CN110133683A - A kind of satellite positioning analogy method based on physics - Google Patents
A kind of satellite positioning analogy method based on physics Download PDFInfo
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- CN110133683A CN110133683A CN201910420124.8A CN201910420124A CN110133683A CN 110133683 A CN110133683 A CN 110133683A CN 201910420124 A CN201910420124 A CN 201910420124A CN 110133683 A CN110133683 A CN 110133683A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of novel satellite positioning analogy methods based on physics.By the star chart of navigation satellite, the position of satellite is simulated, according to the electromaganic wave absorbing property of shelter material in the electromagnetic characteristics and environment of satellite launch positioning signal, finds out the Formula Solution of satellite site offset.The present invention is it can be found that and reappear satellite site shift phenomenon by calculating；The present invention reduces the process for receiving and resolving from satellite emission signal to receiver using the method based on physics；The present invention does not increase satellite positioning algorithm excessive calculation amount while guaranteeing precision.
Description
Technical field
The invention belongs to imitation technology fields, especially relate to a kind of satellite positioning simulation side based on physics
Method.
Background technique
Currently, satellite positioning tech is widely used in every field, such as: autonomous driving, rescue, asset management etc..
However, often will appear satellite positioning point shift phenomenon in urban skyscraper close quarters and mountain area.The offset of satellite site,
It is the position error between the positioning coordinate occurred in satellite positioning procedures and true coordinate, this error is usually by satellite
Position algorithm generates, and is continuous non-step.Common satellite positioning algorithm is mostly to be connect according to transmitting time-delay calculation satellite with signal
The distance between device is received, to realize positioning.But if the electromagnetic wave of satellite launch reflects on high-lager building surface,
It will lead to the actual range that calculated distance is greater than between satellite and signal receiver, this is anchor point offset.In order to
The error that the offset of satellite site generates is eliminated, must be simulated and be calculated based on process of the electromagnetic wave physics to satellite positioning.
Currently, having no solution to satellite site offset problem in the simulation software of industry mainstream.Conventional method is
Pressure movement is carried out to satellite positioning point in simulations by calibration numerical value or empirical equation, and is not based on the simulation of physics.This
Though kind of scheme is relatively simple, it is inaccurate, needs to consume a large amount of manpower and material resources and measure, and when external environment changes,
Corresponding amendment can not be made.
Summary of the invention
In view of this, the present invention proposes a kind of novel satellite positioning analogy method based on physics, pass through navigation satellite
Star chart, the position of satellite is simulated, according to shelter material in the electromagnetic characteristics and environment of satellite launch positioning signal
Electromaganic wave absorbing property finds out the Formula Solution of satellite site offset.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of satellite positioning analogy method based on physics, comprising:
S1, satellite position simulation obtain in the system each by the star chart of the navigation satellite of satellite navigation system publication
Navigation satellite is at any time relative to the position Ps [i] of the earth (i=1,2 ..., n)；
S2, direct projection detection, are judged between receiver and satellite using ray collision checking method with the presence or absence of linear passages；
When linear passages being not present between S3, receiver and satellite, simulation satellite signal reflection process calculates reflected energy
And the Signal-to-Noise that receiver obtains；
After S4, traversal calculate whole satellites, the satellite-signal signal-to-noise ratio received according to receiver arranges satellite
Sequence, selects the higher satellite of signal-to-noise ratio to carry out satellite positioning calculating, and calculation method is led according to the satellite of the different model emulated
Depending on receiver built-in algorithm of navigating.
Further, the specific steps of step S2 include:
S201, by navigational satellite signal receiver position Pr calculate satellite to the direction of receiver unit vector Dir [i]
(i=1,2 ..., n)；
S202, each triangular facet progress ray collision inspection from receiver location Pr, along the direction Dir to model in scene
It surveys；
If S203, not colliding with any triangular facet, then it is assumed that there are linear passages with the satellite for receiver.
Further, the specific steps of step S2 further include:
Whether S204, detection Dir and ground normal direction angle theta are greater than threshold value, and such as less than the threshold value is then considered as satellite letter
Number it is ionized floor absorption；It being absorbed as satellite-signal is ionized layer, then it is assumed that the satellite is invisible for satellite signal receiver,
This satellite will be excluded in subsequent calculating.
