CN113267798A - High-precision tunnel positioning system and method based on BDS/TBS technology - Google Patents
High-precision tunnel positioning system and method based on BDS/TBS technology Download PDFInfo
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- CN113267798A CN113267798A CN202110580255.XA CN202110580255A CN113267798A CN 113267798 A CN113267798 A CN 113267798A CN 202110580255 A CN202110580255 A CN 202110580255A CN 113267798 A CN113267798 A CN 113267798A
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention discloses a high-precision tunnel internal positioning system of a BDS/TBS technology, which comprises a tunnel external signal base station, a plurality of tunnel internal signal receiving and transmitting devices and a vehicle-mounted navigation terminal, wherein the tunnel external signal base station comprises a Beidou satellite base station and a TBS system base station, the Beidou satellite base station and the TBS system base station are both arranged outside a tunnel, and the distance between the Beidou satellite base station and the TBS system base station is more than or equal to 1 kilometer; the plurality of signal transceiving devices in the tunnel are arranged at the top in the tunnel at equal intervals, and the vehicle-mounted navigation terminal is arranged on a running vehicle, receives signals sent by the signal base station outside the tunnel, processes the signals and sends the processed signals to the vehicle-mounted navigation terminal. The in-tunnel high-precision positioning system adopted by the invention has a simple structure, and through the arrangement of each module, the more complex in-tunnel high-precision navigation is completed by utilizing the existing Beidou signal communication protocol and radio signals of special frequency bands through data fusion.
Description
Technical Field
The invention relates to a high-precision tunnel positioning system and method based on a BDS/TBS technology, and belongs to the technical field of wireless positioning.
Background
With the development of the times, the satellite navigation technology plays an irreplaceable important role in the fields of national economy, national defense safety and the like. With the official opening of the Beidou third-grade global satellite navigation system in China, and considering that the GPS is difficult to provide highly reliable high-precision navigation service, the research on the high-precision navigation based on the Beidou system is significant.
The navigation technology applied to the automobile field is wide in visual field, high in regional positioning accuracy and stable in navigation capacity for a long time without a shielding object, but the problem that the positioning accuracy is reduced and the navigation capacity is failed temporarily due to signal lock loss can occur in a shielded region of a tunnel and other satellites by means of Beidou navigation for a long time. In order to solve the problem, the common indoor navigation technologies include an infrared technology, a bluetooth technology, a ZigBee technology, an ultrasonic technology, an RFID technology, and the like, which are used for buildings such as shopping malls, parking lots, warehouses, and the like, and have good indoor performance, but the indoor positioning effect is not ideal when the indoor navigation technologies are used for tunnels such as mountain tunnels or cross-river tunnels, which have thick walls and long lengths.
TBS location technology is short for Terrestrial Beacon System, i.e., Terrestrial Beacon System. The TBS technology relies on terrestrial positioning base stations to construct a regional positioning network. The receiver position data is calculated by adopting observed quantities such as TDOA (time difference of arrival), TOA (time of arrival) and the like of the positioning signals through a trilateration algorithm. Its advantages are high locating precision, high single base station covering power and high anti-interference performance.
Disclosure of Invention
In order to solve the problem that the navigation system cannot respond to and influence the driving safety of the automobile due to satellite signal unlocking after the automobile enters the tunnel, the invention provides a high-precision tunnel positioning system and a high-precision tunnel positioning method of a BDS/TBS technology.
The invention mainly adopts the technical scheme that:
a high-precision tunnel internal positioning system based on a BDS/TBS technology comprises a tunnel external signal base station, a plurality of tunnel internal signal receiving and transmitting devices and a vehicle-mounted navigation terminal, wherein the tunnel external signal base station comprises a Beidou satellite base station and a TBS system base station, the Beidou satellite base station and the TBS system base station are both arranged outside a tunnel, and the distance between the Beidou satellite base station and the TBS system base station is more than or equal to 1 kilometer; the plurality of signal transceiving devices in the tunnel are arranged at the top in the tunnel at equal intervals, and the vehicle-mounted navigation terminal is arranged on a running vehicle, receives signals sent by the signal base station outside the tunnel, processes the signals and sends the processed signals to the vehicle-mounted navigation terminal.
