CN113466896A - Pseudolite laying method and system suitable for long and narrow terrain environment - Google Patents
Pseudolite laying method and system suitable for long and narrow terrain environment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
- G01S19/115—Airborne or satellite based pseudolites or repeaters
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Abstract
The invention discloses a pseudolite laying method and a pseudolite laying system suitable for a long and narrow terrain environment. The method comprises the steps of calculating an effective coverage area of a current transmitting antenna which is transversely arranged, wherein a signal of the current transmitting antenna is radiated in a horizontal direction in the effective coverage area; acquiring a receiving dynamic range and a maximum moving speed of a user terminal, and adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the receiving dynamic range, the maximum moving speed and an effective coverage area to enable the signal power of the current transmitting antenna to reach the maximum upper limit value of the receiving dynamic range of the user terminal; and according to the effective coverage area of the current transmitting antenna, continuously and transversely installing the next transmitting antenna until the area coverage of the whole long and narrow terrain is completed. The invention transversely installs the transmitting antenna, utilizes a small number of transmitting antennas, overcomes the problems of coverage, large and small signals and multipath of a pseudolite system in a long and narrow terrain environment, and has the advantage of high-precision positioning in the scene.
Description
Technical Field
The invention relates to the technical field of pseudolites, in particular to a pseudolite laying method and a pseudolite laying system suitable for a long and narrow terrain environment.
Background
Global satellite navigation systems (such as GPS, beidou, galileo, etc.) can provide positioning, navigation, and timing services in most scenes, but such systems have certain vulnerability, when a user is in an urban canyon, a tunnel, the underground, an indoor area, etc., satellite signals are blocked, and the services are not available.
In order to solve the positioning problem in indoor and other scenes, the pseudolite technology is an effective method. The pseudolite system can solve the positioning problem in indoor and other non-satellite navigation signal scenes, but is limited by the space limitation of an indoor environment, particularly in a special scene of a long and narrow terrain environment, the height is also relatively limited, the optimal pseudolite layout in the scene still has a large precision factor, the positioning precision of the system is limited, the serviceable range of a group of pseudolite nodes is limited, and if large-range coverage is to be realized, a large number of pseudolites need to be arranged.
In addition, because the indoor space of the long and narrow terrain environment is small, when the user terminal is located at different positions, different pseudolite transmitting signals have the problem of large and small signals, so that a plurality of satellite signals cannot be stably received, and the usability is reduced; the indoor wall has a plurality of objects, signals are reflected in the process of propagation, and the multipath effect is serious, so that the ranging precision is reduced and even the ranging is not available.
Disclosure of Invention
The invention aims to provide a pseudolite laying method and a pseudolite laying system suitable for a long and narrow terrain environment, and aims to solve the problems of poor coverage, poor large and small signals and poor positioning accuracy caused by multipath in the long and narrow terrain environment in the conventional pseudolite laying technology.
In order to solve the technical problems, the invention aims to realize the following technical scheme: a pseudolite laying method suitable for a long and narrow terrain environment is provided, and comprises the following steps:
calculating an effective coverage area of a current transmitting antenna which is transversely arranged, wherein a signal of the current transmitting antenna is radiated in a horizontal direction in the effective coverage area;
acquiring a receiving dynamic range and a maximum moving speed of a user terminal, and adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the receiving dynamic range, the maximum moving speed and an effective coverage area to enable the signal power of the current transmitting antenna to reach the maximum upper limit value of the receiving dynamic range of the user terminal;
and according to the effective coverage area of the current transmitting antenna, continuously and transversely installing the next transmitting antenna until the area coverage of the whole long and narrow terrain is completed.
