CN109000661A - A kind of indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint - Google Patents
A kind of indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint Download PDFInfo
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- CN109000661A CN109000661A CN201810729415.0A CN201810729415A CN109000661A CN 109000661 A CN109000661 A CN 109000661A CN 201810729415 A CN201810729415 A CN 201810729415A CN 109000661 A CN109000661 A CN 109000661A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of indoor navigation methods based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, method includes the following steps: step S1: according to indoor features of terrain, a set of pseudo satellite, pseudolite is laid at interval of certain area, forms cell of origin, a set of pseudo satellite, pseudolite will simulate eight satellite in orbit；Step S2: according to administrative center's received signal, obtaining No. PRN and ephemeris information of visible GNSS satellite, and No. PRN and ephemeris information are regulated and controled into each set pseudo satellite, pseudolite；Step S3: after the pseudo satellite, pseudolite after regulation is handled, the satellite-signal of the position of preset time and whole region centre coordinate is simulated and emitted to every set pseudo satellite, pseudolite；Solves the problems, such as the balance being difficult to realize between indoor positioning, the seamless switching of indoor external signal, positioning accuracy and cost in conventional art.
Description
Technical field
The present invention relates to indoor navigation field, especially a kind of indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint.
Background technique
As the location services application based on satellite is in outdoor successful realization, challenge has been gradated as in room
Such positioning service is provided under interior environment.Indoor positioning have extensive market value, especially large scale business body basement,
The population activities close quarters such as conference and exhibition center need to provide navigator fix service in confined space indoors for user.Due to room
Outer satellite positioning service is popularized, and user has got used to the correlation properties of outdoor positioning.So perfect indoor positioning service
Compatible high, implantable strong, the controllable advantage low with hardware cost of positioning accuracy should be provided simultaneously with.
On the other hand, GNSS signal itself is a kind of electromagnetic wave signal, it has all characteristics of electromagnetic characteristics, such as
Compare fragile vulnerable to interference etc.；Indoors in environment, due to the blocking of reinforced concrete, indoor GNSS receiver is usually all difficult to
GNSS signal is received, GNSS system is caused to be difficult to provide location navigation service indoors for user.For this purpose, gradually forming
The multiple indoors locating scheme such as Wi-Fi, bluetooth and UWB.Wherein Wi-Fi and bluetooth indoor positioning technologies have implantable strong
Advantage, and the positioning accuracy of UWB scheme is higher.These indoor positioning schemes solve the problems, such as it is some in indoor positioning, still
The balance being all difficult to realize between seamless switching, positioning accuracy and the cost of indoor external signal.
Summary of the invention
To solve problems of the prior art, the present invention provides a kind of interiors based on pseudo satellite, pseudolite carrier to noise ratio fingerprint
Air navigation aid solves and is difficult to realize indoor positioning, indoor positioning, the seamless switching of indoor external signal, positioning in conventional art
The problem of balance between precision and cost.
The technical solution adopted by the present invention is that a kind of indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, method packet
Include following steps:
Step S1: according to indoor features of terrain, laying a set of pseudo satellite, pseudolite at interval of certain area, forms cell of origin, and one
Set pseudo satellite, pseudolite will simulate eight satellite in orbit；
Step S2: according to administrative center's received signal, No. PRN and ephemeris information of visible GNSS satellite are obtained, by PRN
Number and ephemeris information regulation into each set pseudo satellite, pseudolite；
Step S3: after the pseudo satellite, pseudolite after regulation is handled, preset time and entire is simulated and emitted to every set pseudo satellite, pseudolite
The satellite-signal of the position of regional center coordinate；
Step S4: the satellite-signal simulated and emitted according to every set pseudo satellite, pseudolite regulates and controls eight pseudo satellite, pseudolites in every set pseudo satellite, pseudolite
The intensity of signal, and form carrier-to-noise ratio fingerprint；Signal strength sequence and the location information formation of point where pseudo satellite, pseudolite are reflected one by one
The relationship penetrated；
Step S5: after receiving Pseudolite signal, the carrier-to-noise ratio fingerprint of Pseudolite signal is obtained；
Step S6: according to the mapping relations of location information and carrier-to-noise ratio fingerprint, the centre coordinate of current user zone is determined；
Step S7: inertial navigation is utilized, determines coordinate of the user in cell.
Preferably, step S2 includes the following steps:
Step S21: the almanac information of GNSS satellite is obtained by network, is assessed by almanac information visible in the region
GNSS satellite；
Step S22: according to visible GNSS satellite, selecting the good satellite number combination of GDOP, and combine satellite number
No. PRN regulation is into each set pseudo satellite, pseudolite；
Step S23: according to GNSS satellite signal, intercepting the simple ephemeris information of corresponding satellite number in almanac, will be simple
Ephemeris information regulates and controls into each set pseudo satellite, pseudolite.
