CN108008426A - Alignment system and method based on pseudo satellite, pseudolite - Google Patents
Alignment system and method based on pseudo satellite, pseudolite Download PDFInfo
- Publication number
- CN108008426A CN108008426A CN201610944206.9A CN201610944206A CN108008426A CN 108008426 A CN108008426 A CN 108008426A CN 201610944206 A CN201610944206 A CN 201610944206A CN 108008426 A CN108008426 A CN 108008426A
- Authority
- CN
- China
- Prior art keywords
- satellite
- pseudolite
- pseudo
- signal
- pseudorange
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- 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
Abstract
This application discloses alignment system and method based on pseudo satellite, pseudolite.According to the alignment system based on pseudo satellite, pseudolite of the application, including：More pseudo satellite, pseudolites, each pseudo satellite, pseudolite in the more pseudo satellite, pseudolites is according to satellite parametric reduction, pseudo satellite, pseudolite position and with reference to time delay, the satellite-signal of analog satellite and the satellite-signal for sending simulation；And terminal, including：Receiver, the initial position estimation of the terminal is determined according to the satellite-signal of the simulation received；Processor, according to the initial position estimation and the pseudo satellite, pseudolite pseudorange estimate with reference between time delay acquisition terminal and pseudo satellite, pseudolite, to determine that the exact position of the terminal is estimated.By the alignment system and method based on pseudo satellite, pseudolite of the application, the accurate location estimation of user terminal can be obtained.
Description
Technical field
This application involves alignment system and method based on pseudo satellite, pseudolite.
Background technology
Global Satellite Navigation System (Global Navigation Satellite Systems, GNSS) can provide entirely
Weather, free of discontinuities, high-precision positioning in real time, navigation, time service information, extensive and effective GNSS application technologies have penetrated into existing
Generation social every field, becomes the valuable source that a country supports national economy, safeguards national security.GNSS system it is effective
Property depending on the space constellation of GNSS and the coverage rate of different satellite-signal.Although in most of outdoor environments, GNSS energy
It is enough that accurately and effectively navigation information is continuously provided, but the region such as environment and urban canyons indoors, GNSS signal may quilts
Building stops, reduces visible satellite number, therefore GNSS services are limited by very large with application.However, conduct
For GNSS extensively using the city in region, exactly its population and building are intensive, therefore ensure GNSS under these circumstances excellent
Performance is to improve the key factor of the urban satellite navigation service level.
A variety of location technologies are currently existed, such as WLAN (WLAN) and wireless personal local area network (WPAN) are determined
Position technology, Universal Mobile Communication System (UMTS), inertial navigation system, laser, infrared location technology and ultrasonic wave positioning etc..To the greatest extent
It is each advantageous to manage these technologies, but accuracy is difficult to compare with GNSS, it is all not mature enough.Also, indoors in outer mixing scene,
These technologies also be difficult to realize with the seamless connection of GNSS, thus can not effectively by GNSS under most of scene Optimality
Can and it is both advantageous.
Overview of Pseudolite Positioning is the important means for making up GNSS defects, can be taking human as improvement satellite by installing pseudo satellite, pseudolite
Geometry is distributed.In the region that GNSS satellite observability is poor, pseudo satellite technology has important application.A kind of existing pseudo satellite, pseudolite
Location technology, the navigation signal designed for pseudo satellite, pseudolite, its carrier frequency used, pseudo-code, ephemeris lattice are broadcast by pseudo satellite, pseudolite
Formula can be differently configured from GNSS, and realize navigator fix using the receiver acquisition Pseudolite signal for Pseudolite signal design.
But this Overview of Pseudolite Positioning needs to modify to the hardware and software of GNSS receiver, therefore under many scenes simultaneously
It is inapplicable.
Another existing Overview of Pseudolite Positioning, virtual GNSS signal is broadcast by pseudo satellite, pseudolite, its carrier frequency, puppet
Entirely by reference to GNSS signal with virtual one GNSS satellite positioned at the sky, GNSS receiver can be straight for code design, message format
Capture Pseudolite signal is connect, and completes to position by some subsequent treatments.Yet with the although virtual GNSS signal of pseudo satellite, pseudolite,
But accurate pseudo-range information can not be directly provided, thus receiver can not directly calculation obtain correct position.So far still
There is no good method to carry out respective handling to obtain the accurate location of receiver, therefore this Overview of Pseudolite Positioning can only
It is mainly used in the scenes such as electronic deception.
The content of the invention
The purpose of the application is to provide alignment system and method based on pseudo satellite, pseudolite, can obtain the accurate position of user terminal
Put estimation.
According to the one side of the application, there is provided a kind of alignment system based on pseudo satellite, pseudolite, including：More pseudo satellite, pseudolites,
Each pseudo satellite, pseudolite in the more pseudo satellite, pseudolites is defended according to satellite parametric reduction, pseudo satellite, pseudolite position and with reference to time delay, analog satellite
Star signal and the satellite-signal for sending simulation；And terminal, including：Receiver, it is true according to the satellite-signal of the simulation received
The initial position estimation of the fixed terminal；Processor, according to the initial position estimation and it is described with reference to time delay obtain terminal with
Pseudo satellite, pseudolite pseudorange estimate between pseudo satellite, pseudolite, to determine that the exact position of the terminal is estimated.
According to further aspect of the application, there is provided a kind of localization method based on pseudo satellite, pseudolite, including：Pass through more puppets
Each pseudo satellite, pseudolite in satellite is according to satellite parametric reduction, pseudo satellite, pseudolite position and concurrent with reference to time delay, the satellite-signal of analog satellite
Send the satellite-signal of simulation；And the satellite-signal of the simulation is received, determine to use according to the satellite-signal of the simulation received
The initial position estimation of family terminal；According to the initial position estimation and it is described with reference to time delay obtain user terminal and pseudo satellite, pseudolite it
Between pseudo satellite, pseudolite pseudorange estimate, with determine user terminal exact position estimate.
According to further aspect of the application, a kind of alignment system based on pseudo satellite, pseudolite is additionally provided, including：Receive dress
Put, receive the satellite-signal from multi-satellite, obtain each satellite satellite parametric reduction and satellite-signal from each satellite to reception
The delivery lag of device；More pseudo satellite, pseudolites, each pseudo satellite, pseudolite in the more pseudo satellite, pseudolites is according in the multi-satellite
Delivery lag of the satellite parametric reduction and satellite-signal of one satellite from this satellite to reception device, regenerates the satellite of this satellite
Signal, and forward the regenerated satellite-signal；And terminal, including：Receiver, according to the satellite-signal of the forwarding received
Determine the initial position estimation of the terminal；And processor, joined according to the satellite of the initial position estimation, the satellite
Number, the delivery lag of pseudo satellite, pseudolite position and satellite-signal from satellite to reception device obtain the puppet between terminal and pseudo satellite, pseudolite
Satellite pseudorange estimate, to determine that the exact position of the terminal is estimated.
