CN110412629B - Positioning method and positioning system based on GNSS signal simulation node - Google Patents
Positioning method and positioning system based on GNSS signal simulation node Download PDFInfo
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- 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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- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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Abstract
The embodiment of the invention provides a positioning method and a positioning system based on a GNSS signal simulation node. The positioning method is applied to a positioning system, and the positioning system comprises: the GNSS time service system comprises a GNSS time service receiver, a data processing server and a plurality of GNSS signal simulation nodes. The GNSS time service receiver receives satellite signals of each navigation satellite, transmits ephemeris to the data processing server and carries out real-time transmission on the data processing server; the data processing server receives and processes the ephemeris, transmits the processed ephemeris to the GNSS signal simulation node, and carries out time service on the GNSS signal simulation node through an optical fiber; and the GNSS signal simulation node receives the processed ephemeris, and generates and broadcasts a simulation satellite signal according to the processed ephemeris, the current epoch and the position coordinate of the GNSS signal simulation node, so that the equipment needing positioning and navigation can receive the simulation satellite signal to perform positioning according to the simulation satellite signal.
Description
Technical Field
The embodiment of the invention relates to the technical field of GNSS positioning, in particular to a positioning method and a positioning system based on a GNSS signal simulation node.
Background
In an outdoor environment, the vehicle-mounted Navigation device may determine a specific position of a vehicle by receiving a Satellite signal of a Global Navigation Satellite System (GNSS) and combining with an electronic map, but when the vehicle enters a tunnel, a garage, or other indoor space where the GNSS signal is seriously blocked, the vehicle-mounted Navigation device may not normally capture the Satellite signal, thereby causing a positioning failure.
At present, in order to realize positioning and navigation by utilizing GNSS in indoor environment, a GNSS signal repeater is generally used, wherein the GNSS signal repeater is composed of an outdoor GNSS receiving antenna, a low loss cable, an indoor GNSS transmitting antenna and a GNSS satellite navigation signal controller, and the working principle is as follows: the GNSS signal transponder wirelessly forwards the received outdoor satellite navigation signals to the indoor environment in real time after amplification, filtering and other processing, and an indoor ordinary GNSS receiver can normally receive the forwarded signals to realize positioning.
However, because of the problems of signal attenuation when signals are transmitted in the cable and noise introduced during the transmission process, the GNSS signal repeater positioning is only suitable for the scene that only a single or a few indoor GNSS transmitting antennas are needed and the cable is arranged in a short distance. When the GNSS signal repeater is adopted to position in a large-range indoor space with serious signal shielding, for example, in a tunnel, the problem that the GNSS signal repeater cannot position due to serious signal attenuation exists.
Disclosure of Invention
The embodiment of the invention provides a positioning method and a positioning system based on a GNSS signal simulation node, which realize positioning by utilizing a GNSS simulation signal under the premise of not changing a GNSS receiving terminal in an environment with serious GNSS signal shielding.
In a first aspect, an embodiment of the present invention provides a positioning method based on a GNSS signal simulation node, which is applied to a positioning system based on a GNSS signal simulation node, where the positioning system includes: the GNSS time service system comprises a GNSS time service receiver, a data processing server and a plurality of GNSS signal simulation nodes; wherein,
the GNSS time service receiver receives satellite signals of a plurality of navigation satellites, transmits ephemeris to the data processing server, and transmits real-time to the data processing server so as to synchronize the time of the data processing server with the time of a satellite clock, wherein the navigation satellites comprise at least one of the following: GPS satellites, Beidou satellites;
the data processing server receives and processes the ephemeris, transmits the processed ephemeris to the GNSS signal simulation nodes, and carries out time service on the GNSS signal simulation nodes through optical fibers so as to synchronize time among the plurality of GNSS signal simulation nodes;
and the GNSS signal simulation node receives the processed ephemeris, generates and broadcasts a simulation satellite signal according to the processed ephemeris, a current epoch and the position coordinates of the GNSS signal simulation node, wherein the current epoch is the current indicated time of a satellite clock on the navigation satellite, and the simulation satellite signal is used for positioning equipment for positioning through the satellite signal of the navigation satellite.
In some embodiments, after the data processing server receives the ephemeris, the method further includes:
and storing the ephemeris into a general ephemeris, wherein the general ephemeris comprises the ephemeris of all navigation satellites.
In some embodiments, the data processing server stores the ephemeris, including:
and updating the ephemeris of the navigation satellite corresponding to the ephemeris in the total ephemeris according to the ephemeris.
In some embodiments, the data processing server does not receive the ephemeris, the data processing server obtaining ephemeris for visible stars, including:
determining an elevation angle of the navigation satellite in a station center coordinate system with the data processing server as an origin when the navigation satellite is in the current epoch according to the ephemeris of any one of the navigation satellites in the total ephemeris and the position coordinate of the data processing server;
and if the elevation angle is larger than or equal to a preset altitude cut-off angle, acquiring ephemeris of the navigation satellite.
In some embodiments, the GNSS signal simulation node generates and broadcasts a simulated satellite signal according to the processed ephemeris, an epoch time of a current simulation node, and a position coordinate of the GNSS signal simulation node, including:
determining the position coordinates of the navigation satellite and the broadcasting time of the simulated satellite signals according to the processed ephemeris, the current epoch and the position coordinates of the GNSS signal simulation node;
calculating a simulated pseudo range and a control parameter of the GNSS signal simulation node and the navigation satellite according to the processed ephemeris, the position coordinate of the simulation node, the position coordinate of the navigation satellite and the signal broadcasting time of the simulated satellite;
and generating and broadcasting a simulated satellite signal according to the simulated pseudo range and the control parameter.
