CN110716217A - Array pseudo satellite indoor positioning method and system - Google Patents
Array pseudo satellite indoor positioning method and system Download PDFInfo
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- CN110716217A CN110716217A CN201911036899.1A CN201911036899A CN110716217A CN 110716217 A CN110716217 A CN 110716217A CN 201911036899 A CN201911036899 A CN 201911036899A CN 110716217 A CN110716217 A CN 110716217A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an array pseudo satellite indoor positioning method and system, and belongs to the technical field of pseudo satellite positioning and navigation. In the system, a multichannel signal transmitter is used for transmitting different PRN codes, and the signals of the multichannel signal transmitter are compatible with GPS and BDS signals; commercial GNSS receivers can receive these signals, set up a signal transmission system, then calculate the carrier phase rate, detect and eliminate anomalous doppler measurements. And initializing a coordinate of a starting point of the receiver, wherein the coordinate is in a three-dimensional form, and fixing the Z-axis direction when measuring the position and the speed. And finally, calculating the position of the user by a Newton iteration method. The positioning system eliminates the clock deviation of a receiver and pseudo-ranges by using the multi-channel transmitter with the same clock source, the navigation signal of each channel is based on the same 1PPS and the different pseudo-ranges of different array channels, thereby avoiding the time synchronization problem of the traditional pseudolite.
Description
Technical Field
The invention relates to the technical field of pseudolite positioning navigation, in particular to an array pseudolite indoor positioning method and system.
Background
At present, the requirement of indoor positioning is more and more urgent, and satellite navigation is blocked in the indoor environment, so that normal positioning service cannot be provided generally. Pseudolites have the potential to improve the positioning accuracy and usability of global navigation satellite systems by providing additional navigation signals. Pseudolite positioning systems can be used as a supplement to navigation positioning in occluded environments, and therefore more and more researchers are invested in the research of pseudolite indoor positioning technology.
However, the indoor pseudolite positioning method in the prior art still has technical bottlenecks such as ambiguity resolution, time synchronization and the like, so that the pseudolite-based positioning system is difficult to be widely applied.
Disclosure of Invention
In view of this, the invention provides an array pseudolite indoor positioning method and system, which can realize indoor high-precision positioning.
In order to achieve the purpose, the invention adopts the technical scheme that:
an array pseudo satellite indoor positioning method is used for tracking a navigation signal transmitted by a multi-channel signal transmitter through a receiver u so as to realize positioning of the receiver u; the multi-channel signal transmitter is connected with n pseudo satellite transmitting antennas with fixed positions, n is greater than 1, the multi-channel signal transmitter transmits navigation signals through the array antenna, each pseudo satellite transmitting antenna in the array antenna corresponds to one pseudo satellite channel of the multi-channel signal transmitter, signals of each pseudo satellite channel have unique C/A codes, each pseudo satellite channel is modulated by an L1 code of a GPS and a B1 code of a BDS, and each channel signal is generated by 1PPS at the same time; the receiver u acquires the clock deviation rate of the pseudo-satellite transmitting antenna i, the combined error residual between the receiver u and the pseudo-satellite transmitting antenna i and the Doppler measured value between the receiver u and the pseudo-satellite transmitting antenna i through tracking the navigation signal, wherein i is more than or equal to 1 and less than or equal to n; the method comprises the following steps:
(1) solving the following equation by a least square method to obtain the motion speed of the receiver u at the last moment
Wherein the content of the first and second substances,
in the formula, xu、yu、zuIs the three-dimensional coordinate, x, of the receiver u at the previous moment(i)、y(i)、z(i)Is the three-dimensional coordinates of the pseudolite transmit antenna i, c is the speed of light, f is the frequency of the navigation signal,the clock skew rate of receiver u at the last time,
the clock bias rate for the pseudolite transmit antenna i at the last time,is the combined error residual between the receiver u and the pseudolite transmit antenna i at the last time instant,
the doppler measurements between the receiver u and the pseudolite transmit antenna i at the previous time instant;
(2) according to the three-dimensional coordinates of the receiver u at the last moment and the movement speed of the receiver u at the last momentAnd the time interval between the previous moment and the current moment, and obtaining the three-dimensional coordinate of the receiver at the current moment;
(3) periodically executing the steps (1) and (2) to realize continuous positioning of the receiver u; in each cycle, the current time refers to the current time when the cycle is executed, the previous time refers to the time before the current time of the cycle, and the three-dimensional coordinates of the receiver u at the initial time are known quantities.