Preferably, step S21 almanac assessment level is, if pitch angle is greater than 5 °, for visible GPS satellite.
Preferably, step S3 includes the following steps:
Step S31: coordinate of the GNSS satellite under WGS-84 coordinate system is resolved according to ephemeris information and satellite orbit theory；
Step S32: positioning where setting the pseudo satellite, pseudolite for the default locating point position of every set pseudo satellite, pseudolite analog signal is small
The center in area；
Step S33: according to the coordinate of GNSS satellite coordinate and predeterminable area center, satellite in orbit predeterminable area center is resolved
Delay parameter；
Step S34: ionosphere and tropospheric correction are carried out to delay parameter, the delay parameter after being corrected；
Step S35: the delay parameter after correction is converted into code phase parameter and Doppler parameter；
Step S36: frequency displacement conversion is carried out to phase parameter and Doppler parameter, obtains carrier wave, C/A code and navigation message
Frequency control word and NCO phase；
Step S37: according to carrier wave, the frequency control word of C/A code and navigation message and NCO phase, by frequency synthesis skill
Art generates corresponding Pseudolite signal, and is sent by radio-frequency head.
Preferably, step S4 includes the following steps:
Step S41: signal strength is divided into high, low three gear of neutralization, the difference between every grade of signal strength is identical；
Step S42: according to the signal strength of three kinds of gears, the signal strength of eight road signals in every set pseudo satellite, pseudolite, shape are adjusted
At signal strength fingerprint；
Step S43: signal strength fingerprint is corresponding with the preset fixed position information of pseudo satellite, pseudolite, what formation mapped one by one
Relationship.
Preferably, step S6 includes the following steps:
Step S61: after receiving satellite-signal, by acquisition and tracking, can parse the signal strength of satellite, is formed to carry and be made an uproar
Compare fingerprint；
Step S62:, relative difference phase carrier-to-noise ratio between different according to the absolute intensity of different receivers carrier-to-noise ratio fingerprint
Together, carrier-to-noise ratio fingerprint is mapped as positioning coordinate.
Preferably, step S7 includes the following steps:
Step S71: after obtaining positioning coordinate, according to the inertial sensor in receiver, user can be primarily determined fixed
Coordinate in the cell of position；
Step S72: another cell of origin, the seat that locating module updates output are entered by a cell according to user
Mark deduces the movement velocity of user according to the coordinate that output updates；
Step S73: the velocity information of the user gone out by inference, the user coordinates speculated in conjunction with inertial navigation, thus it is speculated that under
Coordinate of the one moment user in cell.
A kind of indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint of the invention has the beneficial effect that:
The indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint is to be positioned by using pseudo satellite, pseudolite simulation synchronization
Region GPS satellite signal, the satellite-signal for receiving indoor and outdoor is identical, realizes the seamless switching of indoor and outdoor；And it establishes puppet and defends
Mapping relations of the star with respect to carrier to noise ratio fingerprint and cell localization coordinate.Which improve the defect of current indoor navigation location technology,
Low with hardware cost, positioning accuracy is high, the good feature of user experience.
Detailed description of the invention
Fig. 1 is a kind of general flow chart of the indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint of the present invention.
Fig. 2 is a kind of step S2 flow chart of the indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint of the present invention.
Fig. 3 is a kind of step S3 flow chart of the indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint of the present invention.
Fig. 4 is a kind of step S4 flow chart of the indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint of the present invention.
Fig. 5 is a kind of step S6 flow chart of the indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint of the present invention.
Fig. 6 is a kind of step S7 flow chart of the indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As shown in Figure 1, a kind of indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, method include the following steps:
Step S1: according to indoor features of terrain, laying a set of pseudo satellite, pseudolite at interval of certain area, forms cell of origin, and one
Set pseudo satellite, pseudolite will simulate eight satellite in orbit；
Step S2: according to administrative center's received signal, No. PRN and ephemeris information of visible GNSS satellite are obtained, by PRN
Number and ephemeris information regulation into each set pseudo satellite, pseudolite；
Step S3: after the pseudo satellite, pseudolite after regulation is handled, preset time and entire is simulated and emitted to every set pseudo satellite, pseudolite
The satellite-signal of the position of regional center coordinate；
Step S4: the satellite-signal simulated and emitted according to every set pseudo satellite, pseudolite regulates and controls eight pseudo satellite, pseudolites in every set pseudo satellite, pseudolite
The intensity of signal, and form carrier-to-noise ratio fingerprint；Signal strength sequence and the location information formation of point where pseudo satellite, pseudolite are reflected one by one
The relationship penetrated；
Step S5: after receiving Pseudolite signal, the carrier-to-noise ratio fingerprint of Pseudolite signal is obtained；
Step S6: according to the mapping relations of location information and carrier-to-noise ratio fingerprint, the centre coordinate of current user zone is determined；
Step S7: inertial navigation is utilized, determines coordinate of the user in cell.