In some embodiments, calculating a simulated pseudorange between the GNSS signal simulation node and the navigation satellite according to the processed ephemeris and the position coordinates of the GNSS signal simulation node, the position coordinates of the navigation satellite, and a simulated satellite signal broadcast time comprises:
calculating a simulated pseudo-range error according to the processed ephemeris;
acquiring a simulation true distance according to the position coordinate of the GNSS signal simulation node and the position coordinate of the navigation satellite;
and obtaining the simulated pseudorange according to the simulated true range and the simulated pseudorange error.
In some embodiments, generating and broadcasting analog satellite signals based on the analog pseudoranges and the control parameters comprises:
generating an intermediate frequency digital signal according to the analog pseudo range and the control parameter;
and D/A conversion and radio frequency modulation are carried out on the intermediate frequency digital signal, and the analog satellite signal is obtained and broadcast.
In a second aspect, an embodiment of the present invention provides a positioning system based on a GNSS signal simulation node, including: the GNSS time service system comprises a GNSS time service receiver, a data processing server and a plurality of GNSS signal simulation nodes; wherein,
the GNSS time service receiver is used for receiving satellite signals of a plurality of navigation satellites, transmitting ephemeris to the data processing server and transmitting real-time to the data processing server so as to synchronize the time of the data processing server with the time of a satellite clock, wherein the navigation satellites comprise at least one of the following: GPS satellites, Beidou satellites;
the data processing server is used for receiving and processing the ephemeris, transmitting the processed ephemeris to the GNSS signal simulation nodes, and carrying out time service on the GNSS signal simulation nodes through optical fibers so as to synchronize time among the plurality of GNSS signal simulation nodes;
the GNSS signal simulation node is used for receiving the processed ephemeris, generating and broadcasting a simulation satellite signal according to the processed ephemeris, a current epoch and the position coordinates of the GNSS signal simulation node, wherein the current epoch is the current indicated time of a satellite clock on the navigation satellite, and the simulation satellite signal is used for positioning equipment for positioning through the satellite signal of the navigation satellite.
In some embodiments, after receiving the ephemeris, the data processing server is further configured to:
and storing the ephemeris into a general ephemeris, wherein the general ephemeris comprises the ephemeris of all navigation satellites.
In some embodiments, when the data processing server stores the ephemeris into the general ephemeris, the data processing server is specifically configured to:
and updating the ephemeris of the navigation satellite corresponding to the ephemeris in the total ephemeris according to the ephemeris.
In some embodiments, the data processing server does not receive the ephemeris, the data processing server obtaining ephemeris for visible stars, including:
determining an elevation angle of the navigation satellite in a station center coordinate system with the data processing server as an origin when the navigation satellite is in the current epoch according to the ephemeris of any one of the navigation satellites in the total ephemeris and the position coordinate of the data processing server;
and if the elevation angle is larger than or equal to a preset altitude cut-off angle, acquiring ephemeris of the navigation satellite.
In some embodiments, when the GNSS signal simulation node generates and broadcasts a simulated satellite signal according to the processed ephemeris, the epoch time of the current simulation node, and the position coordinate of the GNSS signal simulation node, the method is specifically configured to:
determining the position coordinates of the navigation satellite and the broadcasting time of the simulated satellite signals according to the processed ephemeris, the current epoch and the position coordinates of the GNSS signal simulation node;
calculating a simulated pseudo range and a control parameter of the GNSS signal simulation node and the navigation satellite according to the processed ephemeris, the position coordinate of the simulation node, the position coordinate of the navigation satellite and the signal broadcasting time of the simulated satellite;
and generating and broadcasting a simulated satellite signal according to the simulated pseudo range and the control parameter.
In some embodiments, the GNSS signal simulation node is specifically configured to, when calculating the simulated pseudoranges between the GNSS signal simulation node and the navigation satellite according to the processed ephemeris, the position coordinate of the GNSS signal simulation node, the position coordinate of the navigation satellite, and a simulated satellite signal broadcast time:
calculating a simulated pseudo-range error according to the processed ephemeris;
acquiring a simulation true distance according to the position coordinate of the GNSS signal simulation node and the position coordinate of the navigation satellite;
and obtaining the simulated pseudorange according to the simulated true range and the simulated pseudorange error.
In some embodiments, when the GNSS signal simulation node generates and broadcasts a simulated satellite signal according to the simulated pseudorange and the control parameter, the method is specifically configured to:
generating an intermediate frequency digital signal according to the analog pseudo range and the control parameter;
and D/A conversion and radio frequency modulation are carried out on the intermediate frequency digital signal, and the analog satellite signal is obtained and broadcast.
In some embodiments, the plurality of GNSS signal simulation nodes are equidistant from each other.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, in which program instructions are stored, and when the program instructions are executed by a processor, the method described in any one of the first aspect of the embodiment of the present invention is implemented.
In a fourth aspect, the present invention provides a program product, which includes a computer program stored in a readable storage medium, which is readable by at least one processor in a GNSS signal simulation node-based positioning system, and which when executed by the at least one processor causes an electronic device to implement the method according to any of the first aspect of the present invention.
