CN111999723A - Positioning method based on ADS-B opportunistic signals - Google Patents
Positioning method based on ADS-B opportunistic signals Download PDFInfo
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/026—Systems for determining distance or velocity not using reflection or reradiation using radio waves using moving transmitters
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/10—Systems for determining distance or velocity not using reflection or reradiation using radio waves using Doppler effect
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S19/073—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections involving a network of fixed stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
Abstract
A positioning method based on ADS-B opportunistic signals comprises the steps that an airplane broadcasts ADS-B opportunistic signals of different categories through data frames of different categories, rough frequency estimation is carried out on a signal set by utilizing an FFT algorithm, and a rough measurement value of Doppler frequency shift can be obtained; accurately estimating the Doppler frequency shift of the signal by adopting a maximum likelihood method; decoding the data domain information of the ADS-B opportunistic signals to acquire accurate airplane air position coordinate information; based on the Doppler effect and pseudo range single point positioning principle, establishing an instantaneous Doppler positioning mathematical model; and finally, combining the air position coordinate information of the airplane to realize static positioning of the receiver based on the ADS-B opportunistic signals of the airplane and the like. The invention can utilize ADS-B opportunity signals broadcast by the plane to carry out instantaneous Doppler positioning, and can be used for positioning and resolving GNSS signals in challenging environments.
Description
Technical Field
The invention relates to a positioning method based on ADS-B (automatic dependent surveillance-broadcast) opportunistic signals, belonging to the technical field of opportunistic signal navigation positioning.
Background
The Global Navigation Satellite System (GNSS) has been developed and matured, has a global, all-weather and continuous precise three-dimensional positioning capability, and has become a navigation positioning means with the widest application range and the highest positioning precision. Despite the irreplaceable advantages of GNSS, the inherent limitations of the space-based signals make these satellite signals easily blocked or absorbed by ground obstacles, which is not ideal especially in complex environments such as indoors and urban dense areas, and requires extensive infrastructure. And the opportunistic signal navigation system can effectively make up for the defects. The opportunistic signal navigation system mainly comprises a signal base station and a user part, wherein the signal base station mainly utilizes various built signal base stations to realize passive joint positioning without influencing other functions of the base stations; the user part is developed mainly according to various signal characteristics and user requirements. The opportunistic signal navigation technology is the further development of radio navigation, and the existing signal base station and basic equipment are utilized to be used as an auxiliary system of the existing navigation system, and navigation positioning can also be independently realized, so that the opportunistic signal navigation technology has the characteristics of wide frequency band, strong anti-interference capability, high reliability, low manufacturing cost, wide application range and the like.
At present, more researches are carried out on typical land-based signals such as mobile communication, frequency modulation broadcasting, digital television, WI-FI and the like in China. However, since land-based opportunistic signal facilities are mostly covered in urban areas with dense population, the coverage in oceans, deserts and remote areas is insufficient.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a positioning method based on ADS-B opportunistic signals.
In order to achieve the above purpose, the positioning method based on the ADS-B opportunistic signals provided by the invention comprises the following steps which are carried out in sequence:
1) the airplane utilizes an ADS-B transmitter to transmit different categories of ADS-B opportunistic signals including aerial position signals, aerial speed signals and identity message signals through different categories of data frames, and a receiver receives the signals;
2) carrying out frequency estimation on all ADS-B opportunity signals by using an FFT algorithm to obtain frequency estimation values of a group of signals, taking the average value of the frequency estimation values of all ADS-B opportunity signals as the frequency estimation value of the received signal, and calculating to obtain a plurality of Doppler frequency shift rough measurement values;
3) accurately estimating the multiple Doppler frequency shift rough measurement values by adopting a maximum likelihood method in adjacent frequency bandwidths to obtain Doppler frequency shift measurement vectors of received signals;
4) acquiring air position coordinate information of the airplane in a geodetic coordinate system in a decoding mode based on the data field information of the air position signal acquired in the step 1);
5) combining the Doppler frequency shift measurement vector of the received signal obtained in the step 3), and establishing an instantaneous Doppler positioning mathematical model based on the Doppler effect and the positioning principle;
6) inputting the Doppler frequency shift measurement vector of the received signal obtained in the step 3) and the air position coordinate information of the airplane under the geodetic coordinate system obtained in the step 4) into the instantaneous Doppler positioning mathematical model obtained in the step 5), wherein the output of the instantaneous Doppler positioning mathematical model is the positioning coordinate of the receiver.
