CN112213746A - Positioning method and device - Google Patents

Positioning method and device Download PDF

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Publication number
CN112213746A
CN112213746A CN202011089050.3A CN202011089050A CN112213746A CN 112213746 A CN112213746 A CN 112213746A CN 202011089050 A CN202011089050 A CN 202011089050A CN 112213746 A CN112213746 A CN 112213746A
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China
Prior art keywords
navigation message
subframe
base station
processed
target
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CN202011089050.3A
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CN112213746B (en
Inventor
黄兰池
吴海峰
张超雷
刘威
刘解华
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Beijing Shoukexintong Technology Co ltd
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Beijing Shoukexintong Technology Co ltd
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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
    • 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
    • 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
    • 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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the application provides a positioning method, which is applied to a target base station and used for acquiring a navigation message to be processed and a first ranging code; coding the navigation message to be processed to obtain a target navigation message; modulating the target navigation message and the first ranging code to the same carrier wave to obtain a positioning signal; because the base station generates the positioning signal and sends the positioning signal to the navigation terminal, the positioning signal reaching the indoor navigation terminal can be ensured to be stronger, so that the indoor navigation terminal can perform indoor positioning according to the received positioning signal.

Description

Positioning method and device
Technical Field
The present application relates to the field of communications technologies, and in particular, to a positioning method and apparatus.
Background
With the increase of the demand of positioning services, accurate positioning indoors and outdoors becomes more and more important.
In the prior art, positioning can be performed through a satellite positioning system such as a Beidou satellite navigation system, and specifically, a navigation terminal receives a signal sent by a satellite and performs positioning according to the received signal.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the related art:
because the signals transmitted to the ground by the satellite are too weak and need to be propagated along a straight line, the signals are difficult to penetrate through the wall and enter the room, and the signals transmitted by the satellite cannot be received indoors, so that the satellite positioning system is difficult to realize indoor positioning.
Disclosure of Invention
The application provides a positioning method and a positioning device, which are used for solving the problem that indoor positioning is difficult to realize. The technical scheme of the application is as follows:
the embodiment of the application discloses a positioning method, which is applied to a target base station and comprises the following steps:
acquiring the navigation message to be processed and a first ranging code, wherein the first ranging code is used for representing the target base station;
coding the navigation message to be processed to obtain a target navigation message;
modulating the target navigation message and the first ranging code to the same carrier wave to obtain a positioning signal;
and sending the positioning signal so that the navigation terminal can perform positioning according to the positioning signal.
Optionally, the navigation message to be processed includes a first subframe and a second subframe, and each subframe includes a synchronization header and navigation message data;
the encoding the navigation message to be processed to obtain a target navigation message comprises the following steps:
carrying out forward error correction coding on navigation message data in the first subframe of the navigation message to be processed, and then carrying out block interleaving, wherein a synchronization head of the first subframe is kept unchanged, so that the first subframe of the target navigation message is obtained;
and carrying out forward error correction coding on the navigation message data in the second subframe of the navigation message to be processed, and then carrying out block interleaving, wherein the synchronization head of the second subframe is kept unchanged, so that the second subframe of the target navigation message is obtained.
Optionally, the navigation message to be processed includes: the position information of the target base station, the altitude of a barometer corresponding to the target base station and the measurement value of the barometer are used for representing the longitude, the latitude and the altitude of the target base station; the altitude information of the barometer is used for representing the altitude of the position where the barometer is located, and the measurement value of the barometer is used for representing the atmospheric pressure value of the position corresponding to the barometer.
Optionally, the navigation message to be processed includes beidou.
Optionally, the navigation message to be processed includes time synchronization information, and the time synchronization information is used for representing a relationship between the Beidou time and the coordinated universal time.
Optionally, the navigation message to be processed includes neighbor base station information, where the neighbor base station information is used to indicate a number of a ranging code used by a base station neighboring to the target base station.
Optionally, the first subframe and the second subframe each comprise: the positioning device comprises a message type, correction information and verification information, wherein the message type is used for representing the equipment type of equipment for sending the positioning signals and the type of the currently sent navigation message, the correction information is used for representing parameter information causing positioning errors, and the verification information is used for verifying the navigation message.