In addition, the invention also provides an array pseudo satellite indoor positioning system, which comprises a multi-channel signal transmitter, an array antenna, a receiver u and an intelligent terminal, wherein the array antenna comprises n pseudo satellite transmitting antennas with fixed positions, n is greater than 1, the multi-channel signal transmitter transmits navigation signals through the array antenna, each pseudo satellite transmitting antenna in the array antenna corresponds to one pseudo satellite channel of the multi-channel signal transmitter, the signal of each pseudo satellite channel has a unique C/A code, each pseudo satellite channel is modulated by an L1 code of a GPS and a B1 code of a BDS, and each channel signal is generated by 1PPS at the same time; the receiver u comprises a GNSS receiving chip, and the intelligent terminal performs data transmission with the receiver u through Bluetooth; a receiver u tracks signals of a multi-channel signal transmitter through a GNSS receiving chip to obtain a clock deviation rate of a pseudo satellite transmitting antenna i, a combined error residual between the receiver u and the pseudo satellite transmitting antenna i and a Doppler measured value between the receiver u and the pseudo satellite transmitting antenna i, wherein i is more than or equal to 1 and less than or equal to n;
the three-dimensional coordinates of the receiver u at the initial moment are known by the intelligent terminal, and after the initial moment, the intelligent terminal periodically executes the following programs, so that the receiver is continuously positioned:
(1) solving the following equation by a least square method to obtain the motion speed of the receiver u at the last moment
Wherein the content of the first and second substances,
in the formula, xu、yu、zuIs the three-dimensional coordinate, x, of the receiver u at the previous moment(i)、y(i)、z(i)Is the three-dimensional coordinates of the pseudolite transmit antenna i, c is the speed of light, f is the frequency of the navigation signal,
the clock skew rate of receiver u at the last time,
the clock bias rate for the pseudolite transmit antenna i at the last time,
is the combined error residual between the receiver u and the pseudolite transmit antenna i at the last time instant,
the doppler measurements between the receiver u and the pseudolite transmit antenna i at the previous time instant;
(2) according to the three-dimensional coordinates of the receiver u at the last moment and the movement speed of the receiver u at the last moment
And the time interval between the previous moment and the current moment, and obtaining the three-dimensional coordinate of the receiver at the current moment;
in each cycle, the current time refers to the current time when the cycle is executed, and the previous time refers to the time before the current time when the cycle is executed.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention avoids the time synchronization problem of the traditional pseudolite. With a multi-channel transmitter with the same clock source, the navigation signal for each channel is based on the same 1PPS, and the same clock drift of the pseudolite can be estimated as an unknown parameter.
(2) The initial position in the method is known, so the method is a high-precision Doppler velocity measurement positioning method based on Known Point Initialization (KPI), the method does not need to solve ambiguity, has low calculation complexity, and is more suitable for running on a processor of a smart phone to realize high-precision indoor positioning.
(3) The system of the invention can realize centimeter-level dynamic and static positioning precision, and greatly improve the indoor positioning precision in the prior art.
(4) Compared with the traditional indoor pseudo-satellite ambiguity resolution method, the method has the advantages that the Z-fixed (namely, the Z-axis coordinate of the position coordinate is a fixed value and does not participate in operation) and the known point initialization processing mode are adopted, so that the calculation complexity of a user is reduced, and the continuity of the positioning result is improved.
Drawings
Fig. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present invention.
