrier, causes service to be deposited
In " shadow region "；The transparent disclosure of system constellation/signal, easily hit by the interference of confrontation side's pressing type with precise physical, it is anti-interference/to break
It is weak to ruin ability.Said system shortcomings and deficiencies, cause GNSS system to be difficult to/stable/PNT that continuously provides of safety and service.
Restricted to solve the intrinsic weakness of satellite navigation system, the PNT service ability under guarantee GNSS defence environment, space-based is non-
Navigation constellation resource turns into potential research and development platform.Mass communication satellite is dispersed with terrestrial space, remote sensing satellite, ocean are defended
Magnitude, satellite platform aboundresources, constellation coverage is big and constellation bracket signal landing power is strong, signal format feature is bright
Potential signal source that is aobvious, being applied as location navigation, further investigation research, new realization way can be provided for location navigation service
Footpath.
The content of the invention
In view of this, the present invention solves to make up the birth defects such as the disguised difference of satellite navigation system and signal fragility
Complex scene in the case of GNSS defences (physics blocks, electromagnetic interference, military attack/confrontation etc.) local/focus emergency navigation is determined
A kind of position demand for services, it is proposed that localization method based on space-based opportunity signal.
Realize that technical scheme is as follows：
A kind of localization method based on space-based opportunity signal, detailed process are：
(1) feature extraction of space-based opportunity signal and due in measure
Space-based opportunity signal synchronization framing is taken as signal characteristic, ground baseline network monitoring terminal receives, demodulation is synchronous
Framing, at the time of obtaining opportunity signal arrival monitoring terminal；
(2) proper star is selected and obtains delay inequality between star
From the information source star of multiple space-based opportunity signals of reception choose one be used as proper star, by measurement obtain other
The descending opportunity signal of information source star reaches the due in of monitoring terminal, and the monitoring terminal is reached with the descending opportunity signal of proper star
Due in makes the difference, and obtains delay inequality between the star of monitoring terminal；
(3) the Temporal And Spatial Distribution Model structure based on delay inequality between star
According to delay inequality, proper star and the rough ephemeris position of information source star, monitoring position of terminal information between the star, carry out double
Curved surface Temporal And Spatial Distribution Model models, as shown in formula (4),
Wherein,Proper star is represented respectively and numbers the information source star position coordinates for being i,It is respectively j monitoring criteria station location coordinate to represent numbering,On the basis of star SRWith information source star SiDescending letter
Number reach numbering be j monitoring criteria station relative time delay it is poor；
(4) user terminal matching and positioning
User terminal intercepts opportunity signal in hotspot service area, between the star for obtaining proper star-information source star arrival user terminal
Delay inequality, according to delay inequality between star filter out with the immediate multiple base stations of user terminal, and its corresponding information source star, according to
The information source star filtered out and monitoring criteria station, based on the Temporal And Spatial Distribution Model structure of delay inequality between star, realize that user terminal positions
Navigation.
Further, it is of the present invention realize user terminal location navigation detailed process be：
Assuming that the descending opportunity signal of proper star is at the time of reaching authorized user's terminalInformation source star SiDescending chance letter
Number reach user terminal at the time of beThen delay inequality is between user terminal star：
Information matches search is carried out in delay inequality Temporal And Spatial Distribution Model between opportunity signal star, filter criteria is：
Filter out at least four monitoring criteria station nearer apart from user terminal peripheral distance, based between star delay inequality when
Space division cloth model construction, the specific scope in user terminal region is estimated, realize the location navigation of user terminal.
Further, it is of the present invention realize user terminal location navigation detailed process be：
Assuming that the descending opportunity signal of proper star is at the time of reaching authorized user's terminalInformation source star SiDescending chance letter
Number reach user terminal at the time of beThen delay inequality is between user terminal star：
Information matches search is carried out in delay inequality Temporal And Spatial Distribution Model between opportunity signal star, filter criteria is：
At least six monitoring criteria station nearer apart from user terminal peripheral distance and at least 3 information source stars are filtered out, are built
Position resolves equation group：
Utilize (7) formula calculating benchmark star and information source star accurate position coordinates；
According to delay inequality between the star of user terminal and (7) formula calculating benchmark star and information source star accurate position coordinates, formula is built
(8) at clearing user terminal exact position, realize the location navigation of user terminal：
Further, the present invention choose wave beam can high-quality covering focus service area, high elevation location, between space-time it is long, under
The high information source star of row Signal-to-Noise is as proper star.