Optionally, the navigation message to be processed includes: and the health information of the base station is used for indicating whether the target base station and the barometer are normal or not.
The embodiment of the application discloses a positioning device, is applied to the target base station, and the device includes:
an obtaining module, configured to obtain the navigation message to be processed and a first ranging code, where the first ranging code is used to identify the target base station;
the coding module is used for coding the navigation message to be processed to obtain a target navigation message;
the modulation module is used for modulating the target navigation message and the first ranging code onto the same carrier wave to obtain a positioning signal;
and the sending module is used for sending the positioning signal so as to facilitate the navigation terminal to position according to the positioning signal.
Optionally, the navigation message to be processed includes a first subframe and a second subframe, and each subframe includes a synchronization header and navigation message data;
the encoding module includes:
the first coding sub-module is used for carrying out forward error correction coding on navigation message data in the first sub-frame of the navigation message to be processed and then carrying out block interleaving, and a synchronization head of the first sub-frame is kept unchanged, so that the first sub-frame of the target navigation message is obtained;
and the second coding submodule is used for carrying out forward error correction coding on the navigation message data in the second subframe of the navigation message to be processed and then carrying out block interleaving, and the synchronization head of the second subframe is kept unchanged, so that the second subframe of the target navigation message is obtained.
Optionally, the navigation message to be processed includes: the position information of the target base station, the altitude of a barometer corresponding to the target base station and the measurement value of the barometer are used for representing the longitude, the latitude and the altitude of the target base station; the altitude information of the barometer is used for representing the altitude of the position where the barometer is located, and the measurement value of the barometer is used for representing the atmospheric pressure value of the position corresponding to the barometer.
Optionally, the navigation message to be processed includes beidou.
Optionally, the navigation message to be processed includes time synchronization information, and the time synchronization information is used for representing a relationship between the Beidou time and the coordinated universal time.
Optionally, the navigation message to be processed includes the neighboring base station information, where the neighboring base station information is used to indicate a positioning signal sent by a base station neighboring to the target base station.
Optionally, the first subframe and the second subframe each comprise: the positioning device comprises a message type, correction information and verification information, wherein the message type is used for representing the equipment type of equipment for sending the positioning signals and the type of the currently sent navigation message, the correction information is used for representing parameter information causing positioning errors, and the verification information is used for verifying the navigation message.
Optionally, the navigation message to be processed includes: and the health information of the base station is used for indicating whether the target base station and the barometer are normal or not.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
the embodiment of the application provides a positioning method, wherein a target base station encodes a navigation message to be processed to obtain a target navigation message, and modulates the target navigation message and a first ranging code for identifying the target base station onto the same carrier to obtain a positioning signal; because the base station generates the positioning signal and sends the positioning signal to the navigation terminal, the positioning signal reaching the indoor navigation terminal can be ensured to be stronger, so that the indoor navigation terminal can perform indoor positioning according to the received positioning signal.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method of positioning according to an exemplary embodiment;
fig. 2 is a flowchart of another positioning method provided in the embodiments of the present application;
FIG. 3 is a block diagram illustrating the structure of a navigation message in accordance with an exemplary embodiment;
FIG. 4 is a block diagram illustrating a structure of a first sub-frame in accordance with an exemplary embodiment;
FIG. 5 is a block diagram illustrating a second subframe structure in accordance with an exemplary embodiment;
FIG. 6 illustrates a flow chart of an exemplary generation of a target navigation message;
fig. 7 shows a block diagram of an exemplary positioning device according to the present application.
Detailed Description
In order to make the technical solutions of the present application better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
A flowchart of a positioning method provided in an embodiment of the present application may be applied to a base station, and referring to fig. 1, the method includes the following steps:
step 101, acquiring a navigation message to be processed and a first ranging code, where the first ranging code is used for identifying a target base station.
And 102, coding the navigation message to be processed to obtain a target navigation message.
And 103, modulating the target navigation message and the first ranging code onto the same carrier wave to obtain a positioning signal.
And 104, sending the positioning signal so that the navigation terminal can be positioned according to the positioning signal.