Preferably, the TBS system base station employs a multiplex communication base station.
Preferably, the in-tunnel signal transceiver device includes an antenna, a radio frequency front end module, a baseband processing module, and a signal amplifier; the antenna receives signals transmitted by the Beidou satellite base station and the TBS system base station respectively and transmits the signals to the radio frequency front end module through optical fibers, the radio frequency front end module transmits the received signals to the baseband processing module for signal processing, and the processed signals are transmitted to the signal amplification module for signal amplification processing.
Preferably, the vehicle-mounted navigation terminal comprises a power supply unit, a control module, a Beidou positioning module, an inertial navigation module, a multi-constellation GNSS module, a 5G communication module, a voice module and a touch display screen, wherein,
the power supply unit is respectively in power supply connection with the Beidou positioning module, the inertial navigation module, the multi-constellation GNSS module, the 5G communication module, the voice module and the touch display screen;
the multi-constellation GNSS module receives the processed radio signals of the special frequency band through the TBS antenna and transmits the radio signals to the control module;
the Beidou positioning module receives a Beidou satellite signal through a Beidou antenna and transmits the Beidou satellite signal to the control module;
the inertial navigation module transmits inertial navigation data to the control module;
the control module carries out Kalman filtering data fusion on the received inertial navigation data and the Beidou positioning signal, when the Beidou positioning signal is unlocked, credibility data fusion processing is carried out on the data subjected to the Kalman filtering data fusion and the received radio signal, and the control module transmits the processed data to the voice module and the touch display screen respectively for terminal feedback;
the voice module receives the data information transmitted by the control module, and realizes man-machine voice communication and voice broadcast;
the touch display screen receives the data information transmitted by the control module and performs terminal display on the real-time position;
and the 5G communication module is connected with the control module and used for voice communication.
A high-precision tunnel positioning method of a BDS/TBS technology comprises the following specific steps:
s1: the Beidou satellite base station and the TBS system base station which are established outside the tunnel respectively send signals to the signal receiving and sending device in the tunnel after receiving the signals;
s2: the in-tunnel signal transceiver receives Beidou signal coding information sent by a Beidou satellite base station and processes the Beidou signal coding information into a standard Beidou satellite signal, the in-tunnel signal transceiver receives a radio signal of a special frequency band sent by the TBS base station and modulates and demodulates the radio signal with information, and then the processed signal is amplified and sent to a vehicle-mounted navigation terminal through a signal amplifier;
s3, the Beidou positioning module resolves and corrects Beidou satellite signals to obtain position information and transmits the position information to the control module, the multi-constellation GNSS module decodes radio signals of specific frequency bands to obtain positioning information and transmits the positioning information to the control module, the inertial navigation module transmits inertial navigation data to the control module, the control module performs Kalman filtering data fusion on the received inertial navigation data and the position information, then performs credibility data fusion processing on the Kalman filtering data fused data and the received positioning information to complete navigation positioning in a tunnel, displays real-time navigation information through a touch display screen, and completes voice broadcasting and man-machine interaction through the voice module.
Preferably, the specific steps of S2 are as follows:
s2-1, the in-tunnel signal transceiver receives Beidou satellite signals and radio signals of a special frequency band through an antenna and transmits the Beidou satellite signals and the radio signals to a radio frequency front end module through optical fibers, the radio frequency front end module performs preliminary amplification and filtering processing on the Beidou satellite signals, the radio frequency front end module modulates and demodulates the radio signals of the special frequency band into radio signals with information, and then the Beidou satellite signals and the radio signals are transmitted to a baseband processing module;
s2-2, processing the Beidou satellite signals by a carrier generator in the baseband processing module to complete de-spreading and de-carrier, processing the de-carrier Beidou satellite signals and local codes in the baseband processing module to complete de-ranging codes, feeding back pseudo-range, code phase and carrier phase parameters to a local NCO at the same time, calculating by combining positioning coordinates of a receiving and sending device in a tunnel to obtain positioning data, and converting the obtained positioning data into standard Beidou satellite signals;
and S2-3, the baseband processing module amplifies the radio signals and the processed Beidou satellite signals through a signal amplifier, so that the receivable range of the Beidou signals and the radio signals is enlarged.
