CN109000661B - Indoor navigation method based on pseudolite carrier-to-noise ratio fingerprint - Google Patents
Indoor navigation method based on pseudolite carrier-to-noise ratio fingerprint Download PDFInfo
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- CN109000661B CN109000661B CN201810729415.0A CN201810729415A CN109000661B CN 109000661 B CN109000661 B CN 109000661B CN 201810729415 A CN201810729415 A CN 201810729415A CN 109000661 B CN109000661 B CN 109000661B
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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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Abstract
The invention discloses an indoor navigation method based on pseudolite carrier-to-noise ratio fingerprints, which comprises the following steps: step S1: according to indoor topographic features, a set of pseudolites are distributed in a certain area at intervals to form a positioning cell, and the set of pseudolites can simulate eight in-orbit satellites; step S2: acquiring PRN numbers and ephemeris information of visible GNSS satellites according to signals received by a management center, and regulating and controlling the PRN numbers and the ephemeris information to each set of pseudo satellites; step S3: after the regulated pseudolites are processed, each pseudolite simulates and transmits satellite signals of preset time and the central coordinates of the whole area; the problem of in the prior art be difficult to realize indoor location, seamless switching of indoor outer signal, location precision and the balanced between the cost is solved.
Description
Technical Field
The invention relates to the field of indoor navigation, in particular to an indoor navigation method based on pseudolite carrier-to-noise ratio fingerprints.
Background
With the successful implementation of satellite-based positioning service applications outdoors, challenges have gradually translated into providing such positioning services in indoor environments. Indoor positioning has wide market value, and particularly in large commercial basement, exhibition center and other densely populated areas, navigation positioning service needs to be provided for users in indoor closed space. Due to the popularity of outdoor satellite positioning services, users have become accustomed to the relevant characteristics of outdoor positioning. Therefore, the perfect indoor positioning service should have the advantages of high compatibility, strong implantation, controllable positioning precision and low hardware cost.
On the other hand, the GNSS signal itself is an electromagnetic wave signal having all the characteristics of electromagnetic wave characteristics, such as being vulnerable to interference and the like; in an indoor environment, due to the blockage of reinforced concrete, GNSS signals are generally difficult to be received by an indoor GNSS receiver, so that it is difficult for a GNSS system to provide positioning navigation services for users indoors. For this reason, various indoor positioning schemes such as Wi-Fi, bluetooth, and UWB have been gradually developed. The Wi-Fi and Bluetooth indoor positioning technology has the advantage of strong implantable performance, and the positioning accuracy of the UWB scheme is high. These indoor positioning solutions solve some of the problems in indoor positioning, but it is difficult to achieve a balance between seamless switching of indoor and outdoor signals, positioning accuracy, and cost.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an indoor navigation method based on pseudolite carrier-to-noise ratio fingerprints, and solves the problems that in the prior art, balance among indoor positioning, seamless switching of indoor and outdoor signals, positioning accuracy and cost is difficult to realize.
The invention adopts the technical scheme that an indoor navigation method based on pseudolite carrier-to-noise ratio fingerprints comprises the following steps:
step S1: according to indoor topographic features, a set of pseudolites are distributed in a certain area at intervals to form a positioning cell, and the set of pseudolites can simulate eight in-orbit satellites;
step S2: acquiring PRN numbers and ephemeris information of visible GNSS satellites according to signals received by a management center, and regulating and controlling the PRN numbers and the ephemeris information to each set of pseudo satellites;
step S3: after the regulated pseudolites are processed, each pseudolite simulates and transmits satellite signals of preset time and the central coordinates of the whole area;
step S4: regulating and controlling the strength of eight pseudolite signals in each pseudolite set according to the satellite signals simulated and transmitted by each pseudolite set, and forming a carrier-to-noise ratio fingerprint; the signal intensity sequence and the position information of the point position of the pseudolite form a one-to-one mapping relation;
step S5: after receiving the pseudo satellite signal, acquiring a carrier-to-noise ratio fingerprint of the pseudo satellite signal;
step S6: determining the center coordinate of the current user area according to the mapping relation between the position information and the carrier-to-noise ratio fingerprint;
step S7: using inertial navigation, the coordinates of the user within the cell are determined.
Preferably, step S2 includes the steps of:
step S21: acquiring almanac information of the GNSS satellite through a network, and evaluating the visible GNSS satellite in the area through the almanac information;
step S22: selecting a satellite number combination with good GDOP according to a visible GNSS satellite, and regulating PRN numbers of the satellite number combination into each set of pseudo satellites;
step S23: and according to the GNSS satellite signals, intercepting the simple ephemeris information corresponding to the satellite signals from the almanac, and regulating and controlling the simple ephemeris information to each set of pseudo-satellites.