The embodiment of the application provides a positioning method, a target base station encodes a navigation message to be processed to obtain a target navigation message, and modulates the target navigation message and a first ranging code for identifying the target base station onto the same carrier to obtain a positioning signal; because the base station generates the positioning signal and sends the positioning signal to the navigation terminal, the positioning signal reaching the indoor navigation terminal can be ensured to be stronger, so that the indoor navigation terminal can perform indoor positioning according to the received positioning signal.
Referring to fig. 2, a flowchart of another positioning method provided in an embodiment of the present application may be applied to a base station, and the method may include the following steps:
step 201, a navigation message to be processed and a first ranging code are obtained, and the first ranging code is used for identifying a target base station.
The first ranging code may be a pseudo random code with a period of 10230 chips, the pseudo random code is obtained by truncation from a Weil code with a length of 10243, in some embodiments of the present application, the phase difference (including the delay difference of the transmission channel) of the first ranging code randomly jitters less than 1 nanosecond, and the first ranging code is included in the positioning signal, so that the positioning signal can be tracked by detecting the first ranging code in the positioning signal, thereby acquiring the positioning signal.
It should be noted that each base station corresponds to a unique first ranging code, so that different base stations can be identified according to different first ranging codes.
In some implementations of the present application, the navigation message to be processed may include: the method comprises the steps that position information of a target base station, the altitude of a barometer corresponding to the target base station and a measured value of the barometer are obtained, wherein the position information of the target base station is used for representing the longitude, the latitude and the altitude of the target base station; the altitude information of the barometer is used for indicating the altitude of the position where the barometer is located, and the measurement value of the barometer is used for indicating the atmospheric pressure value of the position corresponding to the barometer.
Note that the barometer corresponding to the target base station is provided in the base station.
In some embodiments of the present application, the navigation message to be processed includes beidou.
Wherein, can obtain through big dipper Satellite Navigation System (Bei Dou Navigation Satellite System, BDS) high accuracy synchronization clock during this big dipper, can be during the big dipper: in-week seconds count and whole week count.
It should be noted that the intra-week second count starts from zero at 00 min 00 s every weekday in beidou, and becomes 0 at the end of each week; the whole-cycle counting takes the initial epoch in the Beidou as a starting point and starts counting from zero.
In some embodiments of the present application, the navigation message to be processed includes time synchronization information for representing a relationship between the beidou time and the coordinated universal time.
Wherein the time synchronization information includes: the parameters synchronized with the coordinated time may be, for example: the system comprises a deviation coefficient of a Beidou time scale relative to a coordinated world time scale, a drift coefficient of the Beidou time scale relative to the coordinated world time scale, a drift rate coefficient of the Beidou time scale relative to the coordinated world time scale, an accumulated leap second correction number of the Beidou time scale relative to the coordinated world time scale before the new leap second takes effect, an intra-week second corresponding to a reference time, a reference time week count, a leap second reference time day count and an accumulated leap second correction number of the Beidou time scale relative to the coordinated world time after the new leap second takes effect.
In some embodiments of the present application, the navigation message to be processed includes neighbor base station information, and the neighbor base station information is used to indicate the number of the ranging code used by the base station neighboring to the target base station.
In some embodiments of the present application, the navigation message to be processed comprises a first sub-frame and a second sub-frame, each sub-frame comprising a synchronization header and navigation message data.
In some embodiments of the present application, the sync header has values of: 0xE24DE8, i.e.: 111000100100110111101000, during the transmission, the high order mode is adopted.
In some embodiments of the present application, the first subframe and the second subframe each comprise: the device comprises a message type, correction information and verification information, wherein the message type is used for indicating the device type of a device sending a positioning signal and the type of a currently sent navigation message, the correction information is used for indicating parameter information causing positioning errors, and the verification information is used for verifying the navigation message.
It should be noted that the device type of the device may be a base station or a terminal, and the terminal may obtain the device type of the device from the positioning signal after receiving the positioning signal, so that the device type of the device that sends the positioning signal may be determined, for example: in some embodiments of the present invention, the device type of the device may be represented by 0 and 1 as a terminal, where the device type of the device is a base station and the device type of the device is a base station. The type of the navigation message refers to whether the navigation message is a first subframe or a second subframe, and in some embodiments of the present invention, 0 may be used to indicate that the navigation message is a first subframe, and 1 may be used to indicate that the navigation message is a second subframe.
