CN110161545B - Positioning system and positioning signal generation method thereof - Google Patents
Positioning system and positioning signal generation method thereof Download PDFInfo
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- CN110161545B CN110161545B CN201810144032.7A CN201810144032A CN110161545B CN 110161545 B CN110161545 B CN 110161545B CN 201810144032 A CN201810144032 A CN 201810144032A CN 110161545 B CN110161545 B CN 110161545B
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- 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
The application provides a positioning system and a positioning signal generation method thereof. The positioning system comprises a plurality of signal sources, wherein the plurality of signal sources broadcast positioning signals in different time slots in a time division manner, and the positioning signals broadcast by the signal sources carry synchronous information between a local signal source and other signal sources. The signal source of the positioning system can broadcast positioning signals in different time slots, and the positioning signals carry synchronization information among the signal sources, so that the signal source end does not need to complete clock synchronization, and the positioning system is convenient and rapid to deploy.
Description
Technical Field
The present application relates to the field of positioning and navigation, and in particular, to a positioning system, a positioning signal generating method, a positioning signal receiving method, and a receiver.
Background
One current implementation of a radio positioning system is to resolve the position of a user receiver by communicating with the user receiver multiple times through a base setting to obtain the distance between the user receiver and the base setting. Although the distance between the subscriber receiver and the infrastructure can be directly measured by a plurality of communications, the number of subscriber receivers and the frequency of communications are limited due to the large number of communications.
An alternative is that the user receiver transmits the positioning signal, and the infrastructure receives the positioning signal and then aggregates the positioning signal to the resolving center to obtain the position of the user receiver. This solution can increase the number of user receivers to some extent, but there is still an upper limit and a solution center needs to be provided.
Another alternative is for the infrastructure to transmit the location signal. Typically, the GNSS employs frequency division or code division multiplexing to enable multiple signal sources (navigation satellites) to broadcast navigation signals simultaneously, but the GNSS requires a large number of ground stations to be deployed for clock synchronization between the navigation satellites. In addition, when time synchronization between satellites is abnormal, a user receiver has no capability of finding and processing the abnormal time synchronization between the satellites, so that a positioning result has a large error and even fails.
Disclosure of Invention
The application aims to provide a positioning system, a positioning signal generation method, a positioning signal receiving method and a receiver thereof.
According to one aspect of the application, a positioning system is disclosed, which comprises a plurality of signal sources, wherein the signal sources broadcast positioning signals in different time slots in a time division manner, and the positioning signals broadcast by the signal sources carry synchronization information between a local signal source and other signal sources.
According to an aspect of the present application, a positioning signal generating method of a positioning system is disclosed, wherein the positioning system includes a plurality of signal sources, the positioning signal generating method includes: and the signal sources broadcast positioning signals in different time slots in a time division manner, and the positioning signals broadcast by the signal sources carry synchronous information between the local signal source and other signal sources.
According to one aspect of the application, a receiver is disclosed, wherein the receiver receives time division broadcast positioning signals, the positioning signals carry synchronization information between signal sources, the receiver extracts the synchronization information from the positioning signals and calculates pseudorange measurement values, and the position of a user receiver is obtained according to the extracted synchronization information and the calculated pseudorange measurement values.
According to an aspect of the present application, a positioning signal receiving method is disclosed, where the positioning signal is a time division broadcast positioning signal and carries synchronization information between signal sources, and the positioning signal receiving method includes: and receiving the positioning signal, extracting synchronous information from the positioning signal, resolving a pseudo-range measurement value, and obtaining the position of the user receiver according to the extracted synchronous information and the resolved pseudo-range measurement value.
According to the embodiment of the application, the signal source broadcasts the positioning signals in different time slots, and the positioning signals carry the synchronization information among the signal sources, so that the signal source end does not need to complete clock synchronization, and the positioning system is convenient and quick to deploy.
The user receiver can complete the positioning function only by receiving and processing the positioning signal without completing clock synchronization on the signal source side, and the number of the receivers is not limited, so that the realization is simple.
Drawings
FIG. 1 illustrates a positioning system according to one embodiment of the present application.
