CN108957501A - A kind of ground base navigation localization method and system that digital ground multimedia broadcast is synchronous - Google Patents
A kind of ground base navigation localization method and system that digital ground multimedia broadcast is synchronous Download PDFInfo
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- CN108957501A CN108957501A CN201810562349.2A CN201810562349A CN108957501A CN 108957501 A CN108957501 A CN 108957501A CN 201810562349 A CN201810562349 A CN 201810562349A CN 108957501 A CN108957501 A CN 108957501A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18523—Satellite systems for providing broadcast service to terrestrial stations, i.e. broadcast satellite service
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Abstract
It mainly include digital ground multimedia broadcast transmitting station, Global Navigation Satellite System, ground base navigation beacon and ground base navigation beacon receiver the invention discloses a kind of synchronous ground base navigation localization method of digital ground multimedia broadcast and system, system.The method that the synchronous ground base navigation positioning system of digital ground multimedia broadcast is positioned, key step are as follows: 1) transmitting station emits digital ground multimedia broadcast signal.2) digital ground multimedia broadcast signal is captured.3) the time difference Dt between the arrival time T2 and generalized reference arrival time T1 of digital ground multimedia broadcast signal superframe header pseudo-random sequence is calculated.4) ground base navigation beacon emits ground navigation beacon signals at the T3 moment.5) ground navigation beacon receiver is positioned.Multiple ground base navigation beacons of the invention carry out time synchronization using digital ground multimedia broadcast signal, overcome existed system to the Dependence Problem of satellite navigation.
Description
Technical field
The present invention relates to radionavigation technology, the synchronous ground base navigation of specifically a kind of digital ground multimedia broadcast is fixed
Position method and system.
Background technique
In recent years, with the development of artificial intelligence technology, unmanned plane, pilotless automobile are widely applied.It is existing
Unmanned technology mostly uses satellite positioning and navigation system as navigator fix time service means, and main problem is that ground signal is weak, holds
Yi Yin is blocked and interference causes signal unavailable.With the army between satellite navigation interference and the maturation and big country of countermeasure techniques
Thing confrontation, people are increasingly increasing the worry of satellite navigation system availability.
The important backup and alternative means that navigator fix is satellite navigation are carried out using ground base navigation beacon, but necessary
What is solved is the low-cost and high-precision time synchronization problem between ground base navigation beacon.If it is fixed still to rely on satellite navigation
The time synchronization between transmitter is realized in position time service, then in the not available situation of satellite navigation and positioning, it is likely that ground base navigation letter
Synchronization between mark transmitter also will receive influence.Therefore, it is necessary to which the means found other than satellite navigation and location system realize ground
Time synchronization between base navigation beacon transmitter.
Summary of the invention
Present invention aim to address problems of the prior art.
To realize the present invention purpose and the technical solution adopted is that such: a kind of digital ground multimedia broadcast is synchronous
Ground base navigation positioning system, including digital ground multimedia broadcast transmitting station, Global Navigation Satellite System, ground base navigation beacon hair
Penetrate machine and ground base navigation beacon receiver.
The digital ground multimedia broadcast transmitting station emits digital ground multimedia broadcast signal.
The Global Navigation Satellite System emits satellite navigation signals.Generally, global positioning system is main
Including the space-based middle orbit radio-navigation positioning system that GPS, Beidou, Galileo, GLONASS navigation satellite etc. are common.
The ground base navigation beacon captures and tracks the digital ground multimedia broadcast signal, calculates digitally
The arrival time of face multimedia broadcast signal superframe header pseudo-random sequence.The ground base navigation beacon also receives satellite and leads
Navigate signal, obtains self-position and UTC Universal Time Coordinated, calculates the arrival time of the pseudo-random sequence and the difference of UTC Universal Time Coordinated
Value.Further, the ground base navigation beacon is raw on the basis of the arrival time of the pseudo-random sequence and the difference
At the ground base navigation beacon signal with transmitting and other ground base navigation beacon time synchronizations.
The ground base navigation beacon receiver receives and Ground Treatment navigation beacon signals, to obtain self-position letter
Breath.
Further, the ground base navigation beacon mainly include digital ground multimedia broadcast acquisition and tracking module,
Satellite navigation receiving module, ground base navigation beacon transmission time adjustment module and ground base navigation beacon signal generate and send mould
Block.
The satellite navigation receiving module receives and processes the satellite navigation signals, obtains generalized reference arrival time
T1, and the generalized reference arrival time T1 is passed into the ground base navigation beacon transmission time and adjusts module.
The digital ground multimedia broadcast acquisition and tracking module tracks simultaneously capture digital ground multimedia broadcast signal.Institute
It states digital ground multimedia broadcast acquisition and tracking module and calculates digital ground multimedia broadcast signal superframe header pseudo-random sequence
Arrival time T2, and arrival time T2 is passed into the ground base navigation beacon transmission time and adjusts module.
Ground base navigation beacon transmission time adjustment module calculate digital ground multimedia broadcast signal superframe header puppet with
Time difference Dt between the arrival time T2 and generalized reference arrival time T1 of machine sequence.According to time difference Dt, the ground is led
The transmitting reference time T3 for beacon transmission time adjustment module adjustment ground base navigation beacon signal of navigating, and reference time T3 will be emitted
Pass to the ground base navigation beacon signal generation and sending module.
Ground base navigation beacon signal generates and sending module at the T3 moment generates and emit ground navigation beacon signals.
The ground base navigation beacon receiver receives and Ground Treatment navigation beacon signals, to obtain self-position letter
Breath.