The embodiment of the invention provides a positioning method and a positioning system based on a GNSS signal simulation node, wherein a receiver in the positioning system based on the GNSS signal simulation node receives satellite signals of a GPS or a Beidou and transmits ephemeris to a data processing server; the data processing server receives and processes the ephemeris, transmits the processed ephemeris to the GNSS signal simulation nodes, and gives time to each simulation node; the GNSS signal simulation node receives the processed ephemeris, and generates and broadcasts a simulation satellite signal according to the processed ephemeris, a current epoch and the position coordinates of the GNSS signal simulation node, wherein the current epoch is a time ephemeris given to the GNSS signal simulator by the data processing server, and the simulation satellite signal is used for a universal GPS or Beidou satellite signal receiving device. The positioning system based on the GNSS signal simulation node can generate and broadcast the simulation satellite signal, so that the equipment needing positioning and navigation can receive the simulation satellite signal, and the equipment needing positioning and navigation can receive the simulation satellite signal to perform positioning according to the simulation satellite signal. The positioning system is simple in structure, easy to design and low in design cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a signaling diagram of a positioning method based on GNSS signal simulation nodes according to an embodiment of the present invention;
FIG. 2 is a signaling flow chart of a GNSS signal simulation node-based positioning method according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning system based on GNSS signal simulation nodes according to an embodiment of the present invention;
fig. 4 is a schematic hardware structure diagram of a GNSS signal simulation node according to an embodiment of the present invention;
fig. 5 is a schematic view of an application scenario provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Fig. 1 is a signaling flowchart of a positioning method based on a GNSS signal simulation node according to an embodiment of the present invention. The method of the embodiment of the invention is applied to a positioning system based on a GNSS signal simulation node, and the positioning system comprises: the GNSS time service system comprises a GNSS time service receiver, a data processing server and a plurality of GNSS signal simulation nodes. As shown in fig. 1, the method of this embodiment may include:
s101, a GNSS time service receiver receives satellite signals of a plurality of navigation satellites.
Wherein the navigation satellite comprises at least one of the following: GPS satellite, big dipper satellite.
In this embodiment, when a Navigation Satellite is used for Navigation, at least 3+ N Navigation satellites are generally required, where N denotes the number of constellations, and the embodiments of the present invention do not limit the types of the Navigation constellations, for example, the Navigation constellation may be a Global Positioning System (GPS) constellation and a bei dou Navigation Satellite System (BDS) constellation, and therefore, it is necessary that a receiver can receive Satellite signals of a bei dou Navigation Satellite and a GPS Satellite, where a Navigation Satellite corresponding to a Satellite signal received by the receiver when the GNSS is given is a visible Satellite in a current epoch, and a current epoch is time displayed by a Satellite clock on the Navigation Satellite. The GNSS time receiver may be, for example, a dual-band GNSS receiver with a receiving antenna, which can receive GPS L1 and BDS B1.
S102, the GNSS time service receiver transmits ephemeris to the data processing server and transmits real-time to the data processing server so that the time of the data processing server is synchronous with the time of a satellite clock. Correspondingly, the data processing server receives the ephemeris.
In this embodiment, the GNSS time service receiver obtains the ephemeris of the navigation satellites through the received satellite signals of the navigation satellites, and transmits the ephemeris of each navigation satellite to the data processing server. And each ephemeris comprises information such as the operation orbit parameters of the corresponding navigation satellite. It should be noted that, in the embodiment of the present invention, a transmission mode when the receiver transmits the ephemeris to the data processing server is not limited, and the transmission mode may be, for example, wired transmission, wireless transmission, or bit transmission.
In addition, the GNSS time service receiver can also perform time service on the data processing server, so that the time of the data processing server is synchronous with the time of a satellite clock on the navigation satellite.
S103, the data processing server processes the ephemeris.
In this embodiment, the data processing server performs format conversion on the received ephemeris, so that the processed ephemeris is suitable for the GNSS signal simulation node, that is, the GNSS signal simulation node may obtain information in the processed ephemeris.
S104, the data processing server transmits the processed ephemeris to the GNSS signal simulation nodes, and time service is carried out on the GNSS signal simulation nodes through optical fibers, so that time synchronization among the plurality of GNSS signal simulation nodes is achieved. Correspondingly, the GNSS signal simulation node receives the processed ephemeris.
In this embodiment, the data processing server sends the processed ephemeris to each GNSS signal simulation node, and the data processing server provides time to each GNSS signal simulation node to synchronize the time between each GNSS signal simulation node and synchronize the time of each GNSS signal simulation node with the time of a satellite clock on the navigation satellite. The data processing server may send the processed ephemeris to each GNSS signal simulation node and may time service each GNSS signal simulation node through an optical fiber, for example. In addition, the data processing server may also send the processed ephemeris to each GNSS signal simulation node by means of wired transmission, wireless transmission, or bit transmission, for example.
The data processing server is configured to time each GNSS signal simulation node through an optical fiber at a predetermined frequency, for example.
And S105, generating and broadcasting the simulated satellite signal by the GNSS signal simulation node according to the processed ephemeris, the current epoch and the position coordinate of the GNSS signal simulation node.
Wherein the simulated satellite signals are used for positioning the device for positioning by means of satellite signals of the navigation satellites.