According to further aspect of the application, a kind of localization method based on pseudo satellite, pseudolite is additionally provided, including：Reception comes from
The satellite-signal of multi-satellite, obtains the satellite parametric reduction of each satellite and when satellite-signal is issued to the transmission of reception from each satellite
Prolong；Pass through the satellite parametric reduction and satellite of a satellite of each pseudo satellite, pseudolite in more pseudo satellite, pseudolites in the multi-satellite
Signal is issued to the delivery lag of reception from this satellite, regenerates the satellite-signal of this satellite, and forwards described regenerated defend
Star signal；The satellite-signal of the forwarding is received, the initial bit of user terminal is determined according to the satellite-signal of the forwarding received
Put estimation；And according to the initial position estimation, the satellite parametric reduction of the satellite, pseudo satellite, pseudolite position and satellite-signal from
Satellite is issued to the pseudo satellite, pseudolite pseudorange estimate between the delivery lag acquisition terminal of reception and pseudo satellite, pseudolite, to determine the user
The exact position estimation of terminal.
It is appreciated that by alignment system and method for the disclosure as set forth herein based on pseudo satellite, pseudolite, user's end can be obtained
The exact position estimation at end.In addition, according to the fake satellite positioning system and method for the application, traditional GNSS can be used to receive
Machine Direct Acquisition pseudo satellite, pseudolite is simulated or the satellite-signal of forwarding carries out positioning calculation, soft without being carried out to traditional GNSS receiver
The modification of hardware, so as to realize the seamless connection with GNSS.Also, according to the fake satellite positioning system of the application and side
Method, additionally it is possible to be modified to the positioning calculation result of above-mentioned traditional receivers, obtain accurate location estimation.
Brief description of the drawings
Fig. 1 shows a kind of schematic diagram of the alignment system based on pseudo satellite, pseudolite of embodiment according to the application.
Fig. 2 shows a kind of signal square frame of the user terminal of the fake satellite positioning system of embodiment according to the application
Figure.
Fig. 3 shows the schematic diagram of the alignment system based on pseudo satellite, pseudolite of the another embodiment according to the application.
Fig. 4 shows the signal side of the user terminal of the fake satellite positioning system of the another embodiment according to the application
Block diagram.
Fig. 5 shows the schematic diagram of the alignment system based on pseudo satellite, pseudolite of the another embodiment according to the application.
Embodiment
The alignment system disclosed in the present application based on pseudo satellite, pseudolite and method are described in detail with reference to the accompanying drawings.For letter
For the sake of bright, in the explanation of each embodiment of the application, same or similar device uses the same or similar reference numeral.
Fig. 1 shows a kind of schematic diagram of the alignment system based on pseudo satellite, pseudolite of embodiment according to the application.Such as figure
Shown, fake satellite positioning system 10 includes more pseudo satellite, pseudolites 100 (100-1,100-2,100-3,100-4) and terminal 200.In puppet
In satellite system, each in more pseudo satellite, pseudolites 100 is according to satellite parametric reduction, pseudo satellite, pseudolite position and with reference to time delay, analog satellite
The satellite-signal of S100 (S100-1, S100-2, S100-3, S100-4) simultaneously sends the satellite-signal of simulation.For example, pseudo satellite, pseudolite
100 can simulate GNSS satellite signal, such as gps signal or Big Dipper signal, and the satellite-signal of simulation is passed through radio frequency day
Line is broadcast to user.It is appreciated that in fake satellite positioning system, known to pseudo satellite, pseudolite position.Analog satellite S100 can be true
Satellite existing for reality can also be virtual satellite.
In addition, referring again to Fig. 1, according to further aspect of the application, a kind of positioning based on pseudo satellite, pseudolite is additionally provided
In method, including：By each pseudo satellite, pseudolite in more pseudo satellite, pseudolites according to satellite parametric reduction, pseudo satellite, pseudolite position and with reference to time delay,
The satellite-signal of analog satellite and the satellite-signal for sending simulation；The satellite-signal of simulation is received, according to the simulation received
Satellite-signal determines the initial position estimation of user terminal；And obtain user terminal according to initial position estimation and with reference to time delay
Pseudo satellite, pseudolite pseudorange estimate between pseudo satellite, pseudolite, to determine that the exact position of user terminal is estimated.
Fig. 2 shows a kind of signal square frame of the user terminal of the fake satellite positioning system of embodiment according to the application
Figure.As shown in the figure, user terminal 200 includes receiver 210 and processor 220.Receiver 210 can be connect using traditional GNSS
Receipts machine, directly handles the simulation satellite signal received, carries out positioning calculation according to the satellite-signal of the simulation received, determines
The initial position estimation of terminal.Processor 220 is obtained between terminal and pseudo satellite, pseudolite according to initial position estimation and with reference to time delay
Pseudo satellite, pseudolite pseudorange estimate, so as to further determine that the exact position of terminal is estimated.For example, processor 220 can basis
Initial position estimation and analog satellite parameter, determine the analog satellite pseudorange estimate between terminal and analog satellite, according to mould
Intend satellite pseudorange estimate and with reference to time delay, determine the pseudo satellite, pseudolite pseudorange estimate between terminal and pseudo satellite, pseudolite, so as into
One step determines the exact position estimation of terminal.
It is appreciated that by above-mentioned alignment system and method based on pseudo satellite, pseudolite, receiver 210 can use traditional
GNSS receiver and Direct Acquisition pseudo satellite, pseudolite simulation satellite-signal to carry out positioning calculation, obtain accurate location estimation, nothing
The modification of software and hardware need to be carried out to traditional GNSS receiver, so as to realize the seamless connection with GNSS.
Further, since receiver 210 can either receive the satellite-signal of pseudo satellite, pseudolite simulation, real GNSS can be also received
Satellite-signal, therefore can both carry out navigating using only more pseudo satellite, pseudolites according to the pseudolite systems and method of the application and determine
Position, can also utilize pseudo satellite, pseudolite and GNSS satellite combination to realize navigator fix.In this way, the fake satellite positioning system according to the application
It is i.e. achievable compatible with GNSS system with method, can be visible using the virtual GNSS signal increase of pseudo satellite, pseudolite in GNSS system
Number of satellite, improves visible satellite constellation, so as to fulfill effectively positioning and reaching higher positioning accuracy.
Although show that 4 pseudo satellite, pseudolites simulate 4 GNSS satellites in Fig. 1, it will be recognized to those skilled in the art that root
4 are not limited to according to the pseudo satellite, pseudolite quantity in the alignment system based on pseudo satellite, pseudolite of the application.If defended using only more puppets
When star carries out navigator fix, realize that positioning needs the pseudo satellite, pseudolite of more than 4.If realized using pseudo satellite, pseudolite and GNSS satellite combination
During navigator fix, the quantity of pseudo satellite, pseudolite then can be less.