Further, ground base navigation beacon receiver mainly includes digital ground multimedia broadcast receiving module, ground base navigation
Module, ground base navigation beacon acquisition and tracking module and ground base navigation beacon locating module are just estimated in beacon database, position.
The digital ground multimedia broadcast receiving module receives and demodulates digital ground multimedia broadcast signal, thus
To the geographical coordinate of the ground base navigation beacon auxiliary information and digital ground multimedia broadcast transmitting station.Remember the digital ground
The geographical coordinate of multimedia broadcasting transmitting station is that result is just estimated in position.
The digital ground multimedia broadcast receiving module just estimates the ground in module output transmitting broadcasting station to the position
Manage coordinate.
Ground base navigation beacon database receives the ground base navigation letter that the digital ground multimedia broadcast receiving module is sent
Mark auxiliary information and position are just estimated as a result, and just estimating result according to position and auxiliary information determines that ground navigation beacon transmitter expands
Frequency code collection I.The ground base navigation beacon spreading code set II that ground base navigation beacon database can receive is ground base navigation
The subset of beacon spreading code set I.
Further, the ground base navigation beacon auxiliary information mainly includes that the geographical of ground base navigation beacon sits
Spreading code, the modulates information mode of ground base navigation beacon, ground base navigation used by mark, ground base navigation beacon
Whether the transmission power of beacon, the signal cover of ground base navigation beacon and ground base navigation beacon
In effective working condition.
Ground base navigation beacon receiver is just estimated as a result, retrieve ground base navigation beacon database according to position, will be currently at
Effective working condition, coverage area include that the spreading code for the ground base navigation beacon that result is just estimated in position is included in ground base navigation
In beacon spreading code set I.
Just estimate the geographical seat that module receives the transmitting broadcasting station from digital ground multimedia broadcast receiving module in position
Mark just estimates result as position.
Ground base navigation beacon acquisition and tracking module captures and tracks ground base navigation beacon signal according to the spreading code set, from
Measurement amount is extracted in the ground base navigation beacon signal of tracking, and exports measurement amount.
Ground base navigation beacon locating module positions ground navigation beacon receiver.
The method that a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast is positioned, mainly include with
Lower step:
1) digital ground multimedia broadcast transmitting station emits digital ground multimedia broadcast signal, and it is more to set digital ground
Media broadcast signal superframe header pseudo-random sequence generalized reference arrival time T1.
2) ground base navigation beacon tracks and captures the digital ground multimedia broadcast signal, and records digitally
The arrival time T2 of the superframe header pseudo-random sequence of face multimedia broadcast signal.
3) it calculates the arrival time T2 of digital ground multimedia broadcast signal superframe header pseudo-random sequence and generalized reference arrives
Up to the time difference Dt between time T1.
Calculate the time difference between the arrival time T2 of the superframe header pseudo-random sequence and generalized reference arrival time T1
The key step of Dt is as follows:
3.1) the navigation satellite tracking situation of satellite navigation receiver is continued to monitor.
3.2) when satellite navigation receiver track navigation satellite is all right, the k+1 superframe header pseudorandom is obtained
The arrival time T2 of sequence, and constitute set { T20, T21, T23..., T2k}。
Judge that there are mainly two types of for all right scheme of satellite navigation receiver track navigation satellite:
I) when satellite navigation receiver receives the signal of M or more navigation satellite, tracking situation is good.
II) when receiving M or more navigation satellite and all pseudo- square residual errors are less than L, tracking situation is good.
Based on set { T20, T21, T23..., T2kInner each element, time difference Dt is calculated, to obtain time difference sequence
Arrange D0-k={ dt0,dt1,dt2,…dtk}。
3.3) according to time difference sequence D0-kThe time difference D at line solver current timetk。
Solve the time difference D at current timetkKey step it is as follows:
3.3.1 the time difference sequence D at N number of moment in the past) is calculatedNK={ dtk-N+1,dtk-N+2..., dtkMean valueWith
Root-mean-square error σt。
3.3.2 the time difference sequence D in N number of moment) is calculatedNK={ dtk-N+1,dtk-N+2..., dtkIn each element and σt
Between absolute value of the difference x, if the σ of x > 3t, then the corresponding element of x is eliminated, to obtain the time difference sequence in updated N number of moment
Arrange D'NK。
3.3.3) according to the time difference sequence D in updated N number of moment 'NKObtain Dtk。
3.4) when completely cannot and/or well any navigation satellite signal cannot be traced into, D is kepttkIt is constant, and not more
New D0-k。
4) according to time difference Dt, ground base navigation beacon adjusts the transmitting reference time of ground base navigation beacon signal
T3, so that T3=T2-Dtk。
The key step that ground base navigation beacon adjusts the transmitting reference time T3 of ground base navigation beacon signal is as follows:
4.1) ground base navigation beacon safeguards one 125 milliseconds of counter, the clock cycle T of countercIt is as follows
It is shown:
Tc=1/fc。 (1)
In formula, fcFor counter clock nominal frequency.
The initial value that the counter counts is 0, maximum value 0.125fc-1。
4.2) start counter in arrival time T1 of presently described superframe header pseudo-random sequence.
4.3) when the counting of counter reaches maximum value, current time and the closest superframe header pseudorandom are calculated
The difference of the arrival time of sequence, and it is denoted as k moment count difference Dck。
4.4) according to k moment count difference DckLocal clock frequency is finely tuned, makes to obtain when counter counts count to maximum value next time
Count difference, that is, k+1 moment count difference the Dc obtainedk+1Reduce.
4.5) step 3 and step 4 are repeated, so that counter is counted as at the time of maximum value correspond to and closest described surpasses
The poor D of frame head pseudo-random sequence arrival timeCMaintain minimum state.At this point, note counter be counted as maximum value it is corresponding when
It carves at the time of be that counter is counted as maximum value and corresponds to.