In addition, an object of the present invention is to provide a pseudolite deployment system suitable for a long and narrow terrain environment, including:
the calculating unit is used for calculating the effective coverage area of the current transmitting antenna which is transversely arranged, wherein the signal of the current transmitting antenna is radiated in the horizontal direction in the effective coverage area;
the adjusting unit is used for acquiring the receiving dynamic range and the maximum moving speed of the user terminal, and adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the receiving dynamic range, the maximum moving speed and the effective coverage area, so that the signal power of the current transmitting antenna reaches the maximum upper limit value of the receiving dynamic range of the user terminal;
and the mounting unit is used for continuously transversely mounting the next transmitting antenna according to the effective coverage area of the current transmitting antenna until the coverage of the area of the whole long and narrow terrain is completed.
The embodiment of the invention discloses a pseudolite laying method and a pseudolite laying system suitable for a long and narrow terrain environment. The method comprises the steps of calculating an effective coverage area of a current transmitting antenna which is transversely arranged, wherein a signal of the current transmitting antenna is radiated in a horizontal direction in the effective coverage area; acquiring a receiving dynamic range and a maximum moving speed of a user terminal, and adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the receiving dynamic range, the maximum moving speed and an effective coverage area to enable the signal power of the current transmitting antenna to reach the maximum upper limit value of the receiving dynamic range of the user terminal; and according to the effective coverage area of the current transmitting antenna, continuously and transversely installing the next transmitting antenna until the area coverage of the whole long and narrow terrain is completed. The embodiment of the invention transversely installs the transmitting antenna, utilizes a small number of transmitting antennas, overcomes the problems of coverage, large and small signals and multipath of a pseudolite system in a long and narrow terrain environment, and has the advantage of high-precision positioning in the scene.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a pseudolite deployment method suitable for a long and narrow terrain environment according to an embodiment of the present invention;
fig. 2 is a sub-flowchart of a pseudolite deployment method suitable for a long and narrow terrain environment according to an embodiment of the present invention;
fig. 3 is a schematic sub-flowchart of a pseudolite deployment method suitable for a long and narrow terrain environment according to an embodiment of the present invention;
fig. 4 is a signal radiation diagram of a single transmitting antenna provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of an effective coverage area overlap between two groups of transmitting antennas according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of relative installation between two sets of transmitting antennas according to an embodiment of the present invention
Fig. 7 is a schematic block diagram of a pseudolite deployment system suitable for use in an elongate terrain environment according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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 invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic flowchart of a pseudolite deployment method suitable for a long and narrow terrain environment according to an embodiment of the present invention;
as shown in fig. 1, the method includes steps S101 to S103.
S101, calculating an effective coverage area of a current transmitting antenna which is transversely installed, wherein a signal of the current transmitting antenna is radiated in a horizontal direction in the effective coverage area; .
The pseudolite system mainly comprises a pseudolite host, a cable and a transmitting antenna, wherein the pseudolite host is mainly used for generating navigation signals, the generated signals are transmitted to the transmitting antenna through the cable, and the transmitting antenna radiates wireless signals; the cable can be a radio frequency cable or an optical fiber; if the optical fiber is used, a photoelectric conversion module is required to be added at the output of the pseudo satellite host, and an electro-optical conversion module is added at the connection position of the optical fiber and the antenna; parameters such as power, spreading code and the like of a radiation signal of each transmitting antenna can be independently controlled.
One pseudolite host can support the transmission of multiple paths of signals, namely, one pseudolite system comprises 1 pseudolite host, N cables and N transmitting antennas, wherein N is less than or equal to 20 under the normal condition, and the pseudolite system can be configured as required. A plurality of sets of pseudolite systems can be simultaneously laid to work cooperatively according to the size requirement of a covered field.
The embodiment provides a pseudolite layout method for a long and narrow topographic environment, so that a pseudolite system can provide high-precision positioning and is mainly embodied in the installation position of a transmitting antenna, specifically, firstly, the current transmitting antenna is transversely installed at any position in any cross section in the long and narrow topographic environment, at least 1 transmitting antenna is needed to be installed on the same cross section, a plurality of transmitting antennas can also be installed, the antenna radiation signal direction of the transversely installed current transmitting antenna is the horizontal direction, and the equivalent omnidirectional radiation power (EIRP) of the antenna radiation signal is X (unit dBW); all transmit antennas within the cross-section are defined as a set of transmit nodes. The effective coverage area of the current transmitting antenna in the cross section is calculated, so that the equivalent omnidirectional radiation power of the current transmitting antenna can be adjusted by matching with a user terminal subsequently.