Has the advantages that: the invention provides a high-precision tunnel positioning system and a high-precision tunnel positioning method based on a BDS/TBS (broadband data service/transport service) technology.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
fig. 2 is a schematic structural diagram of a signal transceiver in a tunnel according to the present invention;
FIG. 3 is a schematic structural diagram of a vehicle navigation terminal according to the present invention;
FIG. 4 is a flow chart illustrating a positioning method according to the present invention;
FIG. 5 is a schematic diagram of data fusion according to the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, a high-precision tunnel internal positioning system of BDS/TBS technology includes a tunnel external signal base station, a plurality of tunnel internal signal transceiver devices, and a car navigation terminal, wherein the tunnel external signal base station includes a Beidou satellite base station and a TBS system base station, both the Beidou satellite base station and the TBS system base station are installed outside a tunnel, and a distance between the Beidou satellite base station and the TBS system base station is greater than or equal to 1 km; to avoid the mutual interference of two base stations; the vehicle-mounted navigation terminal is mounted on a running vehicle, receives signals sent by the signal base station outside the tunnel, processes the signals and sends the processed signals to the vehicle-mounted navigation terminal. In the invention, the number of the signal transceiving devices in the tunnel can be selected and set by a person skilled in the art according to the length of the tunnel.
Preferably, the TBS system base station adopts a multiplex communication base station, and the network construction cost can be greatly reduced compared with independent construction.
In the invention, the TBS system base station transmits signals of special frequency bands, and the signals benefit from relatively high radio frequency output power and strong processing gain, so that the signal coverage is wide. The TBS system base station adopts a multiplexing communication base station, so that the cost can be greatly reduced. The TBS base station provides redundancy at the transmit end and the network layer to ensure that the base station is stable for a period of time in an emergency.
Preferably, as shown in fig. 2, the intra-tunnel signal transceiver device includes an antenna, a radio frequency front end module, a baseband processing module, and a signal amplifier; the antenna receives signals transmitted by the Beidou satellite base station and the TBS system base station respectively and transmits the signals to the radio frequency front end module through optical fibers, the radio frequency front end module transmits the received signals to the baseband processing module for signal processing, and the processed signals are transmitted to the signal amplification module for signal amplification processing.
Preferably, as shown in fig. 3-4, the car navigation terminal includes a power supply unit, a control module, a beidou positioning module, an inertial navigation module, a multi-constellation GNSS module, a 5G communication module, a voice module and a touch display screen, wherein,
the power supply unit is respectively in power supply connection with the Beidou positioning module, the inertial navigation module, the multi-constellation GNSS module, the 5G communication module, the voice module and the touch display screen;
the multi-constellation GNSS module receives the processed radio signals of the special frequency band through the TBS antenna and transmits the radio signals to the control module;
the Beidou positioning module receives a Beidou satellite signal through a Beidou antenna and transmits the Beidou satellite signal to the control module;
the inertial navigation module transmits inertial navigation data to the control module;
the control module carries out Kalman filtering data fusion on the received inertial navigation data and the Beidou positioning signal, when the Beidou positioning signal is unlocked, credibility data fusion processing is carried out on the data subjected to the Kalman filtering data fusion and the received radio signal, and the control module transmits the processed data to the voice module and the touch display screen respectively for terminal feedback;
the voice module receives the data information transmitted by the control module, and realizes man-machine voice communication and voice broadcast;
the touch display screen receives the data information transmitted by the control module and performs terminal display on the real-time position;
and the 5G communication module is connected with the control module and used for voice communication.
The vehicle-mounted navigation terminal can fully improve the user experience of man-machine interaction and realize the intellectualization and informatization of the vehicle-mounted equipment. The 5G communication module can improve the speed of data receiving and processing, the response speed of navigation and the like; the voice module can realize the functions of man-machine voice communication, navigation switching in the tunnel and the like.