Preferably, the obtaining value method of the threshold value are as follows:
Wherein, α is the threshold value；
Trans1 is atmospheric ionized layer to electro-magnetic wave absorption curvilinear function；
Trans2 is atmospheric advection layer to electro-magnetic wave absorption curvilinear function；
Trans3 is atmosphere convection layer to electro-magnetic wave absorption curvilinear function；
T is the penetration range of electromagnetic wave in an atmosphere；
T1 is the distance that the electromagnetic wave penetrates in atmospheric ionized layer；
T2 is the distance that the electromagnetic wave penetrates in atmospheric advection layer；
T3 is the distance that the electromagnetic wave penetrates in atmosphere convection layer；
SNR is receiver signal-to-noise ratio.
Further, simulation satellite signal reflection process described in step S3 includes:
S301, the model of building and massif in simulated environment is roughly calculated, obtains its envelope box；
S302, when satellite Ps fails to detect by the direct projection of step S2, can obtain by the ray of satellite Ps to receiver
With the intersection point of building envelope box some face F in simulated environment；Calculate mirror image Ps` of the Ps relative to face F；
S303, intersection point P0 is obtained if the ray intersects with face F from Pr to Ps` progress ray collision detection；
S304, ray collision detection is carried out from P0 to Ps`, as there is no any triangular facet on the ray, thenWithIt
Between form access.
Further, reflected energy calculation method described in step S3 are as follows:
Wherein:
EoutFor the energy for being emitted electromagnetic wave；
P is the three-dimensional coordinate of the point；
ωoFor the direction for being emitted electromagnetic wave；
f(p,ωo,ωi) it is Reflectance Distribution Function；
EinFor the energy of incident electromagnetic wave；
ωinFor the direction of incident electromagnetic wave；
N is surface normal vector；
∫sFor for the curve surface integral for being distributed surface s.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1. the present invention is it can be found that and reappear satellite site shift phenomenon by calculating；
2. the present invention reduces the process for receiving and resolving from satellite emission signal to receiver using the method based on physics；
3. the present invention does not increase satellite positioning algorithm excessive calculation amount while guaranteeing precision；
4. present invention can apply to automatic Pilot emulation platform, analog satellite positioning system, it can also be used to which real satellite is fixed
Position field, the reflection migrating of satellite positioning is gone out according to high-precision map inverse, to offset the error term as caused by reflection.
Detailed description of the invention
Fig. 1 is position view of the satellite of the embodiment of the present invention relative to the earth；
Fig. 2 is the principle signal for occurring position error in the embodiment of the present invention when receiver is in intensive building
Figure；
Fig. 3 is the simulation method schematic diagram that the satellite-signal of the embodiment of the present invention reflects；
Fig. 4 (a) is Reflectance Distribution Function schematic diagram of the rough surface to electromagnetic wave of the embodiment of the present invention；
Fig. 4 (b) is that the eka-ytterbium of the embodiment of the present invention faces the Reflectance Distribution Function schematic diagram of electromagnetic wave；
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The invention proposes a kind of novel satellite positioning analogy methods based on physics.By the star chart of navigation satellite,
The position for simulating satellite is inhaled according to the electromagnetic wave of shelter material in the electromagnetic characteristics and environment of satellite launch positioning signal
Characteristic is received, the Formula Solution of satellite site offset is found out.
One, satellite position is simulated
Currently, all kinds of satellite navigation systems (such as GPS, Beidou) can periodically issue the star chart of its navigation satellite.By star chart
Each satellite can be obtained in the system at any time relative to the position of the earth, Ps [i] (i=1,2 ..., n), such as Fig. 1 institute
Show.
Two, direct projection detects
Known satellite position Ps [i] (i=1,2 ..., n), then can be calculated by navigational satellite signal receiver position Pr and be defended
Unit vector Dir [i] (i=1,2 ..., n) of the star to the direction of receiver:
From receiver location Pr, along the direction Dir, each triangular facet to model in scene carries out ray collision detection.When
For in three-dimensional scenic, all threedimensional models are made of several triangular facets.Triangular facet be in space three points form in order
Triangle.
Ray collision detection, that is, Raycast detects in space whether a triangular facet has intersection point in ray and space.
The method of ray collision detection are as follows:
For a ray (origin O, directions of rays unit vector are dir) in triangle ABC and space:
The multiplication cross for calculating vector dir and vector C-A, is denoted as v.