Fig. 2 is a flowchart of a positioning method according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
An array pseudo satellite indoor positioning method is used for tracking a navigation signal transmitted by a multi-channel signal transmitter through a receiver u so as to realize positioning of the receiver u; the multi-channel signal transmitter is connected with n pseudo satellite transmitting antennas with fixed positions, n is greater than 1, the multi-channel signal transmitter transmits navigation signals through the array antenna, each pseudo satellite transmitting antenna in the array antenna corresponds to one pseudo satellite channel of the multi-channel signal transmitter, signals of each pseudo satellite channel have unique C/A codes, each pseudo satellite channel is modulated by an L1 code of a GPS and a B1 code of a BDS, and each channel signal is generated by 1PPS at the same time; the receiver u acquires the clock deviation rate of the pseudo-satellite transmitting antenna i, the combined error residual between the receiver u and the pseudo-satellite transmitting antenna i and the Doppler measured value between the receiver u and the pseudo-satellite transmitting antenna i through tracking the navigation signal, wherein i is more than or equal to 1 and less than or equal to n; the method comprises the following steps:
(1) solving the following equation by a least square method to obtain the motion speed of the receiver u at the last moment
Wherein the content of the first and second substances,
in the formula, xu、yu、zuIs the three-dimensional coordinate, x, of the receiver u at the previous moment(i)、y(i)、z(i)Is the three-dimensional coordinates of the pseudolite transmit antenna i, c is the speed of light, f is the frequency of the navigation signal,
the clock skew rate of receiver u at the last time,the clock bias rate for the pseudolite transmit antenna i at the last time,is the combined error residual between the receiver u and the pseudolite transmit antenna i at the last time instant,
the doppler measurements between the receiver u and the pseudolite transmit antenna i at the previous time instant;
(2) according to the three-dimensional coordinates of the receiver u at the last moment and the movement speed of the receiver u at the last moment
And the time interval between the previous moment and the current moment, and obtaining the three-dimensional coordinate of the receiver at the current moment;
(3) periodically executing the steps (1) and (2) to realize continuous positioning of the receiver u; in each cycle, the current time refers to the current time when the cycle is executed, the previous time refers to the time before the current time of the cycle, and the three-dimensional coordinates of the receiver u at the initial time are known quantities.
The method is a high-precision Doppler velocity measurement positioning method based on Z-fixed Known Point Initialization (KPI), does not need ambiguity decomposition, and has the advantages of easy realization and high positioning precision.
As shown in fig. 1, an array pseudolite indoor positioning system comprises a multichannel signal transmitter, an array antenna, a receiver u and a smart terminal, wherein the array antenna comprises n pseudolite transmitting antennas with fixed positions, n is greater than 1, the multichannel signal transmitter transmits navigation signals through the array antenna, each pseudolite transmitting antenna in the array antenna corresponds to one pseudolite channel of the multichannel signal transmitter, the signal of each pseudolite channel has a unique C/a code, each pseudolite channel is modulated by an L1 code of a GPS and a B1 code of a BDS, and each channel signal is generated by 1PPS at the same time; the receiver u comprises a GNSS receiving chip, and the intelligent terminal performs data transmission with the receiver u through Bluetooth; a receiver u tracks signals of a multi-channel signal transmitter through a GNSS receiving chip to obtain a clock deviation rate of a pseudo satellite transmitting antenna i, a combined error residual between the receiver u and the pseudo satellite transmitting antenna i and a Doppler measured value between the receiver u and the pseudo satellite transmitting antenna i, wherein i is more than or equal to 1 and less than or equal to n;
the three-dimensional coordinates of the receiver u at the initial moment are known by the intelligent terminal, and after the initial moment, the intelligent terminal periodically executes the following programs, so that the receiver is continuously positioned:
(1) solving the following equation by a least square method to obtain the motion speed of the receiver u at the last moment
Wherein the content of the first and second substances,
in the formula, xu、yu、zuIs the three-dimensional coordinate, x, of the receiver u at the previous moment(i)、y(i)、z(i)Is the three-dimensional coordinates of the pseudolite transmit antenna i, c is the speed of light, f is the frequency of the navigation signal,
the clock skew rate of receiver u at the last time,
the clock bias rate for the pseudolite transmit antenna i at the last time,
is the combined error residual between the receiver u and the pseudolite transmit antenna i at the last time instant,
the doppler measurements between the receiver u and the pseudolite transmit antenna i at the previous time instant;
(2) according to the three-dimensional coordinates of the receiver u at the last moment and the movement speed of the receiver u at the last moment
And the time interval between the previous moment and the current moment, and obtaining the three-dimensional coordinate of the receiver at the current moment;
in each cycle, the current time refers to the current time when the cycle is executed, and the previous time refers to the time before the current time when the cycle is executed.
The positioning system eliminates the clock deviation of a receiver and pseudo-ranges by using the multi-channel transmitter with the same clock source, the navigation signal of each channel is based on the same 1PPS and the different pseudo-ranges of different array channels, thereby avoiding the time synchronization problem of the traditional pseudolite.
