CN110161545A - Positioning system and its positioning signal generation method - Google Patents
Positioning system and its positioning signal generation method Download PDFInfo
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- CN110161545A CN110161545A CN201810144032.7A CN201810144032A CN110161545A CN 110161545 A CN110161545 A CN 110161545A CN 201810144032 A CN201810144032 A CN 201810144032A CN 110161545 A CN110161545 A CN 110161545A
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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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Abstract
This application provides a kind of positioning system and its positioning signal generation methods.Positioning system includes multiple signal sources, wherein multiple signal sources are carrying the synchronizing information between local source and other signal sources in different time-gap time division broadcast positioning signal, the positioning signal of each signal original broadcast.The signal source of positioning system can be in different time-gap broadcast positioning signals, and the synchronizing information between each signal source is being carried in positioning signal, and signal source end is synchronous without completing clock, and the deployment of positioning system is convenient and efficient.
Description
Technical field
This application involves positioning and navigation field more particularly to positioning system and its positioning signal generation methods, positioning signal
Method of reseptance and receiver.
Background technique
The existing multiple communication being achieved in that through basis instrument and receiver user of one kind of radio positioning system,
Receiver user is obtained at a distance from basis instrument, completes the resolving to receiver user position.Although by the way that repeatedly communication can
Directly to measure receiver user at a distance from infrastructure, but because number of communications is more, receiver user quantity and communication frequency
Degree is restricted.
A kind of optional scheme is to emit positioning signal by receiver user, and infrastructure is aggregated into after receiving positioning signal
Resolving center is to obtain the position of receiver user.Receiver user quantity can be improved in this scheme to a certain extent, but still
There are the upper limits, and it also requires setting resolving center.
Another optional scheme is to emit positioning signal by infrastructure.Representative is Global Navigation Satellite System
GNSS uses frequency division or code division multiplexing mode so that multiple signal sources (navigation satellite) while broadcasting navigation signal, still
Global navigation satellite system GNSS needs to dispose large number of ground station with synchronous for the clock between navigation satellite.In addition, inter-satellite
Time synchronization when occurring abnormal, receiver user has no ability to find and handle synchronous abnormality between star, positioning result caused to go out
Now very big error, or even failure.
Summary of the invention
The purpose of the application be to provide a kind of positioning system and its positioning signal generation method, positioning signal reception method and
Receiver.
According to the one aspect of the application, a kind of positioning system is disclosed, the positioning system includes multiple signal sources, institute
It states multiple signal sources and carries local source in different time-gap time division broadcast positioning signal, the positioning signal of each signal original broadcast
With the synchronizing information between other signal sources.
According to the one aspect of the application, a kind of positioning signal generation method of positioning system is disclosed, wherein described fixed
Position system includes multiple signal sources, and the positioning signal generation method includes: by the multiple signal source in the different time-gap time-division
Broadcast positioning signals, it is synchronous between local source and other signal sources being carried in the positioning signal that each signal source is broadcasted
Information.
According to the one aspect of the application, a kind of receiver is disclosed, wherein it is fixed that the receiver receives time division broadcast formula
Position signal, the positioning signal carry the synchronizing information between signal source, and the receiver is extracted from the positioning signal
Synchronizing information simultaneously resolves pseudo-range measurements, obtains user according to extracted synchronizing information and the pseudo-range measurements resolved and receives
The position of machine.
According to the one aspect of the application, a kind of positioning signal reception method is disclosed, the positioning signal is that the time-division is wide
It broadcasts formula positioning signal and carries the synchronizing information between signal source, the positioning signal reception method includes: that reception is described fixed
Position signal extracts synchronizing information from the positioning signal and resolves pseudo-range measurements, according to extracted synchronizing information and institute
The pseudo-range measurements of resolving obtain the position of receiver user.
According to presently filed embodiment, signal source is carried in different time-gap broadcast positioning signals, and in positioning signal
Synchronizing information between each signal source, so that signal source end is synchronous without completing clock, and the deployment of positioning system is convenient and efficient.
Receiver user, which need to only receive positioning signal and handle, can be completed positioning function, complete clock without signal source
It is synchronous, and receiver quantity is unrestricted, realizes simple.
Detailed description of the invention
Fig. 1 shows a kind of positioning system of embodiment according to the application.
Fig. 2 shows the signal sources according to the positioning system of the embodiment of the application a kind of.
Fig. 3 shows a kind of positioning signal generation method of embodiment according to the application.
Fig. 4 shows a kind of signal source positioning signal generated of the positioning system of embodiment according to the application
Synchronizing information schematic diagram.
Fig. 5 shows the signal source positioning signal generated of the positioning system of the another embodiment according to the application
Synchronizing information schematic diagram.
Fig. 6 shows the signal source positioning signal generated of the positioning system of the another embodiment according to the application
Synchronizing information schematic diagram.