In this embodiment, the plurality of GNSS signal simulation nodes are disposed in a narrow and long indoor space with a serious signal obstruction, such as a corridor and a tunnel, for example. When a plurality of GNSS signal simulation nodes are provided, the plurality of GNSS signal simulation nodes may be provided at equal intervals. For example, for a long-distance tunnel, a plurality of GNSS signal simulation nodes are arranged at equal intervals along the tunnel in the tunnel, so that GNSS positioning is utilized in the tunnel.
For any GNSS signal simulation node, generating simulated satellite signals according to the position coordinates of the GNSS signal simulation node, the processed ephemeris and the current epoch, wherein the position coordinates of each GNSS signal simulation node are the Earth-centered-Earth-fixed position coordinates under the same coordinate frame as the GNSS satellite, for example, for the GPS satellite, the position coordinates of the signal simulation node are in the WGS84 frame; for the Beidou satellite, the position coordinates of the signal simulation nodes are in a BDCS frame.
After each GNSS signal simulation node generates a simulation satellite signal, the simulation satellite signal is broadcast so that a receiving terminal provided on the device receives the simulation satellite signal, thereby performing positioning. Wherein the device is a device for positioning by means of satellite signals of navigation satellites. For example, a GNSS receiver terminal mounted on a vehicle traveling in a tunnel receives the simulated satellite signals, and performs positioning and navigation on the vehicle based on the simulated satellite signals. The GNSS signal simulation node broadcasts the simulation satellite signal through a broadcasting antenna arranged on the GNSS signal simulation node.
In this embodiment, the receiver in the positioning system based on the GNSS signal simulation node receives GPS or beidou satellite signals, and transmits ephemeris to the data processing server according to each of the satellite signals; the data processing server receives and processes the ephemeris and transmits the processed ephemeris to the GNSS signal simulation node; and the GNSS signal simulation node receives the processed ephemeris, and generates and broadcasts a simulation satellite signal according to the processed ephemeris, a current epoch and the position coordinates of the GNSS signal simulation node, wherein the current epoch is the time granted to each GNSS signal simulation node by the ephemeris data processing server, and the simulation satellite signal is used for GNSS receiving equipment in an application scene. The positioning system based on the GNSS signal simulation node can generate and broadcast the simulation satellite signal, so that the equipment needing positioning and navigation can receive the simulation satellite signal to perform positioning according to the simulation satellite signal. Moreover, the positioning system is simple in structure, easy to design and low in design cost.
In some embodiments, after S102, the positioning method further comprises:
s106, the data processing server stores the ephemeris into a general ephemeris, wherein the general ephemeris comprises the ephemeris of all navigation satellites.
In this embodiment, the data processing server stores the ephemeris into the ephemeris of the navigation satellite corresponding to the ephemeris in the total ephemeris after receiving the ephemeris of any navigation satellite in the current epoch, where the total ephemeris includes the ephemeris of all the navigation satellites. Therefore, when the data processing server cannot receive the ephemeris transmitted by the GNSS time service receiver, the GNSS signal simulation node generates and broadcasts the simulation satellite signal according to the stored ephemeris of the navigation satellite.
In some embodiments, one possible implementation of S106 is: and updating the ephemeris of the navigation satellite corresponding to the ephemeris in the total ephemeris according to the ephemeris.
In this embodiment, when the data processing server receives the ephemeris, the ephemeris to the navigation satellite corresponding to the ephemeris, which has been stored in the data processing server, is updated by the ephemeris. That is, if the ephemeris of one of the navigation satellites received by the current epoch is different from the ephemeris of the navigation satellite in the total ephemeris, the ephemeris of the navigation satellite in the total ephemeris of all the navigation satellites is updated to the received ephemeris of the navigation satellite.
In this embodiment, the general ephemeris may be updated in the data processing server, so that the ephemeris of each navigation satellite in the general ephemeris is the latest ephemeris, and the timeliness of the general ephemeris is improved. When the GNSS time service receiver can not receive satellite signals of navigation satellites or the data processing server can not receive the duration of the satellites transmitted by the GNSS time service receiver, the simulated satellite signals generated and broadcasted according to the total ephemeris are closer to the real satellite signals, so that the positioning is more accurate when the positioning is carried out according to the simulated satellite signals.
In some embodiments, when the GNSS broadcast receiver cannot receive the satellite signals of the navigation satellites or the data processing server cannot receive the ephemeris transmitted by the GNSS broadcast receiver, one possible implementation manner of S103 is:
and S1031, determining an elevation angle of the navigation satellite in a station center coordinate system with the data processing server as an origin when the navigation satellite is in the current epoch according to the ephemeris of any one of the navigation satellites in the total ephemeris and the position coordinate of the data processing server.
In this embodiment, for any navigation satellite, the ephemeris of the navigation satellite in the current epoch may be estimated according to the ephemeris of the navigation satellite stored in the data processing server, where the estimated ephemeris is close to the real ephemeris of the navigation satellite in the current epoch. And determining the elevation angle of the navigation satellite in a station center coordinate system with the data processing server as the origin according to the calculated ephemeris and the position coordinates of the data processing server.
S1032, if the elevation angle is larger than or equal to a preset altitude cutoff angle, acquiring an ephemeris of the navigation satellite.
In this embodiment, for any one of the navigation satellites, if the elevation angle of the navigation satellite is greater than or equal to the preset altitude cutoff angle, it is determined that the navigation satellite is a visible satellite in the current epoch, and therefore, the data processing server obtains the ephemeris of the navigation satellite in the current epoch.