Beneficial effect
The resource and technical characterstic utilized according to the present invention, contrasts conventional satellite navigation positioning system, has following skill
Art advantage：
A. location requirement simple operation cost is low
Space-time location model observed quantity involved in the present invention signal between star reaches delay inequality, is different from conventional satellite navigation
The absolute time delay estimation of system, it, which runs, need not rely on high-precision atomic clock guarantee signal source end exact time synchronization, also need not
A large amount of infrastructure carry out Accurate Calibration to source positional information, and location requirement is simple, run complexity and cost is low.
B. strong antijamming capability
Available signal source of the present invention is space-based telecommunication satellite etc., and compared to satellite navigation system, signal transmission power is strong, path
Transmission loss is small, and signal reception power is high, can significant increase signal itself antijamming capability；Meanwhile space-based signal of communication platform
Aboundresources is various, the feature randomization/diversification such as signal modulation mechanism, broadcast time slot and frequency range take so that have Italian type
Electromagnetic interference is difficult to accurate effectively implementation.
C. anti-strike deception ability is strong
Signal source redundancy of the present invention is various, and terminal uses passive processing mode, and system is disguised strong, and enemy is difficult detection
Signal source that locking system specifically uses, frequency, multi-access mode, modulation format, modulation intelligence etc., it is difficult to implement to system accurate
Strike destroys, more without may carry out Deceiving interference.
Brief description of the drawings
Fig. 1 delay inequality Temporal And Spatial Distribution Model structure and Position-Solving flow chart between opportunity signal star；
Fig. 2 is TDMA frame structure chart；
Fig. 3 delay inequality Temporal And Spatial Distribution Model principle schematics between opportunity signal star；
Fig. 4 is user's space resolving/matching algorithm principle schematic；
Fig. 5 be authorized user's positioning terminal match/estimate schematic diagram.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
A kind of localization method based on space-based opportunity signal of the present invention, include by multiple monitorings in the applicable environment of this method
The ground baseline network of terminal composition, detailed process are as shown in Figure 1：
(1) feature extraction of space-based opportunity signal and due in measure
Space-based telecommunication satellite and beam center parameter are obtained according to broadcasting-satellite channel；Typical space-based telecommunication satellite signal is adopted
With TDMA signal form, its frame structure mainly includes：Synchronous framing (also known as benchmark framing, RB) and data (business) framing (DB)
Two parts, concrete structure is as shown in Figure 2.
In TDMA frame structure, synchronous framing is generally sent by the base station specified in net, does not carry business information, is served only for
Timing base is provided for each business station.Therefore, can use synchronous framing is space-based opportunity signal feature, and the monitoring of ground baseline network is eventually
End receives, demodulates synchronous framing, at the time of obtaining signal arrival monitoring terminal, as initial observation amount；In addition, it can also obtain letter
Source star constellation types, then compare information source star seat history ephemeris and obtain information source star numbering and rough ephemeris position.
(2) proper star is selected and obtains delay inequality between star
One, which is chosen, from the information source star of multiple space-based opportunity signals of reception is used as proper star；Letter is considered during selection
The key factor such as source star constellation types, ephemeris position (rough), wave cover situation, downlink signal quality, preferably wave beam can be excellent
The information source of matter covering focus service area, high elevation location, long between space-time (GEO satellite is preferential), downstream signal signal to noise ratio height etc.
Star can be changed as proper star, proper star in model according to factors such as user localization region, precision, computing speeds.
The due in that the descending opportunity signal of obtained other information source stars reaches monitoring terminal will be measured, and under proper star
The due in that row opportunity signal reaches the monitoring terminal makes the difference, and delay inequality between the star of monitoring terminal is obtained, as model variable.
Assuming that proper star SRIt is at the time of downstream signal arrival monitoring terminalInformation source star S1、S2、S3Downstream signal reaches
It is respectively at the time of monitoring terminalDelay inequality between model variable star can be then obtained,
Delay inequality establishes hyperboloid location model between step (3) will be based on star.
(3) based on the space division cloth model construction between opportunity signal star during delay inequality
Space-based telecommunication satellite signal emission time is unknown and signal format design, data message are different from aeronautical satellite,
Unified space-time datum can not be provided as GNSS system, terminal also can not realize source-terminal ranging based on pseudo noise code PRN.