Fig. 7 shows the signal source positioning signal generated of the positioning system of the another embodiment according to the application
Synchronizing information schematic diagram.
Fig. 8 shows a kind of flow chart of the method for reseptance of embodiment according to the application.
Fig. 9 shows a kind of schematic block diagram of the receiver of embodiment according to the application.
Specific embodiment
With reference to the accompanying drawings to positioning system disclosed in the present application and its positioning signal generation method, positioning signal reception side
Method and receiver are described in detail.For simplicity, in the explanation of each embodiment of the application, same or similar device makes
With the same or similar appended drawing reference.
Fig. 1 shows a kind of positioning system of embodiment according to the application.Broadcast type wireless location system includes more
A signal source 100, wherein each signal source is in different time-gap overseas broadcast positioning signal.The positioning of each signal original broadcast is believed
The synchronizing information between local source and other signal sources is carried in number.
In existing navigation field, it is synchronous that clock usually is completed in signal source.However, same in order to be realized in signal source
Step then needs to carry out wired connection between signal source, and the complexity calculated is high.
Further, since there are frequency differences for clock source used by different signal source, therefore exist between different signal source
Clock drift.Different from frequency division used by existing navigation field or code division multiplexing mode, adopted according to the positioning system of the application
With time division multiplexing mode, pass through time division way broadcast positioning signals.The emission time in each time division signal source has between certain time
Every so that clock jitter caused by clock drift influences amplification, this allows for synchronizing in signal source in face of bigger difficulty.
According to presently filed embodiment, signal source is carried in different time-gap broadcast positioning signals, and in positioning signal
Synchronizing information, it is synchronous without carrying out clock in signal source end, to be not necessarily to any wired connection and complex synchronization between signal source
Design, the deployment of positioning system are simple and fast.In addition, also greatly improving the mobility of positioning system, flexibility, rapid deployment
Ability, in civil and military field, there is a large amount of application demands.
In this way, use time division multiplexing mode in signal source end, and synchronous without carrying out clock, by by synchronizing information
Carrying is broadcasted in positioning signal, and positioning function can be completed by receiving and processing positioning signal in receiver.In addition, signal source
Between transmitting and received positioning signal without individually designed, but be the positioning signal phase of receiver user broadcast with signal source
Together, it is convenient to realize.
Fig. 2 shows the signal sources according to the positioning system of the embodiment of the application a kind of.According to one kind of the application
Embodiment, as shown in Fig. 2, signal source 100 includes: synchronizing information acquiring unit 110 and positioning signal generation unit 120.
Synchronizing information acquiring unit 110 calculates local source and other letters according to the positioning signal from other signal sources
Synchronizing information between number source.
Positioning signal generation unit 120 generates positioning signal, wherein load is by synchronizing information in positioning signal generated
Synchronizing information acquired in acquiring unit 110.
Fig. 3 shows a kind of positioning signal generation method of embodiment according to the application.As shown, in S10, by
The multiple signal source is in different time-gap time division broadcast positioning signal；In S11, taken in the positioning signal that each signal source is broadcasted
With the synchronizing information between local source and other signal sources.
Fig. 4 shows positioning signal caused by a kind of signal source of the positioning system of embodiment according to the application
Synchronizing information schematic diagram.
As shown in figure 4, the synchronizing information of signal source positioning signal generated include the emission time that signal is locally-located,
And the clock bias information between local source and other signal sources.
It, can be with for example, synchronizing information acquiring unit 110 can locally obtain the emission time information that signal is locally-located
It is each that other are received according to emission time and local source entrained in the positioning signal from other each signal sources
The time of reception of the positioning signal of a signal source, the clock jitter calculated between local source and other each signal sources are believed
Breath.Positioning signal generation unit 120 is by the emission time information obtained that signal is locally-located and local source and its
Clock bias information between his each signal source loads in the positioning signal of local source.
When positioning system works, multiple signal sources 100 can be in different emission time broadcast radio positioning signals, and will send out
Time information is penetrated to be modulated in broadcast singal.Due to using time division broadcast formula positioning letter according to presently filed embodiment
Number, each signal source device can receive the positioning signal of other signal original broadcasts, measure the local reception moment, be believed using broadcast
Number emission time and the time of reception calculate itself clock jitter with other locating sources.In this way, it is possible to using signal source it
Between transmission interval time slot, complete the calculating of synchronizing information, and in the local emission time of local source by the synchronizing information
It loads in the positioning signal of broadcast and broadcasts.
Fig. 5 shows positioning signal caused by the signal source of the positioning system of the another embodiment according to the application
Synchronizing information schematic diagram.In this embodiment, the signal source of positioning system can be divided into master source and from signal source.It is main
Signal source provides clock reference for positioning system.When local source is from signal source, positioning that local source is broadcasted
The synchronizing information carried in signal is the local synchronizing information between signal source and master source.When local source is main letter
When number source, the synchronizing information carried in the positioning signal that local source is broadcasted is local master source and other are each from letter
Synchronizing information between number source.