Wherein the parameter information may be at least one of: signal delay caused by system errors among base stations and geographic environment, and the like; the Check information may be a Cyclic Redundancy Check (CRC), which may be used to Check the integrity and accuracy of the navigation message.
In some embodiments of the present application, the navigation message to be processed comprises: and the base station health information is used for indicating whether the target base station and the barometer are normal or not.
It should be noted that, whether the base station is normal or not may be represented by a data length of 1 bit, for example: the base station can be represented as 0 and abnormal by 1; whether the barometer is normal can be indicated by a data length of 1 bit, for example: the barometer may be indicated as being normal by 0 and abnormal by 1. The data indicating whether the base station is normal is different from the data indicating that the barometer is normal.
In the present application, the composition of the navigation message is specifically described by taking the navigation message including the first subframe and the second subframe as an example.
The data length of the first subframe and the data length of the second subframe are not specifically limited in the embodiments of the present invention, and the data length of the first subframe and the data length of the second subframe may be the same or different, and the data in the first subframe and the data in the second subframe may be set according to an actual situation, and the position of the data information included in the first subframe and the second subframe may also be set according to the actual situation.
As shown in fig. 3, the navigation message includes a first subframe and a second subframe, and both the data length of the first subframe and the data length of the second subframe are 312 bits. As shown in fig. 4, the first subframe may include: a sync header, a text type, base station health information, base station identification information, a second count in a week, a count in a whole week, a longitude of a base station, a latitude of a base station, an altitude of a barometer, a measurement value of a barometer, correction information, a reserved bit, and check information, a data length of the sync header may be 24 bits, a data length of the text type may be 2 bits, a data length of the base station health information may be 2 bits, a data length of the base station identification information may be 22 bits, a data length of the second count in a week may be 20 bits, a data length of the count in a whole week may be 13 bits, a data length of the longitude of the base station may be 32 bits, a data length of the latitude of the base station may be 31 bits, a data length of the altitude of the base station may be 19 bits, a data length of the altitude information of the barometer may be 14 bits, the data length of the measurement value of the barometer may be 28 bits, the data length of the correction information may be 88 bits, the data length of the reserved bits may be 1 bit, and the data length of the check information may be 16 bits.
As shown in fig. 5, the second subframe may include: the data length of the synchronization header can be 24 bits, the data length of the message type can be 2 bits, the data length of the time synchronization information can be 88 bits, the data length of the information adjacent to the base station can be 48 bits, the data length of the reserved bits can be 6 bits, and the data length of the check information can be 16 bits.
Step 202, performing forward error correction coding on navigation message data in a first subframe of a navigation message to be processed, and then performing block interleaving, wherein a synchronization head of the first subframe is kept unchanged, so that the first subframe of a target navigation message is obtained; and carrying out forward error correction coding on navigation message data in a second subframe of the navigation message to be processed, and then carrying out block interleaving, wherein the synchronization head of the second subframe is kept unchanged, so that the second subframe of the target navigation message is obtained.
As shown in fig. 6, 288 bits of navigation message data in the first subframe and 288 bits of navigation message data in the second subframe are respectively subjected to forward error correction coding, and then the data subjected to forward error correction coding are respectively subjected to block interleaving to obtain 576 bits of coded navigation message data corresponding to the first subframe and 576 bits of coded navigation message data corresponding to the second subframe, and a 24 bits synchronization header corresponding to the first subframe and 576 bits of coded navigation message data corresponding to the first subframe constitute the first subframe of the target navigation message, where the data length of the first subframe is 600 bits. And forming the 24-bit synchronization head corresponding to the second subframe and the 576-bit coded navigation message data corresponding to the second subframe into a second subframe of the target navigation message, wherein the data length of the second subframe is 600 bits.