In step 1), the receiver receives a signal s at time ti(t) can be expressed as:
wherein P isi、Di(t)、friAnd phiiRespectively the power, baseband signal, carrier frequency and initial phase of the ith ADS-B opportunity signal; e.g. of the typei(t) is complex Gaussian white noise.
For received signal s at time ti(t) sampling to obtain discrete signal s at t momenti(n)。
In step 3), the specific method for obtaining the doppler shift measurement vector of the received signal by accurately estimating the plurality of doppler shift rough measurement values in the adjacent frequency bandwidth by using the maximum likelihood method is as follows:
based on the maximum likelihood method, the maximum likelihood function is constructed as follows:
wherein, L (f) is a maximum likelihood function; f is the frequency estimation value of the signal; s (n) is a discrete signal, the maximum likelihood estimator of the frequency of the received signal, namely the optimal frequency estimation value of the received signal, can be obtained;
forming a frequency vector of the received signal based on the optimal frequency estimation values of the plurality of received signals obtained in the above step
Calculating to obtain Doppler frequency shift measurement vector f of received signaldComprises the following steps:
wherein f is0Is the ADS-B transmitter center frequency vector.
In step 5), the specific method for establishing the instantaneous doppler positioning mathematical model based on the doppler effect and the positioning principle by combining the doppler shift measurement vector of the received signal obtained in step 3) is as follows:
5.1) Doppler shift representing the magnitude of the rate of change of the pseudorange between the aircraft transmitting the signal and the receiver receiving the signal, then the Doppler shift measurement vector f of the received signaldThe relationship with the pseudorange rate vector may be expressed as:
wherein, b is a measured pseudo range vector; λ is the carrier signal wavelength;
5.2) establishing a pseudo-range linear observation equation as follows:
Δb＝GΔx+ (5)
wherein the content of the first and second substances,
delta b is a prior pseudo-range measurement deviation vector; b is a measured pseudorange vector;
is a predicted pseudorange vector; g is a Jacobian matrix; pseudo range observation and a linearized error vector are obtained;
5.3) obtaining the derivation of the pseudo-range linear observation equation:
wherein, it is made
Is a state vector; ' is an error variation vector;
5.4) according to the receiver Doppler classical constant velocity linear equation:
wherein the content of the first and second substances,
is the speed state quantity of the receiver;
is the clock drift state quantity of the receiver;
5.5) according to the relation between Doppler frequency and receiver position:
wherein the content of the first and second substances,
x(n)as coordinates of aircraft n, xr0As a priori position coordinates of the receiver, I(n)A unit observation vector at the receiver for aircraft n;
5.6) Doppler shift measurement based on the received signal obtained in step 3)Quantity vector fdLet us order
Is a pseudo-range rate of change vector;
is a predicted pseudorange rate vector; based on equations (5), (6), (7) and (8), the mathematical model for instantaneous doppler positioning can be obtained as follows:
in the formula (I), the compound is shown in the specification,
the ratio of the velocity component in the direction of the aircraft visual distance to the upper visual distance is the aircraft velocity minus the geometric distance; v. of(n)Is the velocity vector of the aircraft n.
Compared with the prior art, the invention has the advantages that: firstly, in the background technology, GNSS global navigation satellite signals are weak, are easy to be interfered and attacked, and a large amount of infrastructure construction is needed; secondly, the coverage range of a typical land-based opportunistic signal in the background technology is limited, and the usability is limited, so that the ADS-B opportunistic signal transmitted by an airplane is fully utilized to realize the positioning of a receiver; thirdly, the invention can directly decode the air position information of the ADS-B opportunistic signal to obtain accurate airplane three-dimensional coordinate information, which is beneficial to obtaining higher positioning accuracy.
Drawings
FIG. 1 is a flow chart of a positioning method based on ADS-B opportunistic signals provided by the present invention;
Detailed Description
As shown in fig. 1, the positioning method based on ADS-B signals of opportunity provided by the present invention includes the following steps performed in sequence:
1) the airplane utilizes an ADS-B transmitter to transmit different types of ADS-B signals of opportunity through different types of data frames, wherein the ADS-B signals of opportunity comprise aerial position signals, aerial speed signals and identity message signals, the formats of the different types of data frames are basically the same, the transmitting frequency of the ADS-B signals of opportunity is about 6.2 signals per second, and a receiver receives the signals;
received signal s at receiver time ti(t) can be expressed as:
wherein P isi、Di(t)、friAnd phiiRespectively the power, baseband signal, carrier frequency and initial phase of the ith ADS-B opportunity signal; e.g. of the typei(t) is complex Gaussian white noise.