For example, the synchronizing information acquiring unit 110 of local source is local to be obtained when local source is from signal source
The emission time information of signal is locally-located, the synchronizing information acquiring unit 110 of local source is also according to from master source
Positioning signal in entrained emission time, calculate the clock bias information between local source and master source.It is local
The positioning signal generation unit 120 of signal source is by the emission time information obtained that signal is locally-located and local signal
Clock bias information between source and master source loads in the positioning signal of local source.
When local source is master source, the synchronizing information acquiring unit 110 of local source is local to be obtained locally
The emission time information of positioning signal, when also according to transmitting entrained in other each positioning signals from signal source
Quarter and master source receive the time of reception of other each positioning signals from signal source, calculate local source and its
His each clock bias information between signal source.The positioning signal generation unit 120 of local source is by obtained
The emission time information and local source of ground positioning signal and other each clock bias informations between signal source add
It is loaded in the positioning signal of local source.
Fig. 6 is shown when not distinguishing principal and subordinate's signal source, a kind of reality of the synchronizing information of positioning signal caused by signal source
Apply the schematic diagram of mode.Fig. 7 is shown when distinguishing principal and subordinate's signal source, master source and the positioning signal caused by the signal source
A kind of schematic diagram of embodiment of synchronizing information.As shown in Figure 6 and Figure 7, synchronizing information can also include local source with
Clock drift information between other signal sources.Each signal source device can receive the positioning signal of other signal original broadcasts,
The local reception moment is measured, it is inclined with the clock of other locating sources to calculate itself using the emission time and the time of reception of broadcast singal
Difference and clock drift, and clock bias information and clock drift information are loaded into positioning signal and are emitted.
Without loss of generality, with signal source AiAnd AjFor, illustrate the calculating side of clock bias information and clock drift information
Method.Assuming that signal source AiEmit signal, AiEmission time can be by signal source AiIt reads local clock to obtain, and is modulated at wide
In the positioning signal broadcast.Signal source AjWhen receiving signal, it can measure to obtain local reception moment, AjLocal reception timetable
It is shown as:
Wherein,For AjIt the local reception moment, can be by AjSignal source locally obtains；For AiEmission time, can be with
Signal source A is come from according to what is receivediPositioning signal obtain；For in AjThe time of reception (with AiClock timing) Ai
With AjClock jitter.Due to signal source AjWith signal source AiBetween clock source there are frequency departures, therefore between signal source
Clock jitter is not fixed, that is, clock jitter is time-varying.And clock jitter bijThis rate of change just corresponded to clock
Drift about kij.It can be according to clock bias information bijRate of change calculate clock drift information kij。
According to a kind of embodiment of the application, clock bias information included in synchronizing information can be original clock
Deviation information, that is,Original clock deviation information emission time according to entrained by the positioning signal of signal original broadcast
It determines, wherein including the constant time lag between signal source.Constant time lag may include for example due to the distance between signal source,
The transmitting delay introduced with the design of receiving channel.
Optionally, clock bias information is also possible to eliminate the reality of transmission path influence in original clock deviation information
Border clock bias information, that is, the practical clock for eliminating the constant time lag of the distance between signal source, transmitting and receiving channel is inclined
Poor information.Due to the position of signal source itself be it is known, the distance between signal source can be obtained.Transmitting and reception are logical
The constant time lag in road can be determined according to the hardware implementation mode of signal source.
Further, since there are noises for the measurement of the time of reception, therefore according to a kind of embodiment of the application, synchronizing information
Acquiring unit may further include filter.
It can incite somebody to actionIt is modeled as linear function, state vector to be solvedWherein, when b (t) is t
The clock jitter at quarter, k (t) are the clock drift of t moment.Using filter such as Kalman filter to clock jitter and clock
Drift is estimated, and can reduce influence of noise.The observed quantity of Kalman filter isKalman filter
One step state transition matrix isWherein, Δ T is the local zone time interval that two next states update.Kalman filtering
The design matrix of device is H=[1 0].
When local source receives the information of other signal sources every time, synchronizing information acquiring unit all pass through filter into
Row measurement updaue, to obtain the clock bias information b between signal sourceijWith clock drift information kij。
Positioning signal generation unit 120 generates positioning signal, wherein load is obtained by synchronizing information in the positioning signal generated
Take the unit emission time obtained that signal is locally-located, clock bias information bijWith clock drift information kij.Signal source can
To broadcast the positioning signal, for the use of other signal sources, and for receiver user to position.
In addition, according to presently filed embodiment, a kind of positioning signal reception method and receiver are also disclosed.