Preferably, the almanac evaluation criterion of step S21 is that if the pitch angle is greater than 5 °, then there are visible GPS satellites.
Preferably, step S3 includes the steps of:
step S31: resolving the coordinates of the GNSS satellite in a WGS-84 coordinate system according to the ephemeris information and the satellite orbit theory;
step S32: setting the preset position point position of each set of pseudo satellite analog signals as the center of a positioning cell where the pseudo satellite is positioned;
step S33: resolving a time delay parameter of the center of the preset area of the in-orbit satellite according to the coordinates of the GNSS satellite and the coordinates of the center of the preset area;
step S34: correcting the time delay parameter by an ionosphere and a troposphere to obtain a corrected time delay parameter;
step S35: converting the corrected time delay parameter into a code phase parameter and a Doppler parameter;
step S36: carrying out frequency shift conversion on the phase parameters and the Doppler parameters to obtain frequency control words and NCO phases of carrier waves, C/A codes and navigation messages;
step S37: and generating a corresponding pseudo satellite signal through a frequency synthesis technology according to the carrier wave, the C/A code and the frequency control word and the NCO phase of the navigation message, and transmitting the pseudo satellite signal through a radio frequency end.
Preferably, step S4 includes the steps of:
step S41: dividing the signal intensity into three levels of high, medium and low, wherein the difference value between the signal intensity of each level is the same;
step S42: according to the signal intensity of the three gears, the signal intensity of eight paths of signals in each set of pseudolite is adjusted to form a signal intensity fingerprint;
step S43: and corresponding the signal intensity fingerprint to fixed point position information preset by the pseudolite to form a one-to-one mapping relation.
Preferably, step S6 includes the steps of:
step S61: after receiving satellite signals, the signal intensity of the satellite can be analyzed through capturing and tracking to form a carrier-to-noise ratio fingerprint;
step S62: and mapping the carrier-to-noise ratio fingerprints into positioning coordinates according to the fact that the absolute strength of the carrier-to-noise ratio fingerprints of different receivers is different and the relative difference between the carrier-to-noise ratios is the same.
Preferably, step S7 includes the steps of:
step S71: after the positioning coordinates are obtained, the coordinates of the user in the positioning cell can be preliminarily determined according to an inertial sensor in the receiver;
step S72: according to the fact that a user enters another positioning cell from one cell, the positioning module outputs updated coordinates, and the movement speed of the user is estimated according to the output updated coordinates;
step S73: and according to the estimated speed information of the user, combining the user coordinate estimated by inertial navigation to estimate the coordinate of the user in the cell at the next moment.
The indoor navigation method based on the pseudolite carrier-to-noise ratio fingerprint has the following beneficial effects:
the indoor navigation method based on the carrier-to-noise ratio fingerprint of the pseudolite simulates GPS satellite signals of an area to be positioned at the same moment by using the pseudolite, so that satellite signals received indoors and outdoors are the same, and indoor and outdoor seamless switching is realized; and a mapping relation between the pseudolite relative carrier-to-noise ratio fingerprint and the cell positioning coordinate is established. The method overcomes the defects of the existing indoor navigation positioning technology, and has the characteristics of low hardware cost, high positioning precision and good user experience.
Drawings
Fig. 1 is a general flowchart of an indoor navigation method based on pseudolite carrier-to-noise ratio fingerprints according to the present invention.
Fig. 2 is a flowchart of step S2 of the method for indoor navigation based on carrier-to-noise ratio (sinr) fingerprint of pseudolite according to the present invention.
Fig. 3 is a flowchart of step S3 of the method for indoor navigation based on carrier-to-noise ratio (sinr) fingerprint of pseudolite according to the present invention.
Fig. 4 is a flowchart of step S4 of the method for indoor navigation based on carrier-to-noise ratio (sinr) fingerprint of pseudolite according to the present invention.
Fig. 5 is a flowchart of step S6 of the method for indoor navigation based on carrier-to-noise ratio (sinr) fingerprint of pseudolite according to the present invention.
Fig. 6 is a flowchart of step S7 of the method for indoor navigation based on carrier-to-noise ratio (sinr) fingerprint of pseudolite according to the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, an indoor navigation method based on pseudolite carrier-to-noise ratio fingerprint includes the following steps:
step S1: according to indoor topographic features, a set of pseudolites are distributed in a certain area at intervals to form a positioning cell, and the set of pseudolites can simulate eight in-orbit satellites;
step S2: acquiring PRN numbers and ephemeris information of visible GNSS satellites according to signals received by a management center, and regulating and controlling the PRN numbers and the ephemeris information to each set of pseudo satellites;
step S3: after the regulated pseudolites are processed, each pseudolite simulates and transmits satellite signals of preset time and the central coordinates of the whole area;
step S4: regulating and controlling the strength of eight pseudolite signals in each pseudolite set according to the satellite signals simulated and transmitted by each pseudolite set, and forming a carrier-to-noise ratio fingerprint; the signal intensity sequence and the position information of the point position of the pseudolite form a one-to-one mapping relation;
step S5: after receiving the pseudo satellite signal, acquiring a carrier-to-noise ratio fingerprint of the pseudo satellite signal;
step S6: determining the center coordinate of the current user area according to the mapping relation between the position information and the carrier-to-noise ratio fingerprint;
step S7: using inertial navigation, the coordinates of the user within the cell are determined.
