CN112305498A - Heterogeneous TDOA (time difference of arrival) positioning system - Google Patents
Heterogeneous TDOA (time difference of arrival) positioning system Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention provides a heterogeneous TDOA positioning system, which converts sampling rates of all stations into consistent sampling rates, acquires a sampling time stamp calibration value between the heterogeneous stations through a measurement task, further acquires a supplementary time stamp calibration value and verifies the positioning precision through the simulation positioning of equipment in a loop, and corrects the time stamp offset between the heterogeneous stations through the sampling time stamp calibration value and the supplementary sampling time stamp calibration value in an actual positioning task, so that the heterogeneous TDOA positioning system consisting of different types of stations can cooperatively position a radio frequency signal source.
Description
Technical Field
The invention belongs to the field of radio communication, and particularly relates to a heterogeneous TDOA (time difference of arrival) positioning technology.
Background
The TDOA location system consists of a central station, a server, and 3 or more stations with a distance between several kilometers and hundreds of kilometers. The central station is deployed in a computer and mainly used for task control and result display, the server is deployed in a data processing computer and mainly used for calculating sensitive data processing tasks, the central station and the server of some systems are deployed in the same computer, and the measuring station consists of a digital radio frequency receiver, a satellite positioning/timing module, a computer and measuring station application software.
The measuring stations of the TDOA system collect IQ data blocks of measured signals at the same time and upload the IQ data blocks to the server, the server calculates the TDOA between the measuring station pairs, and the signal source coordinates are calculated through a plurality of TDOA measured values and measuring station coordinates. The synchronization precision of the time stamp of the IQ data of the measuring station is the primary factor influencing the TDOA result.
Because different clock frequencies are used by radio frequency receivers of different types of observation stations, the sampling rates which can be realized by the receivers are different; on the other hand, although the 1PPS pulse synchronization precision between the measuring stations can reach within tens of nanoseconds through satellite time service, due to the fact that the digital signal processing module structures and the time stamping mechanism implementation processes at the rear ends of the ADCs of the radio frequency receivers of different models are different, even under the condition that the sampling rates are the same, the time stamps are also different.
In view of this, current TDOA positioning systems require strict consistency in hardware and software specifications for all stations. Existing radio spectrum monitoring systems are equipped with various different models of fixed, vehicle-mounted and airborne stations, and the station resources available to TDOA positioning systems are limited by model consistency due to the problem of timestamp differences. In order to implement the heterogeneous TDOA positioning system, i.e., to enable heterogeneous stations of different models to cooperatively perform a positioning task, problems in the measurement and verification of the timestamp calibration value between the heterogeneous stations, the correction of the sampling timestamp in the actual positioning task, and the like need to be solved.
Disclosure of Invention
In order to solve the above problems, the present invention provides a heterogeneous TDOA positioning system, which converts sampling rates of various stations into uniform sampling rates, obtains a sampling timestamp calibration value between the heterogeneous stations by measurement, further obtains a supplemental timestamp calibration value by simulation positioning of a device in a loop and verifies positioning accuracy, and corrects a timestamp offset between the heterogeneous stations by the sampling timestamp calibration value and the supplemental sampling timestamp calibration value in an actual positioning task, so that the heterogeneous TDOA positioning system composed of different types of stations can cooperatively position a radio frequency signal source location.