According to a kind of embodiment of the application, in receiver side, receiver 200 receives time division broadcast formula positioning signal,
The synchronizing information between signal source is carried in the positioning signal.Fig. 8 shows connecing according to a kind of embodiment of the application
The flow chart of receiving method.In S20, receiver receives time division broadcast formula positioning signal；In S21, extracts and synchronize from positioning signal
Information simultaneously resolves pseudo-range measurements；In S22, user is obtained according to extracted synchronizing information and the pseudo-range measurements resolved and is connect
The position of receipts machine.
Fig. 9 shows a kind of schematic block diagram of the receiver of embodiment according to the application.As shown in figure 9, receiver
200 include: information extraction unit 210, pseudorange acquiring unit 220 and solving unit 230.
Information extraction unit 210 can be from the synchronizing information obtained between signal source in positioning signal.Pseudorange acquiring unit
220 from the pseudo range observed quantity obtained between receiver and signal source in positioning signal.Solving unit 230 according to synchronizing information and
Pseudo range observed quantity obtains the position of receiver user.
According to a kind of embodiment of the application, include the clock bias information between signal source in synchronizing information.Information
Extraction unit 210 can obtain synchronizing information from the positioning signal, according to the clock between synch information extraction signal source
Deviation information.Information extraction unit 210 can be according to clock bias information bijCalculate the clock drift information between signal source
kij.Clock bias information b since the clock source between signal source is there are frequency departure, between signal sourceijIt is time-varying
's.Information extraction unit 210 can be according to clock bias information bijRate of change calculate clock drift information kij。
According to the another embodiment of the application, in synchronizing information comprising between signal source clock bias information and when
Clock drift information.Information extraction unit 210 obtains synchronizing information from the positioning signal, and signal source is extracted from synchronizing information
Between clock bias information bijWith clock drift information kij。
In addition, the clock bias information in synchronizing information entrained in the positioning signal of signal source time division broadcast can be
Original clock deviation information is also possible to practical clock bias information.
If the clock bias information in the positioning signal of signal source time division broadcast in entrained synchronizing information is practical
Clock bias information, then the extracted clock bias information of information extraction unit 210 is same in the positioning signal of time division broadcast
Walk the practical clock bias information in information.
If the clock bias information in the positioning signal of signal source time division broadcast in entrained synchronizing information is original
Clock bias information, then the extracted clock bias information of information extraction unit 210 is removed from original clock deviation information
The practical clock bias information of the constant time lags such as the distance between signal source, transmitting and receiving channel.
Pseudorange acquiring unit 220 is from the pseudo range observed quantity obtained between receiver and signal source in positioning signal.Pseudorange is seen
Measurement can be obtained according to local reception moment and the difference of signal source emission time.
Solving unit 230 obtains user and receives according to clock bias information and clock drift information and pseudo range observed quantity
The position of machine.
According to a kind of embodiment, solving unit 230 can be according to the clock bias information b between signal sourceijAnd clock
Drift information kijCalculate the corresponding relationship (b of the time deviation between receiver and each signal sourcei, bj), it is closed according to the correspondence
The pseudorange equation of system and pseudo range observed quantity building receiver and each signal source, to resolve the position of receiver user.
Without loss of generality, it is received below with receiver and comes from signal source AiWith signal source AjTime division broadcast formula positioning signal
For, the working principle of receiver is described in detail.
For signal source Ai, receiver, which receives, comes from signal source AiBroadcast singal, the signal time of reception of receiver is
ti。
It according to presently filed embodiment, is synchronized since signal source does not carry out clock, receiver and each signal source
Pseudorange relationship can be indicated by the clock jitter between pseudo-range measurements and receiver and signal source.
For example, receiver and signal source AiPseudorange equation indicate are as follows:
Wherein, ρiIndicate signal source AiTo the pseudo range observed quantity of receiver, TAitxFor signal source AiPositioning signal transmitting when
It carves, DiIndicate signal source AiActual distance between receiver, biIndicate receiver and signal source AiClock jitter, ε indicate
Measure noise.
For signal source Aj, receiver is in tjMoment receives signal source AjSignal connect according to presently filed embodiment
Receipts machine and signal source AjPseudorange equation indicate are as follows:
Wherein, ρjIndicate signal source AjTo the pseudo range observed quantity of receiver,For signal source AjPositioning signal transmitting when
It carves, DjIndicate signal source AjActual distance between receiver, bjIndicate receiver and signal source AjClock jitter.
It is appreciated that can basis according to presently filed embodiment containing receiver location information in actual distance D
The synchronizing information of extraction and the pseudo-range measurements of resolving resolve pseudorange equation, to obtain receiver location estimation.