Fig. 2 is a flow chart of a method. Firstly, a signal transmitting system is established, then the carrier phase velocity is calculated, and abnormal Doppler measurement is detected and eliminated. And initializing a coordinate of a starting point of the receiver, wherein the coordinate is in a three-dimensional (3D) form, and fixing the Z-axis direction when measuring the position and the speed. And finally, calculating the position of the user by Newton-Raphson (Newton-Raphson iteration method). The specific calculation process is as follows:
1) constructing an array pseudolite indoor positioning system: the system consists of three parts, namely a multi-channel signal transmitter, an array antenna and a user terminal, wherein each channel of the multi-channel signal transmitter is modulated by an L1 code of GPS and a B1 code of BDS, and transmits a signal with a unique C/A code. In order to avoid the problem of complex time synchronization, all channel signals of the array pseudolite are generated by 1PPS at the same time, so that the clock drift of all channels is ensured to be the same. The user terminal includes: a commercial receiving chip (such as: ubloxM8T/P, Unicorecomm UC6226), a receiving antenna and a Bluetooth module.
2) The GNSS receiving chip is used for tracking signals of the array pseudolite, received carrier phase and Doppler original observation data are transmitted to the intelligent terminal through the Bluetooth module, and then receiver position resolving and movement speed resolving are completed on a processor of the intelligent terminal.
In order to calculate the doppler velocity measurement between the indoor array pseudolite receiver u and the transmission channel i, an observation equation is established:
in the formula:
is the Doppler measurement value between the receiver u and the transmitting channel i of the indoor array pseudolite; c is the speed of light; f is the frequency of the navigation signal;
is the geometric distance ratio between the receiver u and the pseudolite transmit antenna i;
is the receive clock skew rate;
is the clock bias rate of the pseudolite;
is the combined error residual. Geometric distance
The rate of (d) can be written as:
wherein x isu、yu、zuIs the three-dimensional coordinates of receiver u;
is the velocity of the receiver u, which can be solved using four measured doppler and least squares estimates; x is the number ofi、yi、ziIs the three-dimensional position of the pseudolite transmit antenna;is the velocity of the indoor stationary pseudolite. Equation (1) is written as:
the indoor array pseudolite observation equation can be expressed in the form of a matrix:
the matrix on the left side of equation (4) is defined as G, and the two column vectors on the right side are defined as b and epsilon, respectively, then equation (4) can be written as:
G·vu,s＝b+ε (5)
resolving the velocity Δ v of the movement of the object receiver u by least squaresu,0。
According to Doppler velocity measurement result delta vu,0Calculating the current position r of the receiver uu,1The calculation formula is as follows:
ru,1＝ru,0+Δvu,0·Δt (6)
wherein r isu,0Δ t represents the observed time interval for the previous position coordinate of receiver u.
In conclusion, the invention solves the problems of complex time synchronization, ambiguity resolution and high-precision continuous positioning of the traditional pseudolite and provides a high-precision Doppler velocity measurement positioning method and system based on Z-axis fixation and Known Point Initialization (KPI). In this system, a multi-channel signal transmitter is used to transmit different PRN codes, the signals of which are compatible with GPS and BDS signals. Commercial GNSS receivers can receive these signals, set up a signal transmission system, then calculate the carrier phase rate, detect and eliminate anomalous doppler measurements. And initializing a coordinate of a starting point of the receiver, wherein the coordinate is in a three-dimensional (3D) form, and fixing the Z-axis direction when measuring the position and the speed. And finally calculating the position of the user through Newton-Raphson.
The method is verified through tests, and results show that the array type indoor pseudolite can achieve centimeter-level dynamic and static positioning accuracy.
Claims (2)
1. An array pseudo satellite indoor positioning method is characterized in that the method is used for tracking a navigation signal transmitted by a multi-channel signal transmitter through a receiver u so as to realize positioning of the receiver u; the multi-channel signal transmitter is connected with n pseudo satellite transmitting antennas with fixed positions, n is greater than 1, the multi-channel signal transmitter transmits navigation signals through the array antenna, each pseudo satellite transmitting antenna in the array antenna corresponds to one pseudo satellite channel of the multi-channel signal transmitter, signals of each pseudo satellite channel have unique C/A codes, each pseudo satellite channel is modulated by an L1 code of a GPS and a B1 code of a BDS, and each channel signal is generated by 1PPS at the same time; the receiver u acquires the clock deviation rate of the pseudo-satellite transmitting antenna i, the combined error residual between the receiver u and the pseudo-satellite transmitting antenna i and the Doppler measured value between the receiver u and the pseudo-satellite transmitting antenna i through tracking the navigation signal, wherein i is more than or equal to 1 and less than or equal to n; the method comprises the following steps:
(1) solving the following equation by a least square method to obtain the motion speed of the receiver u at the last moment
Wherein the content of the first and second substances,
in the formula, xu、yu、zuIs the three-dimensional coordinate, x, of the receiver u at the previous moment(i)、y(i)、z(i)Is a pseudolite launchThe three-dimensional coordinates of antenna i, c the speed of light, f the frequency of the navigation signal,
the clock skew rate of receiver u at the last time,
the clock bias rate for the pseudolite transmit antenna i at the last time,
is the combined error residual between the receiver u and the pseudolite transmit antenna i at the last time instant,
the doppler measurements between the receiver u and the pseudolite transmit antenna i at the previous time instant;
(2) according to the three-dimensional coordinates of the receiver u at the last moment and the movement speed of the receiver u at the last momentAnd the time interval between the previous moment and the current moment, and obtaining the three-dimensional coordinate of the receiver at the current moment;
(3) periodically executing the steps (1) and (2) to realize continuous positioning of the receiver u; in each cycle, the current time refers to the current time when the cycle is executed, the previous time refers to the time before the current time of the cycle, and the three-dimensional coordinates of the receiver u at the initial time are known quantities.