Fig. 2 shows a signal source of a positioning system according to an embodiment of the present application.
Fig. 3 illustrates a method of positioning signal generation according to an embodiment of the present application.
Fig. 4 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to an embodiment of the present application.
Fig. 5 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to another embodiment of the present application.
Fig. 6 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to another embodiment of the present application.
Fig. 7 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to another embodiment of the present application.
Fig. 8 shows a flow chart of a receiving method according to an embodiment of the present application.
Fig. 9 shows a schematic block diagram of a receiver according to an embodiment of the present application.
Detailed Description
The positioning system, the positioning signal generating method, the positioning signal receiving method, and the receiver disclosed in the present application will be described in detail below with reference to the accompanying drawings. For the sake of simplicity, the same or similar reference numerals are used for the same or similar devices in the description of the embodiments of the present application.
FIG. 1 illustrates a positioning system according to one embodiment of the present application. The broadcast wireless positioning system includes a plurality of signal sources 100, wherein each signal source externally broadcasts a positioning signal in a different time slot. The positioning signal broadcast by each signal source carries the synchronization information between the local signal source and other signal sources.
In the existing field of navigation, clock synchronization is typically done on the source side of the signal. However, in order to achieve synchronization on the signal source side, a wired connection between signal sources is required, and the complexity of calculation is high.
In addition, because the clock sources used by different signal sources have frequency differences, clock drift exists between different signal sources. Different from the frequency division or code division multiplexing mode adopted in the existing navigation field, the positioning system according to the application adopts a time division multiplexing mode and broadcasts the positioning signals in the time division mode. The transmission moments of the time division signal sources have a certain time interval, so that the amplification is influenced by clock deviation caused by clock drift, which makes it more difficult to perform synchronization on the signal source side.
According to the embodiment of the application, the signal source broadcasts the positioning signals in different time slots, the positioning signals carry the synchronization information, and the signal source end does not need to carry out clock synchronization, so that any wired connection and complex synchronization design are not needed between the signal sources, and the positioning system is simple and rapid to deploy. In addition, the maneuverability, flexibility and rapid deployment capability of the positioning system are greatly improved, and a large amount of application requirements exist in the civil and military fields.
Therefore, the signal source end adopts a time division multiplexing mode and does not carry out clock synchronization, the synchronous information is carried in the positioning signal for broadcasting, and the receiver can complete the positioning function by receiving and processing the positioning signal. In addition, the positioning signals transmitted and received between the signal sources do not need to be designed independently, but are the same as the positioning signals broadcast by the signal sources for the user receivers, and the realization is convenient.
Fig. 2 shows a signal source of a positioning system according to an embodiment of the present application. According to an embodiment of the present application, as shown in fig. 2, the signal source 100 includes: a synchronization information acquisition unit 110, and a positioning signal generation unit 120.
The synchronization information acquisition unit 110 calculates synchronization information between the local signal source and the other signal sources based on the positioning signals from the other signal sources.
The positioning signal generating unit 120 generates a positioning signal in which the synchronization information acquired by the synchronization information acquiring unit 110 is loaded.
Fig. 3 illustrates a method of positioning signal generation according to an embodiment of the present application. As shown, at S10, the positioning signal is time-division broadcast by the plurality of signal sources in different time slots; at S11, synchronization information between the local signal source and other signal sources is carried in the positioning signal broadcast by each signal source.
Fig. 4 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to an embodiment of the present application.
As shown in fig. 4, the synchronization information of the positioning signal generated by the signal source includes the transmission time of the local positioning signal and the clock deviation information between the local signal source and other signal sources.
For example, the synchronization information obtaining unit 110 may locally obtain the transmission time information of the local positioning signal, and may also calculate the clock offset information between the local signal source and each other signal source according to the transmission time carried in the positioning signal from each other signal source and the receiving time at which the local signal source receives the positioning signal from each other signal source. The positioning signal generating unit 120 loads the acquired transmission time information of the local positioning signal and the clock skew information between the local signal source and each of the other signal sources into the positioning signal of the local signal source.