According to a kind of embodiment, satellite parametric reduction be with the relevant parameter of satellite, for example, ephemeris information and puppet can be included
Random code.Satellite parametric reduction can also include doppler information, power information etc..Pseudo noise code is used to distinguish different satellite letters
Number.Ephemeris information generally includes satellite clock data, Keplerian orbit parameter, almanac and ionosphere delay correction parameter etc.,
For accurately calculating satellite in the locus at each moment and the speed of service.
Fig. 3 shows the schematic diagram of the alignment system based on pseudo satellite, pseudolite of the another embodiment according to the application.Such as
Shown in Fig. 3, pseudolite systems can also include data center 300, to store and provide satellite parametric reduction.Fig. 4 is shown according to this
The schematic block diagram of the user terminal of the fake satellite positioning system of the another embodiment of application.As shown in figure 4, terminal 200
Communication module 230 is may further include, satellite parametric reduction is obtained with data center 300 communicate.Alternatively, pseudo satellite, pseudolite system
System can not also include data center and communication module, and store satellite parametric reduction by the processor 220 of terminal 200.
Since pseudo satellite, pseudolite is by the satellite-signal of analog satellite, to enable the existing GNSS receiver 210 in user terminal 200
It is enough that the satellite-signal of simulation is handled in the case of without modification, and obtain to be accurately positioned and resolve, it is necessary to which the simulation to generation is believed
Number additional reference time delay is so that the pseudorange that obtains of receiver 210 is suitable with real satellite pseudorange.
For receiver user 210, it receives signal from pseudo satellite, pseudolite, but 210 meeting of receiver " with for " is believed
Real GNSS satellite number is come from, and the simulation GNSS satellite orbit parameter broadcast in the satellite ephemeris received can be utilized to calculate
The position of the simulation GNSS satellite, for positioning calculation.Due to the distance between pseudo satellite, pseudolite 100 and user terminal 200 and simulation
The distance between satellite S100 and user terminal 200 difference is very big, thus if without time delay processing, receiver passes through the solution
Calculation process will obtain the location estimation of mistake.Therefore pseudo satellite, pseudolite 100 adds the signal of generation when simulating GNSS satellite S100
With reference to time delay with ensure pseudo-range measurements that receiver 210 obtains be substantially equal to receiver 210 and simulation GNSS satellite S100 it
Between distance.
According to a kind of embodiment, it can be set according to the coverage of pseudo satellite, pseudolite and refer to time delay.Referring again to Fig. 3, example
Such as, a reference point R1 can be selected in pseudo satellite, pseudolite coverage, according to analog satellite parameter, pseudo satellite, pseudolite position and reference point
Location determination refer to time delay.What the receiver that the reference time delay of Pseudolite signal is arranged at reference point obtained
Pseudo-range measurements are equal to the distance of receiver and the virtual satellite of the pseudo satellite, pseudolite.
For example, for a pseudo satellite, pseudolite of adjacent ground surface, position vector x(p)=(x(p),y(p),z(p)), pseudo satellite, pseudolite simulation
The position vector of satellite isWherein symbol "~" represents that parameter or vector are virtually to measure.Pseudo satellite, pseudolite
The reference time delay that signal is set is τ.When using reference point R1, it could be provided as with reference to delay, τ：
WhereinRepresent the position vector of reference point, these error terms of I, T, e simulate the ionosphere, right of virtual satellite
Fluid layer and star clock equal error item, so that existing receiver can eliminate them automatically.
According to a kind of embodiment, can be completed with reference to the setting of time delay by the processor 220 of terminal 200.Alternatively, join
Examining the setting of time delay can also be completed by data center 300, and will be supplied to terminal with reference to delay parameter by data center 300
200 communication module 230.In this way, refer to time delay by setting, it is ensured that the validity of receiver location estimation.
However, due to reference to delay, τ be is set by pseudo satellite, pseudolite, and not equal to customer location reception signal it is actual when
Prolong, such as the position of reference point R1 is usually not fully identical with the physical location of user terminal 200, thus receiver 210 is logical
Cross between the pseudo-range measurements meeting for receiving the acquisition of virtual satellite signal and true pseudorange there are deviation, this deviation will also cause to connect
Receipts machine 210 resolves the initial position estimation obtained using pseudo-range measurements and analog satellite positionThere are deviation.Namely
Say, although receiver can directly position to obtain initial position estimation using Pseudolite signal, this result often and is not allowed
Really, it is necessary to initial position estimationExact position estimation can just be obtained by being modified.
Below in conjunction with pseudo satellite, pseudolite signal model to the fake satellite positioning system and method according to presently filed embodiment
It is described in detail.
For true GNSS satellite system, according to pseudo range measurement principle, receiver is in tuThe GNSS signal of reception is pseudo-
Away from ρ(s)It is represented by：
ρ(s)=| | x(s)-x(u)||+c(δtu-δt(s))+I+T+e,
Wherein δ tuWith δ t(s)Receiver clock clock correction and satellite clock clock correction are represented respectively, and I, T represent virtual satellite electricity
Absciss layer, tropospheric error item, e represent noise.In general, after the parameter in ephemeris is corrected pseudorange, δ t(s), I, T
Known quantity can be used as, and in real GNSS satellite system, noise e is generally relatively small.
Therefore the pseudorange equation after being corrected is as follows：
ρ(s)=| | x(s)-x(u)| |+B+e,
Wherein, B is equivalent clock correction item.By pseudorange positioning principle, at least 4 satellite-signals are obtained in receiver
When, it can resolve to obtain receiver location.
For pseudolite systems, due to the satellite-signal by 100 analog satellite S100 of pseudo satellite, pseudolite, receiver 210 obtains
Analog satellite pseudo-range measurementsWith user terminal x(u)With the position x of pseudo satellite, pseudolite(p)It is and related with reference to delay, τ：
Since receiver " does not know " pseudo satellite, pseudolite and the presence with reference to delay, τ, for receiver 210, receiver
Can be by the pseudo-range measurements of every analog satellite in position fixing process" regarding as " is customer position informationWith clock correction information
BfakeFunction, so as to build analog satellite pseudorange equation：
In above-mentioned equation, the position of analog satelliteIt can be calculated according to the satellite almanac data that pseudo satellite, pseudolite is sent
Arrive, the pseudorange of analog satellite is then obtained by receiver measurement, the three-dimensional position component and receiver clock-offsets of receiver in equation group
It is unknown quantity.Receiver receives the simulation satellite signal from more than 4 pseudo satellite, pseudolites, establishes at least four analog satellite pseudorange
Equation, it is possible to solve unknown quantity in equation, obtain receiver clock-offsets BfakeAnd initial position estimation∈ represent when pair
Analog satellite pseudorange equation is resolved, location estimation convergency value initial position estimationResidual error afterwards, also referred to as fakes
Away from residual error.Since the application is not relevant for receiver clock-offsets, and receiver clock-offsets can with the amendment of initial position estimation and
Corrected, therefore in the following description, receiver clock-offsets will not be described in detail at the same time.