As shown in Fig. 2, step S2 includes the following steps:
Step S21: the almanac information of GNSS satellite is obtained by network, is assessed by almanac information visible in the region
GNSS satellite；
Step S22: according to visible GNSS satellite, selecting the good satellite number combination of GDOP, and combine satellite number
No. PRN regulation is into each set pseudo satellite, pseudolite；
Step S23: according to GNSS satellite signal, intercepting the simple ephemeris information of corresponding satellite number in almanac, will be simple
Ephemeris information regulates and controls into each set pseudo satellite, pseudolite.
The almanac assessment level of this programme is, if pitch angle is greater than 5 °, for visible GPS satellite.
As shown in figure 3, step S3 includes the following steps:
Step S31: coordinate of the GNSS satellite under WGS-84 coordinate system is resolved according to ephemeris information and satellite orbit theory；
Step S32: positioning where setting the pseudo satellite, pseudolite for the default locating point position of every set pseudo satellite, pseudolite analog signal is small
The center in area；
Step S33: according to the coordinate of GNSS satellite coordinate and predeterminable area center, satellite in orbit predeterminable area center is resolved
Delay parameter；
Step S34: ionosphere and tropospheric correction are carried out to delay parameter, the delay parameter after being corrected；
Step S35: the delay parameter after correction is converted into code phase parameter and Doppler parameter；
Step S36: frequency displacement conversion is carried out to phase parameter and Doppler parameter, obtains carrier wave, C/A code and navigation message
Frequency control word and NCO phase；
Step S37: according to carrier wave, the frequency control word of C/A code and navigation message and NCO phase, by frequency synthesis skill
Art generates corresponding Pseudolite signal, and is sent by radio-frequency head.
As shown in figure 4, step S4 includes the following steps:
Step S41: signal strength is divided into high, low three gear of neutralization, the difference between every grade of signal strength is identical；
Step S42: according to the signal strength of three kinds of gears, the signal strength of eight road signals in every set pseudo satellite, pseudolite, shape are adjusted
At signal strength fingerprint；
Step S43: signal strength fingerprint is corresponding with the preset fixed position information of pseudo satellite, pseudolite, what formation mapped one by one
Relationship.
As shown in figure 5, step S6 includes the following steps:
Step S61: after receiving satellite-signal, by acquisition and tracking, can parse the signal strength of satellite, is formed to carry and be made an uproar
Compare fingerprint；
Step S62:, relative difference phase carrier-to-noise ratio between different according to the absolute intensity of different receivers carrier-to-noise ratio fingerprint
Together, carrier-to-noise ratio fingerprint is mapped as positioning coordinate.
As shown in fig. 6, step S7 includes the following steps:
Step S71: after obtaining positioning coordinate, according to the inertial sensor in receiver, user can be primarily determined fixed
Coordinate in the cell of position；
Step S72: another cell of origin, the seat that locating module updates output are entered by a cell according to user
Mark deduces the movement velocity of user according to the coordinate that output updates；
Step S73: the velocity information of the user gone out by inference, the user coordinates speculated in conjunction with inertial navigation, thus it is speculated that under
Coordinate of the one moment user in cell.
When the present embodiment is implemented again, the pseudo satellite, pseudolite indoor navigation method based on puppet point regulates and controls puppet by administrative center and defends
Star, while the pseudo satellite, pseudolite after regulation simulates area to be targeted GPS satellite signal, generates and sends Pseudolite signal；It can be by general
Logical GPS receiver receives Pseudolite signal, and exports pseudo- point coordinate；Again by adjusting the signal strength fingerprint of pseudo satellite, pseudolite,
Signal strength fingerprint is mapped as positioning coordinate, completes indoor navigation demand.
Pseudo satellite, pseudolite indoor navigation method based on puppet point improves the experience sense of user, with outdoor GNSS navigation use habit
It is identical；It is implantable strong, it is identical as GNSS satellite signal, it can be with the upgrading directly transplanting of GNSS；Hardware cost is low, is not necessarily to
Receiver section adjusts hardware, and cost is lower.