Support terrestrial reference network intercepting opportunity signal feature (synchronizing frame head), measurement/estimation signal due in, according to
Information source star goes through the factors, preferably initial observation amount such as position, opportunity signal dissemination channel quality, signal to noise ratio, estimation precision ---
Delay inequality between star, with reference to estimate out the rough ephemeris information of satellite, the terrestrial reference network monitor node-accurate position of monitoring terminal
Confidence ceases, and carries out hyperboloid Temporal And Spatial Distribution Model modeling, is specifically shown in Fig. 3.(monitoring is eventually for terrestrial reference network groundwork detection node
End) based on net offer time reference information, groundwork detection node geo-location information on the basis of tame and docile clock technology retention time synchronization
Net provides space reference information on the basis of accurately known (mapping demarcation), and unified space-time datum is provided for opportunity signal positioning.
Delay inequality Temporal And Spatial Distribution Model between opportunity signal star, using the ephemeris position of information source star in difference group item as focus,
Using intercept/measure the monitoring criteria station of signal as millet cake, mathematic(al) representation be：
Wherein,Proper star is represented respectively and numbers the information source star position coordinates for being i,It is respectively j monitoring criteria station location coordinate to represent numbering,On the basis of star SRWith information source star SiDescending letter
Number reach numbering be j monitoring criteria station relative time delay it is poor (delay inequality between star).Between star delay inequality can eliminate/suppression receiver when
The systemic observation error such as clock error, ionospheric error, tropospheric error, compared to absolute observations amount (signal arrival time delay), estimate
Meter is accurate more accurately and reliably.
Each base station is due to geographical position difference in terrestrial reference network so that characteristic signal due in is with base station geographic position
Put distribution and rule sex differernce is presented, be embodied in：It is gradient line based on monitored sub-satellite point mark line, has projected rule
The shaped form contour line model of rule.According to time delay estimation amount between star acquired in monitoring terminal node, and according to contour rule
(train of thought) is modeled.
However, during 2 non-navigational stars of terrestrial reference network intercepting, difference is only capable of projecting one between characteristic signal due in star
The similar contour of group rule, fuzziness is too big, can not judge customer location, realizes location navigation function.Therefore, it is for guarantee
System location navigation ability, at least need to monitor 4 satellites, (three groups of stars are total to the observed quantity of arrival delay inequality between at least obtaining three groups of stars
With a proper star) so that contour, which is presented, to cross, and judges possible customer location with this.
(4) user terminal matching positions with resolving
Authorized user intercepts random/opportunity signal in hotspot service area, and measurement/estimation opportunity signal reaches user terminal
Due in, measured opportunity signal is classified based on signal characteristic, machine between planet is entered based on model selected reference star
Meeting signal due in compares, and obtains delay inequality between the star of proper star-information source star arrival user terminal, sees Fig. 4.
Assuming that the descending opportunity signal of proper star is at the time of reaching authorized user's terminalInformation source star SiDescending chance letter
Number reach user terminal at the time of beThen delay inequality is between user terminal star：
Authorized user's terminal is by delay inequality between star according to proper star-information source star is numbered-corresponds to delay inequality form progress between star
Classification, and according to the form, information matches search, filter criteria are carried out in delay inequality Temporal And Spatial Distribution Model between opportunity signal star
For：
Using above-mentioned filter criteria preferably go out the comparison monitoring criteria station (>=4) nearer apart from user terminal peripheral distance and
Its corresponding information source star (>=4, wherein star on the basis of one), according to the Temporal And Spatial Distribution Model of delay inequality between star, estimate mandate and use
The specific scope in family terminal region, realizes the coarse positioning of user terminal, is specifically shown in Fig. 5.
If the information source star (>=4) filtered out and monitoring criteria station (>=6), based on the Temporal And Spatial Distribution Model of delay inequality between star,
Realize that user terminal is accurately positioned navigation.
According to DOP value preferred configuration principles of optimality, information source is utilized in delay inequality Temporal And Spatial Distribution Model between opportunity signal star
The rough ephemeris information of star, information source star is screened, the accurately known monitoring criteria station location information of binding site, builds position resolving side
Journey group：
(7) formula of utilization calculates proper star and information source star position coordinates.(7) there are 6 unknown numbers in formula, at least need 6 prescriptions
Cheng Caineng completes to resolve, i.e.,：The Monitoring Data (delay inequality between star) at >=6 monitoring criteria stations is needed to realize that satellite position solves.