In order to achieve the purpose, the invention adopts the following technical scheme:
a heterogeneous TDOA location system, comprising:
s1, a central station task control module: providing a setting interface, setting task type MmodeAnd an operation mode RmodeAnd task parameters for issuing task commands to the survey station and the server, wherein the task type comprises Mmode=1 time stamp calibration value measurement task, Mmode= precision test task, Mmode=3 actual positioning task, operating mode RmodeThe =0 expression sampling rate conversion and delay adjustment module is executed in the observation station, otherwise, the sampling rate conversion and delay adjustment module is executed in the server;
s2, a station testing command receiving module: receiving a central station command, setting working parameters and states of a radio frequency receiver, and starting a station testing task;
s3, the station testing signal sampling receiving module: periodically extracting blocks of samples S from a receiver output IQ streamIQAnd packaged as a timed IQ block STIQWhen R ismodeSample rate conversion and delay adjustment module processing timing IQ block S when =0TIQWill time the IQ block STIQUploading to a server through a network;
s4, a sampling rate conversion and time delay adjustment module: timing IQ block STIQSampling rate conversion and sampling time delay adjustment;
s5, a server TDOA calculation module: receive timestamp alignment NtaskThe measurement stations are timed IQ blocks, and are combined into a measurement station pair when R ismodeWhen not equal to 0, a sampling rate conversion and time delay adjustment module is called to process each timing IQ block STIQComputing TDOA measured value T of the station pairmeasRecording a time stamp calibration value or correcting the TDOA measurement value by using a supplementary time stamp calibration value according to the task type;
s6, a server positioning resolving module: calculating the coordinates of the emission source as O according to the TDOA measured value and the coordinates of the measuring stations of the measuring station pairLOCWhen M ismodeWhen the time difference is not less than 2, recording TDOA errors and positioning errors and counting the supplementary timestamp calibration values;
s7, a central station display module: TDOA hyperbolic measurements and truth, location result measurements and truth are displayed on the map, and TDOA error, timestamp calibration value, supplemental timestamp calibration value, and location error are displayed in a table.
Further, the task parameters of S1 include:
s11, assigning a serial number to each station, establishing a relation table of station serial numbers and station model numbers, and designating the model M0For time-stamped reference stations, model number not M0Namely the heterogeneous station testing, the calibration value of the time stamp of the station testing is stored in the quintuple
In a constructed alignment queue, wherein M1nd、M2ndTwo stations type, FrateIs the sampling rate FS，TcaliFor the time stamp calibration value it is,
calibrating values for the supplemental timestamps;
s12, the command parameter includes signal frequency FCSignal bandwidth BWSampling rate FSData acquisition period TmarkThe number of samples L of the timing IQ blockblockExtended sampling number LextTime stamp calibration value
Simulated emission point coordinates S0And simulation station coordinates SkAnd the number of stations N required for positioningtaskWherein K is the number of the stations, K belongs to {1,2, ⋯, K }, and K is the number of stations in the system;
s13, when MmodeTime stamp calibration value for all stations at time of =1
When M ismodeWhen not equal to 1, if the calibration queue is empty, reading the record in the time stamp calibration file to the calibration queue, and if the model is MnThe kth station of (1), when Mn=M0Device for placing
Otherwise, searching the alignment queue for meeting condition M1nd=M0And M2nd=MnAnd Frate=FSTo obtain a timestamp calibration value
。
Further, the step of periodically extracting S3 sample blocks S from the receiver output IQ streamIQAnd packaged as a timed IQ block STIQThe method comprises the following specific steps:
s31, obtaining the actual sampling rate of the receiver
From a reference time TREFStart with TmarkIs the time point T of the cyclecapThe time for synchronously extracting the sampling blocks of each testing station is used for calculating TcapL=Tcap-Lext/(2×FS) Searching IQ sample stream output from receiver for time stamp TcapLFrom which a sample point of (L) is extractedext+Lblock)×(
/FS) Is sampled set SIQWherein T isREFIs a constant;
s32, numbering stations and actual sampling rate
Time stamp TcapStation coordinates and sample set SIQPackaged as a timed IQ block STIQWhen M ismodeAnd if not, the coordinate of the measuring station is the simulation measuring station coordinate in the command, otherwise, the coordinate is the coordinate output by the satellite positioning and time service module.