As described above, initial position estimationOften it is inaccurate, it is necessary to by initial position estimationCarry out
Correct, can just obtain exact position estimation.
According to a kind of embodiment of the application, processor 220 can be according to initial position estimationAnd analog satellite
PositionDetermine terminal and simulate the analog satellite pseudorange estimate between GNSS satellite
Wherein symbol " ^ " represents that parameter or vector are estimates.Wherein, the position of analog satelliteIt can pass through
The ephemeris information of GNSS satellite obtains.
Processor 220 can be further according to analog satellite pseudorange estimateWith with reference to delay, τ, terminal and puppet are determined
Pseudo satellite, pseudolite pseudorange estimate between satellite
Can be according to pseudo satellite, pseudolite pseudorange estimateWith pseudo satellite, pseudolite position x(p)Establish pseudo satellite, pseudolite pseudorange equation：
Due to according to initial position estimationPseudo satellite, pseudolite pseudorange estimate can be obtainedTherefore pseudo satellite, pseudolite position is combined
Put x(p), pseudorange positioning principle can be utilized, positioning calculation is re-started, realizes the amendment to receiver initial position estimation, obtain
Estimate to modified receiver location.
However, in fake satellite positioning system, due to the pseudo-range measurements of analog satellite be not true pseudorange but with puppet
The relative position of satellite and receiver and relevant with reference to time delay, i.e. there are deviation between pseudo-range measurements and true pseudorange,
The analog satellite position that thus be accordingly used in resolving is unsatisfactory for analog satellite pseudorange equation with corresponding analog satellite pseudo-range measurements so that
Analog satellite pseudorange equation is not from being in harmony, so that initial position estimation on the one hand will be causedIt is incorrect, on the other hand it will cause
Although positioning converges to initial position estimationAnalog satellite pseudorange residuals ∈ during convergence will be bigger.
During being subsequently modified to initial position estimation, this bigger analog satellite pseudorange residuals ∈,
The pseudo satellite, pseudolite pseudorange estimate subsequently obtainedEvaluated error it is larger so that influence initial position estimation correct when precision.
Therefore, the less residual error that can not also eliminate usually not considered in existing GNSS system, due in pseudolite systems,
Analog satellite pseudorange equation is not estimated as larger pseudorange residuals ∈ from being in harmony, it is necessary to pay attention to obtaining accurate position
Meter.
Influences of the analog satellite pseudorange residuals ∈ to the makeover process of follow-up initial position estimation is made a concrete analysis of below.According to
The application, the pseudo-range measurements for the analog satellite that receiver receivesWith analog satellite pseudorange estimateTable can be distinguished
It is shown as：
It can be seen that
In addition, according to the application, analog satellite pseudo-range measurementsIt is also denoted as and user terminal x(u)Defended with puppet
The position x of star(p)And with reference to the related mode of delay, τ：
It can ignore since error e is relatively small, so that,
In this way, according to analog satellite pseudorange estimateWith with reference to delay, τ, and definite pseudo satellite, pseudolite pseudorange estimate
It can be expressed as：
Consider the true pseudorange ρ of pseudo satellite, pseudolite(p)For that can be expressed as：
ρ(p)=| | x(p)-x(u)| |+B,
Therefore, according to the application, analog satellite pseudorange estimate is passed throughRecover obtained pseudo satellite, pseudolite pseudorange estimateWith the true pseudorange ρ of pseudo satellite, pseudolite(p)Between error be：
As can be seen that the error for the pseudo satellite, pseudolite pseudorange estimate recovered is exactly to simulate the pseudorange residuals ∈ of GNSS satellite.Cause
This, according to a kind of embodiment of the application, can be constrained by combined simulation satellite pseudorange residuals with pseudo satellite, pseudolite pseudorange equation,
Initial position estimation is modified, so as to fulfill the accurate estimation to customer location.
In fact, although the acquisition of receiver initial alignment process is an incorrect initial position estimation, to receiving
For machine, this initial position estimation is still the optimal estimation for making location estimation meet analog satellite pseudorange equation as far as possible.
Therefore, include pseudorange residuals according to a kind of embodiment of the application, the constraint of analog satellite pseudorange residuals and meet Norm minimum
Constraints.
With reference to the specific positioning calculation process of analog satellite pseudorange equation to analog satellite pseudorange residuals constraints
It is described in detail.
When receiver carries out positioning calculation according to analog satellite pseudorange equation, generally use nonlinear method for solving, such as
Solved using least-squares iteration.Illustrated below by taking least-squares iteration solves as an example.Receiver present bit is provided first
Put and the initial estimate of clock correctionEquation is subjected to Taylor expansion in estimated location, and is ignored more than second order
, realize that nonlinear equation linearizes：
Wherein it is computed obtaining：
Therefore equation group can approximation change into following form：
Wherein：
Wherein,Represent the pseudorange residuals of current estimated location, G is represented between current estimated location and analog satellite
Observing matrix, δ x are represented to current estimated location renewal amount.
Therefore, make the sum of pseudorange equation mean square error reduce least-squares iteration renewal amount be：
So, the iterative equation of location estimation is：
The solution of Nonlinear System of Equations is updated according to this, and using the position of renewal as new iteration starting point, and continue above-mentioned
Interative computation, until obtained solution convergence, you can obtain the location estimation of receiver.That is, can be with when iteration convergence
Obtain receiver initial position estimation：
In addition, in iteration convergence, the limit is taken to obtain the iterative equation of location estimation：
So as to further obtain：
Observing matrix when here, by iteration convergence is denoted asI.e.：
And when iteration convergenceThen represent pseudorange residuals ∈.
It can be found that the observing matrix corresponding when iteration convergence to initial position estimation and analog satellite pseudorange residuals
Between there are orthogonality relation, i.e. pseudorange residuals meet Norm minimum constraints：
WhereinRepresent the observing matrix between initial position estimation and the position of analog satellite, can be expressed as：
It is pseudo- according to pseudo satellite, pseudolite pseudorange estimate and pseudo satellite, pseudolite position structure pseudo satellite, pseudolite after obtaining above-mentioned pseudorange residuals constraint
Away from equation, joint pseudo satellite, pseudolite pseudorange equation constrains with pseudorange residuals, initial position estimation is modified, determines the accurate of terminal
Location estimation.