It should be noted that, the step of performing forward error correction coding on the navigation message data in the first subframe of the navigation message to be processed may include: first, a check matrix encoded by 64-system LDPC (96,48) is obtained, wherein the check matrix is a sparse matrix H of 48 multiplied by 9648,96And obtaining a generator matrix G according to the check matrix, and coding the navigation message in the first subframe by using the generator matrix G.
It should be noted that the specific content of the check matrix of the multilevel LDPC (96,48) coding can be set according to actual situations.
The specific steps of block interleaving in this application are: the method comprises the steps of adopting a block interleaving mode of 24 rows and 24 columns, obtaining data with the data length of 576 bits after forward error correction coding is carried out on a first subframe, sequentially writing the 576 bits of data in a row form to form data of 24 rows and 24 columns, and then reading the data in a column form.
Step 203, modulate the target navigation message and the first ranging code onto the same carrier to obtain a positioning signal.
In some embodiments of the present invention, the frequency of the carrier wave transmitted by the same base station is generated by a common reference clock source, and the frequency of the carrier wave may be set according to actual conditions, and the bandwidth of the target navigation message may be 20.46MHz, and the frequency of the carrier wave may be 470MHz-4900 MHz, the phase noise power spectral density (single sideband) of the carrier is as follows: when the carrier wave has a frequency f0The power spectral density of the phase noise of the carrier is-60 dBc/Hz when + -10 Hz and f when the frequency of the carrier is f0The phase noise power spectral density of the carrier is-75 dBc/Hz when + -100 Hz and f when the carrier has a frequency of0The phase noise power spectral density of the carrier is-80 dBc/Hz when + -1 kHz and the frequency of the carrier is f0The carrier has a phase noise power spectral density of-85 dBc/Hz when + -10 kHz and a frequency f0At 100kHz, the power spectral density of the phase noise of the carrier is-95 dBc/Hz, where f0Is referred to as the frequency of the carrier wave.
In the present application, the modulation method for modulating the target navigation message and the first ranging code onto the same carrier is Binary Phase Shift Keying (BPSK) modulation.
In some embodiments of the present application, the expression of the positioning signal transmitted by the target base station may be: s (t) A X (t) d (t) cos (2 pi f t + θ), where s (t) denotes a positioning signal, a denotes an amplitude, x (t) denotes a first ranging code, d (t) denotes a target navigation message, f denotes a carrier frequency, θ denotes an initial phase of a carrier, and t denotes time.
It should be noted that the target navigation message and the first ranging code can be transmitted only by modulating the target navigation message and the first ranging code on a carrier, and when the first ranging code is modulated on the carrier, the first ranging code needs to be filtered first, so as to reduce the interference signal. In some embodiments of the present invention, a root-raised cosine filter with a roll-off coefficient of 0.95 is used for filtering, so as to ensure that spurious signals transmitted by a target terminal do not exceed-60 dBc.
And step 204, sending a positioning signal so that the navigation terminal can be positioned according to the positioning signal.
The signal multiplexing mode of the positioning signal is code division multiple access.
It should be noted that, when the terminal receives the positioning signal sent by the base station, the terminal can position the terminal according to the information contained in the positioning signal, and because the time difference between the terminal local clock and the beidou clock can be calculated in the process of positioning the terminal, the time service can be performed on the terminal according to the time difference between the terminal local clock and the beidou clock. The following specifically describes the steps of positioning and time service of the navigation terminal according to the positioning signal.
The embodiment of the application provides a positioning method, which is applied to a terminal and can comprise the following steps:
receiving positioning signals sent by at least four base stations;
analyzing a navigation message to be processed from a positioning signal sent by each base station in at least four base stations, wherein the navigation message to be processed at least comprises position information of a target base station, the altitude of a barometer corresponding to the target base station, a measurement value of the barometer, and Beidou time and time synchronization information;
acquiring an air pressure value of the position of a terminal;
determining the altitude of the terminal according to the barometric pressure value of the position of the terminal, the altitude of a barometer corresponding to any one of at least four base stations and the measured value of the barometer;
and determining the position information of the terminal according to the altitude of the terminal and the positioning signals sent by at least four base stations.