As shown in fig. 5, a high-precision tunnel positioning method of the BDS/TBS technology specifically includes the following steps:
s1: the Beidou satellite base station and the TBS system base station which are established outside the tunnel respectively send signals to the signal receiving and sending device in the tunnel after receiving the signals;
s2: the in-tunnel signal transceiver receives Beidou signal coding information sent by a Beidou satellite base station and processes the Beidou signal coding information into a standard Beidou satellite signal, the in-tunnel signal transceiver receives a radio signal of a special frequency band sent by the TBS base station and modulates and demodulates the radio signal with information, and then the processed signal is amplified and sent to a vehicle-mounted navigation terminal through a signal amplifier;
s3, the Beidou positioning module resolves and corrects Beidou satellite signals to obtain position information and transmits the position information to the control module, the multi-constellation GNSS module decodes radio signals of specific frequency bands to obtain positioning information and transmits the positioning information to the control module, the inertial navigation module transmits inertial navigation data to the control module, the control module performs Kalman filtering data fusion on the received inertial navigation data and the position information, then performs credibility data fusion processing on the Kalman filtering data fused data and the received positioning information to complete navigation positioning in a tunnel, displays real-time navigation information through a touch display screen, and completes voice broadcasting and man-machine interaction through the voice module.
Preferably, the specific steps of S2 are as follows:
s2-1, the in-tunnel signal transceiver receives Beidou satellite signals and radio signals of a special frequency band through an antenna and transmits the Beidou satellite signals and the radio signals to a radio frequency front end module through optical fibers, the radio frequency front end module performs preliminary amplification and filtering processing on the Beidou satellite signals, the radio frequency front end module modulates and demodulates the radio signals of the special frequency band into radio signals with information, and then the Beidou satellite signals and the radio signals are transmitted to a baseband processing module;
s2-2, processing the Beidou satellite signals by a carrier generator in the baseband processing module to complete de-spreading and de-carrier, processing the de-carrier Beidou satellite signals and local codes in the baseband processing module to complete de-ranging codes, feeding back pseudo-range, code phase and carrier phase parameters to a local NCO at the same time, calculating by combining positioning coordinates of a receiving and sending device in a tunnel to obtain positioning data, and converting the obtained positioning data into standard Beidou satellite signals;
and S2-3, the baseband processing module amplifies the radio signals and the processed Beidou satellite signals through a signal amplifier, so that the receivable range of the Beidou signals and the radio signals is enlarged.
According to the invention, a Beidou satellite base station and a TBS system base station send signals, then a signal transceiver in a tunnel receives, processes and amplifies the signals, and finally a vehicle-mounted navigation terminal completes the resolving of navigation data and displays real-time navigation information through a touch display screen (a liquid crystal display screen).
As shown in fig. 4, the positioning principle of the present invention is as follows: the position data are corrected through the inertial navigation module to complete high-precision positioning when Beidou signals are received normally, positioning data are easily diverged by simply relying on inertial navigation when Beidou signals are unlocked, and therefore the inertial navigation module and TBS positioning data are subjected to data fusion based on reliability to complete high-precision positioning in a tunnel.
In the invention, the specific connection mode between the control module and each module can be set by a person skilled in the art according to the actual situation, and the method belongs to the conventional technical means, so that detailed description is not provided.
In the invention, the specific connection mode between the modules in the signal transceiver in the tunnel can be set by a person skilled in the art according to actual conditions, and belongs to a conventional technical means, so that detailed description is not provided.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A high-precision tunnel internal positioning system of a BDS/TBS technology is characterized by comprising a tunnel external signal base station, a plurality of tunnel internal signal receiving and transmitting devices and a vehicle-mounted navigation terminal, wherein the tunnel external signal base station comprises a Beidou satellite base station and a TBS system base station, the Beidou satellite base station and the TBS system base station are both arranged outside a tunnel, and the distance between the Beidou satellite base station and the TBS system base station is more than or equal to 1 kilometer; the plurality of signal transceiving devices in the tunnel are arranged at the top in the tunnel at equal intervals, and the vehicle-mounted navigation terminal is arranged on a running vehicle, receives signals sent by the signal base station outside the tunnel, processes the signals and sends the processed signals to the vehicle-mounted navigation terminal.
2. A high accuracy intra-tunnel positioning system of BDS/TBS technology as claimed in claim 1 wherein said TBS system base station employs a multiplexed communication base station.