5) ground base navigation beacon emits ground navigation beacon signals at the T3 moment.
The method that ground base navigation beacon emits ground navigation beacon signals, is divided into following steps:
5.1) the base slot length of time division multiple acess is set as 125 milliseconds.Determine that the ground is led according to conflict avoiding rule
The exclusive transmission time slot of boat beacon and exclusive spreading code.
5.2) ground base navigation beacon is led in the exclusive transmission time slot using the exclusive spreading code transmitting ground
Boat beacon signal.
6) ground base navigation beacon receiver receives ground base navigation beacon signal, and determines ground navigation beacon receiver
Position.
Ground base navigation beacon receiver receives ground base navigation beacon signal, and positions to ground navigation beacon receiver
Method, be divided into following steps:
6.1) the digital ground multimedia broadcast receiving module primarily determines digital ground multimedia broadcast transmitting station
Result is just estimated to get to position in geographical location.
6.2) result is just estimated according to position and ground base navigation beacon auxiliary information determines that ground navigation beacon transmitter is spread
Code collection I.
Ground base navigation beacon receiver just estimated according to position result and the determination of ground base navigation beacon auxiliary information can ground lead
Navigate beacon spreading code set I, is divided into following steps:
6.3) according to the spreading code set I, the capture of ground base navigation beacon receiver and tracking ground base navigation beacon signal.
6.4) ground base navigation beacon receiver extracts measurement amount from the tracking ground base navigation beacon signal captured, thus
The positioning of ground base navigation beacon receiver.The measurement amount mainly includes intercarrier second, number week and puppet of ground base navigation beacon signal
Away from.
The solution have the advantages that unquestionable.The present invention is led using digital ground multimedia broadcast signal as ground
The synchronization means of boat beacon and the navigation supplementary means of receiver, multiple ground base navigation beacons are using digitally
Face multimedia broadcast signal carries out time synchronization, overcomes existed system to the Dependence Problem of satellite navigation.Ground of the invention
Navigation locating method and system realize the synchronization between ground base navigation beacon using digital ground multimedia broadcast signal,
Overcome the dependence to satellite navigation and positioning time service.
Detailed description of the invention
Fig. 1 is the synchronous ground base navigation positioning system block diagram of digital ground multimedia broadcast according to the present invention；
Fig. 2 is the four-layer structure of digital ground multimedia broadcast signal multi-frame；
Fig. 3 is digital ground multimedia broadcast signal frame structure；
Fig. 4 is ground base navigation beacon composition block diagram according to the present invention；
Fig. 5 is ground base navigation beacon receiver composition block diagram according to the present invention；
Fig. 6 is the synchronous ground base navigation localization method flow chart of digital ground multimedia broadcast according to the present invention；
Fig. 7 be it is according to the present invention estimation superframe header pseudo-random sequence arrival time and generalized reference time between when
Between poor method flow diagram；
Fig. 8 is the transmitting reference time that ground base navigation beacon according to the present invention adjusts ground base navigation beacon signal
Method flow diagram.
Specific embodiment
Below with reference to embodiment, the invention will be further described, but should not be construed the above-mentioned subject area of the present invention only
It is limited to following embodiments.Without departing from the idea case in the present invention described above, according to ordinary skill knowledge and used
With means, various replacements and change are made, should all include within the scope of the present invention.
Embodiment 1:
Digital ground multimedia broadcast of the present invention, i.e. DTMB (Digital Terrestrial Multimedia
Broadcasting) technology refers to China's terrestrial DTV transmission standard to be that " GB20600-2006 digital TV ground is wide
Broadcast Transmission system frame structure, Channel Coding and Modulation " and its evolution technology be representative Digital Terrestrial Television Broadcast technology.
Fig. 2 is the four-layer structure of digital ground multimedia broadcast signal multi-frame.H represents hour in figure, and min represents minute,
Ms represents millisecond, and us represents microsecond, and am represents the morning, and pm represents afternoon, PN sequence, that is, pseudo-random sequence.According to " GB20600-
2006 digital television ground broadcast transmission system frame structures, Channel Coding and Modulation ", digital ground multimedia broadcast data frame knot
Totally four layers of structure.The basic unit of data frame structure is signal frame, and signal frame is made of frame head and frame two parts.Superframe is defined as
One group of signal frame.Framing is defined as one group of superframe.The top layer of frame structure becomes day frame (Calendar Day Frame, CDF).Letter
Number structure is the period, and synchronous with natural time holding.The time span of superframe is 125 milliseconds, and 8 superframes are 1 microsecond, this
Sample is convenient for and timing system prover time.In superframe first to signal frame definition headed by frame, by the relevant information of system information
Instruction.Signal frame is the basic unit of system frame structure, and a signal frame is made of frame head and frame two parts time-domain signal.Frame
Head (7.56Msps) identical with the baseband signalling rate of frame signal.Frame head part is made of pseudo-random sequence, and pillow length has three
Kind option.Header signal is using the identical 4QAM modulation in the road I and the road Q.Body section include 36 symbols system information and
The data of 3744 symbols amount to 3780 symbols.Frame length is 500 microseconds (3780 × 1/7.56 microsecond).