The step of determining, by the terminal, the location information of the terminal according to the altitude of the terminal and the positioning signals sent by the at least four base stations may include: the terminal acquires the position information of the at least four base stations from the positioning signals sent by the at least four base stations; the position information of the at least four base stations and the altitude of the terminal are respectively input into pseudo-range measurement equations, and the pseudo-range measurement equations of the four base stations are combined to obtain the coordinates of the terminal.
The pseudorange refers to an approximate distance between a terminal and a satellite, wherein a pseudorange measurement equation is as follows: rho ═ r + c · td + m;
wherein r ═ sqrt ((xu-xs) ^2+ (yu-ys) ^2+ (hu-hs) ^2), (xu, yu, hu) represent the position coordinate of the terminal, (xs, ys, hs) represent the position coordinate of the target base station, rho represents the pseudo range, r represents the distance between the terminal and the target base station, c represents the speed of light, td represents the time difference between the local clock of the terminal and the big dipper, m represents the error parameter, and sqrt represents the square of the square.
It should be noted that the pseudorange measurement equation may not consider the error parameter, and may also consider the error parameter, in some embodiments of the application, when the error does not need to be considered, the value of m may be zero, when the error needs to be considered, m may be determined according to the correction information, and a specific determination manner may be set according to an actual situation.
It should be noted that the pseudo-range measurement equation includes a time difference between the terminal local clock and the beidou clock, so that the time difference between the terminal local clock and the beidou clock can also be obtained through the equation, the terminal local clock is compensated through the time difference between the terminal local clock and the beidou clock to obtain a compensated local clock, time synchronization information is obtained from a positioning message, and the coordinated world time is determined according to the compensated local clock and the time synchronization information, so that time service to the terminal can be completed.
The embodiment of the application provides a positioning method, a target base station encodes a navigation message to be processed to obtain a target navigation message, and modulates the target navigation message and a first ranging code for identifying the target base station onto the same carrier to obtain a positioning signal; because the base station generates the positioning signal and sends the positioning signal to the navigation terminal, the positioning signal reaching the indoor navigation terminal can be ensured to be stronger, so that the indoor navigation terminal can perform indoor positioning according to the received positioning signal.
As shown in fig. 7, an embodiment of the present application discloses a positioning apparatus, which is applied to a target base station, and the apparatus includes:
an obtaining module 701, configured to obtain a navigation message to be processed and a first ranging code, where the first ranging code is used to represent a target base station;
the encoding module 702 is configured to encode the navigation message to be processed to obtain a target navigation message;
the modulation module 703 is configured to modulate the target navigation message and the first ranging code onto the same carrier, so as to obtain a positioning signal;
a sending module 704, configured to send a positioning signal, so that the navigation terminal performs positioning according to the positioning signal.
Optionally, the navigation message to be processed includes a first subframe and a second subframe, and each subframe includes a synchronization header and navigation message data;
an encoding module 702, comprising:
the first coding submodule 7021 is configured to perform forward error correction coding on the navigation message data in the first subframe of the navigation message to be processed, and then perform block interleaving, where a synchronization header of the first subframe remains unchanged, so as to obtain the first subframe of the target navigation message;
the second encoding submodule 7022 is configured to perform block interleaving after performing forward error correction encoding on the navigation message data in the second subframe of the navigation message to be processed, and keep a synchronization header of the second subframe unchanged, thereby obtaining the second subframe of the target navigation message.
Optionally, the navigation message to be processed includes: the method comprises the steps that position information of a target base station, the altitude of a barometer corresponding to the target base station and a measured value of the barometer are obtained, wherein the position information of the target base station is used for representing the longitude, the latitude and the altitude of the target base station; the altitude information of the barometer is used for indicating the altitude of the position where the barometer is located, and the measurement value of the barometer is used for indicating the atmospheric pressure value of the position corresponding to the barometer.
Optionally, the navigation message to be processed includes beidou.
Optionally, the navigation message to be processed includes time synchronization information, and the time synchronization information is used for representing a relationship between the beidou time and the coordinated universal time.
Optionally, the navigation message to be processed includes neighboring base station information, where the neighboring base station information is used to indicate a positioning signal transmitted by a base station neighboring to the target base station.