When the positioning system is in operation, the plurality of signal sources 100 may broadcast the wireless positioning signals at different transmission times and modulate the transmission time information into the broadcast signals. According to the embodiment of the application, the time division broadcasting type positioning signals are adopted, so that each signal source device can receive the positioning signals broadcasted by other signal sources, measure the local receiving time, and calculate the clock deviation between the signal source device and other positioning sources by using the transmitting time and the receiving time of the broadcasting signals. Therefore, the calculation of the synchronous information can be completed by using the transmitting interval time slot between the signal sources, and the synchronous information is loaded in the broadcasted positioning signals for broadcasting at the local transmitting time of the local signal source.
Fig. 5 shows a schematic diagram of synchronization information of a positioning signal generated by a signal source of a positioning system according to another embodiment of the present application. In this embodiment, the signal sources of the positioning system may be divided into master and slave signal sources. The master signal source provides a clock reference for the positioning system. When the local signal source is a slave signal source, the synchronization information carried in the positioning signal broadcast by the local signal source is the synchronization information between the local slave signal source and the master signal source. When the local signal source is the master signal source, the synchronization information carried in the positioning signal broadcasted by the local signal source is the synchronization information between the local master signal source and each other slave signal source.
For example, when the local signal source is the slave signal source, the synchronization information acquiring unit 110 of the local signal source locally acquires the transmission time information of the local positioning signal, and the synchronization information acquiring unit 110 of the local signal source further calculates the clock offset information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source. The positioning signal generating unit 120 of the local signal source loads the acquired transmission time information of the local positioning signal and the clock skew information between the local signal source and the main signal source in the positioning signal of the local signal source.
When the local signal source is the master signal source, the synchronization information acquiring unit 110 of the local signal source locally acquires the transmission time information of the local positioning signal, and further calculates the clock offset information between the local signal source and each of the other slave signal sources according to the transmission time carried in the positioning signals from each of the other slave signal sources and the receiving time at which the master signal source receives the positioning signals of each of the other slave signal sources. The positioning signal generating unit 120 of the local signal source loads the transmission time information of the obtained local positioning signal and the clock skew information between the local signal source and each of the other slave signal sources into the positioning signal of the local signal source.
FIG. 6 is a diagram illustrating one embodiment of synchronization information for a positioning signal generated by a signal source without distinguishing between master and slave signal sources. FIG. 7 is a diagram illustrating one embodiment of synchronization information for a positioning signal generated by a master signal source and a slave signal source when distinguishing between the master and slave signal sources. As shown in fig. 6 and 7, the synchronization information may also include clock drift information between the local signal source and other signal sources. Each signal source device can receive positioning signals broadcast by other signal sources, measure local receiving time, calculate clock deviation and clock drift between the signal source device and other positioning sources by using the transmitting time and the receiving time of the broadcast signals, and load the clock deviation information and the clock drift information into the positioning signals for transmission.
Without loss of generality, with signal source AiAnd AjFor example, a method of calculating clock skew information and clock drift information will be described. Suppose signal source AiTransmitting signal, AiMay be determined by the signal source AiThe local clock is read and modulated in the broadcast positioning signal. Signal source AjWhen receiving signals, the local receiving time, A, can be measuredjThe local reception time of (a) is expressed as:
wherein the content of the first and second substances,
is AjThe local receiving time can be AjA signal source is obtained locally;
is AiThe transmission time can be based on the received signal from the signal source AiObtaining the positioning signal;
is at AjAt the moment of reception (in A)iTime of clock) AiAnd AjClock skew of (2). Due to the signal source AjAnd a signal source AiThere is a frequency deviation of the clock source between them, so that the signal sources are in betweenIs not fixed, i.e., the clock offset is time-varying. And clock deviation bijCorresponds to the clock drift kij. Can be based on clock deviation information bijCalculating clock drift information kij。
According to one embodiment of the present application, the clock skew information included in the synchronization information may be original clock skew information, that is,
the original clock deviation information is determined according to the transmitting time carried by the positioning signal broadcasted by the signal source, wherein the transmitting time comprises the fixed time delay between the signal sources. The fixed delay may include, for example, delay introduced by the distance between signal sources, the design of transmit and receive channels.