And after obtaining the ephemeris of all visible satellites at the current epoch, the data processing server converts the format of the ephemeris, so that the GNSS signal simulation node can identify the converted ephemeris.
In this embodiment, the data processing server may estimate the position of each navigation satellite in the current epoch according to the stored ephemeris of the navigation satellite, and perform visible satellite determination according to the estimated position of the navigation satellite in the current epoch, so as to send the estimated ephemeris of the visible satellite in the current epoch to the GNSS signal simulation node, so that the GNSS signal simulation node may generate a simulated satellite signal, and position the device located by the satellite signal of the navigation satellite.
Fig. 2 is a signaling flowchart of a positioning method based on GNSS signal simulation nodes according to another embodiment of the present invention. On the basis of the above embodiments, the method of the present embodiment includes:
s201, the GNSS time service receiver receives satellite signals of a plurality of navigation satellites.
S202, the GNSS time service receiver transmits ephemeris to the data processing server and transmits real-time to the data processing server so that the time of the data processing server is synchronous with the time of a satellite clock. Correspondingly, the data processing server receives the ephemeris.
S203, the data processing server processes the ephemeris.
S204, the data processing server transmits the processed ephemeris to the GNSS signal simulation nodes, and time service is carried out on the GNSS signal simulation nodes through optical fibers, so that time synchronization among the plurality of GNSS signal simulation nodes is achieved. Correspondingly, the GNSS signal simulation node receives the processed ephemeris.
In this embodiment, the descriptions of S201-S204 refer to S101-S104, which are not described herein again.
S205, the GNSS signal simulation node determines the position coordinates of the navigation satellite and the broadcasting time of the simulation satellite signal according to the processed ephemeris, the current epoch and the position coordinates of the GNSS signal simulation node.
In this embodiment, for any one visible navigation satellite, the data processing server transmits the ephemeris of the navigation satellite to each GNSS signal simulation node. Since the processed ephemeris includes information such as orbit parameters of the navigation satellite, the position of the navigation satellite can be determined according to the information such as orbit parameters of the navigation satellite included in the processed ephemeris, the time when each GNSS signal simulation node receives the processed ephemeris, and the position coordinates of the GNSS signal simulation node, for example, the position coordinates of the navigation satellite in an Earth-Centered Earth-Fixed coordinate system (ECEF) can be determined.
For any GNSS signal simulation node, after the position coordinates of the navigation satellite are determined, the time when the GNSS signal simulation node broadcasts the simulation satellite signals is determined according to the position coordinates of the GNSS signal simulation node, the current epoch of the GNSS signal simulation node and the position coordinates of the navigation satellite.
S206, calculating the simulated pseudo range and the control parameters of the GNSS signal simulation node and the navigation satellite according to the processed ephemeris, the position coordinate of the GNSS signal simulation node, the position coordinate of the navigation satellite and the simulated satellite signal broadcasting moment.
In this embodiment, for any GNSS signal simulation node, after the position coordinate of the navigation satellite is determined, the simulated pseudorange and the control parameter between the GNSS signal simulation node and the navigation satellite are calculated according to the processed ephemeris, the position coordinate of the GNSS signal simulation node, and the position coordinate of the navigation satellite. The control parameters may include, for example, signal amplitude, carrier frequency, carrier phase, code rate, and code phase, and the code rate and the code phase are calculated according to the transmission time of the simulated satellite signal; and calculating Doppler frequency shift parameters of relative motion of the navigation satellite and the GNSS signal simulation node according to the position coordinates of the navigation satellite and the position coordinates of the GNSS signal simulation node, and further calculating carrier frequency and carrier phase. The signal amplitude is used to indicate the strength of the generated analog satellite signal, and since the strength of the satellite signal of the navigation satellite is weak, the strength of the analog satellite signal needs to be set by the signal amplitude so that the strength of the analog satellite signal approaches the strength of the satellite signal of the navigation satellite, so that the receiving terminal can recognize the analog satellite signal. The signal amplitude is set according to actual needs, which is not limited in the embodiment of the present invention.
And S207, generating and broadcasting a simulated satellite signal according to the simulated pseudo range and the control parameter.
In this embodiment, for any GNSS signal simulation node, a simulation satellite signal is generated and broadcast according to the simulation pseudo-range and the control parameter.
In this embodiment, after receiving a processed ephemeris, a GNSS signal simulation node in a positioning system determines a position coordinate of a navigation satellite and a broadcast time of a simulated satellite signal according to the processed ephemeris, the current epoch, and a position coordinate of the GNSS signal simulation node; calculating a simulated pseudo range and a control parameter of the GNSS signal simulation node and the navigation satellite according to the processed ephemeris, the position coordinate of the simulation node, the position coordinate of the navigation satellite and the signal broadcasting time of the simulated satellite; and generating and broadcasting a simulated satellite signal according to the simulated pseudo range and the control parameter. The positioning system based on the GNSS signal simulation node can generate a simulation satellite signal and broadcast the simulation satellite signal at the broadcast time of the simulation satellite signal, so that the equipment needing positioning and navigation can receive the simulation satellite signal to perform positioning according to the simulation satellite signal.
In some embodiments, one possible implementation of calculating the simulated pseudoranges in S206 is:
and S2061, calculating a simulated pseudorange error according to the processed ephemeris.