According to a kind of embodiment of the application, receiver can be according to the positioning signal from each signal source received
In synchronizing information building receiver and each signal source between clock jitter corresponding relationship, that is, receiver can be according to letter
Clock bias information and clock drift information between number source calculate pair of the time deviation between receiver and each signal source
It should be related to.For example, according to the clock bias information b between each signal sourceijWith clock drift information kij, can be received
Machine and signal source AiClock jitter biWith receiver and signal source AjClock jitter bjBetween corresponding relationship.In this way, when connecing
When receipts machine is received from the positioning signal of multiple signal sources, even if the time deviation between receiver and each signal source is not
Know, but according to the corresponding relationship of the time deviation between receiver and each signal source, it will be able to receiver and each signal
Pseudorange equation between source is solved, and the position of receiver user is obtained.
Without loss of generality, following analysis receiver is in signal source AiCorresponding time of reception tiIt receives and comes from signal source Ai's
Clock jitter b corresponding to positioning signali(ti) and in signal source AjCorresponding time of reception tjIt receives and comes from signal source Aj's
Clock jitter b corresponding to positioning signalj(tj) between relationship.
According to a kind of embodiment, in time of reception tjIt receives and comes from signal source AjPositioning signal corresponding to clock it is inclined
Poor bj(tj) can indicate are as follows:
bj(tj)=bi(tj)-bij(tj),
Wherein, bij(tj) indicate signal source AiWith signal source AjIn tjThe clock jitter at moment, bi(tj) indicate when receiving
Carve tjReceiver and signal source AiClock jitter.
As can be seen that receiver and signal source AjClock jitter bjReceiver and signal source A can be passed throughiClock it is inclined
Poor biAnd signal source AiWith signal source AjBetween clock jitter bijTo indicate.
Since signal source is in different time-gap time division broadcast positioning signal, receiver receives signal source AiBroadcast singal
Moment tiWith receive signal source AjBroadcast singal at the time of tjAlso different, and between receiver and signal source, signal source AiWith
Signal source AjBetween all there is clock drift, according to a kind of embodiment of the application, further corresponding relationship can be carried out
Optimization, is influenced with eliminating the different times of reception by clock drift bring.
According to a kind of embodiment of the application, since receiver is for the time of reception t from different signal sourcejMoment
With tiMoment very close to, during this period, receiver and signal source AiClock jitter biIt may be considered linear change, signal
Source AiWith AjClock jitter bijIt is also assumed that being linear change, thus, it is possible to obtain different time of reception receivers pair
Clock jitter mapping relations between different signal source, as follows:
bi(tj)=bi(ti)+kir·(tj-ti),
bij(tj)=bij(ti)+kij·(tj-ti),
Wherein, kirIndicate receiver and AiBetween clock drift, kijIndicate signal source AiWith signal source AjBetween when
Clock drift.
In this way, just by tiReception machine and signal source AiClock jitter and tjReception machine and signal source AjWhen
Clock deviation establishes connection.It is, receiver is being received from signal source AjPositioning signal time of reception tjWith signal source
AjClock jitter bj, can received by receiver from signal source AiPositioning signal time of reception tiWith signal source Ai
Clock jitter biAnd signal source AiWith signal source AjBetween clock jitter bijWith clock drift kijTo indicate.
For example, receiver and signal source AiWith signal source AjPseudorange equation can indicate are as follows:
ρi(ti)=Di(ti)+bi(ti)+ε(ti),
ρj(tj)=Dj(tj)+[bi(ti)+kir·(tj-ti)]-[bij(ti)+kij·(tj-ti)]+ε(tj)。
In this way, according to a kind of embodiment of the application, it can be according to the clock bias information and clock between signal source
Drift information obtains the corresponding relationship of the clock jitter between receiver and each signal source, according to the corresponding relationship and described
Pseudo range observed quantity constructs the pseudorange equation of the receiver Yu each signal source.To even if not complete clock same for signal source
Step, receiver is by receiving and processing the also achievable positioning function, and computation complexity of the positioning signal with synchronizing information
It is low.
It is appreciated that specific pseudorange equation listed in above-mentioned analysis is only to illustrate, according to presently filed embodiment
Pseudorange equation be not limited only to this.
For example, can be according to synchronizing information, by receiver and signal source AiBetween clock jitter by receiver and letter
Number source AjBetween clock jitter and signal source AjWith signal source AiBetween clock bias information and clock drift information come
It indicates.
Optionally, if signal source includes master source A0With from signal source, then receiver and signal source Ai, signal source Aj
Between clock jitter can pass through receiver and master source A0Between clock jitter and signal source Ai, signal source Aj
With master source A0Between clock bias information and clock drift information indicate.
According to presently filed embodiment, synchronizing information can be obtained from positioning signal, obtain between signal source when
Clock deviation information and clock drift information, can according between signal source clock bias information and clock drift information architecture connect
Time deviation corresponding relationship between receipts machine and each signal source, so that the pseudorange equation between receiver and each signal source is resolved,
Obtain the position of receiver user.