Alternatively, the clock skew information may be actual clock skew information from which the influence of the transmission path is removed from the original clock skew information, that is, actual clock skew information from which the distance between signal sources and the fixed delay of the transmission and reception channels are removed. Since the location of the signal sources themselves is known, the distance between the signal sources can be obtained. The fixed delays of the transmit and receive channels may be determined based on the hardware implementation of the signal source.
Furthermore, since the measurement of the reception time instant has noise, the synchronization information acquisition unit may further include a filter according to an embodiment of the present application.
Can be combined with
Modelled as a linear function, to solve for a state vector
Where b (t) is the clock skew at time t, and k (t) is the clock drift at time t. The clock bias and clock drift are estimated using a filter, such as a kalman filter, and the effect of noise can be reduced. The observed quantity of the Kalman filter is
The one-step state transition matrix of the Kalman filter is
Where Δ T is the local time interval between two state updates. The design matrix of the Kalman filter is H ═ 10]。
When the local signal source receives the information of other signal sources each time, the synchronous information acquisition unit carries out measurement updating through the filter to obtain the clock deviation information b between the signal sourcesijAnd clock drift information kij。
The positioning signal generating unit 120 generates a positioning signal in which the transmission timing of the local positioning signal obtained by the synchronization information obtaining unit, the clock bias information b, are loadedijAnd clock drift information kij. The signal source may broadcast the positioning signal for use by other signal sources and for use by receiver users for positioning.
In addition, according to the embodiment of the application, a positioning signal receiving method and a receiver are also disclosed.
According to one embodiment of the present application, at the receiver side, receiver 200 receives a time division broadcast positioning signal carrying synchronization information between signal sources. Fig. 8 shows a flow chart of a receiving method according to an embodiment of the present application. At S20, the receiver receives a time-division broadcast-type positioning signal; at S21, extracting synchronization information from the positioning signal and resolving pseudorange measurements; at S22, the position of the user receiver is obtained from the extracted synchronization information and the resolved pseudorange measurements.
Fig. 9 shows a schematic block diagram of a receiver according to an embodiment of the present application. As shown in fig. 9, the receiver 200 includes: information extraction unit 210, pseudo-range acquisition unit 220, and calculation unit 230.
The information extraction unit 210 may obtain synchronization information between signal sources from the positioning signal. The pseudo-range acquisition unit 220 obtains pseudo-range observations between the receiver and the signal source from the positioning signal. The solution unit 230 obtains the position of the user receiver from the synchronization information and the pseudorange observations.
According to one embodiment of the present application, the synchronization information includes clock skew information between signal sources. The information extraction unit 210 may obtain synchronization information from the positioning signal, and extract clock deviation information between signal sources according to the synchronization information. The information extraction unit 210 may extract the clock skew information b from the clock skew information bijCalculating clock drift information k between signal sourcesij. Clock offset information b between signal sources due to frequency offset of clock source between signal sourcesijIs time-varying. The information extraction unit 210 may extract the clock skew information b from the clock skew information bijCalculating clock drift information kij。
According to another embodiment of the present application, the synchronization information includes clock skew information and clock drift information between signal sources. The information extraction unit 210 obtains synchronization information from the positioning signal, and extracts clock deviation information b between signal sources from the synchronization informationijAnd clock drift information kij。
In addition, the clock deviation information in the synchronization information carried in the positioning signal time-division broadcast by the signal source may be the original clock deviation information or the actual clock deviation information.
The clock deviation information extracted by the information extraction unit 210 is actual clock deviation information in synchronization information in a positioning signal of time division broadcasting of a signal source if the clock deviation information in the synchronization information carried in the positioning signal is the actual clock deviation information.
If the clock skew information in the synchronization information carried in the positioning signal of the time division broadcasting of the signal source is the original clock skew information, the clock skew information extracted by the information extraction unit 210 is the actual clock skew information from which the fixed delays of the distance between the signal sources, the transmission and reception channels, and the like are removed from the original clock skew information.
The pseudo-range acquisition unit 220 obtains pseudo-range observations between the receiver and the signal source from the positioning signal. The pseudo-range observation can be obtained according to the difference value between the local receiving time and the signal source transmitting time.