Further, the timing IQ block S of S4TIQThe sampling rate conversion and sampling time delay adjustment method specifically comprises the following steps:
s41 opposite timing IQ block STIQSample execution in (1)
To FSSampling rate ofConversion so that each station-timing IQ block has Lext+LblockA sample, at this time, sample STIQ (LextTime stamp of/2) is Tcap；
S42, for the station with the number k, when M ismodeTime P of =3k=0, otherwise, the simulation transmitting point coordinates S are calculated0And simulation survey station coordinate SkA distance D betweenkCalculating DkCorresponding number of samples Pk= ⌊FS×DkC + 0.5 ⌋, wherein C is the electromagnetic wave velocity constant;
s43, timing the samples S in IQ blockTIQ (Lext/2-Pk+
) Extracting L as a starting pointblockOne sample as a timed IQ block STIQ。
Further, the specific steps of recording the timestamp calibration value or correcting the TDOA measurement value by using the supplemental timestamp calibration value at S5 are as follows:
s51, when MmodeIf =1, the emission point S is determined according to the simulation0Calculating TDOA truth value T by coordinate distance difference of two simulation test stationstrueCalculating the TDOA error Tdev=Tmeas-TtrueWhen the model of the first station in the station pair is M0Second station non-M0Time, TDOA error TdevI.e. the timestamp calibration value between stations, and the model M of the first station in the pair of stations1The model M of the second testing station2Sampling rate FSAnd timestamp calibration value TdevIs a five-membered group
Will be
Storing the data into a calibration queue;
s52, when Mmode=1, at the end of the task, calculating the timestamp calibration of each heterogeneous station at different sampling rates according to the nodes cached in the calibration queueMean value, in 5-tuple QcaliThe format is recorded in a time stamp calibration file, and the time stamp calibration value is supplemented
；
S53, when MmodeNot equal to 1, according to the model of the first measuring station, the model of the second measuring station and the sampling rate FSSearching matched nodes from the calibration queue to obtain the supplementary timestamp calibration value
Correction of TDOA measured value Tmeas= Tmeas-
。
Further, the specific steps of recording the TDOA error and the positioning error and counting the supplemental timestamp calibration value in S6 are as follows:
s61, calculating OLOCAnd S0The distance is the positioning error, and the sampling rate F is recordedSThe parameters such as the model, the error and the positioning error of each TDOA measuring station are put into an error analysis file;
s62, when the task is finished, the TDOA error mean value e of each station pair is countedtdoaAnd the mean value of the positioning error and the supplementary time stamp calibration value of each node in the time stamp calibration file
Together, write the last row of the error analysis file, model and sampling rate F in the time stamp calibration file and the measuring station pairSSupplemental timestamp calibration values for matching nodes
Updating supplemental timestamp calibration values in calibration file nodes
=etdoa。
The invention has the beneficial effects that:
1) the time stamp calibration value between the heterogeneous measurement stations is obtained through measurement, the supplementary time stamp calibration value is further obtained through a simulation positioning process, and the time stamp offset between the heterogeneous measurement stations after sampling rate conversion can be fully calibrated through a two-stage time stamp calibration mechanism, so that the positioning precision close to that of a homogeneous TDOA positioning system is realized. If the supplementary timestamp calibration value is not used, the timestamp precision can only be calibrated to the order of magnitude equal to the sampling period, and when the sampling rate is low, the calibrated timestamp synchronization precision is far lower than the PPS pulse synchronization precision of the satellite time service module 1;
2) due to the fact that sampling rate conversion is involved, time stamp calibration is a matter sensitive to the implementation process, and the processes of time stamp calibration value measurement, supplementary time stamp calibration value acquisition, actual TDOA positioning task execution and the like are all completed in the system, consistency of time stamp calibration value acquisition and the application process is guaranteed, and a verifiable and trustable technical method is provided for a heterogeneous TDOA positioning system.
Drawings
FIG. 1 is a block diagram of a heterogeneous TDOA system;
the hardware connection relationship when performing timestamp calibration value measurement and simulation positioning in the embodiment of fig. 2.
Detailed Description
The following describes in detail embodiments of the system according to the present invention with reference to examples.