As shown in fig. 2, step S2 includes the following steps:
step S21: acquiring almanac information of the GNSS satellite through a network, and evaluating the visible GNSS satellite in the area through the almanac information;
step S22: selecting a satellite number combination with good GDOP according to a visible GNSS satellite, and regulating PRN numbers of the satellite number combination into each set of pseudo satellites;
step S23: and according to the GNSS satellite signals, intercepting the simple ephemeris information corresponding to the satellite signals from the almanac, and regulating and controlling the simple ephemeris information to each set of pseudo-satellites.
According to the almanac evaluation criterion, if the pitch angle is larger than 5 degrees, the GPS satellite is visible.
As shown in fig. 3, step S3 includes the following steps:
step S31: resolving the coordinates of the GNSS satellite in a WGS-84 coordinate system according to the ephemeris information and the satellite orbit theory;
step S32: setting the preset position point position of each set of pseudo satellite analog signals as the center of a positioning cell where the pseudo satellite is positioned;
step S33: resolving a time delay parameter of the center of the preset area of the in-orbit satellite according to the coordinates of the GNSS satellite and the coordinates of the center of the preset area;
step S34: correcting the time delay parameter by an ionosphere and a troposphere to obtain a corrected time delay parameter;
step S35: converting the corrected time delay parameter into a code phase parameter and a Doppler parameter;
step S36: carrying out frequency shift conversion on the phase parameters and the Doppler parameters to obtain frequency control words and NCO phases of carrier waves, C/A codes and navigation messages;
step S37: and generating a corresponding pseudo satellite signal through a frequency synthesis technology according to the carrier wave, the C/A code and the frequency control word and the NCO phase of the navigation message, and transmitting the pseudo satellite signal through a radio frequency end.
As shown in fig. 4, step S4 includes the following steps:
step S41: dividing the signal intensity into three levels of high, medium and low, wherein the difference value between the signal intensity of each level is the same;
step S42: according to the signal intensity of the three gears, the signal intensity of eight paths of signals in each set of pseudolite is adjusted to form a signal intensity fingerprint;
step S43: and corresponding the signal intensity fingerprint to fixed point position information preset by the pseudolite to form a one-to-one mapping relation.
As shown in fig. 5, step S6 includes the following steps:
step S61: after receiving satellite signals, the signal intensity of the satellite can be analyzed through capturing and tracking to form a carrier-to-noise ratio fingerprint;
step S62: and mapping the carrier-to-noise ratio fingerprints into positioning coordinates according to the fact that the absolute strength of the carrier-to-noise ratio fingerprints of different receivers is different and the relative difference between the carrier-to-noise ratios is the same.
As shown in fig. 6, step S7 includes the following steps:
step S71: after the positioning coordinates are obtained, the coordinates of the user in the positioning cell can be preliminarily determined according to an inertial sensor in the receiver;
step S72: according to the fact that a user enters another positioning cell from one cell, the positioning module outputs updated coordinates, and the movement speed of the user is estimated according to the output updated coordinates;
step S73: and according to the estimated speed information of the user, combining the user coordinate estimated by inertial navigation to estimate the coordinate of the user in the cell at the next moment.
When the embodiment is implemented again, the pseudo-satellite indoor navigation method based on the pseudo-point regulates and controls the pseudo-satellite through the management center, and the regulated and controlled pseudo-satellite simulates a GPS satellite signal of a region to be positioned to generate and send a pseudo-satellite signal; pseudo satellite signals can be received through a common GPS receiver, and pseudo point coordinates are output; and then mapping the signal intensity fingerprint into a positioning coordinate by adjusting the signal intensity fingerprint of the pseudolite to meet the indoor navigation requirement.
The pseudo-satellite indoor navigation method based on pseudo points improves the experience of users, and is the same as the use habit of outdoor GNSS navigation; the implantation performance is strong, the signal is the same as that of a GNSS satellite, and the signal can be directly transplanted along with the upgrading of the GNSS; the hardware cost is low, the hardware does not need to be adjusted at the receiver part, and the manufacturing cost is low.