Fig. 3 is digital ground multimedia broadcast signal frame structure.As shown in figure 3, digital ground multimedia broadcast signal frame
It is made of frame head and frame two parts, in order to adapt to different application, defines three kinds of optional frame head modes and corresponding signal
Frame structure, see in Fig. 2 a), b), c).The frame length of signal frame corresponding to three kinds of frame head modes and the length of superframe are all protected
It holds constant.For the frame structure in figure a), one superframe of every 255 signal frames composition (225 × 4200 × 1/7.56 microsecond=
125 milliseconds).For the frame structure in Fig. 3 b), every 216 signal frames form superframe (216 × 4375 × 1/7.56 microsecond
=125 milliseconds).For the frame structure in Fig. 3 c), every 200 signal frames constitute a superframe, and (200 × 4725 × 1/7.56 is micro-
Second=125 milliseconds).Each signal frame includes one by the frame head of PN Sequence composition and the frame being made of data block
Body.
A kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast disclosed by the invention is exactly to utilize number
PN sequence in ground multimedia broadcast singal frame structure realizes time synchronization.
Embodiment 2:
A kind of ground base navigation positioning system that digital ground multimedia broadcast is synchronous, as shown in Figure 1, Figure 4, Figure 5.
Fig. 3 is the synchronous ground base navigation positioning system block diagram of digital ground multimedia broadcast according to the present invention.Such as Fig. 3 institute
Show, the synchronous ground base navigation positioning system of digital ground multimedia broadcast according to the present invention, including digital ground multimedia are wide
Broadcast transmitting station, Global Navigation Satellite System, ground base navigation beacon and ground base navigation beacon receiver.
The digital ground multimedia broadcast transmitting station emits digital ground multimedia broadcast signal.
The Global Navigation Satellite System emits satellite navigation signals.Generally, global positioning system is main
Including the space-based middle orbit radio-navigation positioning system that GPS, Beidou, Galileo, GLONASS navigation satellite etc. are common.
The ground base navigation beacon captures and tracks the digital ground multimedia broadcast signal, calculates digitally
The arrival time of face multimedia broadcast signal superframe header pseudo-random sequence.The ground base navigation beacon also receives satellite and leads
Navigate signal, obtains self-position and UTC Universal Time Coordinated, calculates the arrival time of the pseudo-random sequence and the difference of UTC Universal Time Coordinated
Value.Further, the ground base navigation beacon is raw on the basis of the arrival time of the pseudo-random sequence and the difference
At the ground base navigation beacon signal with transmitting and other ground base navigation beacon time synchronizations.
It is to be appreciated that ground base navigation beacon refers to emits a kind of the wireless of similar satellite navigation signals on the ground
The device of electric signal, and pseudo satellite, pseudolite can generally referred to as emit and satellite positioning and navigation system same frequency radio location signals
The special ground base navigation beacon of one kind.
The ground base navigation beacon receiver receives and Ground Treatment navigation beacon signals, to obtain self-position letter
Breath.
Fig. 4 is ground base navigation beacon composition block diagram according to the present invention.As shown in figure 4, the ground base navigation
Beacon further comprises digital ground multimedia broadcast acquisition and tracking module, satellite navigation receiving module, ground base navigation
Beacon transmission time adjusts module and ground base navigation beacon signal generates and sending module.
The satellite navigation receiving module receives and processes the satellite navigation signals, obtains generalized reference arrival time
T1, and the generalized reference arrival time T1 is passed into the ground base navigation beacon transmission time and adjusts module.
The digital ground multimedia broadcast acquisition and tracking module tracks simultaneously capture digital ground multimedia broadcast signal.Institute
It states digital ground multimedia broadcast acquisition and tracking module and calculates digital ground multimedia broadcast signal superframe header pseudo-random sequence
Arrival time T2, and arrival time T2 is passed into the ground base navigation beacon transmission time and adjusts module.
Ground base navigation beacon transmission time adjustment module calculate digital ground multimedia broadcast signal superframe header puppet with
Time difference Dt between the arrival time T2 and generalized reference arrival time T1 of machine sequence.According to time difference Dt, the ground is led
The transmitting reference time T3 for beacon transmission time adjustment module adjustment ground base navigation beacon signal of navigating, and reference time T3 will be emitted
Pass to the ground base navigation beacon signal generation and sending module.
Ground base navigation beacon signal generates and sending module at the T3 moment generates and emit ground navigation beacon signals.
Fig. 5 is ground base navigation beacon receiver composition block diagram according to the present invention.The ground base navigation beacon receiver connects
Receipts and Ground Treatment navigation beacon signals, to obtain own location information.As shown in figure 5, the ground base navigation beacon reception
Machine further comprises digital ground multimedia broadcast receiving module, ground base navigation beacon database, module is just estimated in position, ground is led
Beacon acquisition and tracking module of navigating and ground base navigation beacon locating module.
The digital ground multimedia broadcast receiving module receives and demodulates digital ground multimedia broadcast signal, thus
To the geographical coordinate of the ground base navigation beacon auxiliary information and digital ground multimedia broadcast transmitting station.Remember the digital ground
The geographical coordinate of multimedia broadcasting transmitting station is that result is just estimated in position.
The digital ground multimedia broadcast receiving module just estimates the ground in module output transmitting broadcasting station to the position
Manage coordinate.
Ground base navigation beacon database receives the ground base navigation letter that the digital ground multimedia broadcast receiving module is sent
Mark auxiliary information and position are just estimated as a result, and just estimating result according to position and auxiliary information determines that ground navigation beacon transmitter expands
Frequency code collection I.The ground base navigation beacon spreading code set II that ground base navigation beacon database can receive is ground base navigation
The subset of beacon spreading code set I.
Further, the ground base navigation beacon auxiliary information mainly includes that the geographical of ground base navigation beacon sits
Spreading code, the modulates information mode of ground base navigation beacon, ground base navigation used by mark, ground base navigation beacon
Whether the transmission power of beacon, the signal cover of ground base navigation beacon and ground base navigation beacon
In effective working condition.