In the embodiment, the hardware of the heterogeneous TDOA system consists of a central station and 3 measuring stations, a server and the central station are arranged in the same computer, the models of two measuring station radio frequency receivers are BB60C, the model of one measuring station radio frequency receiver is USRP B210, each measuring station further comprises a satellite positioning and time service module and one measuring station computer, the radio frequency receivers receive 1PPS (pulse per second) output by the time service module and serve as a clock tame source, the radio frequency receivers transmit data to the measuring station computers through USB ports, and the heterogeneous TDOA system is used for executing a two-dimensional positioning task and positioning the required measuring stationNumber of stations Ntask=3, set BB60C as time stamp reference station, set running mode Rmode=1, i.e. the sample rate conversion and delay adjustment module, is run in the server;
in order to realize the heterogeneous TDOA positioning, the system firstly executes a time stamp calibration value measurement task, secondly updates the supplementary time stamp calibration value and verifies the positioning precision through simulation positioning, and thirdly executes an actual positioning task;
when time stamp calibration value measurement and simulation positioning are carried out, a central station and three measuring stations are placed at the same place and connected through a local area network, radio frequency input terminals of receivers of the three measuring stations are connected to a digital signal generator through a power divider, the connection relation between the measuring stations and the central station is shown in figure 2, and the symbol rate generated by the digital signal generator is FSThe signal frequency point of the QPSK signal of/2 is fixed to be 1GHz, the output level power is set to be-60 dBm, and 5 sampling rates F are respectively subjected to the sampling rate which can be realized according to BB60CS= (20, 10, 5, 2.5, 1.25) make measurements, sample rate unit MSPS, to obtain timestamp calibration values and supplemental timestamp calibration values at different sample rates;
when an actual positioning task is executed, three measuring stations are deployed in an actual environment, the measuring stations and a central station are interconnected through a public mobile network, a radio frequency receiver of the measuring station receives an air signal through an antenna, a network card of the central station uses an internet static IP address, one of 5 sampling rate measured values is selected when a sampling rate is set, and a timestamp calibration value and a supplementary timestamp calibration value corresponding to the sampling rate can be read from a timestamp calibration file.
A heterogeneous TDOA location system, comprising:
s01, a central station task control module: providing a setting interface, setting task type MmodeAnd an operation mode RmodeAnd task parameters for issuing task commands to the survey station and the server, wherein the task type comprises Mmode=1 time stamp calibration value measurement task, Mmode= precision test task, Mmode=3 actual positioning task, operating mode Rmode=1 expression sample rate conversion and delay adjustment module is executed in server;
s02, a station testing command receiving module: receiving the command of the central station, setting the working parameters and states of the radio frequency receiver, setting the bandwidth of the receiver to be constant F in order to avoid the time stamp change caused by the bandwidth of the digital filter and measure the signal carrier-to-noise ratioSStarting a station testing task;
s03, the station testing signal sampling receiving module: periodically extracting blocks of samples S from a receiver output IQ streamIQAnd packaged as a timed IQ block STIQWill time the IQ block STIQUploading to a server through a network;
s04, a sampling rate conversion and time delay adjustment module: timing IQ block STIQSampling rate conversion and sampling time delay adjustment;
s05, a server TDOA calculation module: receive timestamp alignment NtaskEach test station timing IQ block combines the test stations into a test station pair, preferentially uses a time stamp reference test station as a first test station, and calls a sampling rate conversion and time delay adjustment module to process each timing IQ block STIQUsing a cut-off frequency of BWPerforms filtering on the timed IQ block to calculate the TDOA measurement T of the station pairmeasRecording a time stamp calibration value or correcting the TDOA measurement value by using a supplementary time stamp calibration value according to the task type;
s06, a server positioning resolving module: calculating the coordinates of the emission source as O according to the TDOA measured value and the coordinates of the measuring stations of the measuring station pairLOCWhen M ismodeWhen the time difference is not less than 2, recording TDOA errors and positioning errors and counting the supplementary timestamp calibration values;
s07, a central station display module: TDOA hyperbolic measurements and truth, location result measurements and truth are displayed on the map, and TDOA error, timestamp calibration value, supplemental timestamp calibration value, and location error are displayed in a table.