It is expressed as according to pseudo satellite, pseudolite pseudorange estimate and pseudo satellite, pseudolite position structure pseudo satellite, pseudolite pseudorange equation：
Combine above-mentioned pseudorange residuals constraints：
Estimate exact position using the equation group iterative calculation receiver of simultaneous.Iterative algorithm for example can be a most young waiter in a wineshop or an inn
Multiply solving method, using initial position estimation pseudorange residuals and initial position estimation observing matrix orthogonal property, in an iterative process
Using initial observation matrix weights, so that eliminating the iteration of residual error influences.Continue iteration until result restrains, you can received
The exact position estimation of machine.
In the solution procedure of the equation group of above-mentioned simultaneous, nonlinear method, such as an iteration most young waiter in a wineshop or an inn can be usually used
Multiply, one kind in Levenberg-Marquart method, Gauss-Newton method, maximum likelihood method, solved.However, due to puppet
Satellite distance receiver is nearer, and negligible nonlinearity erron, at this time may be used for distant GNSS satellite
It can influence the positioning accuracy of pseudolite systems and method, in some instances it may even be possible to cause calculation result not restrain.
According to a kind of embodiment of the application, the nonlinearity erron in positioning can be estimated, when non-linear mistake
When difference is less than predetermined threshold, it is believed that positioning calculation is the result is that convergent；And when nonlinearity erron is more than threshold value, weight can be carried out
Resolve, such as another nonlinear method different from the nonlinear method employed in current pseudorange equation solution can be selected
Positioned and resolved again.
For example, positioning nonlinearity erron can be estimated using standard deviation decision criteria：
Above-mentioned several nonlinear model errors are estimated using above formula, and given threshold (such as could be provided as 1),
I.e. decision criteria is：
Wherein,
Wherein observed quantity y can be expressed as the nonlinear function y=f (x) of receiver location x, and the function is by solution pseudorange
Used nonlinear method determines during equation,Represent the estimate to receiver location,Represent to estimate receiver location
Deviation, QyWith QyyThe average and variance of observed quantity y is represented respectively.
In embodiment described above, in fake satellite positioning system and method, pass through pseudo satellite, pseudolite analog satellite
Satellite-signal simultaneously sends the satellite-signal of simulation and is positioned.According to further aspect of the application, pseudo satellite, pseudolite may not necessarily mould
Intend satellite-signal, but the satellite-signal from GNSS satellite received by pseudo satellite, pseudolite, and regenerative forward the satellite-signal and
Positioned.
According to a kind of embodiment of the application, as shown in figure 5, the pseudolite systems 10' based on pseudo satellite, pseudolite includes receiving
Device 110', more pseudo satellite, pseudolites 100'(100-1', 100-2', 100-3', 100-4') and terminal 200'.
Reception device 110', reception come from more GNSS satellites S100'(S100-1', S100-2', S100-3', S100-
Satellite-signal 4'), obtain each satellite satellite parametric reduction and satellite-signal from each satellite to during the transmission of reception device 110'
Prolong.
The satellite parametric reduction of a satellite of each pseudo satellite, pseudolite in the multi-satellite in more pseudo satellite, pseudolite 100'
With delivery lag of the satellite-signal from this satellite to reception device, the satellite-signal of this satellite is regenerated, and described in forwarding again
Raw satellite-signal.
User terminal 200' includes receiver 210' and processor 220'.Receiver 210' can be connect using traditional GNSS
Receipts machine, the initial position estimation of terminal is determined according to the pseudo satellite, pseudolite 100' received the satellite-signals forwarded.Processor 220' roots
According to initial position estimation, the satellite parametric reduction of satellite, pseudo satellite, pseudolite position, and during transmission of the satellite-signal from satellite to reception device
Prolong the pseudo satellite, pseudolite pseudorange estimate obtained between terminal and pseudo satellite, pseudolite, to determine that the exact position of terminal is estimated.Wherein, forwarding is defended
The satellite parametric reduction of star includes the ephemeris information and pseudo noise code of GNSS satellite.
In addition, referring again to Fig. 5, according to further aspect of the application, additionally provide a kind of positioning based on pseudo satellite, pseudolite
Method, including：Receive the satellite-signal from multi-satellite, obtain each satellite satellite parametric reduction and satellite-signal from each satellite
It is issued to the delivery lag of reception；Pass through a certain of each pseudo satellite, pseudolite in more pseudo satellite, pseudolites in above-mentioned multi-satellite
The satellite parametric reduction and satellite-signal of satellite are issued to the delivery lag of reception from this satellite, regenerate the satellite letter of this satellite
Number, and forward the regenerated satellite-signal of institute；；The satellite-signal of forwarding is received, is determined according to the satellite-signal of the forwarding received
The initial position estimation of user terminal；And according to initial position estimation, the satellite parametric reduction of satellite, pseudo satellite, pseudolite position, Yi Jiwei
Star signal obtains the pseudo satellite, pseudolite pseudorange estimate between terminal and pseudo satellite, pseudolite from the delivery lag for being issued to reception, to determine user
The exact position estimation of terminal.
According to a kind of embodiment, processor 220' can according to determined by receiver initial position estimation, turned
The constraint of satellite pseudorange residuals is sent out, pseudo satellite, pseudolite pseudorange equation, joint institute are built according to pseudo satellite, pseudolite pseudorange estimate and pseudo satellite, pseudolite position
Satellite pseudorange equation is constrained with repeater satellite pseudorange residuals, determines the exact position estimation of terminal.Wherein, repeater satellite pseudorange is residual
Difference constraint includes the constraints that pseudorange residuals meet Norm minimum.For example, repeater satellite pseudorange residuals meet Norm minimum about
Beam condition includes：
Wherein,Representing the observing matrix between initial position estimation and the position of repeater satellite, ∈ represents pseudorange residuals,
Wherein, the position of repeater satellite is determined according to the satellite parametric reduction of satellite.
According to a kind of embodiment, processor 220' can according to initial position estimation and the satellite parametric reduction of repeater satellite,
Determine the repeater satellite pseudorange estimate between terminal and repeater satellite；According to repeater satellite pseudorange estimate and delivery lag,
Determine the pseudo satellite, pseudolite pseudorange estimate between terminal and pseudo satellite, pseudolite.
According to a kind of embodiment, pseudolite systems 10' can further include data center, and data center provides and connects
Delivery lag of the satellite parametric reduction and satellite-signal for each satellite that receiving apparatus is obtained from each satellite to reception device.Terminal
200' can also include communication module, and communication module receives the satellite parametric reduction and delivery lag that data center is provided.
According to a kind of embodiment, the processor 220' of terminal further can estimate the exact position for resolving terminal
Nonlinearity erron in journey is estimated, when nonlinearity erron is less than predetermined threshold, determines that calculation result is correct；When non-linear
When error is more than threshold value, resolved again.