Ground base navigation beacon receiver is just estimated as a result, retrieve ground base navigation beacon database according to position, will be currently at
Effective working condition, coverage area include that the spreading code for the ground base navigation beacon that result is just estimated in position is included in ground base navigation
In beacon spreading code set I.
Just estimate the geographical seat that module receives the transmitting broadcasting station from digital ground multimedia broadcast receiving module in position
Mark just estimates result as position.
Ground base navigation beacon acquisition and tracking module captures and tracks ground base navigation beacon signal according to the spreading code set, from
Measurement amount is extracted in the ground base navigation beacon signal of tracking, and exports measurement amount.
Ground base navigation beacon locating module positions ground navigation beacon receiver.
The output end connection ground base navigation beacon transmission time of digital ground multimedia broadcast acquisition and tracking module adjusts mould
One input terminal of block.
One of the output end connection ground base navigation beacon database of digital ground multimedia broadcast receiving module is defeated
Enter end, another output link position just estimates the input terminal of module.
Just estimate an input terminal of the output end connection ground base navigation beacon database of module in position.
The input terminal of the another output connection ground base navigation beacon acquisition and tracking module of ground base navigation beacon database.
The input terminal of the output end connection ground base navigation beacon locating module of ground base navigation beacon acquisition and tracking module.
Ground base navigation beacon transmission time adjusts the output of another input terminal connection satellite navigation receiving module of module
End.The output end connection ground base navigation beacon signal that ground base navigation beacon transmission time adjusts module generates and sending module.
Digital ground multimedia broadcast acquisition and tracking module, satellite navigation receiving module and ground base navigation beacon signal generate
Respective antenna is respectively coupled with sending module.
Embodiment 3:
A kind of method that the ground base navigation positioning system that digital ground multimedia broadcast is synchronous is positioned, such as Fig. 6, Fig. 7
With shown in Fig. 8.
Fig. 6 is the synchronous ground base navigation localization method flow chart of digital ground multimedia broadcast according to the present invention.Such as Fig. 6
Method shown, that the synchronous ground base navigation positioning system of digital ground multimedia broadcast according to the present invention is positioned, mainly
The following steps are included:
1) digital ground multimedia broadcast transmitting station emits digital ground multimedia broadcast signal, and it is more to set digital ground
Media broadcast signal superframe header pseudo-random sequence generalized reference arrival time T1.
2) ground base navigation beacon tracks and captures the digital ground multimedia broadcast signal, and records digitally
The arrival time T2 of the superframe header pseudo-random sequence of face multimedia broadcast signal.
3) it calculates the arrival time T2 of digital ground multimedia broadcast signal superframe header pseudo-random sequence and generalized reference arrives
Up to the time difference Dt between time T1.
As shown in fig. 7, calculate the superframe header pseudo-random sequence arrival time T2 and generalized reference arrival time T1 it
Between time difference Dt key step it is as follows:
3.1) the navigation satellite tracking situation of satellite navigation receiver is continued to monitor.
3.2) when satellite navigation receiver track navigation satellite is all right, the k+1 superframe header pseudorandom is obtained
The arrival time T2 of sequence, and constitute set { T20, T21, T23..., T2k}。
Judge that there are mainly two types of for all right scheme of satellite navigation receiver track navigation satellite:
A) when satellite navigation receiver receives the signal of M or more navigation satellite, tracking situation is good.This implementation
Example sets M as 8.
B) when receiving M or more navigation satellite and all pseudo- square residual errors are less than L, tracking situation is good.This implementation
Example sets L as 3 meters.
Based on set { T20, T21, T23..., T2kInner each element, time difference Dt is calculated, to obtain time difference sequence
Arrange D0-k={ dt0,dt1,dt2,…dtk}。
3.3) according to time difference sequence D0-kThe time difference D at line solver current timetk。
Solve the time difference D at current timetkKey step it is as follows:
3.3.1 the time difference sequence D at N number of moment in the past) is calculatedNK={ dtk-N+1,dtk-N+2..., dtkMean valueThe side and
Equal root error σt。
3.3.2 the time difference sequence D in N number of moment) is calculatedNK={ dtk-N+1,dtk-N+2..., dtkIn each element and σt
Between absolute value of the difference x, if the σ of x > 3t, then the corresponding element of x is eliminated, to obtain the time difference sequence in updated N number of moment
Arrange D'NK。
3.3.3) according to the time difference sequence D in updated N number of moment 'NKCalculate Dtk。
Further, according to D'NKCalculate DtkMethod first is that allowing DtkEqual to D'NKMean value, another method is to adopt
With filtering method, such as finite impulse response filtering or infinite impulse response filter method.The example of infinite impulse response filter method
Son is, sets coefficient a and b, allows a+b=1, and a and b are not 0, Dtk=a*Dtk-1+b*dtk.Usual a is far longer than b, * generation
Table multiplication, for example a=0.99 is taken, b=0.01.
Further, time difference DtkIt can also take over the time difference { dt at N number of momentk-N+1,dtk-N+2,…dtkMean value.
3.4) when completely cannot and/or well any navigation satellite signal cannot be traced into, Dt is keptkIt is constant, and not
Update D0-k。
Further, generalized reference time T1 is time system used by ground base navigation beacon, the usually world
Universal time coordinated, sometimes also using when GPS or when Beidou.Due to the every 125 milliseconds of appearance of digital ground multimedia broadcast signal superframe header
Once, remember that the delay between the arrival time and generalized reference time of presently described superframe header pseudo-random sequence is Dtk, a upper institute
Stating the delay between the arrival time of superframe header pseudo-random sequence and generalized reference time is Dtk-1。
Further, when calculating reference time and the arrival of the superframe header pseudo-random sequence of satellite navigation receiver output
Between difference Dt another method, mainly comprise the steps that
I) digital ground multimedia broadcast signal transmitting broadcasting station carries number in digital ground multimedia broadcast signal
The geographical coordinate in word ground multimedia broadcast signal transmission broadcasting station.