It is described below in sample application scene, to a kind of solution process of signal of pseudorange equation.As described above, receiving
Machine and signal source AiWith signal source AjPseudorange equation can indicate are as follows:
ρi(ti)=Di(ti)+bi(ti)+ε(ti),
ρj(tj)=Dj(tj)+[bi(ti)+kir·(tj-ti)]-[bij(ti)+kij·(tj-ti)]+ε(tj),
Wherein, receiver location information is contained in actual distance D.For example, receiver and signal source AiBetween it is true away from
From DiIt can indicate are as follows:
Wherein, xi、yi、ziFor signal source AiThree-dimensional location coordinates, x, y, z is that receiver three-dimensional position to be solved is sat
Mark
When receiver is kept in motion, the speed parameter of receiver may be incorporated into construct receiver in each reception
The relationship between actual distance between moment and each signal source.
For example, since receiver is for coming from different signal source AiWith AjTime of reception tjWith tiIt is closely spaced, therefore
It is believed that the interval inner receiver speed is definite value, in this way, can be by receiver in time of reception tjWith signal source AjBetween it is true
Actual distance is from expression are as follows:
In this way, the unknown number in pseudorange equation may include user's three-dimensional position xyz, receiver and signal source AiClock
Deviation bi, receiver three-dimensional velocity vx/vy/vz, receiver clock drift about kir。
Receiver is extracted from positioning signal and is synchronized by receiving the time division broadcast formula positioning signal from multiple signal sources
Information simultaneously resolves pseudo-range measurements, according to extracted synchronizing information and the pseudo-range measurements resolved, it will be able to resolve above-mentioned
Unknown number in pseudorange equation obtains the position of receiver user.
In addition, each letter can also be directed to when receiver receives the time division broadcast formula positioning signal from multiple signal sources
Number source obtains the pseudo range observed quantity of multiple times of reception, so as to construct more pseudorange equations, resolving pseudorange equation in this way
When can reduce influence of noise, improve positioning accuracy and fault-tolerant ability.
It is described above by reference to illustrative embodiment of the attached drawing to the application.Those skilled in the art should manage
Solution, the purpose that the embodiment above is merely to illustrate that and the example lifted, rather than be used to be limited, it is all in the application
Introduction and claims under made any modification, equivalent replacement etc., should be included in this application claims
In the range of.
Claims (28)
1. a kind of positioning system, the positioning system includes multiple signal sources, and the multiple signal source is wide in the different time-gap time-division
Positioning signal is broadcast, the synchronizing information between local source and other signal sources is carried in the positioning signal of each signal original broadcast.
2. positioning system as described in claim 1, wherein each of the multiple signal source includes:
Synchronizing information acquiring unit, according to the positioning signal from other signal sources calculate local source and other signal sources it
Between synchronizing information；And
Positioning signal generation unit generates positioning signal, wherein the synchronizing information is loaded in positioning signal generated.
3. positioning system as claimed in claim 2, wherein the synchronizing information includes the emission time letter that signal is locally-located
Breath and the clock bias information between local source and other signal sources.
4. positioning system as claimed in claim 3, wherein the synchronizing information acquiring unit locally obtains and signal is locally-located
Emission time information, the synchronizing information acquiring unit is also according to entrained in the positioning signal from other each signal sources
Emission time and local source receive other each signal sources positioning signal the time of reception, calculate local letter
Clock bias information number between source and other each signal sources；And the positioning signal generation unit is by local obtained
Clock bias information between the emission time information and local source of positioning signal and other each signal sources loads on
In the positioning signal of local source.
5. positioning system as claimed in claim 3, wherein the multiple signal source includes master source and from signal source,
When local source is from signal source, the synchronizing information acquiring unit of the local source is locally locally-located
The synchronizing information acquiring unit of the emission time information of signal, the local source is believed also according to the positioning from master source
Entrained emission time in number, calculates the clock bias information between local source and master source, the local signal
The positioning signal generation unit in source is by the emission time information obtained that signal is locally-located and local source and main letter
Clock bias information between number source loads in the positioning signal of local source；And
When local source is master source, the synchronizing information acquiring unit of the local source is locally locally-located
The emission time information of signal, the synchronizing information acquiring unit of the local source is also according to each from signal source from other
Positioning signal in entrained emission time and master source receive connecing for other each positioning signals from signal source
Time receiving carves, and calculates local source and other each clock bias informations between signal source, the local source are determined
Position signal generation unit by the emission time information obtained that signal is locally-located and local source and other it is each from
Clock bias information between signal source loads in the positioning signal of local source.
6. positioning system as claimed in claim 3, wherein the synchronizing information further includes local source and other signal sources
Between clock drift information.