According to a kind of embodiment, the receiver 210' of terminal may also receive from the satellite letter of one or multi-satellite
Number, receiver 210' determines the initial position estimation of terminal according to the satellite-signal of forwarding with reference to the satellite-signal from satellite.
As it can be seen that when being referred in the fake satellite positioning system and method realized using repeater satellite aspect without setting
Prolong, but delivery lag of the satellite-signal from satellite to reception device can be calculated.During specific positioning calculation,
Delivery lag is suitable with the effect with reference to time delay.It is appreciated that referring to time delay except that need not set, but delivery lag is utilized to carry out
It is whole according to the user of the fake satellite positioning system realized using repeater satellite aspect of the application and method outside positioning calculation
Part is held, and according to the fake satellite positioning system realized using simulation satellite signal mode of the application and the user terminal of method
Part is basically identical.Thus, it will not be described in great detail herein and the foregoing pseudolite positioning system realized using simulation satellite signal mode
System and embodiment identical similar in method.
The exemplary embodiment of the application is described above by reference to attached drawing.Those skilled in the art should manage
Solution, purpose that the embodiment above is merely to illustrate that and the example lifted, rather than for being limited, it is all in the application
Teaching and claims under made any modification, equivalent substitution etc., should be included in this application claims
In the range of.
Claims (36)
1. a kind of alignment system based on pseudo satellite, pseudolite, including：
More pseudo satellite, pseudolites, when each pseudo satellite, pseudolite in the more pseudo satellite, pseudolites is according to satellite parametric reduction, pseudo satellite, pseudolite position and reference
Prolong, the satellite-signal of analog satellite and the satellite-signal for sending simulation；And
Terminal, including：
Receiver, the initial position estimation of the terminal is determined according to the satellite-signal of the simulation received；And
Processor, according to the initial position estimation and the pseudo satellite, pseudolite pseudorange with reference between time delay acquisition terminal and pseudo satellite, pseudolite
Estimate, to determine that the exact position of the terminal is estimated.
2. alignment system as claimed in claim 1, wherein, processor initial position according to determined by receiver is estimated
Meter, obtains the constraint of analog satellite pseudorange residuals, is defended according to the pseudo satellite, pseudolite pseudorange estimate and pseudo satellite, pseudolite position structure puppet
Star pseudorange equation, combines the pseudo satellite, pseudolite pseudorange equation and is constrained with the analog satellite pseudorange residuals, determine the essence of the terminal
True location estimation.
3. alignment system as claimed in claim 2, wherein, the analog satellite pseudorange residuals constraint includes pseudorange residuals satisfaction
The constraints of Norm minimum.
4. alignment system as claimed in claim 3, wherein, the analog satellite pseudorange residuals meet the constraint bar of Norm minimum
Part includes：
<mrow>
<msup>
<mover>
<mi>G</mi>
<mo>^</mo>
</mover>
<mi>T</mi>
</msup>
<mo>&Element;</mo>
<mo>=</mo>
<mn>0</mn>
<mo>,</mo>
</mrow>
Wherein,Representing the observing matrix between initial position estimation and the position of analog satellite, ∈ represents pseudorange residuals, wherein,
The position of the analog satellite is determined according to the satellite parametric reduction.
5. alignment system as claimed in claim 1, wherein, the processor is defended according to initial position estimation and analog satellite
Star parameter, determines the analog satellite pseudorange estimate between terminal and analog satellite；The processor is pseudo- always according to analog satellite
Away from estimate and with reference to time delay, the pseudo satellite, pseudolite pseudorange estimate between terminal and pseudo satellite, pseudolite is determined.
6. alignment system as claimed in claim 1, wherein, the satellite parametric reduction include GNSS satellite ephemeris information and it is pseudo- with
Machine code.
7. alignment system as claimed in claim 1, wherein, it is described with reference to signal cover of the time delay according to pseudo satellite, pseudolite, puppet
Satellite position, the satellite parametric reduction of analog satellite determine.
8. alignment system as claimed in claim 1, wherein, the alignment system further comprises data center, the data
Center provides satellite parametric reduction and with reference to time delay；The terminal further includes communication module, and the communication module is received in the data
Satellite parametric reduction that the heart is provided and with reference to time delay.
9. alignment system as claimed in claim 1, wherein, the processor estimated the exact position for resolving the terminal
Nonlinearity erron in journey is estimated, when nonlinearity erron is less than predetermined threshold, determines that calculation result is correct；When non-linear
When error is more than threshold value, resolved again.
10. alignment system as claimed in claim 1, wherein, the receiver of the terminal is also received to be defended from one or more
The satellite-signal of star, the receiver is according to the satellite-signal of the simulation received with reference to the defending from the satellite received
Star signal determines the initial position estimation of the terminal.
11. a kind of localization method based on pseudo satellite, pseudolite, including：
By each pseudo satellite, pseudolite in more pseudo satellite, pseudolites according to satellite parametric reduction, pseudo satellite, pseudolite position and with reference to time delay, analog satellite
Satellite-signal and send the satellite-signal of simulation；
The satellite-signal of the simulation is received, the initial position for determining user terminal according to the satellite-signal of the simulation received is estimated
Meter；And
Estimated according to the initial position estimation and the pseudo satellite, pseudolite pseudorange with reference between time delay acquisition user terminal and pseudo satellite, pseudolite
Evaluation, to determine that the exact position of user terminal is estimated.
12. localization method as claimed in claim 11, wherein, according to identified initial position estimation, obtain analog satellite
Pseudorange residuals constrain；According to the pseudo satellite, pseudolite pseudorange estimate and pseudo satellite, pseudolite position structure pseudo satellite, pseudolite pseudorange equation, joint
The pseudo satellite, pseudolite pseudorange equation is constrained with the analog satellite pseudorange residuals, determines the exact position estimation of the user terminal.
13. localization method as claimed in claim 12, wherein, the analog satellite pseudorange residuals constraint refers to that pseudorange residuals are expired
Sufficient Norm minimum constraints.
14. localization method as claimed in claim 13, wherein, the analog satellite pseudorange residuals meet the constraint of Norm minimum
Condition includes：
<mrow>
<msup>
<mover>
<mi>G</mi>
<mo>^</mo>
</mover>
<mi>T</mi>
</msup>
<mo>&Element;</mo>
<mo>=</mo>
<mn>0</mn>
<mo>,</mo>
</mrow>
Wherein,Representing the observing matrix between initial position estimation and the position of analog satellite, ∈ represents pseudorange residuals, wherein,
The position of the analog satellite is determined according to the satellite parametric reduction.
15. localization method as claimed in claim 11, wherein, according to initial position estimation and the satellite parametric reduction of analog satellite,
Determine the analog satellite pseudorange estimate between user terminal and analog satellite；During according to analog satellite pseudorange estimate and reference
Prolong, determine the pseudo satellite, pseudolite pseudorange estimate between user terminal and pseudo satellite, pseudolite.