For received signal s at time ti(t) sampling to obtain discrete signal s at t momenti(n)。
2) Carrying out frequency estimation on all ADS-B opportunity signals by using an FFT algorithm to obtain frequency estimation values of a group of signals, taking the average value of the frequency estimation values of all ADS-B opportunity signals as the frequency estimation value of the received signal, and calculating to obtain a plurality of Doppler frequency shift rough measurement values;
3) accurately estimating the multiple Doppler frequency shift rough measurement values by adopting a Maximum Likelihood (ML) method in adjacent frequency bandwidths to obtain Doppler frequency shift measurement vectors of received signals;
based on the maximum likelihood method, the maximum likelihood function is constructed as follows:
wherein, L (f) is a maximum likelihood function; f is the frequency estimation value of the signal; s (n) is a discrete signal, the maximum likelihood estimator of the frequency of the received signal, i.e. the optimal frequency estimate of the received signal, can be obtained.
Forming the frequency of the received signal based on the optimal frequency estimation values of the plurality of received signals obtained in the above stepsVector quantity
Calculating to obtain Doppler frequency shift measurement vector f of received signaldComprises the following steps:
wherein f is0Is the ADS-B transmitter center frequency vector.
4) Acquiring air position coordinate information of the airplane in a geodetic coordinate system in a decoding mode based on the data field information of the air position signal acquired in the step 1);
5) combining the Doppler frequency shift measurement vector of the received signal obtained in the step 3), and establishing an instantaneous Doppler positioning mathematical model based on the Doppler effect and the positioning principle;
the specific method comprises the following steps:
5.1) Doppler shift representing the magnitude of the rate of change of the pseudorange between the aircraft transmitting the signal and the receiver receiving the signal, then the Doppler shift measurement vector f of the received signaldThe relationship with the pseudorange rate vector may be expressed as:
wherein, b is a measured pseudo range vector; λ is the carrier signal wavelength.
5.2) establishing a pseudo-range linear observation equation as follows:
Δb＝GΔx+ (5)
wherein the content of the first and second substances,
delta b is a prior pseudo-range measurement deviation vector; b is a measured pseudorange vector;
is a predicted pseudorange vector; g is a Jacobian matrix; for pseudo-range observation and linearityThe error vector is quantized.
5.3) obtaining the derivation of the pseudo-range linear observation equation:
wherein, it is made
Is a state vector; ' is an error variation vector.
5.4) according to the receiver Doppler classical constant velocity linear equation:
wherein the content of the first and second substances,
is the speed state quantity of the receiver;
is the clock drift state quantity of the receiver.
5.5) according to the relation between Doppler frequency and receiver position:
wherein the content of the first and second substances,
x(n)as coordinates of aircraft n, xr0As a priori position coordinates of the receiver, I(n)A unit observation vector at the receiver for aircraft n;
5.6) Doppler shift measurement vector f based on the received signal obtained in step 3)dLet us order
Is a pseudo-range rate of change vector;
is a predicted pseudorange rate vector; based on equations (5), (6), (7) and (8), the mathematical model for instantaneous doppler positioning can be obtained as follows:
in the formula (I), the compound is shown in the specification,
the ratio of the velocity component in the direction of the aircraft visual distance to the upper visual distance is the aircraft velocity minus the geometric distance; v. of(n)Is the velocity vector of the aircraft n.
6) Inputting the Doppler frequency shift measurement vector of the received signal obtained in the step 3) and the air position coordinate information of the airplane under the geodetic coordinate system obtained in the step 4) into the instantaneous Doppler positioning mathematical model obtained in the step 5), wherein the output of the instantaneous Doppler positioning mathematical model is the positioning coordinate of the receiver.
Claims (4)
1. A positioning method based on ADS-B opportunistic signals is characterized in that: the positioning method based on the ADS-B opportunistic signals comprises the following steps which are carried out in sequence:
1) the airplane utilizes an ADS-B transmitter to transmit different categories of ADS-B opportunistic signals including aerial position signals, aerial speed signals and identity message signals through different categories of data frames, and a receiver receives the signals;
2) carrying out frequency estimation on all ADS-B opportunity signals by using an FFT algorithm to obtain frequency estimation values of a group of signals, taking the average value of the frequency estimation values of all ADS-B opportunity signals as the frequency estimation value of the received signal, and calculating to obtain a plurality of Doppler frequency shift rough measurement values;
3) accurately estimating the multiple Doppler frequency shift rough measurement values by adopting a maximum likelihood method in adjacent frequency bandwidths to obtain Doppler frequency shift measurement vectors of received signals;
4) acquiring air position coordinate information of the airplane in a geodetic coordinate system in a decoding mode based on the data field information of the air position signal acquired in the step 1);
5) combining the Doppler frequency shift measurement vector of the received signal obtained in the step 3), and establishing an instantaneous Doppler positioning mathematical model based on the Doppler effect and the positioning principle;
6) inputting the Doppler frequency shift measurement vector of the received signal obtained in the step 3) and the air position coordinate information of the airplane under the geodetic coordinate system obtained in the step 4) into the instantaneous Doppler positioning mathematical model obtained in the step 5), wherein the output of the instantaneous Doppler positioning mathematical model is the positioning coordinate of the receiver.