The resolver 230 obtains the position of the user receiver from the clock bias information and the clock drift information, and the pseudo-range observations.
According to one embodiment, the calculating unit 230 may calculate the clock skew information b between signal sourcesijAnd clock drift information kijCalculating the time offset correspondence between the receiver and each signal source (b)i，bj) And constructing a pseudo-range equation of the receiver and each signal source according to the corresponding relation and the pseudo-range observed quantity so as to solve the position of the user receiver.
Without loss of generality, the receiver receives the signal from the signal source AiAnd a signal source AjFor example, the operation principle of the receiver will be described in detail.
For signal source AiThe receiver receives the signal from the signal source AiOf the receiver at a signal reception time ti。
According to the embodiment of the application, since the signal source side does not perform clock synchronization, the pseudo-range relationship between the receiver and each signal source can be represented by pseudo-range measurement values and clock skew between the receiver and the signal source.
E.g. receiver and signal source AiThe pseudorange equation of (a) is expressed as:
where ρ isiRepresenting a signal source AiPseudorange observations, T, to a receiverAitxIs a signal source AiPositioning signal emission time of DiRepresenting a signal source AiTrue distance from receiver, biIndicating receiver and signal source AiRepresents the measurement noise.
For signal source AjAt t, the receiverjConstantly receiving signal source AjAccording to embodiments of the application, receiver and signal source AjThe pseudorange equation of (a) is expressed as:
where ρ isjRepresenting a signal source AjA pseudorange observation to the receiver,
is a signal source AjPositioning signal emission time of DjRepresenting a signal source AjTrue distance from receiver, bjIndicating receiver and signal source AjClock skew of (2).
It is to be appreciated that the real distance D includes receiver position information, and according to an embodiment of the present application, a pseudorange equation may be solved according to the extracted synchronization information and the solved pseudorange measurement value to obtain a receiver position estimate.
According to one embodiment of the present application, the receiver can construct the correspondence of the clock offset between the receiver and each signal source according to the synchronization information in the received positioning signals from each signal source, that is, the receiver can calculate the correspondence of the time offset between the receiver and each signal source according to the clock offset information and the clock drift information between the signal sources. E.g. based on clock skew information b between respective signal sourcesijAnd clock drift information kijA receiver and a signal source A can be obtainediClock deviation b ofiAnd receiver and signal source AjClock deviation b ofjThe corresponding relation between them. In this way, when the receiver receives positioning signals from a plurality of signal sources, the pseudo-range equations between the receiver and each signal source can be solved to obtain the position of the user receiver according to the corresponding relationship of the time deviations between the receiver and each signal source even if the time deviation between the receiver and each signal source is unknown.
Without losing oneIn general, the receiver is analyzed below at signal source AiCorresponding reception time tiReceiving from a signal source AiClock deviation b corresponding to the positioning signal ofi(ti) And in signal source AjCorresponding reception time tjReceiving from a signal source AjClock deviation b corresponding to the positioning signal ofj(tj) The relationship between them.
According to one embodiment, at the receiving time tjReceiving from a signal source AjClock deviation b corresponding to the positioning signal ofj(tj) Can be expressed as:
bj(tj)＝bi(tj)-bij(tj)，
wherein, bij(tj) Representing a signal source AiAnd a signal source AjAt tjClock deviation of time, bi(tj) Is shown at the receiving time tjReceiver and signal source AiClock skew of (2).
It can be seen that the receiver is associated with a signal source AjClock deviation b ofjCan be connected with the signal source A through a receiveriClock deviation b ofiAnd a signal source AiAnd a signal source AjClock deviation b betweenijTo indicate.
Because the signal source broadcasts the positioning signal in different time slots in a time division manner, the receiver receives the signal source AiAt time t of the broadcast signaliAnd a received signal source AjAt time t of the broadcast signaljAnd also between receiver and signal source, signal source AiAnd a signal source AjThere is clock drift between them, and according to an embodiment of the present application, the corresponding relationship can be further optimized to eliminate the influence of clock drift at different receiving times.