7. positioning system as claimed in claim 6, wherein the synchronizing information acquiring unit locally obtains and signal is locally-located
Emission time information, the synchronizing information acquiring unit is also according to entrained in the positioning signal from other each signal sources
Emission time and local source receive other each signal sources positioning signal the time of reception, calculate local letter
Clock bias information and clock drift information number between source and other each signal sources；The positioning signal generation unit is by institute
The clock jitter between the emission time information that signal is locally-located and local source and other each signal sources obtained
Information and clock drift information load in the positioning signal of local source.
8. positioning system as claimed in claim 6, wherein the multiple signal source includes master source and from signal source,
When local source is from signal source, the synchronizing information acquiring unit of the local source is locally locally-located
The synchronizing information acquiring unit of the emission time information of signal, the local source is believed also according to the positioning from master source
Entrained emission time in number, the clock bias information and clock drift calculated between local source and master source are believed
Breath, the positioning signal generation unit of the local source by the emission time information obtained that signal is locally-located and
Clock bias information and clock drift information between local source and master source load on the positioning letter of local source
In number；And
When local source is master source, the synchronizing information acquiring unit of the local source is locally locally-located
The emission time information of signal, the synchronizing information acquiring unit of the local source is also according to each from signal source from other
Positioning signal in entrained emission time and master source receive connecing for other each positioning signals from signal source
Time receiving carves, and calculates local source and other each clock bias informations and clock drift information between signal source, described
The positioning signal generation unit of local source is by the emission time information obtained that signal is locally-located and local signal
Source and other each clock bias informations and clock drift information between signal source load on the positioning letter of local source
In number.
9. a kind of positioning signal generation method of positioning system, wherein the positioning system includes multiple signal sources, the positioning
Signal creating method includes: to be broadcasted in different time-gap time division broadcast positioning signal in each signal source by the multiple signal source
Positioning signal in carry synchronizing information between local source and other signal sources.
10. positioning signal generation method as claimed in claim 9, further comprises:
According to the positioning signal from other signal sources and by local source calculate local source and other signal sources it
Between synchronizing information；And
Generate positioning signal, wherein the synchronizing information is loaded in positioning signal generated.
11. positioning signal generation method as claimed in claim 10, wherein the synchronizing information includes that signal is locally-located
Clock bias information between emission time information and local source and other signal sources.
12. positioning signal generation method as claimed in claim 11, further comprises:
The emission time information of signal is locally-located described in local acquisition, and according to the positioning signal from other each signal sources
In entrained emission time and local source receive other each signal sources positioning signal the time of reception, meter
Calculate the clock bias information between local source and other each signal sources；And
It will be between the emission time information obtained that signal be locally-located and local source and other each signal sources
Clock bias information loads in the positioning signal of local source.
13. positioning signal generation method as claimed in claim 11, wherein the multiple time division broadcast signal source includes main letter
Number source and from signal source, the positioning signal generation method further comprises:
It is local to obtain the emission time information that signal is locally-located and autonomous according to coming when local source is from signal source
Entrained emission time in the positioning signal of signal source, the clock jitter calculated between local source and master source are believed
Breath, the clock between the emission time information and local source and master source obtained that signal is locally-located is inclined
Poor information loads in the positioning signal of local source；And
It is local to obtain the emission time information that signal is locally-located when local source is master source, and according to from it
It is each from signal source to receive other for entrained emission time and master source in his each positioning signal from signal source
Positioning signal the time of reception, local source and other each clock bias informations between signal source are calculated, by institute
The emission time information that signal is locally-located and local source that obtain and other are each inclined from the clock between signal source
Poor information loads in the positioning signal of local source.
14. positioning signal generation method as claimed in claim 11, wherein the synchronizing information further include local source with
Clock drift information between other signal sources.
15. positioning signal generation method as claimed in claim 14, further comprises:
It is local to obtain the emission time information that signal is locally-located, and according to institute in the positioning signal from other each signal sources
The emission time and local source of carrying receive the time of reception of the positioning signal of other each signal sources, calculate this
Clock bias information and clock drift information between earth signal source and other each signal sources；And
It will be between the emission time information obtained that signal be locally-located and local source and other each signal sources
Clock bias information and clock drift information load in the positioning signal of local source.
16. positioning signal generation method as claimed in claim 14, wherein the multiple time division broadcast signal source includes main letter
Number source and from signal source,
The positioning signal generation method further comprises:
It is local to obtain the emission time information that signal is locally-located and autonomous according to coming when local source is from signal source
Entrained emission time in the positioning signal of signal source, calculates the clock bias information between local source and master source
With clock drift information, by the emission time information obtained that signal is locally-located and local source and master source
Between clock bias information and clock drift information load in the positioning signal of local source；And
It is local to obtain the emission time information that signal is locally-located when local source is master source, and according to from it
It is each from signal source to receive other for entrained emission time and master source in his each positioning signal from signal source
Positioning signal the time of reception, calculate local source and other each clock bias informations and clock between signal source
Drift information, the emission time information obtained that signal is locally-located and local source is each from signal with other
Clock bias information and clock drift information between source load in the positioning signal of local source.