2. The ADS-B opportunistic signal based positioning method of claim 1 wherein: in step 1), the receiver receives a signal s at time ti(t) can be expressed as:
wherein P isi、Di(t)、friAnd phiiRespectively the power, baseband signal, carrier frequency and initial phase of the ith ADS-B opportunity signal; e.g. of the typei(t) is complex Gaussian white noise;
for received signal s at time ti(t) sampling to obtain discrete signal s at t momenti(n)。
3. The ADS-B opportunistic signal based positioning method of claim 1 wherein: in step 3), the specific method for obtaining the doppler shift measurement vector of the received signal by accurately estimating the plurality of doppler shift rough measurement values in the adjacent frequency bandwidth by using the maximum likelihood method is as follows:
based on the maximum likelihood method, the maximum likelihood function is constructed as follows:
wherein, L (f) is a maximum likelihood function; f is the frequency estimation value of the signal; s (n) is a discrete signal, the maximum likelihood estimator of the frequency of the received signal, namely the optimal frequency estimation value of the received signal, can be obtained;
forming frequency vector f E of received signal based on the obtained optimal frequency estimation values of multiple received signalsrCalculating to obtain Doppler frequency shift measurement vector f of received signaldComprises the following steps:
wherein f is0Is the ADS-B transmitter center frequency vector.
4. The ADS-B opportunistic signal based positioning method of claim 1 wherein: in step 5), the specific method for establishing the instantaneous doppler positioning mathematical model based on the doppler effect and the positioning principle by combining the doppler shift measurement vector of the received signal obtained in step 3) is as follows:
5.1) Doppler shift representing the magnitude of the rate of change of the pseudorange between the aircraft transmitting the signal and the receiver receiving the signal, then the Doppler shift measurement vector f of the received signaldThe relationship with the pseudorange rate vector may be expressed as:
wherein, b is a measured pseudo range vector; λ is the carrier signal wavelength;
5.2) establishing a pseudo-range linear observation equation as follows:
Δb＝GΔx+ (5)
wherein the content of the first and second substances,
delta b is a prior pseudo-range measurement deviation vector; b is a measured pseudorange vector;
is a predicted pseudorange vector; g is a Jacobian matrix; pseudo range observation and a linearized error vector are obtained;
5.3) obtaining the derivation of the pseudo-range linear observation equation:
wherein, it is made
Is a state vector; ' is an error variation vector;
5.4) according to the receiver Doppler classical constant velocity linear equation:
wherein the content of the first and second substances,
is the speed state quantity of the receiver;
is the clock drift state quantity of the receiver;
5.5) according to the relation between Doppler frequency and receiver position:
wherein the content of the first and second substances,
x(n)as coordinates of aircraft n, xr0As a priori position coordinates of the receiver, I(n)A unit observation vector at the receiver for aircraft n;
5.6) Doppler shift measurement vector f based on the received signal obtained in step 3)dLet us order
Is a pseudo-range rate of change vector;
is a predicted pseudorange rate vector; based on equations (5), (6), (7) and (8), the mathematical model for instantaneous doppler positioning can be obtained as follows:
in the formula (I), the compound is shown in the specification,
the ratio of the velocity component in the direction of the aircraft visual distance to the upper visual distance is the aircraft velocity minus the geometric distance; v. of(n)Is the velocity vector of the aircraft n.
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2020
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| JP2007010550A (en) * | 2005-07-01 | 2007-01-18 | Japan Radio Co Ltd | Positioning device and positioning method |
| CN105717486A (en) * | 2016-01-28 | 2016-06-29 | 国家无线电监测中心 | Positioning method and system for radio interference source |
| CN109709591A (en) * | 2018-12-07 | 2019-05-03 | 中国科学院光电研究院 | A kind of GNSS high-precision locating method towards intelligent terminal |
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