II) ground base navigation beacon demodulates the digital ground multimedia broadcast signal, obtains geographical seat therein
Mark.
III) ground base navigation beacon determines the geographical coordinate of itself using satellite navigation receiver.
IV) ground base navigation beacon is sat using the geography in digital ground multimedia broadcast signal transmitting broadcasting station
Mark, ground base navigation beacon itself geographical coordinate calculate at a distance from digital ground multimedia broadcast signal transmitter,
It is denoted as d, further obtains Dt=d/c, c is the light velocity here.
It, can also be manually by digital ground multimedia broadcast signal transmitting broadcasting station in order to further reduce the cost
The geographical coordinate of geographical coordinate, ground base navigation beacon itself is input to ground base navigation beacon and calculates d, or even straight
It meets the d that calculates using other means of input or Dt gives ground base navigation beacon.
4) according to time difference Dt, ground base navigation beacon adjusts the transmitting reference time of ground base navigation beacon signal
T3, so that T3=T2-Dtk。
Such as Fig. 8, ground base navigation beacon adjusts the main step of the transmitting reference time T3 of ground base navigation beacon signal
It is rapid as follows:
4.1) ground base navigation beacon safeguards one 125 milliseconds of counter, the clock cycle T of countercIt is as follows
It is shown:
Tc=1/fc。 (1)
In formula, fcFor counter clock nominal frequency, unit is hertz.
The initial value that the counter counts is 0, maximum value 0.125fc-1。
4.2) start counter in arrival time T1 of presently described superframe header pseudo-random sequence.Arrival time T1=125
Millisecond-Dtk。
4.3) when the counting of counter reaches maximum value, current time and the closest superframe header pseudorandom are calculated
The difference of the arrival time of sequence, and it is denoted as k moment count difference Dck。
4.4) according to k moment count difference DckLocal clock frequency is finely tuned, makes to obtain when counter counts count to maximum value next time
Count difference, that is, k+1 moment count difference the Dc obtainedk+1Reduce.
4.5) step 3 and step 4 are repeated, so that counter is counted as at the time of maximum value correspond to and closest described surpasses
The poor D of frame head pseudo-random sequence arrival timeCMaintain minimum state.At this point, note counter be counted as maximum value it is corresponding when
It carves at the time of be that counter is counted as maximum value and corresponds to.
5) ground base navigation beacon emits ground navigation beacon signals at the T3 moment.Emit ground navigation beacon signals
When, ground base navigation beacon adds the basic technology system of CDMA using time division multiple acess.Wherein time division multiple acess is main
Effect is the near-far interference for overcoming multi-transmitter, and the main function of CDMA is to carry out high precision wireless electrical measurement by spreading code
Amount.
The method that ground base navigation beacon emits ground navigation beacon signals, is divided into following steps:
5.1) the base slot length of time division multiple acess is set as 125 milliseconds.Determine that the ground is led according to conflict avoiding rule
The exclusive transmission time slot of boat beacon and exclusive spreading code.125 milliseconds are base slot length, can also further by
125 milliseconds are divided into multiple sub-slots, for example are divided into 5 long 25 milliseconds of time slot or 25 long 5 milliseconds of time slot, very
To 125 1 millisecond of time slot.Another mode is to be combined multiple 125 milliseconds to constitute a longer time slot.
5.2) ground base navigation beacon is led in the exclusive transmission time slot using the exclusive spreading code transmitting ground
Boat beacon signal.Generally navigation message is modulated in spreading code and is sent.Due to the presence of navigation message, ground will limit
The sensitivity of navigation beacon receiver.In fact, ground base navigation beacon does not move, accordingly it is also possible to which ground is led
The location information of boat beacon is distributed to ground base navigation beacon receiver, therefore ground base navigation beacon by additional channel
Transmitter can not also send navigation message and only send spreading code.
6) ground base navigation beacon receiver receives ground base navigation beacon signal, and resolves own location information.When ground is led
When the navigation beacon signals that boat beacon is sent only have ranging code without navigation message, additional means is needed to obtain ground
The position of base navigation beacon transmitter.
Since ground base navigation beacon may be more, if ground base navigation beacon receiver does not have ground base navigation beacon
The time of the prior information of transmitter spreading code, blind capture can be long.To overcome these disadvantages, ground according to the present invention is led
Boat beacon receiver further accelerates position fixing process by receiving digital ground multimedia broadcast signal, and detailed process is divided
For following steps:
6.1) geographical location of digital ground multimedia broadcast transmitting station is demodulated from the digital ground multimedia broadcast,
Result is just estimated as self-position.
6.1.1) transmitting of digital ground multimedia broadcast transmitting station carries digital ground multimedia broadcast transmitting station geography and sits
Target digital ground multimedia broadcast signal.
6.1.2) ground base navigation beacon receiver demodulates the digital ground multimedia broadcast signal, and it is more to obtain digital ground
The geographical coordinate of media broadcast transmitting station.
6.1.3) result is just estimated using the geographical coordinate of digital ground multimedia broadcast transmitting station as position.
6.2) result is just estimated according to position and ground base navigation beacon auxiliary information determines that ground navigation beacon transmitter is spread
Code collection I.