The dot product for calculating vector B-A and vector v, is denoted as d.
The dot product for calculating vector O-A and vector v is denoted as u divided by d.
Calculate the multiplication cross of vector O-A and vector B-A, as q.
The dot product for calculating vector dir and vector q is denoted as v divided by d.
The dot product for calculating vector C-A and vector q is denoted as t divided by d.
As u, v are all larger than 0 and less than 1, and u+v < 1, then the ray and triangle ABC have intersection point, intersecting point coordinate O+
dir*t。
If not colliding with any triangular facet, then it is assumed that receiver can be immediately seen the satellite.
Simultaneously, it is contemplated that ionosphere problem needs to detect whether Dir and ground normal direction angle theta fix greater than some
Value (value depends on the weather, receiver sensitivity and scene environment),
A kind of obtaining value method of the value is only provided below, and other methods are still in this scope of patent protection.
Wherein, α is above-mentioned fixed value.
Trans1 is atmospheric ionized layer to electro-magnetic wave absorption curvilinear function.
Trans2 is atmospheric advection layer to electro-magnetic wave absorption curvilinear function.
Trans3 is atmosphere convection layer to electro-magnetic wave absorption curvilinear function.
T is the penetration range of electromagnetic wave in an atmosphere.
T1 is the distance that the electromagnetic wave penetrates in atmospheric ionized layer.
T2 is the distance that the electromagnetic wave penetrates in atmospheric advection layer.
T3 is the distance that the electromagnetic wave penetrates in atmosphere convection layer.
SNR is receiver signal-to-noise ratio.
Such as less than the value is then considered as satellite-signal and is absorbed.
Angle calcu-lation method are as follows:
θ=arcsin (Dir × Nrm)
That is the apposition (multiplication cross) in the direction Dir and ground normal.
Wherein Nrm represents the normal on ground.
Three, reflection calculates
Satellite when transmitting signals, understands the time of the spaceborne clock of additional satellite.Satellite navigation receiver is receiving satellite
After signal, by calculating the time difference of receiving time and launch time, the distance between receiver and satellite can be obtained.If connect
The number of satellite received is more than 3, then can calculate the relative position of receiver and satellite.Due in star chart, satellite position
It is known that the physical location of receiver can be calculated.
The shift phenomenon of satellite positioning is to cause receiver due to being blocked between receiver and satellite by barrier and defend
Signal path between star is obstructed.If Fig. 2 shows, the satellite-signal that receiver receives is actually that have passed through primary event,
Therefore its signal path length is greater than the linear distance of receiver and satellite.Signal will be reflected as direct projection letter by receiving chance error
Number, therefore there is error.
For position error caused by simulation reflection of electromagnetic wave, it is necessary to the process of simulated reflections.
The model of building and massif in simulated environment is roughly calculated, its envelope box (Bounding is obtained
Box)。
(linear passages are not present i.e. between receiver and satellite) when a satellite Ps fails to detect by direct projection, can obtain
The intersection point of building envelope box some face F in ray and simulated environment by satellite Ps to receiver is taken, calculates Ps relative to this
The mirror image Ps` of face F, as shown in Figure 3.
Ray detection, which is carried out, to Ps` from Pr obtains intersection point P0 if the ray intersects with face F.
Ray detection is carried out from P0 to Ps`, as there is no any triangular facet on the ray, thenWithBetween can be formed it is logical
Road.
Since electromagnetic wave has two-way propagation characteristic, the calculating of electromagnetic wave reflected energy at the point p of reverberation surface is public
Formula are as follows:
Wherein:
EoutFor the energy for being emitted electromagnetic wave.
P is the three-dimensional coordinate of the point.
ωoFor the direction for being emitted electromagnetic wave.
f(p,ωo,ωi) it is Reflectance Distribution Function.
EinFor the energy of incident electromagnetic wave.
ωinFor the direction of incident electromagnetic wave.
N is surface normal vector.
∫sFor for the curve surface integral for being distributed surface s.
If Fig. 4 shows, for rough models such as construction wall, massifs, it is believed that the Reflectance Distribution Function f of electromagnetic wave (p,
ωo,ωi) it is hemispherical.
And for the eka-ytterbiums surface model such as the water surface, glass, Reflectance Distribution Function f (p, the ω of electromagnetic waveo,ωi) it is along reflection side
To the water-drop-shaped of distribution.