Claims (7)
1. An indoor navigation method based on pseudolite carrier-to-noise ratio fingerprints is characterized by comprising the following steps:
step S1: according to indoor topographic features, a set of pseudolites are distributed at equal intervals to form a positioning cell, and the set of pseudolites can simulate eight in-orbit satellites;
step S2: acquiring PRN numbers and ephemeris information of visible GNSS satellites according to signals received by a management center, and regulating and controlling the PRN numbers and the ephemeris information to each set of pseudo satellites;
step S3: processing the regulated pseudolite, and simulating and transmitting a satellite signal with preset time and the central coordinate of the whole area through each set of pseudolite;
step S4: regulating and controlling the strength of eight pseudolite signals in each pseudolite set according to the satellite signals simulated and transmitted by each pseudolite set, and forming a carrier-to-noise ratio fingerprint; the signal intensity sequence and the position information of the point position of the pseudolite form a one-to-one mapping relation;
step S5: after receiving the pseudo satellite signal, acquiring a carrier-to-noise ratio fingerprint of the pseudo satellite signal;
step S6: determining the center coordinate of the current user area according to the mapping relation between the position information and the carrier-to-noise ratio fingerprint;
step S7: using inertial navigation, the coordinates of the user within the cell are determined.
2. The method for indoor navigation based on carrier-to-noise ratio of pseudolite as claimed in claim 1, wherein said step S2 comprises the steps of:
step S21: acquiring almanac information of the GNSS satellite through a network, and evaluating the visible GNSS satellite in the area through the almanac information;
step S22: selecting a satellite number combination with good GDOP according to a visible GNSS satellite, and regulating PRN numbers of the satellite number combination into each set of pseudo satellites;
step S23: and according to the GNSS satellite signals, intercepting the simple ephemeris information corresponding to the satellite signals from the almanac, and regulating and controlling the simple ephemeris information to each set of pseudo-satellites.
3. The method for indoor navigation based on carrier-to-noise ratio of pseudolite as claimed in claim 2, wherein the almanac evaluation criterion of step S21 is that if the elevation angle is greater than 5 °, then it is visible GNSS satellites.
4. The method for indoor navigation based on carrier-to-noise ratio of pseudolite as claimed in claim 1, wherein said step S3 comprises the steps of:
step S31: resolving the coordinates of the GNSS satellite in a WGS-84 coordinate system according to the ephemeris information and the satellite orbit theory;
step S32: setting the preset position point position of each set of pseudo satellite analog signals as the center of a positioning cell where the pseudo satellite is positioned;
step S33: resolving a time delay parameter of the center of the preset area of the in-orbit satellite according to the coordinates of the GNSS satellite and the coordinates of the center of the preset area;
step S34: correcting the time delay parameter by an ionosphere and a troposphere to obtain a corrected time delay parameter;
step S35: converting the corrected time delay parameter into a code phase parameter and a Doppler parameter;
step S36: carrying out frequency shift conversion on the phase parameters and the Doppler parameters to obtain frequency control words and NCO phases of carrier waves, C/A codes and navigation messages;
step S37: and generating a corresponding pseudo satellite signal through a frequency synthesis technology according to the carrier wave, the C/A code and the frequency control word and the NCO phase of the navigation message, and transmitting the pseudo satellite signal through a radio frequency end.
5. The method for indoor navigation based on carrier-to-noise ratio of pseudolite as claimed in claim 1, wherein said step S4 comprises the steps of:
step S41: dividing the signal intensity into three levels of high, medium and low, wherein the difference value between the signal intensity of each level is the same;
step S42: according to the signal intensity of the three gears, the signal intensity of eight paths of signals in each set of pseudolite is adjusted to form a signal intensity fingerprint;
step S43: and corresponding the signal intensity fingerprint to fixed point position information preset by the pseudolite to form a one-to-one mapping relation.
6. The method for indoor navigation based on carrier-to-noise ratio of pseudolite as claimed in claim 1, wherein said step S6 comprises the steps of:
step S61: after receiving satellite signals, analyzing the signal intensity of the satellite through capturing and tracking to form a carrier-to-noise ratio fingerprint;
step S62: and mapping the carrier-to-noise ratio fingerprints into positioning coordinates according to the fact that the absolute strength of the carrier-to-noise ratio fingerprints of different receivers is different and the relative difference between the carrier-to-noise ratios is the same.
7. The method for indoor navigation based on carrier-to-noise ratio of pseudolite as claimed in claim 1, wherein said step S7 comprises the steps of:
step S71: after the positioning coordinates are obtained, the coordinates of the user in the positioning cell are preliminarily determined according to an inertial sensor in the receiver;
step S72: according to the fact that a user enters another positioning cell from one cell, the positioning module outputs updated coordinates, and the movement speed of the user is estimated according to the output updated coordinates;
step S73: and according to the estimated speed information of the user, combining the user coordinate estimated by inertial navigation to estimate the coordinate of the user in the cell at the next moment.
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