Ground base navigation beacon receiver just estimated according to position result and the determination of ground base navigation beacon auxiliary information can ground lead
Navigate beacon spreading code set I, is divided into following steps:
6.2.1) digital ground multimedia broadcast transmitting station carries ground base navigation in digital ground multimedia broadcast signal
Beacon auxiliary information.
6.2.2) ground base navigation beacon receiver demodulates the digital ground multimedia broadcast signal, and ground base navigation is believed
Mark auxiliary information is saved in ground base navigation beacon database.
6.2.3) just estimated as a result, retrieve ground base navigation beacon database according to position, will be currently at effective working condition,
The spreading code for the ground base navigation beacon that coverage area just estimates result comprising position is included in ground base navigation beacon receiver can
The ground base navigation beacon spreading code set that can be received, i.e. ground base navigation beacon spreading code set I.
6.3) according to the spreading code set I, the capture of ground base navigation beacon receiver and tracking ground base navigation beacon signal.
6.4) ground base navigation beacon receiver extracts measurement amount from the tracking ground base navigation beacon signal captured, thus
The positioning of ground base navigation beacon receiver.Similar with satellite navigation receiver, the measurement amount mainly includes ground base navigation beacon
Intercarrier second, number week and pseudorange of signal.
Claims (10)
1. a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast, it is characterised in that: main includes digitally
Face multimedia broadcasting transmitting station, the Global Navigation Satellite System, ground base navigation beacon and ground base navigation beacon reception
Machine；
The digital ground multimedia broadcast transmitting station emits digital ground multimedia broadcast signal；
The Global Navigation Satellite System mainly includes GPS, Beidou, GLONASS and Galileo system satellite navigation system.
The ground base navigation beacon captures and tracks the digital ground multimedia broadcast signal, and it is more to calculate digital ground
The arrival time of media broadcast signal superframe header pseudo-random sequence；
The ground base navigation beacon also receives satellite navigation signals, obtains self-position and UTC Universal Time Coordinated, calculates institute
State the arrival time of pseudo-random sequence and the difference of UTC Universal Time Coordinated；
The ground base navigation beacon was generated and is sent out on the basis of the arrival time of the pseudo-random sequence and the difference
Penetrate the ground base navigation beacon signal with other ground base navigation beacon time synchronizations；
The ground base navigation beacon receiver receives and Ground Treatment navigation beacon signals, to obtain own location information.
2. a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast according to claim 1, feature
Be: the ground base navigation beacon mainly includes that digital ground multimedia broadcast acquisition and tracking module, satellite navigation connect
It receives module, ground base navigation beacon transmission time adjustment module and ground base navigation beacon signal generates and sending module；
The satellite navigation receiving module receives and processes the satellite navigation signals, obtains generalized reference arrival time T1, and
The generalized reference arrival time T1 is passed into the ground base navigation beacon transmission time adjustment module；
The digital ground multimedia broadcast acquisition and tracking module tracks simultaneously capture digital ground multimedia broadcast signal；The number
Word ground multimedia broadcasts the arrival that acquisition and tracking module calculates digital ground multimedia broadcast signal superframe header pseudo-random sequence
Time T2, and arrival time T2 is passed into the ground base navigation beacon transmission time and adjusts module；
The ground base navigation beacon transmission time adjustment module calculates digital ground multimedia broadcast signal superframe header pseudorandom sequence
Time difference Dt between the arrival time T2 and generalized reference arrival time T1 of column；According to time difference Dt, the ground base navigation letter
The transmitting reference time T3 of launch time adjustment module adjustment ground base navigation beacon signal is marked, and will transmitting reference time T3 transmitting
To ground base navigation beacon signal generation and sending module；
Ground base navigation beacon signal generates and sending module at the T3 moment generates and emit ground navigation beacon signals.
3. a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast according to claim 1, feature
Be: ground base navigation beacon receiver mainly include digital ground multimedia broadcast receiving module, ground base navigation beacon database,
Just estimate module, ground base navigation beacon acquisition and tracking module and ground base navigation beacon locating module in position；
The digital ground multimedia broadcast receiving module receives and demodulates digital ground multimedia broadcast signal, to obtain institute
State the geographical coordinate of ground base navigation beacon auxiliary information and digital ground multimedia broadcast transmitting station；
The digital ground multimedia broadcast receiving module just estimates geographical the sitting in module output transmitting broadcasting station to the position
Mark；
It is auxiliary that ground base navigation beacon database receives the ground base navigation beacon that the digital ground multimedia broadcast receiving module is sent
Supplementary information and position are just estimated as a result, and just estimating result according to position and auxiliary information determines ground navigation beacon transmitter spreading code
Collect I；The ground base navigation beacon spreading code set II that ground base navigation beacon database can receive is ground base navigation beacon
The subset of transmitter spreading code set I；
Ground base navigation beacon receiver is just estimated as a result, retrieve ground base navigation beacon database according to position, will be currently at effective
Working condition, coverage area include that the spreading code for the ground base navigation beacon that result is just estimated in position is included in ground base navigation beacon
In transmitter spreading code set I；
The geographical coordinate that module receives the transmitting broadcasting station from digital ground multimedia broadcast receiving module is just estimated in position, makees
Result is just estimated for position；
Ground base navigation beacon acquisition and tracking module captures and tracks ground base navigation beacon signal according to the spreading code set, from tracking
Ground base navigation beacon signal in extract measurement amount, and export measurement amount；
Ground base navigation beacon locating module positions ground navigation beacon receiver.
4. a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast according to claim 3, feature
It is, the ground base navigation beacon auxiliary information mainly includes the geographical coordinate of ground base navigation beacon, ground base navigation
Spreading code used by beacon, the modulates information mode of ground base navigation beacon, ground base navigation beacon
Transmission power, the signal cover of ground base navigation beacon and ground base navigation beacon whether be in effective work
Make state.