16. localization method as claimed in claim 11, wherein, the satellite parametric reduction includes the ephemeris information and puppet of GNSS satellite
Random code.
17. localization method as claimed in claim 11, wherein, it is described to cover model according to according to the signal of pseudo satellite, pseudolite with reference to time delay
Enclose, pseudo satellite, pseudolite position, the satellite parametric reduction of analog satellite determine.
18. localization method as claimed in claim 11, including：It is non-in exact position estimation procedure to resolving the terminal
Linearity error is estimated, when nonlinearity erron is less than predetermined threshold, determines that calculation result is correct；When nonlinearity erron is more than
During threshold value, resolved again.
19. localization method as claimed in claim 11, including：The satellite-signal from one or multi-satellite is received, according to
The satellite-signal of received simulation determines the initial position estimation of the terminal with reference to the satellite-signal from the satellite.
20. a kind of alignment system based on pseudo satellite, pseudolite, including：
Reception device, receives the satellite-signal from multi-satellite, obtain each satellite satellite parametric reduction and satellite-signal from each
Delivery lag of the satellite to reception device；
More pseudo satellite, pseudolites, a satellite of each pseudo satellite, pseudolite in the multi-satellite in the more pseudo satellite, pseudolites are defended
The delivery lag of star parameter and satellite-signal from this satellite to reception device, regenerates the satellite-signal of this satellite, and forward
The regenerated satellite-signal；And
Terminal, including：
Receiver, the initial position estimation of the terminal is determined according to the satellite-signal of the forwarding received；And
Processor, according to the initial position estimation, the satellite parametric reduction of the satellite, pseudo satellite, pseudolite position and satellite-signal from
The delivery lag of satellite to reception device obtains the pseudo satellite, pseudolite pseudorange estimate between terminal and pseudo satellite, pseudolite, to determine the terminal
Exact position estimation.
21. alignment system as claimed in claim 20, wherein, processor initial position according to determined by receiver is estimated
Meter, obtains the constraint of repeater satellite pseudorange residuals, is defended according to the pseudo satellite, pseudolite pseudorange estimate and pseudo satellite, pseudolite position structure puppet
Star pseudorange equation, combines the pseudo satellite, pseudolite pseudorange equation and is constrained with the repeater satellite pseudorange residuals, determine the essence of the terminal
True location estimation.
22. alignment system as claimed in claim 21, wherein, the repeater satellite pseudorange residuals constraint, which includes pseudorange residuals, is expired
The constraints of sufficient Norm minimum.
23. alignment system as claimed in claim 22, wherein, the repeater satellite pseudorange residuals meet that Norm minimum constrains bar
Part includes：
<mrow>
<msup>
<mover>
<mi>G</mi>
<mo>^</mo>
</mover>
<mi>T</mi>
</msup>
<mo>&Element;</mo>
<mo>=</mo>
<mn>0</mn>
<mo>,</mo>
</mrow>
Wherein,Representing the observing matrix between initial position estimation and the position of repeater satellite, ∈ represents pseudorange residuals, wherein,
The position of the repeater satellite is determined according to the satellite parametric reduction of the satellite.
24. alignment system as claimed in claim 20, wherein, the processor is according to initial position estimation and repeater satellite
Satellite parametric reduction, determines the repeater satellite pseudorange estimate between terminal and repeater satellite；The processor is always according to repeater satellite
Pseudorange estimate and the delivery lag, determine the pseudo satellite, pseudolite pseudorange estimate between terminal and pseudo satellite, pseudolite.
25. alignment system as claimed in claim 20, wherein, the satellite parametric reduction of the repeater satellite includes the star of GNSS satellite
Go through information and pseudo noise code.
26. alignment system as claimed in claim 20, wherein, the reception device further comprises data center, the number
The biography of the satellite parametric reduction and satellite-signal of each satellite that reception device is obtained from each satellite to reception device is provided according to center
Pass time delay；The terminal further includes communication module, the communication module receive the satellite parametric reduction that the data center provided and
Delivery lag.
27. alignment system as claimed in claim 20, wherein, the processor estimates the exact position for resolving the terminal
During nonlinearity erron estimated, when nonlinearity erron is less than predetermined threshold, determine that calculation result is correct；When non-thread
When property error is more than threshold value, resolved again.
28. alignment system as claimed in claim 20, wherein, the receiver of the terminal is also received to be defended from one or more
The satellite-signal of star, the receiver determine institute according to the satellite-signal of the forwarding with reference to the satellite-signal from the satellite
State the initial position estimation of terminal.
29. a kind of localization method based on pseudo satellite, pseudolite, including：
The satellite-signal from multi-satellite is received, the satellite parametric reduction and satellite-signal for obtaining each satellite are issued to from each satellite
The delivery lag of reception；
By the satellite parametric reduction of a satellite of each pseudo satellite, pseudolite in the multi-satellite in more pseudo satellite, pseudolites and defend
Star signal is issued to the delivery lag of reception from this satellite, regenerates the satellite-signal of this satellite, and forwards described regenerated
Satellite-signal；
The satellite-signal of the forwarding is received, the initial position for determining user terminal according to the satellite-signal of the forwarding received is estimated
Meter；And
Sent according to the initial position estimation, the satellite parametric reduction of the satellite, pseudo satellite, pseudolite position and satellite-signal from satellite
Pseudo satellite, pseudolite pseudorange estimate between the delivery lag acquisition terminal and pseudo satellite, pseudolite of reception, to determine the essence of the user terminal
True location estimation.
30. localization method as claimed in claim 29, wherein, according to identified initial position estimation, obtain repeater satellite
Pseudorange residuals constrain, and pseudo satellite, pseudolite pseudorange equation, joint are built according to the pseudo satellite, pseudolite pseudorange estimate and the pseudo satellite, pseudolite position
The pseudo satellite, pseudolite pseudorange equation is constrained with the repeater satellite pseudorange residuals, determines the exact position estimation of the user terminal.
31. localization method as claimed in claim 30, wherein, the repeater satellite pseudorange residuals constraint, which includes pseudorange residuals, is expired
The constraints of sufficient Norm minimum.
32. localization method as claimed in claim 31, wherein, the repeater satellite pseudorange residuals meet that Norm minimum constrains bar
Part includes：
<mrow>
<msup>
<mover>
<mi>G</mi>
<mo>^</mo>
</mover>
<mi>T</mi>
</msup>
<mo>&Element;</mo>
<mo>=</mo>
<mn>0</mn>
<mo>,</mo>
</mrow>
Wherein,Representing the observing matrix between initial position estimation and the position of repeater satellite, ∈ represents pseudorange residuals, wherein,
The position of the repeater satellite is determined according to the satellite parametric reduction of the satellite.