The Signal-to-Noise SNR that receiver obtains can be calculated are as follows:
It, can be according to the satellite-signal signal-to-noise ratio (SNR) that receiver receives to satellite after traversal calculates whole satellites
It is ranked up, it is preferential that the higher satellite of signal-to-noise ratio is selected to carry out satellite positioning calculating.Calculation method is according to the different shaped emulated
Number satellite navigation receiver built-in algorithm depending on.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of satellite positioning analogy method based on physics characterized by comprising
S1, satellite position simulation obtain each navigation in the system by the star chart of the navigation satellite of satellite navigation system publication
Satellite is at any time relative to the position Ps [i] of the earth (i=1,2 ..., n)；
S2, direct projection detection, are judged between receiver and satellite using ray collision checking method with the presence or absence of linear passages；
Between S3, receiver and satellite be not present linear passages when, simulation satellite signal reflection process, calculate reflected energy and
The Signal-to-Noise that receiver obtains；
After S4, traversal calculate whole satellites, the satellite-signal signal-to-noise ratio received according to receiver is ranked up satellite, selects
It selects the higher satellite of signal-to-noise ratio and carries out satellite positioning calculating, calculation method is received according to the satellite navigation of the different model emulated
Depending on machine built-in algorithm.
2. the satellite positioning analogy method according to claim 1 based on physics, which is characterized in that the specific step of step S2
Suddenly include:
S201, by navigational satellite signal receiver position Pr calculate satellite to the direction of receiver unit vector Dir [i] (i=
1,2,…,n)；
S202, from receiver location Pr, along the direction Dir, each triangular facet to model in scene carries out ray collision detection；
If S203, not colliding with any triangular facet, then it is assumed that there are linear passages with the satellite for receiver.
3. the satellite positioning analogy method according to claim 2 based on physics, which is characterized in that the specific step of step S2
Suddenly further include:
Whether S204, detection Dir and ground normal direction angle theta are greater than threshold value, and such as less than the threshold value is then considered as satellite-signal quilt
Ionospheric absorption absorbs, then it is assumed that the satellite is invisible for satellite signal receiver, subsequent as satellite-signal is ionized layer
This satellite will be excluded in calculating.
4. the satellite positioning analogy method according to claim 3 based on physics, which is characterized in that the value of the threshold value
Method are as follows:
Wherein, α is the threshold value；
Trans1 is atmospheric ionized layer to electro-magnetic wave absorption curvilinear function；
Trans2 is atmospheric advection layer to electro-magnetic wave absorption curvilinear function；
Trans3 is atmosphere convection layer to electro-magnetic wave absorption curvilinear function；
T is the penetration range of electromagnetic wave in an atmosphere；
T1 is the distance that the electromagnetic wave penetrates in atmospheric ionized layer；
T2 is the distance that the electromagnetic wave penetrates in atmospheric advection layer；
T3 is the distance that the electromagnetic wave penetrates in atmosphere convection layer；
SNR is receiver signal-to-noise ratio.
5. the satellite positioning analogy method according to claim 1 based on physics, which is characterized in that simulated described in step S3
Satellite-signal reflection process includes:
S301, the model of building and massif in simulated environment is roughly calculated, obtains its envelope box；
S302, when satellite Ps fails to detect by the direct projection of step S2, ray by satellite Ps to receiver can be obtained and imitated
The intersection point of building envelope box some face F in true environment；Calculate mirror image Ps` of the Ps relative to face F；
S303, intersection point P0 is obtained if the ray intersects with face F from Pr to Ps` progress ray collision detection；
S304, ray collision detection is carried out from P0 to Ps`, as there is no any triangular facet on the ray, thenWithBetween shape
At access.
6. the satellite positioning analogy method according to claim 1 based on physics, which is characterized in that reflected described in step S3
Energy method computations are as follows:
Wherein:
EoutFor the energy for being emitted electromagnetic wave；
P is the three-dimensional coordinate of the point；
ωoFor the direction for being emitted electromagnetic wave；
f(p,ωo,ωi) it is Reflectance Distribution Function；
EinFor the energy of incident electromagnetic wave；
ωinFor the direction of incident electromagnetic wave；
N is surface normal vector；
∫sFor for the curve surface integral for being distributed surface s.
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Cited By (1)
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