5. a kind of ground base navigation positioning system synchronous using digital ground multimedia broadcast described in Claims 1-4 4 is determined
The method of position, which is characterized in that mainly comprise the steps that
1) digital ground multimedia broadcast transmitting station emits digital ground multimedia broadcast signal, and sets digital ground multimedia
Broadcast singal superframe header pseudo-random sequence generalized reference arrival time T1；
2) ground base navigation beacon tracks and captures the digital ground multimedia broadcast signal, and it is more to record digital ground
The arrival time T2 of the superframe header pseudo-random sequence of media broadcast signal；
2) when the arrival time T2 and generalized reference for calculating digital ground multimedia broadcast signal superframe header pseudo-random sequence are reached
Between time difference Dt between T1；
4) according to time difference Dt, ground base navigation beacon adjusts the transmitting reference time T3 of ground base navigation beacon signal, makes
Obtain T3=T2-Dtk；
5) ground base navigation beacon emits ground navigation beacon signals at the T3 moment, and key step is as follows:
5.1) the base slot length of time division multiple acess is set as 125 milliseconds；The ground base navigation letter is determined according to conflict avoiding rule
The exclusive transmission time slot of mark transmitter and exclusive spreading code；
5.2) ground base navigation beacon is believed in the exclusive transmission time slot using the exclusive spreading code transmitting ground base navigation
Mark signal；
6) ground base navigation beacon receiver receives ground base navigation beacon signal, and positions to ground navigation beacon receiver.
6. being carried out according to claim 1 to a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast described in 5
The method of positioning, it is characterised in that: calculate arrival time T2 and the generalized reference arrival time of the superframe header pseudo-random sequence
The key step of time difference Dt between T1 is as follows:
1) the navigation satellite tracking situation of satellite navigation receiver is continued to monitor；
2) when satellite navigation receiver track navigation satellite is all right, the k+1 superframe header pseudo-random sequence is obtained
Arrival time T2, and constitute set { T20, T21, T23..., T2k}；Based on set { T20, T21, T23..., T2kInner each member
Element calculates time difference Dt, to obtain time difference sequence D0-k={ dt0,dt1,dt2,…dtk}；
3) according to time difference sequence D0-kThe time difference D at line solver current timetk；
4) when completely cannot and/or well any navigation satellite signal cannot be traced into, D is kepttkIt is constant, and do not update D0-k。
7. a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast according to claim 6 is positioned
Method, it is characterised in that: solve the time difference D at current timetkKey step it is as follows:
1) the time difference sequence D at N number of moment in the past is calculatedNK={ dtk-N+1,dtk-N+2..., dtkMean valueAnd root-mean-square error
σt；
2) the time difference sequence D in N number of moment is calculatedNK={ dtk-N+1,dtk-N+2..., dtkIn each element and σtBetween it is poor
Absolute value x, if the σ of x > 3t, then eliminate the corresponding element of x, thus obtain time difference sequence D in updated N number of moment 'NK；
3) according to the time difference sequence D in updated N number of moment 'NKObtain Dtk。
8. a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast according to claim 6 is positioned
Method, it is characterised in that: ground base navigation beacon adjust ground base navigation beacon signal transmitting reference time T3 master
Want that steps are as follows:
1) ground base navigation beacon safeguards one 125 milliseconds of counter, the clock cycle T of countercIt is as follows:
Tc=1/fc； (1)
In formula, fcFor counter clock nominal frequency；
The initial value that the counter counts is 0, maximum value 0.125fc-1；
2) start counter in arrival time T1 of presently described superframe header pseudo-random sequence；
3) when the counting of counter reaches maximum value, current time and the closest superframe header pseudo-random sequence are calculated
The difference of arrival time, and it is denoted as k moment count difference Dck；
4) according to k moment count difference DckFinely tune local clock frequency, make next time counter counts count to the meter obtained when maximum value
Number difference is k+1 moment count difference Dck+1Reduce；
5) step 3 and step 4 are repeated, so that counter is counted as at the time of maximum value corresponds to and the closest superframe header is pseudo-
The poor D of random sequence arrival timeCMaintain minimum state；At this point, note counter is counted as at the time of maximum value corresponds to as meter
At the time of rolling counters forward is that maximum value corresponds to.
9. a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast according to claim 6 is positioned
Method, it is characterised in that: judge that there are mainly two types of for all right scheme of satellite navigation receiver track navigation satellite:
1) when satellite navigation receiver receives the signal of M or more navigation satellite, tracking situation is good；
2) when receiving M or more navigation satellite and all pseudo- square residual errors are less than L, tracking situation is good.
10. a kind of synchronous ground base navigation positioning system of digital ground multimedia broadcast according to claim 5 is determined
The method of position, it is characterised in that: ground base navigation beacon receiver receives ground base navigation beacon signal, and connects to ground navigation beacon
The method that receipts machine is positioned, is divided into following steps:
1) result is just estimated using the geographical location of digital ground multimedia broadcast transmitting station as position；
2) result is just estimated according to position and ground base navigation beacon auxiliary information determines ground navigation beacon transmitter spreading code set I；
3) according to the spreading code set I, the capture of ground base navigation beacon receiver and tracking ground base navigation beacon signal；
4) ground base navigation beacon receiver extracts measurement amount from the ground base navigation beacon signal of acquisition and tracking, thus ground base navigation
The positioning of beacon receiver；The measurement amount mainly includes intercarrier second, number week and pseudorange of ground base navigation beacon signal.
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