According to an embodiment of the application, the receiver is arranged to receive the reception time t from different signal sourcesjTime and tiAt a very close time during which the receiver is at the signal source AiClock deviation b ofiWhich can be considered to be linearly varying, signal source aiAnd AjClock deviation b ofijIt can also be considered as linearly varying, and therefore, the clock deviation mapping relationship between the receiver at different receiving moments and different signal sources can be obtained, as follows:
bi(tj)＝bi(ti)+kir·(tj-ti)，
bij(tj)＝bij(ti)+kij·(tj-ti)，
wherein k isirIndicating receiver and AiClock drift between, kijRepresenting a signal source AiAnd a signal source AjClock drift between.
Thus, t isiTime receiver and signal source AiClock deviation of (1) and (t)jTime receiver and signal source AjThe clock skew of (a) establishes a relationship. That is, the receiver is receiving signals from signal source AjAt the time t of reception of the positioning signaljAnd a signal source AjClock deviation b ofjCan receive the signal from the signal source A through a receiveriAt the time t of reception of the positioning signaliAnd a signal source AiClock deviation b ofiAnd a signal source AiAnd a signal source AjClock deviation b betweenijAnd clock drift kijTo indicate.
E.g. receiver and signal source AiAnd a signal source AjThe pseudorange equation of (a) may be expressed as:
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 one embodiment of the present application, it is possible to obtain a correspondence relationship between clock biases of a receiver and respective signal sources from clock bias information and clock drift information between the signal sources, and construct a pseudo-range equation of the receiver and the respective signal sources from the correspondence relationship and the pseudo-range observed quantity. Thus, even if the signal source side does not complete clock synchronization, the receiver can complete the positioning function by receiving and processing the positioning signal with the synchronization information, and the computational complexity is low.
It is to be appreciated that the particular pseudorange equations listed in the above analysis are merely illustrative and that pseudorange equations according to embodiments of the application are not so limited.
For example, the receiver may be coupled to signal source A based on synchronization informationiThrough the receiver and the signal source AjClock skew therebetween, and signal source AjAnd a signal source AiClock skew information and clock drift information between.
Alternatively, if the signal source comprises a main signal source A0And the slave signal source, the receiver and the signal source AiSignal source AjThe clock deviation between the two signals can be realized by the receiver and the main signal source A0Clock skew therebetween, and signal source AiSignal source AjWith a main signal source A0Clock skew information and clock drift information between the two.
According to the embodiment of the application, the synchronization information can be obtained from the positioning signals, the clock deviation information and the clock drift information between the signal sources are obtained, the time deviation corresponding relation between the receiver and each signal source can be constructed according to the clock deviation information and the clock drift information between the signal sources, so that the pseudo-range equation between the receiver and each signal source is solved, and the position of the user receiver is obtained.
An exemplary solution to the pseudorange equations in an exemplary application scenario is described below. As mentioned above, the receiver is connected to the signal source AiAnd a signal source AjThe pseudorange equation of (a) may be expressed as:
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, the real distance D contains the position information of the receiver. E.g. receiver and signal source AiTrue distance D betweeniCan be expressed as:
wherein x isi、yi、ziIs a signal source AiX, y and z are the three-dimensional position coordinates of the receiver to be solved
When the receiver is in a moving state, the speed parameter of the receiver can be introduced to construct the relation between the real distance between each receiving moment and each signal source.
For example, since the receiver is tuned to signals from different signal sources AiAnd AjAt a receiving time tjAnd tiIs small, and the speed of the receiver within this interval can be considered constant, so that the receiver can be set at the reception time tjAnd a signal source AjThe true distance between is expressed as:
thus, the unknowns in the pseudorange equations may include the user's three dimensional position xyz, the receiver and the signal source AiClock deviation b ofiThree-dimensional velocity v of receiverx/vy/vzReceiver clock drift kir。
The receiver receives time division broadcast positioning signals from a plurality of signal sources, extracts synchronous information from the positioning signals and calculates pseudo-range measurement values, and according to the extracted synchronous information and the calculated pseudo-range measurement values, unknowns in the pseudo-range equation can be calculated to obtain the position of the user receiver.