In this embodiment, since the navigation terminal installed on the device requiring positioning, for example, a vehicle-mounted navigation terminal, automatically corrects the calculated pseudo-range observed value when performing positioning calculation after receiving the satellite signal of the navigation satellite, a pseudo-range error needs to be considered when calculating the simulated pseudo-range in the embodiment of the present invention, so that the calculated positioning result is more accurate when the navigation terminal performs positioning calculation according to the simulated satellite signal.
The pseudo-range error can be obtained according to the processed ephemeris calculation, and the pseudo-range error comprises error delays such as satellite clock error, ionosphere delay and troposphere delay. The pseudo-range error may be calculated, for example, according to an error model disclosed in ICD documents of GPS and BDS, the satellite clock offset is calculated, for example, using a polynomial model, the ionospheric delay is calculated, for example, using a Klobuchar 8 parametric model, and the tropospheric delay is calculated, for example, using a Hopfield model.
S2062, obtaining a simulation true distance according to the position coordinate of the GNSS signal simulation node and the position coordinate of the navigation satellite.
In this embodiment, for any one visible satellite, the data processing server transmits the processed ephemeris corresponding to the visible satellite to each GNSS signal simulation node. After the GNSS signal simulation node receives the processed ephemeris, since the time of the visible satellite is synchronized with the time of the GNSS signal simulation node, the processed ephemeris also includes the time when the visible satellite broadcasts the satellite signal. Therefore, each GNSS signal simulation node can calculate the time from when the visible satellite broadcasts the satellite signal to when each GNSS signal simulation node receives the processed ephemeris according to the current epoch and the time when the visible satellite broadcasts the satellite signal, and then calculate the simulation true distance between each GNSS signal simulation node and the visible satellite according to the transmission rate of the satellite signal and the ephemeris. The simulation true distance is the real distance between each GNSS signal simulation node and the visible satellite obtained by calculation.
And S2063, obtaining the simulated pseudorange according to the simulated true range and the simulated pseudorange error.
In this embodiment, the simulated pseudorange is obtained according to the simulated true range and the pseudorange error, and since the simulated pseudorange includes the pseudorange error, when the navigation terminal performs positioning calculation according to the simulated satellite signal generated by the simulated pseudorange, the distance between each GNSS signal simulation node and the visible satellite obtained through calculation is closer to the real distance between each GNSS signal simulation node and the visible satellite, so that the positioning is more accurate.
In this embodiment, when calculating the simulated pseudorange, a pseudorange error is calculated according to the processed ephemeris, and a simulated true range is obtained according to the position coordinate of the GNSS signal simulation node and the position coordinate of the navigation satellite, so that the simulated pseudorange is obtained according to the pseudorange error and the simulated true range. The pseudo range error is considered in the simulated pseudo range, so that the distance between each GNSS signal simulation node and the visible satellite calculated by the navigation terminal is closer to the real distance between each GNSS signal simulation node and the visible satellite, and the positioning is more accurate.
In some embodiments, one possible implementation of S207 is:
and S2071, generating an intermediate frequency digital signal according to the analog pseudo-range and the control parameter.
And S2072, performing digital-to-analog conversion and radio frequency modulation on the intermediate frequency digital signal to obtain and broadcast the analog satellite signal.
In this embodiment, pseudo code modulation and carrier modulation are performed according to the analog pseudo range to generate an intermediate frequency digital signal, digital-to-analog conversion is performed on the analog intermediate frequency digital signal to convert the intermediate frequency digital signal into an intermediate frequency analog signal, and then radio frequency modulation, that is, up-conversion is performed to obtain a radio frequency signal, that is, an analog satellite signal, and a GNSS signal analog node broadcasts the analog satellite signal.
In this embodiment, after the GNSS signal simulation node obtains the processed ephemeris, the position coordinate of the navigation satellite is determined according to the processed ephemeris, the current epoch, and the position coordinate of the GNSS signal simulation node; calculating the simulated pseudo range of the GNSS signal simulation node and the navigation satellite according to the processed ephemeris, the position coordinate of the GNSS signal simulation node and the position coordinate of the navigation satellite; and generating and broadcasting a simulated satellite signal according to the processed ephemeris, the current epoch and the simulated pseudorange. The GNSS signal simulation node generates and broadcasts a simulation satellite signal according to the processed ephemeris corresponding to the visible satellites, the current epoch and the position coordinates of the GNSS signal simulation node, so that the simulation satellite signal is closer to the satellite signal broadcast by the navigation satellite, and the positioning precision is improved.
Fig. 3 is a schematic structural diagram of a positioning system based on GNSS signal simulation nodes according to an embodiment of the present invention, and as shown in fig. 3, the positioning system of the embodiment includes: the GNSS time service receiver 31, the data processing server 32 and a plurality of GNSS signal simulation nodes 33. Wherein,
the GNSS time service receiver 31 is configured to receive satellite signals of a plurality of navigation satellites, transmit ephemeris to the data processing server 32, and perform real-time transmission on the data processing server 32, so as to synchronize the time of the data processing server 32 with the satellite clock time, where the navigation satellites include at least one of: GPS satellites, Beidou satellites;
the data processing server 32 is configured to receive and process the ephemeris, transmit the processed ephemeris to the GNSS signal simulation node 33, and time service the GNSS signal simulation node 33 through an optical fiber, so as to synchronize time among the plurality of GNSS signal simulation nodes 33;
the GNSS signal simulation node 33 is configured to receive the processed ephemeris, generate and broadcast a simulated satellite signal according to the processed ephemeris, a current epoch, and a position coordinate of the GNSS signal simulation node 33, where the current epoch is a time currently indicated by a satellite clock on the navigation satellite, and the simulated satellite signal is used to position a device that performs positioning by using a satellite signal of the navigation satellite.