Authorized user's terminal utilizes the satellite ephemeris position that calculates of (7) formula, and when between the star of its terminal measurement/estimation
Prolong difference, structure equation below group (>=3 groups)：
Authorized user's terminal positional information is resolved by least-squares iteration, that realizes user terminal is accurately positioned navigation work(
Energy.
Authorized user, in addition to it can realize positioning according to Model Matching and data fitting, it is also based on that model is counter to be pushed away
Information source star precise ephemeris information, realizes that user is accurately positioned by European geometrical principle.
The present invention overturns the signal transmitting and receiving time difference range measurement principle and " more balls cross " positioning mould of conventional satellite navigation system
Type, ground baseline network is relied on, delay inequality between the star of opportunity signal arrival network monitor base station (terminal) is measured, with limited sky
Between coordinate node find out signal space regularity of distribution sex differernce, based on Mathematical Modeling Methods build star between delay inequality-space when
Empty distributed model, space-time referential is provided the user, and then realize hot spot region location navigation function.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (4)
1. a kind of localization method based on space-based opportunity signal, it is characterised in that detailed process is：
(1) feature extraction of space-based opportunity signal and due in measure
Space-based opportunity signal synchronization framing is taken to receive as signal characteristic, ground baseline network monitoring terminal, demodulate synchronous framing,
At the time of obtaining opportunity signal arrival monitoring terminal；
(2) proper star is selected and obtains delay inequality between star
One, which is chosen, from the information source star of multiple space-based opportunity signals of reception is used as proper star, other information sources that measurement is obtained
The descending opportunity signal of star reaches the due in of monitoring terminal, and the arrival of the monitoring terminal is reached with the descending opportunity signal of proper star
Moment makes the difference, and obtains delay inequality between the star of monitoring terminal；
(3) the Temporal And Spatial Distribution Model structure based on delay inequality between star
According to delay inequality, proper star and the rough ephemeris position of information source star, monitoring position of terminal information between the star, hyperboloid is carried out
Temporal And Spatial Distribution Model models, as shown in formula (4),
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Wherein,Proper star is represented respectively and numbers the information source star position coordinates for being i,It is respectively j monitoring criteria station location coordinate to represent numbering,On the basis of star SRWith information source star SiIt is descending
It is poor that signal reaches the monitoring criteria station relative time delay that numbering is j；
(4) user terminal matching and positioning
User terminal intercepts opportunity signal in hotspot service area, obtains time delay between the star of proper star-information source star arrival user terminal
Difference, according to delay inequality between star filter out with the immediate multiple base stations of user terminal, and its corresponding information source star, according to screening
The information source star gone out and monitoring criteria station, based on the Temporal And Spatial Distribution Model structure of delay inequality between star, realize user terminal location navigation.
2. the localization method according to claim 1 based on space-based opportunity signal, it is characterised in that described to realize user terminal
The detailed process of location navigation is：
Assuming that the descending opportunity signal of proper star is at the time of reaching authorized user's terminalInformation source star SiDescending opportunity signal reaches
It is at the time of user terminalThen delay inequality is between user terminal star：
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Information matches search is carried out in delay inequality Temporal And Spatial Distribution Model between opportunity signal star, filter criteria is：
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Filter out at least four monitoring criteria station nearer apart from user terminal peripheral distance, the when space division based on delay inequality between star
Cloth model construction, the specific scope in user terminal region is estimated, realize the location navigation of user terminal.
3. the localization method according to claim 1 based on space-based opportunity signal, it is characterised in that described to realize user terminal
The detailed process of location navigation is：
Assuming that the descending opportunity signal of proper star is at the time of reaching authorized user's terminalInformation source star SiDescending opportunity signal reaches
It is at the time of user terminalThen delay inequality is between user terminal star：
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Resolve equation group：
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Utilize (7) formula calculating benchmark star and information source star accurate position coordinates；
Gained proper star and information source star accurate position coordinates are calculated according to delay inequality between the star of user terminal and (7) formula, build formula
(8) at clearing user terminal exact position, realize the location navigation of user terminal：
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4. the localization method according to claim 1 based on space-based opportunity signal, it is characterised in that choosing wave beam high-quality can cover
Lid hotspot service area, high elevation location, between space-time long, information source star that downstream signal signal to noise ratio is high as proper star.
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