Optionally, the first subframe and the second subframe each include: the device comprises a message type, correction information and verification information, wherein the message type is used for indicating the device type of a device sending a positioning signal and the type of a currently sent navigation message, the correction information is used for indicating parameter information causing positioning errors, and the verification information is used for verifying the navigation message.
Optionally, the navigation message to be processed includes: and the base station health information is used for indicating whether the target base station and the barometer are normal or not.
It should be noted that: in the positioning apparatus provided in the above embodiment, when sending the positioning signal, only the division of the above functional modules is used for illustration, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the positioning apparatus and the positioning method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments and are not described herein again.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (10)

1. A positioning method applied to a target base station, the method comprising:
acquiring a navigation message to be processed and a first ranging code, wherein the first ranging code is used for identifying the target base station;
coding the navigation message to be processed to obtain a target navigation message;
modulating the target navigation message and the first ranging code to the same carrier wave to obtain a positioning signal;
and sending the positioning signal so that the navigation terminal can perform positioning according to the positioning signal.
2. The method of claim 1, wherein the navigation message to be processed comprises a first subframe and a second subframe, each subframe comprising a synchronization header and navigation message data;
the encoding the navigation message to be processed to obtain the target navigation message comprises the following steps:
carrying out forward error correction coding on navigation message data in the first subframe of the navigation message to be processed, and then carrying out block interleaving, wherein a synchronization head of the first subframe is kept unchanged, so that the first subframe of the target navigation message is obtained;
and carrying out forward error correction coding on the navigation message data in the second subframe of the navigation message to be processed, and then carrying out block interleaving, wherein the synchronization head of the second subframe is kept unchanged, so that the second subframe of the target navigation message is obtained.
3. The method of claim 1, wherein the navigation message to be processed comprises: the position information of the target base station, the altitude of a barometer corresponding to the target base station and the measurement value of the barometer are used for representing the longitude, the latitude and the altitude of the target base station; the altitude information of the barometer is used for representing the altitude of the position where the barometer is located, and the measurement value of the barometer is used for representing the atmospheric pressure value of the position corresponding to the barometer.
4. The method of claim 1, wherein the navigation message to be processed comprises beidou hours.
5. The method of claim 1, wherein the navigation message to be processed includes time synchronization information indicating a relationship between Beidou time and coordinated universal time.
6. The method of claim 1, wherein the pending navigation message comprises neighbor base station information indicating a number of a ranging code used by a base station neighboring the target base station.
7. The method of claim 2, wherein the first subframe and the second subframe each comprise: the positioning device comprises a message type, correction information and verification information, wherein the message type is used for representing the equipment type of equipment for sending the positioning signals and the type of the currently sent navigation message, the correction information is used for representing parameter information causing positioning errors, and the verification information is used for verifying the navigation message.
8. The method of claim 1, wherein the navigation message to be processed comprises: and the health information of the base station is used for indicating whether the target base station and the barometer are normal or not.
9. A positioning apparatus, applied to a target base station, the apparatus comprising:
an obtaining module, configured to obtain the navigation message to be processed and a first ranging code, where the first ranging code is used to identify the target base station;
the coding module is used for coding the navigation message to be processed to obtain a target navigation message;
the modulation module is used for modulating the target navigation message and the first ranging code onto the same carrier wave to obtain a positioning signal;
and the sending module is used for sending the positioning signal so as to facilitate the navigation terminal to position according to the positioning signal.
10. The apparatus of claim 9, wherein the navigation message to be processed comprises a first subframe and a second subframe, each subframe comprising a synchronization header and navigation message data;
the encoding module includes:
the first coding sub-module is used for carrying out forward error correction coding on navigation message data in the first sub-frame of the navigation message to be processed and then carrying out block interleaving, and a synchronization head of the first sub-frame is kept unchanged, so that the first sub-frame of the target navigation message is obtained;
and the second coding submodule is used for carrying out forward error correction coding on the navigation message data in the second subframe of the navigation message to be processed and then carrying out block interleaving, and the synchronization head of the second subframe is kept unchanged, so that the second subframe of the target navigation message is obtained.
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