In some embodiments, the data processing server 32, after receiving the ephemeris, is further configured to:
and storing the ephemeris into a general ephemeris, wherein the general ephemeris comprises the ephemeris of all navigation satellites.
In some embodiments, when the data processing server 32 stores the ephemeris into the general ephemeris, the data processing server is specifically configured to:
and the data processing server 32 updates the ephemeris of the navigation satellite corresponding to the ephemeris in the total ephemeris according to the ephemeris.
In some embodiments, when the GNSS signal simulation node 33 generates and broadcasts a simulated satellite signal according to the processed ephemeris, the epoch time of the current simulation node, and the position coordinate of the GNSS signal simulation node 33, the method is specifically configured to:
determining the position coordinates of the navigation satellite and the broadcasting time of the simulated satellite signals according to the processed ephemeris, the current epoch and the position coordinates of the GNSS signal simulation node 33;
calculating a simulated pseudo range and a control parameter of the GNSS signal simulation node 33 and the navigation satellite according to the processed ephemeris, the position coordinate of the simulation node, the position coordinate of the navigation satellite and the simulated satellite signal broadcasting time;
and generating and broadcasting a simulated satellite signal according to the simulated pseudo range and the control parameter.
In some embodiments, the data processing server does not receive the ephemeris, and the data processing server 32 processes the ephemeris, specifically for:
determining an elevation angle of the navigation satellite in a station center coordinate system with the data processing server 32 as an origin at the current epoch according to the ephemeris of any one of the total ephemeris and the position coordinate of the data processing server 32;
and if the elevation angle is larger than or equal to a preset altitude cut-off angle, acquiring ephemeris of the navigation satellite.
In some embodiments, the GNSS signal simulating node 33 is specifically configured to, when calculating the simulated pseudoranges between the GNSS signal simulating node 33 and the navigation satellites according to the processed ephemeris, the position coordinates of the GNSS signal simulating node 33, the position coordinates of the navigation satellites, and the simulated satellite signal broadcast time:
calculating a simulated pseudo-range error according to the processed ephemeris;
acquiring a simulation true distance according to the position coordinate of the GNSS signal simulation node 33 and the position coordinate of the navigation satellite;
and obtaining the simulated pseudorange according to the simulated true range and the simulated pseudorange error.
In some embodiments, when the GNSS signal simulation node 33 generates and broadcasts the simulated satellite signals according to the simulated pseudoranges and the control parameters, it is specifically configured to:
generating an intermediate frequency digital signal according to the analog pseudo range and the control parameter;
and D/A conversion and radio frequency modulation are carried out on the intermediate frequency digital signal, and the analog satellite signal is obtained and broadcast.
The positioning apparatus of this embodiment may be used to implement the technical solutions of the above method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
In some embodiments, as shown in FIG. 3, the plurality of GNSS signal simulation nodes 33 are equidistant from each other.
In this embodiment, when the distance between adjacent GNSS signal simulation nodes is set, the positioning accuracy index and the interference between the simulated satellite signals broadcast by the plurality of GNSS signal simulation nodes need to be considered, for example, when in a tunnel, because the multipath effect in the tunnel is severe, the multipath effect error of the signal interference between the nodes by the vehicle-mounted navigation terminal is large, and therefore, the adjacent GNSS signal simulation nodes need to keep a certain distance. Moreover, because the positioning accuracy index is generally meter-level, the layout distance of the GNSS signal simulation nodes is generally about 10 meters to 50 meters, and generally, when in a tunnel, the reasonable layout distance is generally about 30 meters.
Fig. 4 is a schematic hardware structure diagram of a GNSS signal simulation node according to an embodiment of the present invention. As shown in fig. 4, the hardware of the GNSS signal simulation node includes: a digital signal analog module 41, a digital-to-analog conversion module 42, a Radio Frequency (RF) conversion module 43, and an antenna module 44. Wherein,
and a digital signal simulation module 41, configured to generate an intermediate frequency digital signal according to the analog pseudo range, where the digital signal simulation module 41 may be based on a digital signal simulation module of an ARM development board, for example. And a digital-to-analog conversion module 42, configured to convert the intermediate frequency digital signal into an intermediate frequency analog signal. An RF conversion module 43 is used for up-converting the intermediate frequency analog signal into a radio frequency signal, i.e. an analog satellite signal. And an antenna module 44 for broadcasting the broadcast signal.
In some embodiments, continuing with fig. 4, the hardware of the GNSS signal simulation node may further include: a transmission rate regulation module 45. In some embodiments, continuing with fig. 4, the hardware of the GNSS signal simulation node may further include: and a temperature compensated crystal oscillator module 46.