Further, the task parameters of S01 include:
s011, endowing each survey station with a serial number, establishing a relation table of the serial numbers of the survey stations and the model numbers of the survey stations, and designating the model M0For time-stamped reference stations, model number not M0Namely the heterogeneous station testing, the calibration value of the time stamp of the station testing is stored in the quintuple
In a constructed alignment queue, wherein M1nd、M2ndTwo stations type, FrateIs the sampling rate FS，TcaliFor the time stamp calibration value it is,
calibrating values for the supplemental timestamps;
s012, the command parameters include: frequency of signal FC，MmodeTiming signal bandwidth B not equal to 3W=FS/2, sampling rate FSData acquisition period Tmark=500ms, number of timed IQ block samples Lblock=16384, set number of extended samples L based on maximum inter-station distance and potential timestamp offsetext=512, time stamp calibration value
Simulation of the coordinates S of the launch point0And simulation station coordinates SkSetting the number of stations N required for positioningtask=3, where K is the number of stations, K belongs to {1,2, ⋯, K }, and K is the number of stations in the system;
s013, when MmodeTime stamp calibration value for all stations at time of =1
When M ismodeWhen not equal to 1, if the calibration queue is empty, reading the record in the time stamp calibration file to the calibration queue, and if the model is MnThe kth station of (1), when Mn=M0Device for placing
Otherwise, searching the alignment queue for meeting condition M1nd=M0And M2nd=MnAnd Frate=FSTo obtain a timestamp calibration value
。
Further, the step of periodically extracting S03 sample blocks S from the receiver output IQ streamIQAnd packaged as a timed IQ block STIQThe method comprises the following specific steps:
s031, obtain the actual sampling rate of the receiver
Setting a reference time constant TREFFor a whole second, starting with every whole second and starting with TmarkIs the time point T of the cyclecapThe time for synchronously extracting the sampling blocks of each testing station is used for calculating TcapL=Tcap-Lext/(2×FS) Searching IQ sample stream output from receiver for time stamp TcapLFrom which a sample point of (L) is extractedext+Lblock)×(
/FS) Is sampled set SIQ；
S032, numbering stations and actual sampling rate
Time stamp TcapStation coordinates and sample set SIQPackaged as a timed IQ block STIQWhen M ismodeAnd if not, the coordinate of the measuring station is the simulation measuring station coordinate in the command, otherwise, the coordinate is the coordinate output by the satellite positioning and time service module.
Further, the timing IQ block S of S04TIQThe sampling rate conversion and sampling time delay adjustment method specifically comprises the following steps:
s041, pair timing IQ block STIQSample execution in (1)
To FSSo that each station-timing IQ block has Lext+LblockA sample, at this time, sample STIQ (LextTime stamp of/2) is TcapWhen is coming into contact with
To FSWhen the transformation can be realized by interpolation and integer extraction which are not more than 20 times, a fractional resampling algorithm is used to reduce the overhead, otherwise, a multi-stage arbitrary resampling algorithm is used;
s042, for the survey station with the number of k, when MmodeTime P of =3k=0, otherwise, the simulation transmitting point coordinates S are calculated0And simulation survey station coordinate SkA distance D betweenkCalculating DkCorresponding number of samples Pk= ⌊FS×DkC + 0.5 ⌋, wherein C is the electromagnetic wave velocity constant;
s043, to time samples S in IQ blocksTIQ (Lext/2-Pk+
) Extracting L as a starting pointblockOne sample as a timed IQ block STIQ。
Further, the specific steps of recording the timestamp calibration value or correcting the TDOA measurement value by using the supplemental timestamp calibration value at S05 are as follows:
s051, when MmodeIf =1, the emission point S is determined according to the simulation0Calculating TDOA truth value T by coordinate distance difference of two simulation test stationstrueCalculating the TDOA error Tdev=Tmeas-TtrueWhen the model of the first station in the station pair is M0Second station non-M0Time, TDOA error TdevI.e. the timestamp calibration value between stations, and the model M of the first station in the pair of stations1The model M of the second testing station2Sampling rate FSAnd timestamp calibration value TdevIs a five-membered group
Will be
Storing the data into a calibration queue;
s052, Mmode=1, root at task endCalculating the mean value of the time stamp calibration values of each heterogeneous station at different sampling rates according to the cached nodes in the calibration queue, and calculating the mean value by using 5-tuple QcaliThe format is recorded in a time stamp calibration file, and the time stamp calibration value is supplemented
；
S053, when MmodeNot equal to 1, according to the model of the first measuring station, the model of the second measuring station and the sampling rate FSSearching matched nodes from the calibration queue to obtain the supplementary timestamp calibration value
Correction of TDOA measured value Tmeas= Tmeas-
。
Further, the specific steps of recording the TDOA error and the positioning error and counting the supplemental timestamp calibration value in S06 are as follows:
s061, calculating OLOCAnd S0The distance is the positioning error, and the sampling rate F is recordedSThe parameters such as the model, the error and the positioning error of each TDOA measuring station are put into an error analysis file;
s062, when the task is finished, counting the TDOA error mean value e of each station measuring pairtdoaAnd the mean value of the positioning error and the supplementary time stamp calibration value of each node in the time stamp calibration file
Together, write the last row of the error analysis file, model and sampling rate F in the time stamp calibration file and the measuring station pairSSupplemental timestamp calibration values for matching nodes
Updating supplemental timestamp calibration values in calibration file nodes
=etdoa。
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art without departing from the spirit and principle of the present application, and any modifications, equivalents, improvements, etc. made therein are intended to be included within the scope of the present application. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A heterogeneous TDOA location system, said system comprising:
s1, a central station task control module: providing a setting interface, setting task type MmodeAnd an operation mode RmodeAnd task parameters for issuing task commands to the survey station and the server, wherein the task type comprises Mmode=1 time stamp calibration value measurement task, Mmode= precision test task, Mmode=3 actual positioning task, operating mode RmodeThe =0 expression sampling rate conversion and delay adjustment module is executed in the observation station, otherwise, the sampling rate conversion and delay adjustment module is executed in the server;
s2, a station testing command receiving module: receiving a central station command, setting working parameters and states of a radio frequency receiver, and starting a station testing task;
s3, the station testing signal sampling receiving module: periodically extracting blocks of samples S from a receiver output IQ streamIQAnd packaged as a timed IQ block STIQWhen R ismodeSample rate conversion and delay adjustment module processing timing IQ block S when =0TIQWill time the IQ block STIQUploading to a server through a network;
s4, a sampling rate conversion and time delay adjustment module: timing IQ block STIQSampling rate conversion and sampling time delay adjustment;
s5, a server TDOA calculation module: receive timestamp alignment NtaskThe measurement stations are timed IQ blocks, and are combined into a measurement station pair when R ismodeCalling sample rate conversion sum when not equal to 0The delay adjusting module processes each timing IQ block STIQComputing TDOA measured value T of the station pairmeasRecording a time stamp calibration value or correcting the TDOA measurement value by using a supplementary time stamp calibration value according to the task type;
s6, a server positioning resolving module: calculating the coordinates of the emission source as O according to the TDOA measured value and the coordinates of the measuring stations of the measuring station pairLOCWhen M ismodeWhen the time difference is not less than 2, recording TDOA errors and positioning errors and counting the supplementary timestamp calibration values;
s7, a central station display module: TDOA hyperbolic measurements and truth, location result measurements and truth are displayed on the map, and TDOA error, timestamp calibration value, supplemental timestamp calibration value, and location error are displayed in a table.
2. The heterogeneous TDOA location system of claim 1, wherein said task parameters of S1 include:
s11, assigning a serial number to each station, establishing a relation table of station serial numbers and station model numbers, and designating the model M0For time-stamped reference stations, model number not M0Namely the heterogeneous station testing, the calibration value of the time stamp of the station testing is stored in the quintuple
In a constructed alignment queue, wherein M1nd、M2ndTwo stations type, FrateIs the sampling rate FS，TcaliFor the time stamp calibration value it is,
calibrating values for the supplemental timestamps;
s12, the command parameter includes signal frequency FCSignal bandwidth BWSampling rate FSData acquisition period TmarkThe number of samples L of the timing IQ blockblockExtended sampling number LextTime stamp calibration value
Simulated emission point coordinates S0And simulation station coordinates SkAnd the number of stations N required for positioningtaskWherein K is the number of the stations, K belongs to {1,2, ⋯, K }, and K is the number of stations in the system;
s13, when MmodeTime stamp calibration value for all stations at time of =1
When M ismodeWhen not equal to 1, if the calibration queue is empty, reading the record in the time stamp calibration file to the calibration queue, and if the model is MnThe kth station of (1), when Mn=M0Device for placing
Otherwise, searching the alignment queue for meeting condition M1nd=M0And M2nd=MnAnd Frate=FSTo obtain a timestamp calibration value
。
3. The heterogeneous TDOA location system of claim 1, wherein said S3 periodically extracts sample blocks S from the receiver output IQ streamIQAnd packaged as a timed IQ block STIQThe method comprises the following specific steps:
s31, obtaining the actual sampling rate of the receiver
From a reference time TREFStart with TmarkIs the time point T of the cyclecapThe time for synchronously extracting the sampling blocks of each testing station is used for calculating TcapL=Tcap-Lext/(2×FS) Searching IQ sample stream output from receiver for time stamp TcapLFrom which a sample point of (L) is extractedext+Lblock)×(
/FS) Is sampled set SIQWherein T isREFIs a constant;
s32, numbering stations and actual sampling rate
Time stamp TcapStation coordinates and sample set SIQPackaged as a timed IQ block STIQWhen M ismodeAnd if not, the coordinate of the measuring station is the simulation measuring station coordinate in the command, otherwise, the coordinate is the coordinate output by the satellite positioning and time service module.
4. The heterogeneous TDOA location system as recited in claim 1, wherein said timed IQ block S4 isTIQThe sampling rate conversion and sampling time delay adjustment method specifically comprises the following steps:
s41 opposite timing IQ block STIQSample execution in (1)
To FSSo that each station-timing IQ block has Lext+LblockA sample, at this time, sample STIQ (LextTime stamp of/2) is Tcap；
S42, for the station with the number k, when M ismodeTime P of =3k=0, otherwise, the simulation transmitting point coordinates S are calculated0And simulation survey station coordinate SkA distance D betweenkCalculating DkCorresponding number of samples Pk= ⌊FS×DkC + 0.5 ⌋, wherein C is the electromagnetic wave velocity constant;
s43, timing the samples S in IQ blockTIQ (Lext/2-Pk+
) Extracting L as a starting pointblockOne sample as a timed IQ block STIQ。
5. The heterogeneous TDOA positioning system of claim 1, wherein the specific steps of S5 recording the timestamp calibration value or correcting the TDOA measurement value using the supplemental timestamp calibration value are as follows:
s51, when MmodeIf =1, the emission point S is determined according to the simulation0Calculating TDOA truth value T by coordinate distance difference of two simulation test stationstrueCalculating the TDOA error Tdev=Tmeas-TtrueWhen the model of the first station in the station pair is M0Second station non-M0Time, TDOA error TdevI.e. the timestamp calibration value between stations, and the model M of the first station in the pair of stations1The model M of the second testing station2Sampling rate FSAnd timestamp calibration value TdevIs a five-membered group
Will be
Storing the data into a calibration queue;
s52, when Mmode=1, at the end of the task, calculating the mean value of the timestamp calibration values of each heterogeneous station at different sampling rates according to the nodes cached in the calibration queue, and taking 5-tuple Q as the reference valuecaliThe format is recorded in a time stamp calibration file, and the time stamp calibration value is supplemented
；
S53, when MmodeNot equal to 1, according to the model of the first measuring station, the model of the second measuring station and the sampling rate FSSearching matched nodes from the calibration queue to obtain the supplementary timestamp calibration value
Correction of TDOA measured value Tmeas= Tmeas-
。
6. The heterogeneous TDOA positioning system of claim 1, wherein the steps of S6, recording TDOA errors and positioning errors and counting the supplemental timestamp calibration values, are as follows:
s61, calculating OLOCAnd S0The distance is the positioning error, and the sampling rate F is recordedSThe parameters such as the model, the error and the positioning error of each TDOA measuring station are put into an error analysis file;
s62, when the task is finished, the TDOA error mean value e of each station pair is countedtdoaAnd the mean value of the positioning error and the supplementary time stamp calibration value of each node in the time stamp calibration file
Together, write the last row of the error analysis file, model and sampling rate F in the time stamp calibration file and the measuring station pairSSupplemental timestamp calibration values for matching nodes
Updating supplemental timestamp calibration values in calibration file nodes
=etdoa。
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