In addition, when the receiver receives time division broadcast positioning signals from a plurality of signal sources, pseudo-range observed quantities of a plurality of receiving moments can be obtained for each signal source, so that more pseudo-range equations can be constructed, the noise influence can be reduced when the pseudo-range equations are solved, and the positioning accuracy and the fault tolerance can be improved.
Exemplary embodiments of the present application are described above with reference to the accompanying drawings. It will be appreciated by those skilled in the art that the above-described embodiments are merely exemplary for purposes of illustration and are not intended to be limiting, and that any modifications, equivalents, etc. that fall within the teachings of this application and the scope of the claims should be construed to be covered thereby.
Claims (14)
1. A positioning system comprising a plurality of signal sources, each of the plurality of signal sources time-division broadcasting a positioning signal in a different time slot, the positioning signal carrying synchronization information between a local signal source and other signal sources and being transmitted to the other signal sources,
the synchronization information comprises the transmission time information of the local positioning signal and the clock deviation information between the local signal source and other signal sources.
2. The positioning system of claim 1, wherein each of the plurality of signal sources comprises:
the synchronous information acquisition unit is used for calculating synchronous information between the local signal source and other signal sources according to positioning signals from other signal sources; and
and a positioning signal generation unit that generates a positioning signal in which the synchronization information is loaded.
3. The positioning system according to claim 1, wherein the synchronization information obtaining unit locally obtains transmission time information of the local positioning signal, and the synchronization information obtaining unit further calculates clock deviation information between the local signal source and each of the other signal sources according to transmission times carried in the positioning signals from each of the other signal sources and reception times at which the local signal source receives the positioning signals of each of the other signal sources; and the positioning signal generating unit loads the acquired emission time information of the local positioning signal and the clock deviation information between the local signal source and each other signal source into the positioning signal of the local signal source.
4. The positioning system of claim 1, wherein the plurality of signal sources includes a master signal source and a slave signal source,
when the local signal source is a slave signal source, the synchronization information acquisition unit of the local signal source locally acquires the transmission time information of the local positioning signal, the synchronization information acquisition unit of the local signal source also calculates the clock deviation information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source, and the positioning signal generation unit of the local signal source loads the acquired transmission time information of the local positioning signal and the clock deviation information between the local signal source and the master signal source in the positioning signal of the local signal source; and
when the local signal source is a master signal source, the synchronization information acquisition unit of the local signal source locally acquires the transmission time information of the local positioning signal, the synchronization information acquisition unit of the local signal source also calculates the clock deviation information between the local signal source and each other slave signal source according to the transmission time carried in the positioning signal from each other slave signal source and the receiving time of the main signal source receiving the positioning signal of each other slave signal source, and the positioning signal generation unit of the local signal source loads the acquired transmission time information of the local positioning signal and the clock deviation information between the local signal source and each other slave signal source in the positioning signal of the local signal source.
5. The positioning system of claim 1, wherein the synchronization information further comprises clock drift information between local signal sources and other signal sources.
6. The positioning system according to claim 5, wherein the synchronization information obtaining unit locally obtains the transmission time information of the local positioning signal, and the synchronization information obtaining unit further calculates the clock deviation information and the clock drift information between the local signal source and each of the other signal sources according to the transmission time carried in the positioning signals from each of the other signal sources and the receiving time at which the local signal source receives the positioning signals of each of the other signal sources; and the positioning signal generating unit loads the obtained emission moment information of the local positioning signal, and clock deviation information and clock drift information between the local signal source and other signal sources into the positioning signal of the local signal source.
7. The positioning system of claim 5, wherein the plurality of signal sources includes a master signal source and a slave signal source,
when the local signal source is a slave signal source, the synchronization information acquisition unit of the local signal source locally acquires the transmission time information of the local positioning signal, the synchronization information acquisition unit of the local signal source also calculates the clock deviation information and the clock drift information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source, and the positioning signal generation unit of the local signal source loads the acquired transmission time information of the local positioning signal and the clock deviation information and the clock drift information between the local signal source and the master signal source in the positioning signal of the local signal source; and
when the local signal source is a master signal source, the synchronization information acquisition unit of the local signal source locally acquires the transmission time information of the local positioning signal, the synchronization information acquisition unit of the local signal source also calculates the clock deviation information and the clock drift information between the local signal source and each other slave signal source according to the transmission time carried in the positioning signal from each other slave signal source and the receiving time of the main signal source receiving the positioning signal of each other slave signal source, and the positioning signal generation unit of the local signal source loads the acquired transmission time information of the local positioning signal and the clock deviation information and the clock drift information between the local signal source and each other slave signal source in the positioning signal of the local signal source.
8. A positioning signal generating method of a positioning system, wherein the positioning system includes a plurality of signal sources, the positioning signal generating method comprising: time-division broadcasting a positioning signal by each of the plurality of signal sources at different time slots, the positioning signal carrying synchronization information between a local signal source and other signal sources, wherein the positioning signal is transmitted to the other signal sources,
the synchronization information comprises the transmission time information of the local positioning signal and the clock deviation information between the local signal source and other signal sources.
9. The positioning signal generating method according to claim 8, further comprising:
according to positioning signals from other signal sources, calculating synchronous information between the local signal source and other signal sources through the local signal source; and
generating a positioning signal, wherein the synchronization information is loaded in the generated positioning signal.
10. The positioning signal generating method according to claim 8, further comprising:
locally acquiring the transmitting time information of the local positioning signal, and calculating the clock deviation information between the local signal source and each other signal source according to the transmitting time carried in the positioning signal from each other signal source and the receiving time of the local signal source receiving the positioning signal of each other signal source; and
and loading the obtained transmitting time information of the local positioning signal and the clock deviation information between the local signal source and each other signal source into the positioning signal of the local signal source.
11. The localization signal generating method of claim 8, wherein the plurality of signal sources includes a master signal source and a slave signal source, the localization signal generating method further comprising:
when the local signal source is a slave signal source, locally obtaining the transmission time information of the local positioning signal, calculating the clock deviation information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source, and loading the obtained transmission time information of the local positioning signal and the clock deviation information between the local signal source and the master signal source into the positioning signal of the local signal source; and
when the local signal source is a main signal source, locally obtaining the transmitting time information of the local positioning signal, calculating the clock deviation information between the local signal source and each other slave signal source according to the transmitting time carried in the positioning signal from each other slave signal source and the receiving time of the main signal source receiving the positioning signal of each other slave signal source, and loading the obtained transmitting time information of the local positioning signal and the clock deviation information between the local signal source and each other slave signal source in the positioning signal of the local signal source.
12. The positioning-signal generating method of claim 8, wherein the synchronization information further includes clock drift information between a local signal source and other signal sources.
13. The positioning-signal generating method according to claim 12, further comprising:
locally acquiring the transmitting time information of the local positioning signals, and calculating clock deviation information and clock drift information between the local signal source and each other signal source according to the transmitting time carried in the positioning signals from each other signal source and the receiving time of the local signal source receiving the positioning signals of each other signal source; and
and loading the obtained emission moment information of the local positioning signal, and clock deviation information and clock drift information between the local signal source and other signal sources into the positioning signal of the local signal source.
14. The localization signal generating method of claim 12, wherein the plurality of signal sources includes a master signal source and a slave signal source,
the positioning signal generation method further includes:
when the local signal source is a slave signal source, locally obtaining the transmission time information of the local positioning signal, calculating the clock deviation information and the clock drift information between the local signal source and the master signal source according to the transmission time carried in the positioning signal from the master signal source, and loading the obtained transmission time information of the local positioning signal, the clock deviation information and the clock drift information between the local signal source and the master signal source into the positioning signal of the local signal source; and
when the local signal source is a main signal source, locally obtaining the transmitting time information of the local positioning signal, calculating the clock deviation information and the clock drift information between the local signal source and each other slave signal source according to the transmitting time carried in the positioning signal from each other slave signal source and the receiving time of the main signal source receiving the positioning signal of each other slave signal source, and loading the obtained transmitting time information of the local positioning signal and the clock deviation information and the clock drift information between the local signal source and each other slave signal source in the positioning signal of the local signal source.
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| 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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