And a transmission rate regulating module 45, configured to regulate an amount of the generated intermediate-frequency digital signal of the digital signal analog module 41 and a sampling rate of the digital-to-analog conversion module 42. The transmission rate control module 45 may be, for example, an FPGA-based transmission rate control module. The temperature compensation crystal oscillator module 46 is used as an external clock to precisely control the synchronous transmission of the data volume of the intermediate frequency digital signal generated by the digital signal analog module 41 and the data volume of the intermediate frequency digital signal converted by the digital-to-analog conversion module 42, and can also solve the problems of temperature drift and stability. The matching of the generation rate of the intermediate frequency digital signal and the sampling rate of the intermediate frequency analog signal is realized through the transmission rate regulating module 45 and the temperature compensation crystal oscillator module 46, so that the generated analog satellite signal is closer to the satellite signal broadcast by the navigation satellite, and the positioning precision is improved.
Fig. 5 is a schematic view of an application scenario provided in an embodiment of the present invention. In this embodiment, a positioning system based on GNSS signal simulation nodes is described as an example of applying the positioning system to a tunnel, as shown in fig. 5, a plurality of GNSS signal simulation nodes are arranged at equal intervals along the tunnel, each GNSS signal simulation node generates and broadcasts a simulation satellite signal, a vehicle traveling in the tunnel receives the GNSS signal simulation node closest to the vehicle in real time, generates and broadcasts the simulation satellite signal, and performs positioning according to the received simulation satellite signal.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media capable of storing program codes, such as Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and the like.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A positioning method based on a GNSS signal simulation node is applied to a positioning system for positioning the GNSS signal simulation node based on a global navigation satellite system, and the positioning system comprises: the GNSS time service system comprises a GNSS time service receiver, a data processing server and a plurality of GNSS signal simulation nodes; wherein,
the GNSS time service receiver receives satellite signals of a plurality of navigation satellites, transmits ephemeris to the data processing server, and transmits real-time to the data processing server so as to synchronize the time of the data processing server with the time of a satellite clock, wherein the navigation satellites comprise at least one of the following: GPS satellites, Beidou satellites;
the data processing server receives and processes the ephemeris, transmits the processed ephemeris to the GNSS signal simulation nodes, and carries out time service on the GNSS signal simulation nodes through optical fibers so as to synchronize time among the plurality of GNSS signal simulation nodes;
and the GNSS signal simulation node receives the processed ephemeris, generates and broadcasts a simulation satellite signal according to the processed ephemeris, a current epoch and the position coordinates of the GNSS signal simulation node, wherein the current epoch is the current indicated time of a satellite clock on the navigation satellite, and the simulation satellite signal is used for positioning equipment for positioning through the satellite signal of the navigation satellite.
2. The method of claim 1, wherein after the data processing server receives the ephemeris, further comprising:
and storing the ephemeris into a general ephemeris, wherein the general ephemeris comprises the ephemeris of all navigation satellites.
3. The method of claim 2, wherein the data processing server saving the ephemeris into a general ephemeris comprises:
and updating the ephemeris of the navigation satellite corresponding to the ephemeris in the general ephemeris according to the ephemeris.
4. The method of claim 3, wherein if the data processing server does not receive the ephemeris, the method comprises:
determining an elevation angle of the navigation satellite in a station center coordinate system with the data processing server as an origin when the navigation satellite is in the current epoch according to the ephemeris of any one of the navigation satellites in the total ephemeris and the position coordinate of the data processing server;
and if the elevation angle is larger than or equal to a preset altitude cut-off angle, acquiring ephemeris of the navigation satellite.
5. The method of claim 1 or 4, wherein the generating and broadcasting by the GNSS signal simulation node simulated satellite signals according to the processed ephemeris and the epoch time of the current simulation node and the position coordinates of the GNSS signal simulation node comprises:
determining the position coordinates of the navigation satellite and the broadcasting time of the simulated satellite signals according to the processed ephemeris, the current epoch and the position coordinates of the GNSS signal simulation node;
calculating a simulated pseudo range and a control parameter of the GNSS signal simulation node and the navigation satellite according to the processed ephemeris, the position coordinate of the simulation node, the position coordinate of the navigation satellite and the signal broadcasting time of the simulated satellite;
and generating and broadcasting a simulated satellite signal according to the simulated pseudo range and the control parameter.
6. The method of claim 5, wherein calculating the simulated pseudoranges of the GNSS signal simulating node and the navigation satellites according to the processed ephemeris and the position coordinates of the GNSS signal simulating node, the position coordinates of the navigation satellites and the simulated satellite signal broadcast time comprises:
calculating a simulated pseudo-range error according to the processed ephemeris;
acquiring a simulation true distance according to the position coordinate of the GNSS signal simulation node and the position coordinate of the navigation satellite;
and obtaining the simulated pseudorange according to the simulated true range and the simulated pseudorange error.
7. The method of claim 5, wherein generating and broadcasting analog satellite signals based on the analog pseudoranges and the control parameters comprises:
generating an intermediate frequency digital signal according to the analog pseudo range and the control parameter;
and D/A conversion and radio frequency modulation are carried out on the intermediate frequency digital signal, and the analog satellite signal is obtained and broadcast.
8. A positioning system based on GNSS signal simulation nodes, comprising: a GNSS time service receiver, a data processing server and a plurality of GNSS signal simulation nodes for performing the method of any of the preceding claims 1 to 7.
9. The position determination system of claim 8, wherein the plurality of GNSS signal simulation nodes are equidistant from each other.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program, when executed, implements a method for GNSS signal simulation node based positioning according to any of claims 1-7.
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| CN113970764A (en) * | 2021-10-18 | 2022-01-25 | 湖北三江航天险峰电子信息有限公司 | Satellite ephemeris forwarding method, system, terminal and medium |
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