33. localization method as claimed in claim 29, wherein, according to initial position estimation and the satellite parametric reduction of repeater satellite,
Determine the repeater satellite pseudorange estimate between user terminal and repeater satellite；According to repeater satellite pseudorange estimate and the biography
Time delay is passed, determines the pseudo satellite, pseudolite pseudorange estimate between terminal and pseudo satellite, pseudolite.
34. localization method as claimed in claim 29, wherein, the satellite parametric reduction of the repeater satellite includes the star of GNSS satellite
Go through information and pseudo noise code.
35. localization method as claimed in claim 29, including：It is non-in exact position estimation procedure to resolving the terminal
Linearity error is estimated, when nonlinearity erron is less than predetermined threshold, determines that calculation result is correct；When nonlinearity erron is more than
During threshold value, resolved again.
36. localization method as claimed in claim 29, wherein, the satellite-signal from one or multi-satellite is received, according to
The satellite-signal of the forwarding determines the initial position estimation of the terminal with reference to the satellite-signal from the satellite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610944206.9A CN108008426B (en) | 2016-11-02 | 2016-11-02 | Pseudolite based positioning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610944206.9A CN108008426B (en) | 2016-11-02 | 2016-11-02 | Pseudolite based positioning system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108008426A true CN108008426A (en) | 2018-05-08 |
| CN108008426B CN108008426B (en) | 2020-04-28 |
Family
ID=62047326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610944206.9A Active CN108008426B (en) | 2016-11-02 | 2016-11-02 | Pseudolite based positioning system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108008426B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110716217A (en) * | 2019-10-29 | 2020-01-21 | 中国电子科技集团公司第五十四研究所 | Array pseudo satellite indoor positioning method and system |
| CN110716218A (en) * | 2019-10-29 | 2020-01-21 | 中国电子科技集团公司第五十四研究所 | Array pseudolite and GNSS combined positioning method and system |
| CN112558131A (en) * | 2020-11-24 | 2021-03-26 | 北京百度网讯科技有限公司 | AR navigation method and apparatus, electronic device, navigation system, and storage medium |
| CN112698361A (en) * | 2021-03-24 | 2021-04-23 | 航天宏图信息技术股份有限公司 | Positioning method and device based on pseudo satellite |
| CN113093251A (en) * | 2021-03-18 | 2021-07-09 | 中国电子科技集团公司第五十四研究所 | High-precision indoor positioning method based on carrier phase of pseudolite |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204086553U (en) * | 2014-09-10 | 2015-01-07 | 四川九洲电器集团有限责任公司 | Based on coastal waters and the port area positioning system of Big Dipper pseudo satellite, pseudolite |
| CN105182382A (en) * | 2015-08-05 | 2015-12-23 | 中国电子科技集团公司第五十四研究所 | Centimeter-level positioning method of pseudo satellite |
| CN105527606A (en) * | 2016-01-22 | 2016-04-27 | 北京日月九天科技有限公司 | Virtual pseudo-satellite method |
-
2016
- 2016-11-02 CN CN201610944206.9A patent/CN108008426B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204086553U (en) * | 2014-09-10 | 2015-01-07 | 四川九洲电器集团有限责任公司 | Based on coastal waters and the port area positioning system of Big Dipper pseudo satellite, pseudolite |
| CN105182382A (en) * | 2015-08-05 | 2015-12-23 | 中国电子科技集团公司第五十四研究所 | Centimeter-level positioning method of pseudo satellite |
| CN105527606A (en) * | 2016-01-22 | 2016-04-27 | 北京日月九天科技有限公司 | Virtual pseudo-satellite method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110716217A (en) * | 2019-10-29 | 2020-01-21 | 中国电子科技集团公司第五十四研究所 | Array pseudo satellite indoor positioning method and system |
| CN110716218A (en) * | 2019-10-29 | 2020-01-21 | 中国电子科技集团公司第五十四研究所 | Array pseudolite and GNSS combined positioning method and system |
| CN112558131A (en) * | 2020-11-24 | 2021-03-26 | 北京百度网讯科技有限公司 | AR navigation method and apparatus, electronic device, navigation system, and storage medium |
| CN113093251A (en) * | 2021-03-18 | 2021-07-09 | 中国电子科技集团公司第五十四研究所 | High-precision indoor positioning method based on carrier phase of pseudolite |
| CN112698361A (en) * | 2021-03-24 | 2021-04-23 | 航天宏图信息技术股份有限公司 | Positioning method and device based on pseudo satellite |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108008426B (en) | 2020-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103823223B (en) | Method and apparatus for position determination with extended SPS orbit information | |
| CN106569239B (en) | A kind of broadcast type network RTK location technology | |
| CN108008426A (en) | Alignment system and method based on pseudo satellite, pseudolite | |
| JP5518914B2 (en) | Method and apparatus for improving radio positioning accuracy | |
| JP5425478B2 (en) | Positioning method using surveying stitching | |
| CN108205150B (en) | Differential positioning method and system | |
| CN103344978B (en) | Area enhanced precision positioning service method suitable for large-scale users | |
| CA2393505C (en) | Method and apparatus for determining an algebraic solution to gps terrestrial hybrid location system equations | |
| CN107710017A (en) | For the satellite navigation receiver and method switched between real time kinematics pattern and relative positioning mode | |
| CN108415049A (en) | Improve the method that the wide lane ambiguity of network RTK double differences fixes accuracy | |
| CN101295014A (en) | Distant-range high-precision real-time/fast positioning method and system based on GNSS | |
| JP2005524073A (en) | Positioning for wireless terminals in hybrid positioning system | |
| WO2006043123A1 (en) | Satellite based positioning | |
| CN105204048B (en) | A kind of Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS | |
| CN112327340B (en) | Terminal positioning accuracy evaluation method, device, equipment and medium | |
| CN101595393A (en) | Based on the SBAS update information in the AGPS system of MS | |
| Li et al. | Review of PPP–RTK: Achievements, challenges, and opportunities | |
| CN101140321A (en) | Region satellite navigation system and method thereof | |
| CN105005061B (en) | A kind of localization method and system based on satellite base station | |
| CN104991265B (en) | A kind of Beidou satellite navigation system user uniformity localization method | |
| KCT et al. | Double difference method with zero and short base length carrier phase measurements for Navigation with Indian Constellation satellites L5 (1176.45 MHz) signal quality analysis | |
| Akopian et al. | A fast positioning method without navigation data decoding for assisted GPS receivers | |
| Biacs et al. | The Qualcomm/SnapTrack wireless-assisted GPS hybrid positioning system and results from initial commercial deployments | |
| Zheng et al. | High altitude platform station (HAPS)-aided GNSS for urban areas | |
| CN1963560A (en) | Orientation method of reception terminal of GPS of AGPS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |