CN112415551A - Compressed sensing vector tracking and positioning method of engineering transport vehicle under Beidou/GPS positioning - Google Patents

Compressed sensing vector tracking and positioning method of engineering transport vehicle under Beidou/GPS positioning Download PDF

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CN112415551A
CN112415551A CN201910766611.XA CN201910766611A CN112415551A CN 112415551 A CN112415551 A CN 112415551A CN 201910766611 A CN201910766611 A CN 201910766611A CN 112415551 A CN112415551 A CN 112415551A
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signal
satellite
positioning
beidou
ground control
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张元刚
刘坤
郝根培
宫晓玮
杨木易
侯双双
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Qingdao Beidou Tiandi Technology Co ltd
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Qingdao Beidou Tiandi 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention researches a compressed sensing vector tracking and positioning method of an engineering transport vehicle under Beidou/GPS positioning. In order to strengthen the supervision of a coal company on transport vehicles and avoid coal theft and coal unloading, a Beidou/GPS satellite positioning system is required to be utilized to carry out real-time positioning monitoring on the vehicles. To obtain an accurate position of the vehicle, the Time of arrival (TOA) ranging principle is used here. Firstly, the transmission time of the signal from the satellite to the receiver is clear, and the distance from the satellite to the user vehicle is obtained by multiplying the transmission speed of the electromagnetic wave by the transmission time. The invention comprises a space part, a ground part and a Beidou/GPS compatible user terminal. When the vehicle terminal receiver processes signals, the vector tracking algorithm based on compressed sensing provided by the invention is utilized, because the tracking process has large calculation amount and generates a lot of redundant information, and the vector tracking algorithm based on compressed sensing can greatly reduce the calculation amount and the complexity of hardware.

Description

Compressed sensing vector tracking and positioning method of engineering transport vehicle under Beidou/GPS positioning
Technical Field
The invention relates to a method for monitoring and positioning engineering transport vehicles, in particular to a Beidou/GPS positioning and compressed sensing vector tracking method.
Background
As is well known, China is a big coal country, and the coal industry is a basic industry in China. Coal transportation vehicles are also increased inevitably, the coal companies can not achieve satisfactory management of the coal transportation vehicles, and too many engineering vehicles can cause traffic jam. As the engineering coal transporting vehicle is carelessly managed, accidents such as coal stealing and coal unloading by workers on half the way can occur in the transportation process of the vehicle. In order to strengthen the supervision of a coal company on a transport vehicle and avoid coal stealing and unloading, a real-time positioning monitoring system of the vehicle needs to be integrally transformed and improved. Many coal vehicles are currently equipped with GPS positioning systems because the earliest practical positioning system was the GPS system developed in the united states. The autonomous Beidou satellite positioning system researched and developed by China is practical to produce after the United states. In areas without GPS signals, a Beidou positioning system is combined, and the advantages of the Beidou positioning system and the Beidou positioning system are combined. In the field of engineering coal transportation, the research of positioning the vehicle by combining the Beidou and the GPS has the following significance:
(1) the vehicle positioning system can manage and monitor the vehicle in real time, is beneficial to reducing accidents of coal stealing, coal unloading and the like of workers on half roads, improves the transportation efficiency, guarantees the benefits of companies and improves the vehicle management level.
(2) The method is beneficial to the dispatching management of the company on the coal transporting vehicles, and a proper management dispatching plan is made for the company.
(3) In the engineering vehicle transportation industry, it is very necessary to research the positioning system of big dipper and GPS signal, and it is the GPS positioning system that many existing coal transporting vehicles installed at present, add big dipper satellite positioning system and respond to the national call, can also cover more remote areas simultaneously.
The real-time positioning monitoring system is installed on the engineering vehicle, so that the vehicle transportation efficiency and the supervision of a coal company can be improved, accidents such as coal stealing and unloading by workers on half roads are reduced, the transportation efficiency is improved, traffic jam is relieved, and great benefits are brought to the society and the company.
The satellite navigation positioning system is a technology for accurately positioning a certain object by using a satellite, combines two high technologies of communication and satellite development, firstly obtains information such as time, speed and position provided by a navigation satellite in the space, and then performs operations such as navigation, positioning, management and monitoring on a ground target. Can be used for guiding airplanes, ships, vehicles and individuals to safely and accurately reach a destination on time along a selected route.
The satellite navigation positioning system has the characteristics of high benefit, automation, high precision, all weather and the like, so that the satellite navigation positioning system can be utilized in various industries all over the country. Since the GPS technology in the united states is the first to appear, the mobile object can be positioned in real time, and particularly, after the GPS technology is widely converted into a civil use, satellite navigation positioning can realize all-weather, real-time, and large-scale positioning and monitoring of a moving vehicle. At present, the GPS technology is adopted by the overseas enterprises occupying nine generations to carry out real-time positioning and monitoring on vehicles.
In the technical field, the Beidou positioning technology in China develops rapidly since the 20 th century, but the Beidou positioning technology is not widely applied to the civil field, and most vehicle-mounted terminals still mainly use the GPS. In the 1 st month of 2013, the ' notice on implementation work of ' important transportation process monitoring and management service demonstration system engineering about accelerating propulsion ', which is issued by the department of transportation, requires that 9 provinces (district, city) such as Tianjin, Hebei, Jiangsu, Anhui and the like are used as demonstration provinces, and the Beidou/GPS dual-mode vehicle-mounted terminal installation task of more than 80% of the provinces needs to be completed, and all heavy trucks and semi-trailers newly entering the transportation market need to be additionally provided with the Beidou/GPS dual-signal vehicle-mounted terminal. And encourage each industry vehicle to install big dipper compatible terminal additional. The application of the Beidou terminal technology is mature day by day in the fields of common traffic and intelligent traffic, and the Beidou terminal technology can also certainly replace GPS navigation positioning in the field of engineering vehicle transportation.
Compared with a GPS navigation positioning system, the Beidou navigation system has the outstanding advantages of short message communication function, but has certain disadvantages, namely, the Beidou navigation system cannot be used for comparing with the GPS navigation positioning system in the aspects of system stability, coverage range, positioning accuracy and the like.
It has become a great trend to research what kind of mode can combine the advantages of the big dipper technology and the GPS technology and actually apply the big dipper technology and the GPS technology to a vehicle positioning system. In the prior art, enterprises adopt a Beidou/GPS dual-signal positioning system to position vehicles, and the vehicles are positioned, scheduled and managed effectively through the vehicle positioning system, so that benefits are improved, and the cost is saved. In the field of vehicles, particularly in the field of engineering transportation vehicles, a vehicle monitoring system based on a Beidou/GPS dual-signal positioning vehicle-mounted terminal has become a trend.
The Beidou satellite navigation and positioning system is completely independently operated and independently researched and developed by China. The three foreign navigation systems, namely Galileo of European Union, Glonass of Russia, GPS of America and Beidou system of China are called as the global four-major satellite navigation positioning system together. At present, the Beidou satellite navigation and positioning system is divided into an active positioning Beidou I system and a passive positioning Beidou II system.
The Beidou I satellite navigation system belongs to a regional navigation system, and networking is finished and operation is put into operation. Mainland china, taiwan and surrounding areas are within its coverage.
In 14 th 4 th 2007, a carrier rocket named 'Changcheng No. three' successfully launches one Beidou navigation experiment satellite in the West Chang satellite launching center. This makes China enter a new journey to build a new generation satellite navigation positioning system, namely the Beidou second system (BD-2).
The Beidou satellite positioning system is a major information infrastructure which is independently researched and developed in China, and the development of the Beidou satellite positioning system has long-term significance for improvement of living standard of people, economic construction and scientific research and plays a very important role in national defense construction and national safety.
The BD-2 uses a passive positioning system, and belongs to rnss (radio Navigation Satellite system) system, like the GPS in the united states. Namely, the positioning is carried out by satellite signals received by the equipment of the vehicle without depending on elevation information provided by a user or transmitting uplink signals. Since the BD-2 and the GPS belong to the same positioning system, compatibility with each other is possible.
As an important platform of a satellite positioning system at a user end, a receiver carries all functions from the time that the user receives satellite signals to the time that positioning navigation calculation is completed, and then navigation positioning information is finally generated. The method has the advantages that the acquisition and tracking steps in the baseband signal processing process of the receiver are improved through software optimization, so that the overall performance of the receiver is improved, and finally, the navigation positioning result with higher speed and higher precision can be solved.
The tracking is an important link for the receiver to process satellite signals so as to obtain a positioning resolving result, the tracking performance is optimized, and the method has important significance for improving the resolving speed and precision of positioning and improving the overall benefit of the receiver. In the tracking link, vector tracking with more excellent performance is generally adopted. The vector tracking is to combine information among different satellite channels by using a Kalman filtering structure on the basis of scalar tracking, and the capability of tracking satellite signals of each channel of a receiver can be improved without adding other hardware information.
Because the large calculation amount is a difficult point of vector tracking, more researchers are dedicated to research on reducing the calculation amount of vector tracking, and meanwhile, the search for an efficient calculation method is strengthened. The Nyqiust sampling method is usually adopted in the receiver, and the method brings higher data rate to the system. The compressed sensing algorithm is determined by the information quantity, and the algorithm can greatly reduce the processing pressure of a receiver. Compressed Sensing (CS) is a signal sampling and reconstruction theory that has been developed rapidly in recent years, and it is a method commonly used in the field of signal processing to extract sparse features on the premise that signals generally have sparse features. If the signal can be described by a sparse structure, the reconstructed signal still has a higher signal-to-noise ratio under the condition of reducing the sampled data, namely the accuracy of signal recovery is high. Therefore, the compressed sensing algorithm is a more excellent method than the Nyqiust sampling method.
Disclosure of Invention
In order to overcome the defects, particularly to overcome the problems of coverage range, system stability, positioning accuracy and the like of satellite positioning, and the problems of low efficiency, low speed and containing a large amount of redundant information of a receiver in the signal transmission process, the invention provides a precise real-time compressed sensing vector tracking and positioning method of an engineering transport vehicle under Beidou/GPS positioning. The method and the system fully utilize the characteristics of strong anti-interference capability, accurate positioning, low power consumption and the like of the Beidou/GPS system, and compress the signals of the receiver by combining a compressed sensing vector tracking algorithm, realize real-time and accurate target positioning, and meet the requirements of mine production scheduling and vehicle real-time monitoring.
In order to achieve the purpose, the invention provides a compressed sensing vector tracking and positioning method of an engineering transport vehicle under Beidou/GPS positioning, which comprises the following steps: the method makes full use of signal communication between the ground control center and the satellite, utilizes the vector tracking algorithm based on compressed sensing provided by the text when the vehicle terminal receiver processes signals, and can greatly reduce the calculation amount and the complexity of hardware due to large calculation amount and generation of a plurality of redundant information in the tracking process
The compressed sensing vector tracking and positioning method of the engineering transport vehicle under the Beidou/GPS positioning comprises the following steps:
A. firstly, a ground control central station can actively send an inquiry signal to a synchronous satellite, and a space station satellite can send the signal to all users in a range covered by the satellite in a broadcasting mode after receiving the inquiry signal sent by the ground control central station;
B. after receiving signal data sent by the satellite, the user terminal unit takes a certain frame of a signal out of the space station as an initial time point, then sends a signal into the space station to the navigation satellite, and finally the satellite forwards an inbound signal to the ground control center;
C. after receiving the inbound signal, the ground control center calculates to obtain the round trip time of the signal, then divides the round trip time by 2, subtracts the signal transmission time between the ground control center and the satellite to obtain the time which is the transmission time between the user terminal unit and the satellite, and finally calculates the position of the user terminal unit according to the four-star positioning principle;
D. the ground control center encrypts the data of the position of the user unit, and then transmits the position data to the user unit in a signal mode by using the transfer service function of the satellite again, and the user unit receives the signal containing the position data and analyzes the signal content to obtain the satellite positioning data.
The compressed sensing vector tracking and positioning method of the engineering transport vehicle under the Beidou/GPS positioning is characterized in that the step A comprises the following steps:
A1. the Beidou satellite and the GPS have approximately the same system structure, firstly, a ground control central station actively sends an inquiry signal to a synchronous satellite, and a space station satellite sends the signal to all users in a range covered by the satellite in a broadcasting mode after receiving the inquiry signal sent by the ground control central station;
A2. after receiving the signal sent by the satellite, the user terminal unit takes a certain frame of the signal of the space station as an initial time point, then sends a signal of the space station to the navigation satellite, and finally the satellite forwards the signal of the inbound to the ground control center;
A3. after receiving the inbound signal, the ground control center calculates to obtain the round trip time of the signal, then divides the round trip time by 2, subtracts the signal transmission time between the ground control center and the satellite to obtain the time which is the transmission time between the user terminal unit and the satellite, and finally calculates the position of the user terminal unit according to the four-star positioning principle;
A4. the ground control center encrypts the data of the position of the user unit, and then transmits the position data to the user unit in a signal mode by using the transfer service function of the satellite again, and the user unit receives the signal containing the position data and analyzes the signal content to obtain the satellite positioning data.
The compressed sensing vector tracking and positioning method of the engineering transport vehicle under the Beidou/GPS positioning is characterized in that the satellite signal data received by the user terminal and the transmission time are obtained from the ultra-wideband signals transmitted by the space station.
The compressed sensing vector tracking and positioning method of the engineering transport vehicle under the Beidou/GPS positioning is characterized in that the step C comprises the following steps:
C1. in the process of satellite positioning, the three-dimensional coordinates of the satellite in the space position can be solved by navigation messages and are known numbers;
C2. the position coordinate of the user receiver in the space is three-dimensional and is an unknown number to be solved;
C3. because three unknowns need to be solved by three equations, three satellites are needed to determine the current position of the user receiver by solving the equation set;
C4. in the actual operation process, it is difficult to obtain accurate satellite transmission time, the self-contained clock precision in the receiver is generally low, and the clocks of the signal transmitting end and the signal receiving end are different, which brings a new unknown number to the calculation equation set and needs to add the coordinates of a known satellite.
The compressed sensing vector tracking and positioning method of the engineering transport vehicle under the Beidou/GPS positioning is characterized in that when a GPS signal cannot be captured, a Beidou satellite positioning system is started, the system can determine information such as the position and the state of the vehicle, and can send various information to a ground monitoring center and receive instructions, messages, digital maps and the like sent by the ground monitoring center.
The compressed sensing vector tracking and positioning method of the engineering transport vehicle under the Beidou/GPS positioning is characterized in that the step D comprises the following steps:
D1. the radio frequency front-end processing, because the signal that the antenna received is the higher analog radio frequency signal of frequency, consequently turn into the lower digital signal of frequency earlier, the device that whole process needs to use is: the filter, the amplifier, the mixer, the A/D converter and the like complete the processes of filtering, amplifying, down-conversion and digitization;
D2. the baseband signal processing comprises two processes of capturing and tracking, a local oscillator generates a local signal consistent with a received signal, the local signal is compared with an intermediate frequency signal processed by a radio frequency front end, information of carrier frequency and code phase in the intermediate frequency signal is analyzed, and the capturing and tracking processes are completed;
D3. and (3) positioning navigation resolving, resolving a result obtained in the tracking process by using a subframe identification method so as to obtain ephemeris of the satellite and a pseudo range value from the satellite to a receiver, calculating the position of the unknown user receiver according to a four-satellite positioning principle, and completing the positioning process of the navigation system.
The compressed sensing vector tracking and positioning method of the engineering transport vehicle under the Beidou/GPS positioning is characterized in that the signal acquisition process is realized by a compressed sensing algorithm.
The invention has the beneficial effects that:
1. the advantages of the Beidou navigation system and the GPS navigation system are fully exerted, the Beidou navigation system and the GPS can be switched when faults occur at will, and real-time and reliable positioning of the target is guaranteed.
2. The positioning precision and the anti-interference capability of the system are greatly improved. The positioning accuracy of the Beidou satellite navigation positioning system is better than 10 meters, the speed measurement accuracy is better than 0.2m/s, and the time service accuracy is better than 50 ns; the GPS positioning precision P code of the United states reaches about 6m, the C/A code precision reaches about 12m, and the time service precision reaches about 20 ns.
3. The vector tracking algorithm based on compressed sensing can not only improve the satellite signal tracking capability of each channel of the receiver, but also track weak satellite signals, and can effectively weaken the performance influence of high dynamics on the receiver in a high dynamic environment.
4. The compressed sensing sampling algorithm is adopted in the user terminal receiver, and a complex modulation and demodulation technology is not required, so that the system equipment has a simple structure and a small volume, and is suitable for engineering transport vehicles.
Drawings
FIG. 1 is a block diagram of the Beidou/GPS positioning system of the present invention;
FIG. 2 is a schematic diagram of the terminal receiver architecture of the present invention;
FIG. 3 is a flow chart of the compressed sensing algorithm of the present invention;
FIG. 4 is a flow chart of a compressed sensing based capture algorithm of the present invention;
Detailed Description
In order to make the effects and advantages of the technical solution of the present invention clearer, the following will describe the compressed sensing vector tracking and positioning method of the engineering transportation vehicle under the beidou/GPS positioning in more detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the compressed sensing vector tracking and positioning method of the engineering transport vehicle under the beidou/GPS positioning includes four steps, the final purpose of step a is to obtain the accurate position of the user receiver, and the Time of arrival (TOA) ranging principle is used to obtain the distance between the satellite and the receiver. After a signal is transmitted from a satellite, it arrives at a receiver after a certain time, which is called the propagation time of the signal, and the product of this propagation time and the propagation speed of the signal is the distance between the satellite transmitting the signal and the receiver receiving the signal. Therefore, knowing the three-dimensional coordinates of the satellite in the space and the transmission time of the signal, the TOA ranging principle can be applied to ranging, so that the coordinates of the user position can be solved according to a distance equation between two points, and the positioning calculation is completed. In the process of satellite positioning, the three-dimensional coordinates of the satellite in the space position can be solved by navigation messages and are known numbers, the position coordinates of the user receiver in the space are three-dimensional, the unknown numbers to be solved are set as r (x, y, z), three unknown numbers need to be solved by three equations, so that the current position of the user receiver can be determined by solving the equation set by three satellites, and the satellite coordinates of the known coordinates are set as s1(x1,y1,z1)、s2(x2,y2,z2)、s3(x3,y3,z3) The distances between the three satellites and the receiver are respectively rho1、ρ2And ρ3Then, it can be expressed as:
Figure BDA0002172133170000061
after the accurate time of the satellite for transmitting the signal and the accurate time of the receiver for receiving the signal are known, the position of the satellite can be accurately calculated through the equation set. However, in the actual operation process, it is difficult to obtain accurate satellite transmission time, the precision of the clock provided in the receiver is generally low, and the clocks of the signal transmitting end and the receiving end are different, which brings a new unknown number to the calculation equation set, so the position of the receiver cannot be obtained by solving the positions of only three known satellites, the equation set should be corrected, the position of the unknown receiver can be calculated by adding the coordinates of one known satellite, and the position coordinates of the fourth satellite is set as s4(x4,y4,z4). The modified pseudorange observation equation may be expressed as:
Figure BDA0002172133170000071
in the above formula, c is the speed of light, δ tuFor the clock difference of the receiver, four unknowns of four equations, the position of the user receiver and the clock difference of the receiver can be solved.
Fig. 2 is a schematic diagram of a terminal receiver structure of the present invention, and referring to fig. 2, the main purpose of step B is to be able to receive signals transmitted by each visible satellite, complete the calculation of the received signals, obtain navigation messages, and calculate orbit information of the satellite through the processing of baseband digital signals, that is, the process of acquisition and tracking, thereby completing the positioning and navigation processes. As shown in fig. 2, the terminal receiver of the present invention includes three parts, namely, a radio frequency front end, a baseband signal processing and a positioning navigation solution. The first stage is the radio frequency front end processing section. Because the signal that the antenna received is the higher analog radio frequency signal of frequency, consequently convert the digital signal that the frequency is lower earlier into, the device that whole process needs to use is: filters, amplifiers, mixers, A/D converters and the like, and the processes of filtering, amplifying, down-converting and digitizing are completed. The second stage is a baseband signal processing module, which mainly comprises two processes of capturing and tracking, wherein a local oscillator generates a local signal consistent with a received signal, the local signal is compared with an intermediate frequency signal processed by a radio frequency front end, information of carrier frequency and code phase in the intermediate frequency signal is analyzed, and the capturing and tracking processes are completed. And the third stage is a positioning navigation resolving module, wherein in the resolving process, a result obtained in the tracking process is resolved by using a subframe identification method, so that ephemeris of the satellite and a pseudo range value from the satellite to a receiver are obtained, the position of the unknown user receiver is calculated according to a four-satellite positioning principle, and the positioning process of the navigation system is completed. The acquisition is used as the first step of baseband signal processing, and is an important component of a navigation receiver, the success or failure of the acquisition directly affects the subsequent tracking and positioning calculation processes, and the performance of the acquisition directly affects the performance of the receiver, so that the acquisition process is of great importance to research.
FIG. 3 is a flow chart of the compressed sensing algorithm of the present invention, referring to FIG. 3, the main purpose of step C is to estimate the location of the subscriber terminal unit, as shown in FIG. 3, the theory of compressed sensing shows that if the N-dimensional original analog signal x ∈ RNSparse, i.e. | | x | | luminance0K, (K < N), it is possible to determine an M × N-dimensional observation matrix Φ ∈ RM×NSampling is performed at a rate well below nyquist's law and the original signal is recovered with high probability by observing the value y ═ Φ x. However, many signals in practice are not sparse, but can be sparsely represented in a certain transform domain Ψ, that is, x ═ Ψ α, | | | < N, which can also be undersampled according to the observation matrix Φ, and the original signal can be recovered with high probability by using the observation value y ═ Ψ α, where y ═ Ψ α is a, and then y ═ Φ Ψ α is a α.
Recovering x from y is a solution to the linear system of equations, and requires solving the optimization problem as shown in equation (3):
Figure BDA0002172133170000081
clearly, this is an NP-hard problem. However, when the matrix Φ Ψ satisfies the constrained isometry property (RIP), the above problem can be relaxed as l1Norm minimization optimization problem:
Figure BDA0002172133170000082
RIP is defined as: if delta existskE (0,1) such that
Figure BDA0002172133170000083
For all original signals x ∈ Sigmak{x:||x||0K ≦ wherein if the minimum constant δ of the above equation is satisfied for all K order sparse vectors xkThen matrix A satisfies the K order constraint equidistant characteristic, deltakA constrained equidistant constant called matrix a.
For accurate reconstruction of alpha, the observation times M should satisfy M ≧ C μ2And (phi, psi) KlgN, wherein C is a fixed constant, and mu (phi, psi) represents the correlation between the measurement matrix phi and the sparse representation base psi. Their correlation can be expressed as a set of orthogonal bases (Φ, Ψ) in a given N-dimensional space
Figure BDA0002172133170000084
Wherein
Figure BDA0002172133170000085
And psijRepresenting the row and column vectors of phi and psi, respectively.
If the measured value y is disturbed by noise, the measured value y will become
y＝Ax+N (7)
Where N is an unknown error perturbation.
And reconstructing the signal by using an Orthogonal Matching Pursuit (OMP) algorithm in a greedy algorithm to obtain the target position.
Consider the perceptual matrix a-phi psi, T is the orthogonal basis of a, i.e., T-orth (a)T)T,A+Is the generalized inverse of A. Then there are:
Y＝TA+y＝TA+Aα＝Tα (8)
in the presence of noise:
Y＝TA+y＝TA+Aα+TA+N＝Tα+N' (9)
and the positioning reconstruction algorithm continuously updates related parameters in the operation process by inputting the matrix Y and the matrix T to carry out K times of iteration, and finally determines the position vector of the target person. Which selects a column in the orthogonal matrix T in each iteration such that the selected column is aligned with the current redundancy vector r0(the initial redundant vector is Y) is related to the maximum extent, the column is set to be zero to update the matrix T, the related part is subtracted from the matrix Y and iteration is continued until the iteration frequency reaches the sparsity K, the iteration is forced to stop, and the obtained vector
Figure BDA0002172133170000091
For the reconstruction of the sparse vector alpha, i.e. the estimated location of the subscriber terminal unit.
Fig. 4 is a flowchart of the acquisition algorithm based on compressive sensing according to the present invention, and referring to fig. 4, the main purpose of step D is to obtain satellite positioning data and complete the positioning process. As shown in fig. 4, in the process of sparse representation of signals, the most important is to find a suitable sparse domain, and according to the good autocorrelation and cross-correlation characteristics of C/a codes, it can be known that cyclic shift sequences of C/a codes are orthogonal, so that a sparse change domain of signals formed by cyclic shift sequences of C/a codes can be used as a base matrix to sparsely represent received signals, where a signal of 1ms is selected, and a local C/a code sequence can be represented as: c. C0＝[c[0],c[1],…,c[2045]]T. The chips are circularly shifted to obtain a 2046 × 2046 local C/a code cyclic shift matrix Ψ, which is a base matrix in the sparse representation process and can be represented as:
Figure BDA0002172133170000092
the sparseness process for a signal x of length P can be expressed as:
Figure BDA0002172133170000093
in the above equation, when there is phase alignment between the matrix Ψ and the matrix S, a large correlation value is obtained, and the other results are relatively small, S is a coefficient vector of 2046 × 1, which includes code phase information of the C/a code, and a code phase value estimation value is obtained through signal reconstruction.
The observation matrix phi belongs to Q multiplied by P (Q < P), a simple and most common random Gaussian matrix is selected, the independent obedience mean value of each element in the matrix is 0, and the variance is
Figure BDA0002172133170000094
Is a Gaussian distribution of
Figure BDA0002172133170000095
When the sparsity of the P-dimensional signal x is k, only if the observed value Q is more than or equal to cklog2(P/k) (c, k is a very small constant), the gaussian random matrix meets the conditions of the RIP criteria, so that the original signal can be reconstructed using the matrix. P2046, Q is the number of samples after compression, and is related to the compression ratio, R represents the degree of compression, and R is Q/P and is 0<R<1。
Obtaining an observation matrix y through an observation equation: y ═ Φ x ═ Φ Ψ s ═ Θ s. An approximation of the sparse coefficient is estimated from the observed quantity y. In the satellite signal capturing algorithm based on compressed sensing, firstly, several fixed parameters are required to be set, including the compression ratio, the satellite number to be processed and the code phase value in the whole compression process, the code phase value corresponding to the estimated value obtained through the reconstruction algorithm is the code phase value of the satellite, and the common OMP reconstruction algorithm is selected in the reconstruction process.
And after the search is finished, comparing the output value with a threshold value, if the output value is higher, indicating that the acquisition is successful, wherein the corresponding code phase value is the final estimated value, and if the comparison is lower than the threshold value, entering the next search space for searching until the output value is greater than the set threshold value.

Claims (7)

1. The compressed sensing vector tracking and positioning method of the engineering transport vehicle under the Beidou/GPS positioning is characterized by comprising the following steps:
A. firstly, a ground control central station can actively send an inquiry signal to a synchronous satellite, and a space station satellite can send the signal to all users in a range covered by the satellite in a broadcasting mode after receiving the inquiry signal sent by the ground control central station;
B. after receiving signal data sent by the satellite, the user terminal unit takes a certain frame of a signal out of the space station as an initial time point, then sends a signal into the space station to the navigation satellite, and finally the satellite forwards an inbound signal to the ground control center;
C. after receiving the inbound signal, the ground control center calculates to obtain the round trip time of the signal, then divides the round trip time by 2, subtracts the signal transmission time between the ground control center and the satellite to obtain the time which is the transmission time between the user terminal unit and the satellite, and finally calculates the position of the user terminal unit according to the four-star positioning principle;
D. the ground control center encrypts the data of the position of the user unit, and then transmits the position data to the user unit in a signal mode by using the transfer service function of the satellite again, and the user unit receives the signal containing the position data and analyzes the signal content to obtain the satellite positioning data.
2. The method of claim 1, wherein step a comprises the steps of:
A1. the Beidou satellite and the GPS have approximately the same system structure, firstly, a ground control central station actively sends an inquiry signal to a synchronous satellite, and a space station satellite sends the signal to all users in a range covered by the satellite in a broadcasting mode after receiving the inquiry signal sent by the ground control central station;
A2. after receiving the signal sent by the satellite, the user terminal unit takes a certain frame of the signal of the space station as an initial time point, then sends a signal of the space station to the navigation satellite, and finally the satellite forwards the signal of the inbound to the ground control center;
A3. after receiving the inbound signal, the ground control center calculates to obtain the round trip time of the signal, then divides the round trip time by 2, subtracts the signal transmission time between the ground control center and the satellite to obtain the time which is the transmission time between the user terminal unit and the satellite, and finally calculates the position of the user terminal unit according to the four-star positioning principle;
A4. the ground control center encrypts the data of the position of the user unit, and then transmits the position data to the user unit in a signal mode by using the transfer service function of the satellite again, and the user unit receives the signal containing the position data and analyzes the signal content to obtain the satellite positioning data.
3. The method of claim 1, wherein the user terminal receives satellite signal data and the transmission time is derived from an ultra-wideband signal transmitted from the space station.
4. The method of claim 1, wherein step C comprises the steps of:
C1. in the process of satellite positioning, the three-dimensional coordinates of the satellite in the space position can be solved by navigation messages and are known numbers;
C2. the position coordinate of the user receiver in the space is three-dimensional and is an unknown number to be solved;
C3. because three unknowns need to be solved by three equations, three satellites are needed to determine the current position of the user receiver by solving the equation set;
C4. in the actual operation process, it is difficult to obtain accurate satellite transmission time, the self-contained clock precision in the receiver is generally low, and the clocks of the signal transmitting end and the signal receiving end are different, which brings a new unknown number to the calculation equation set and needs to add the coordinates of a known satellite.
5. The method of claim 1, wherein when the GPS signal cannot be captured, a Beidou satellite positioning system is enabled, which not only can determine the position, state and the like of the vehicle, but also can send various information to a ground monitoring center and receive instructions, messages, digital maps and the like from the ground monitoring center.
6. The method of claim 1, wherein said step D comprises the steps of:
D1. the radio frequency front-end processing, because the signal that the antenna received is the higher analog radio frequency signal of frequency, consequently turn into the lower digital signal of frequency earlier, the device that whole process needs to use is: the filter, the amplifier, the mixer, the A/D converter and the like complete the processes of filtering, amplifying, down-conversion and digitization;
D2. the baseband signal processing comprises two processes of capturing and tracking, a local oscillator generates a local signal consistent with a received signal, the local signal is compared with an intermediate frequency signal processed by a radio frequency front end, information of carrier frequency and code phase in the intermediate frequency signal is analyzed, and the capturing and tracking processes are completed;
D3. and (3) positioning navigation resolving, resolving a result obtained in the tracking process by using a subframe identification method so as to obtain ephemeris of the satellite and a pseudo range value from the satellite to a receiver, calculating the position of the unknown user receiver according to a four-satellite positioning principle, and completing the positioning process of the navigation system.
7. The method of claim 1, wherein the signal acquisition process is implemented by a compressed sensing algorithm.
CN201910766611.XA 2019-08-20 2019-08-20 Compressed sensing vector tracking and positioning method of engineering transport vehicle under Beidou/GPS positioning Pending CN112415551A (en)

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