Claims (7)
1. a kind of indoor navigation method based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, which is characterized in that described method includes following steps:
Step S1: cell of origin is formed at interval of a set of pseudo satellite, pseudolite is equidistantly laid according to indoor features of terrain, a set of puppet is defended
Star will simulate eight satellite in orbit；
Step S2: according to administrative center's received signal, obtaining No. PRN and ephemeris information of visible GNSS satellite, by No. PRN and
Ephemeris information regulates and controls into each set pseudo satellite, pseudolite；
Step S3: after the pseudo satellite, pseudolite after regulation is handled, preset time and entire is simulated and emitted by every set pseudo satellite, pseudolite
The satellite-signal of the position of regional center coordinate；
Step S4: the satellite-signal simulated and emitted according to every set pseudo satellite, pseudolite regulates and controls eight Pseudolite signals in every set pseudo satellite, pseudolite
Intensity, and form carrier-to-noise ratio fingerprint；What the location information formation of point where signal strength sequence and pseudo satellite, pseudolite mapped one by one
Relationship；
Step S5: after receiving Pseudolite signal, the carrier-to-noise ratio fingerprint of Pseudolite signal is obtained；
Step S6: according to the mapping relations of location information and carrier-to-noise ratio fingerprint, the centre coordinate of current user zone is determined；
Step S7: inertial navigation is utilized, determines coordinate of the user in cell.
2. the indoor navigation method according to claim 1 based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, which is characterized in that the step
Rapid S2 includes the following steps:
Step S21: the almanac information of GNSS satellite is obtained by network, visible GNSS in the region is assessed by almanac information and is defended
Star；
Step S22: according to visible GNSS satellite, the good satellite number combination of GDOP is selected, and by No. PRN of satellite number combination
Regulate and control into each set pseudo satellite, pseudolite；
Step S23: according to GNSS satellite signal, the simple ephemeris information of corresponding satellite number is intercepted in almanac, by simple ephemeris
Information Regulating is into each set pseudo satellite, pseudolite.
3. the indoor navigation method according to claim 1 based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, which is characterized in that the step
Rapid S21 almanac assessment level is, if pitch angle is greater than 5 °, for visible GNSS satellite.
4. the indoor navigation method according to claim 1 based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, which is characterized in that the step
Rapid S3 includes the following steps:
Step S31: coordinate of the GNSS satellite under WGS-84 coordinate system is resolved according to ephemeris information and satellite orbit theory；
Step S32: cell of origin where setting the pseudo satellite, pseudolite for the default locating point position of every set pseudo satellite, pseudolite analog signal
Center；
Step S33: according to the coordinate of GNSS satellite coordinate and predeterminable area center, resolve satellite in orbit predeterminable area center when
Prolong parameter；
Step S34: ionosphere and tropospheric correction are carried out to delay parameter, the delay parameter after being corrected；
Step S35: the delay parameter after correction is converted into code phase parameter and Doppler parameter；
Step S36: frequency displacement conversion is carried out to phase parameter and Doppler parameter, obtains the frequency of carrier wave, C/A code and navigation message
Control word and NCO phase；
Step S37: raw by frequency synthesis technique according to carrier wave, the frequency control word of C/A code and navigation message and NCO phase
It is sent at corresponding Pseudolite signal, and by radio-frequency head.
5. the indoor navigation method according to claim 1 based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, which is characterized in that the step
Rapid S4 includes the following steps:
Step S41: signal strength is divided into high, low three gear of neutralization, the difference between every grade of signal strength is identical；
Step S42: according to the signal strength of three kinds of gears, the signal strength of eight road signals in every set pseudo satellite, pseudolite is adjusted, forms letter
Number intensity fingerprint；
Step S43: signal strength fingerprint is corresponding with the preset fixed position information of pseudo satellite, pseudolite, form the pass mapped one by one
System.
6. the indoor navigation method according to claim 1 based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, which is characterized in that the step
Rapid S6 includes the following steps:
Step S61: after receiving satellite-signal, by acquisition and tracking, the signal strength of satellite is parsed, forms carrier-to-noise ratio fingerprint；
Step S62: different according to the absolute intensity of different receivers carrier-to-noise ratio fingerprint, the relative difference between carrier-to-noise ratio is identical,
Carrier-to-noise ratio fingerprint is mapped as positioning coordinate.
7. the indoor navigation method according to claim 1 based on pseudo satellite, pseudolite carrier to noise ratio fingerprint, which is characterized in that the step
Rapid S7 includes the following steps:
Step S71: after obtaining positioning coordinate, according to the inertial sensor in receiver, primarily determine user in cell of origin
Coordinate；
Step S72: another cell of origin, the coordinate that locating module updates output, root are entered by a cell according to user
The movement velocity of user is deduced according to the coordinate that output updates；
Step S73: the velocity information of the user gone out by inference, the user coordinates speculated in conjunction with inertial navigation, thus it is speculated that lower a period of time
Carve coordinate of the user in cell.
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