3. A high-precision intra-tunnel positioning system of a BDS/TBS technique according to claim 2, wherein said intra-tunnel signal transceiver means comprises an antenna, a radio frequency front end module, a baseband processing module and a signal amplifier; the antenna receives signals transmitted by the Beidou satellite base station and the TBS system base station respectively and transmits the signals to the radio frequency front end module through optical fibers, the radio frequency front end module transmits the received signals to the baseband processing module for signal processing, and the processed signals are transmitted to the signal amplification module for signal amplification processing.
4. A high-precision tunnel positioning system of BDS/TBS technology according to claim 3, wherein said vehicle navigation terminal comprises a power supply unit, a control module, a Beidou positioning module, an inertial navigation module, a multi-constellation GNSS module, a 5G communication module, a voice module and a touch display screen, wherein,
the power supply unit is respectively in power supply connection with the Beidou positioning module, the inertial navigation module, the multi-constellation GNSS module, the 5G communication module, the voice module and the touch display screen;
the multi-constellation GNSS module receives the processed radio signals of the special frequency band through the TBS antenna and transmits the radio signals to the control module;
the Beidou positioning module receives a Beidou satellite signal through a Beidou antenna and transmits the Beidou satellite signal to the control module;
the inertial navigation module transmits inertial navigation data to the control module;
the control module carries out Kalman filtering data fusion on the received inertial navigation data and the Beidou positioning signal, when the Beidou positioning signal is unlocked, credibility data fusion processing is carried out on the data subjected to the Kalman filtering data fusion and the received radio signal, and the control module transmits the processed data to the voice module and the touch display screen respectively for terminal feedback;
the voice module receives the data information transmitted by the control module, and realizes man-machine voice communication and voice broadcast;
the touch display screen receives the data information transmitted by the control module and performs terminal display on the real-time position;
and the 5G communication module is connected with the control module and used for voice communication.
5. A high-precision tunnel positioning method of the BDS/TBS technology is characterized in that the specific method for realizing tunnel positioning by adopting the high-precision tunnel positioning system of the BDS/TBS technology in claims 1 to 4 is as follows:
s1: the Beidou satellite base station and the TBS system base station which are established outside the tunnel respectively send signals to the signal receiving and sending device in the tunnel after receiving the signals;
s2: the in-tunnel signal transceiver receives Beidou signal coding information sent by a Beidou satellite base station and processes the Beidou signal coding information into a standard Beidou satellite signal, the in-tunnel signal transceiver receives a radio signal of a special frequency band sent by the TBS base station and modulates and demodulates the radio signal with information, and then the processed signal is amplified and sent to a vehicle-mounted navigation terminal through a signal amplifier;
s3, the Beidou positioning module resolves and corrects Beidou satellite signals to obtain position information and transmits the position information to the control module, the multi-constellation GNSS module decodes radio signals of specific frequency bands to obtain positioning information and transmits the positioning information to the control module, the inertial navigation module transmits inertial navigation data to the control module, the control module performs Kalman filtering data fusion on the received inertial navigation data and the position information, then performs credibility data fusion processing on the Kalman filtering data fused data and the received positioning information to complete navigation positioning in a tunnel, displays real-time navigation information through a touch display screen, and completes voice broadcasting and man-machine interaction through the voice module.
6. The method of claim 1, wherein the specific steps of S2 are as follows:
s2-1, the in-tunnel signal transceiver receives Beidou satellite signals and radio signals of a special frequency band through an antenna and transmits the Beidou satellite signals and the radio signals to a radio frequency front end module through optical fibers, the radio frequency front end module performs preliminary amplification and filtering processing on the Beidou satellite signals, the radio frequency front end module modulates and demodulates the radio signals of the special frequency band into radio signals with information, and then the Beidou satellite signals and the radio signals are transmitted to a baseband processing module;
s2-2, processing the Beidou satellite signals by a carrier generator in the baseband processing module to complete de-spreading and de-carrier, processing the de-carrier Beidou satellite signals and local codes in the baseband processing module to complete de-ranging codes, feeding back pseudo-range, code phase and carrier phase parameters to a local NCO at the same time, calculating by combining positioning coordinates of a receiving and sending device in a tunnel to obtain positioning data, and converting the obtained positioning data into standard Beidou satellite signals;
and S2-3, the baseband processing module amplifies the radio signals and the processed Beidou satellite signals through a signal amplifier, so that the receivable range of the Beidou signals and the radio signals is enlarged.
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