2. An array pseudo satellite indoor positioning system is characterized by comprising a multi-channel signal transmitter, an array antenna, a receiver u and an intelligent terminal, wherein the array antenna comprises n pseudo satellite transmitting antennas with fixed positions, n is greater than 1, the multi-channel signal transmitter transmits navigation signals through the array antenna, each pseudo satellite transmitting antenna in the array antenna corresponds to one pseudo satellite channel of the multi-channel signal transmitter, signals of each pseudo satellite channel have unique C/A codes, each pseudo satellite channel is modulated by an L1 code of a GPS and a B1 code of a BDS, and signals of each channel are generated by 1PPS at the same time; the receiver u comprises a GNSS receiving chip, and the intelligent terminal performs data transmission with the receiver u through Bluetooth; a receiver u tracks signals of a multi-channel signal transmitter through a GNSS receiving chip to obtain a clock deviation rate of a pseudo satellite transmitting antenna i, a combined error residual between the receiver u and the pseudo satellite transmitting antenna i and a Doppler measured value between the receiver u and the pseudo satellite transmitting antenna i, wherein i is more than or equal to 1 and less than or equal to n;
the three-dimensional coordinates of the receiver u at the initial moment are known by the intelligent terminal, and after the initial moment, the intelligent terminal periodically executes the following programs, so that the receiver is continuously positioned:
(1) solving the following equation by a least square method to obtain the motion speed of the receiver u at the last moment
Wherein the content of the first and second substances,
in the formula, xu、yu、zuIs the three-dimensional coordinate, x, of the receiver u at the previous moment(i)、y(i)、z(i)Is the three-dimensional coordinates of the pseudolite transmit antenna i, c is the speed of light, f is the frequency of the navigation signal,
the clock skew rate of receiver u at the last time,
for last time pseudo satellite transmitting antennaThe rate of clock skew of i is,
is the combined error residual between the receiver u and the pseudolite transmit antenna i at the last time instant,
the doppler measurements between the receiver u and the pseudolite transmit antenna i at the previous time instant;
(2) according to the three-dimensional coordinates of the receiver u at the last moment and the movement speed of the receiver u at the last moment
And the time interval between the previous moment and the current moment, and obtaining the three-dimensional coordinate of the receiver at the current moment;
in each cycle, the current time refers to the current time when the cycle is executed, and the previous time refers to the time before the current time when the cycle is executed.
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| CN111288983A (en) * | 2020-03-02 | 2020-06-16 | 中国电子科技集团公司第五十四研究所 | Indoor long and narrow belt positioning method suitable for multi-source fusion |
| CN111856527A (en) * | 2020-08-07 | 2020-10-30 | 中国电子科技集团公司第五十四研究所 | Indoor positioning method based on pseudolite space signal spectrum |
| CN112363182A (en) * | 2020-11-06 | 2021-02-12 | 江苏集萃未来城市应用技术研究所有限公司 | Multi-beam pseudo satellite signal generation method and transmitting device |
| CN114814919A (en) * | 2022-06-21 | 2022-07-29 | 东南大学 | Fusion positioning system and positioning method based on pseudolite and UWB |
| CN116540284A (en) * | 2023-07-06 | 2023-08-04 | 河北新合芯电子科技有限公司 | Indoor navigation positioning method, device, system and storage medium |
| CN117092588A (en) * | 2023-10-20 | 2023-11-21 | 中国科学院深海科学与工程研究所 | Method for estimating clock deviation of underwater sound positioning system |
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