17. a kind of receiver, the receiver receives time division broadcast formula positioning signal, the positioning signal carry signal source it
Between synchronizing information, the receiver extracts synchronizing information from the positioning signal and resolves pseudo-range measurements, according to being mentioned
The synchronizing information taken and the pseudo-range measurements resolved obtain the position of receiver user.
18. receiver as claimed in claim 17, comprising: information extraction unit, pseudorange acquiring unit and solving unit,
In,
The information extraction unit obtains synchronizing information from the positioning signal, according to the synch information extraction signal source it
Between clock bias information, and according to the clock bias information calculate signal source between clock drift information；
The pseudorange acquiring unit obtains the pseudo range observed quantity between receiver and signal source from the positioning signal；And
The solving unit obtains user and connects according to the clock bias information and clock drift information and pseudo range observed quantity
The position of receipts machine.
19. receiver as claimed in claim 17, comprising: information extraction unit, pseudorange acquiring unit and solving unit,
In,
The information extraction unit obtains synchronizing information from the positioning signal, according to the synch information extraction signal source it
Between clock bias information and clock drift information；
The pseudorange acquiring unit obtains the pseudo range observed quantity between receiver and signal source from the positioning signal；And
The solving unit obtains user and connects according to the clock bias information and clock drift information and pseudo range observed quantity
The position of receipts machine.
20. the receiver as described in claim 18 or 19, wherein the solving unit is according to the clock between the signal source
Deviation information and clock drift information calculate the corresponding relationship of the time deviation between receiver and each signal source, and according to institute
It states corresponding relationship and the pseudo range observed quantity constructs the pseudorange equation of the receiver Yu each signal source, to resolve user's reception
The position of machine.
21. receiver as claimed in claim 20, wherein the corresponding relationship of the solving unit includes receiving receiver
Clock jitter between the time of reception and second signal source of the positioning signal in second signal source is receiving first by receiver
Clock jitter, the first signal source and second signal source between the time of reception of the positioning signal of signal source and the first signal source it
Between clock jitter and the first signal source and second signal source between clock drift it is corresponding indicate.
22. receiver as claimed in claim 20, wherein the corresponding relationship of the solving unit includes receiving receiver
From the time of reception of the positioning signal of signal source and from the clock jitter between signal source, master source is being received by receiver
Positioning signal the time of reception and master source between clock jitter, master source and inclined from the clock between signal source
Difference and master source are indicated with from the clock drift between signal source is corresponding.
23. a kind of positioning signal reception method, the positioning signal be time division broadcast formula positioning signal and carry signal source it
Between synchronizing information, the positioning signal reception method includes: to receive the positioning signal, is extracted from the positioning signal same
Step information simultaneously resolves pseudo-range measurements, obtains receiver user according to extracted synchronizing information and the pseudo-range measurements resolved
Position.
24. positioning signal reception method as claimed in claim 23, wherein the synchronizing information extracted from the positioning signal
Including the clock bias information between signal source, clock drift information is calculated according to the clock bias information, and according to described
Clock bias information and clock drift information and pseudo range observed quantity, obtain the position of receiver user.
25. positioning signal reception method as claimed in claim 23, wherein the synchronizing information extracted from the positioning signal
Including the clock bias information and clock drift information between signal source, believed according to the clock bias information and clock drift
Breath and pseudo range observed quantity, obtain the position of receiver user.
26. the positioning signal reception method as described in claim 24 or 25, wherein inclined according to the clock between the signal source
Poor information and clock drift information calculate the corresponding relationship of the time deviation between receiver and each signal source, and according to described
Corresponding relationship and the pseudo range observed quantity construct the pseudorange equation of the receiver Yu each signal source, to resolve receiver user
Position.
27. positioning signal reception method as claimed in claim 26, wherein the corresponding relationship includes receiving receiver
Clock jitter between the time of reception and second signal source of positioning signal from second signal source, is being received by receiver
Clock jitter, the first signal source and second between the time of reception of positioning signal from the first signal source and the first signal source
The clock drift between clock jitter and the first signal source and second signal source between signal source is corresponding to be indicated.
28. positioning signal reception method as claimed in claim 26, wherein the corresponding relationship includes receiving receiver
To come from by receiver in reception since the time of reception of the positioning signal of signal source and from the clock jitter between signal source
Clock jitter, master source between the time of reception and master source of the positioning signal of master source and between signal source
Clock jitter and master source are indicated with from the clock drift between signal source is corresponding.
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| CN110146905B (en) * | 2018-02-12 | 2021-06-29 | 清华大学 | Positioning signal receiving method and receiver |
| CN113093250B (en) * | 2021-06-04 | 2021-08-27 | 腾讯科技（深圳）有限公司 | Pseudo-range observation data restoration method, positioning information determination method and device |
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