In one embodiment, as shown in fig. 2, the step S101 includes:
s201, obtaining an effective demarcation point P1 at one end close to the current transmitting antenna and an effective demarcation point P2 at one end far away from the current transmitting antenna;
s202, calculating and obtaining the length L of the effective coverage area of the current transmitting antenna according to the effective demarcation point P1 and the effective demarcation point P2.
In this embodiment, the length of the effective coverage area of the current transmitting antenna is defined as L, where the effective coverage area specifically refers to a signal strength area that satisfies a dynamic receiving range of a user terminal within a coverable range of an antenna radiation signal, and a coverage distance of the area in a long and narrow terrain is the length of the effective coverage area.
The effective dividing point of the end of the effective area close to the current transmitting antenna is P1, the effective dividing point of the end far away from the current transmitting antenna is P2, the installation position point of the current transmitting antenna is P, the distance between the point P and the point P1 is d1, and the distance between the point P and the point P2 is d2, so that the length L of the effective coverage area is d2-d1 (refer to fig. 4).
S102, acquiring a receiving dynamic range and a maximum moving speed of the user terminal, and adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the receiving dynamic range, the maximum moving speed and an effective coverage area to enable the signal power of the current transmitting antenna to reach the maximum upper limit value of the receiving dynamic range of the user terminal.
Specifically, as shown in fig. 3, the step S102 includes:
s301, acquiring a receiving dynamic range K and a maximum movement speed V of the user terminal;
s302, adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the following formula to enable the signal power of the effective demarcation point P1 to reach the maximum upper limit Rmax of the receiving dynamic range of the user terminal:
d2-d1≥4×V；
d2/d1≥10^(K/20)；
where d1 is the distance from the current transmit antenna to the effective demarcation point P1, and d2 is the distance from the current transmit antenna to the effective demarcation point P2.
In this embodiment, on the basis of following the formula, the equivalent omnidirectional radiation power of the current transmitting antenna is adjusted, so that the layout of the current transmitting antenna is completed, and no layout reference is provided by the next transmitting antenna.
Specifically, when the equivalent omnidirectional radiation power of the current transmitting antenna is adjusted, so that the signal power of the effective demarcation point P1 reaches the maximum upper limit value Rmax of the receiving dynamic range of the user terminal, the equivalent omnidirectional radiation power X ≈ 32.5+20 × log10(F) +20 × log10(d1) + Rmax, where F is the central frequency point (unit MHz) of the current transmitting signal.
And S103, continuously transversely installing the next transmitting antenna according to the effective coverage area of the current transmitting antenna until the coverage of the area of the whole long and narrow terrain is finished.
In this embodiment, after the transmitting antennas on a certain cross section are laid out according to the above method, the effective coverage area of the transmitting antenna(s) is determined, and according to the size of the complete coverage area, the next transmitting antenna is continuously arranged by referring to the same steps described above until the area coverage of the whole long and narrow terrain is completed.
In one embodiment, the step S103 includes:
and according to the effective coverage area of the current transmitting antenna, continuously transversely installing the next transmitting antenna, and enabling the effective coverage areas between the adjacent transmitting antennas to be mutually overlapped.
In this embodiment, the effective coverage areas of the transmitting antennas of two adjacent cross sections should have a certain overlapping area, so that a stable coverage area can be ensured.
Specifically, the length of the overlapped region may be greater than or equal to 2 times the maximum moving speed, as shown in fig. 5, where L1 is an effective coverage area of the transmitting antenna 1, and L2 is an effective coverage area of the transmitting antenna 2.
In an embodiment, the step S103 further includes:
and expanding the effective coverage area of other areas except the two ends of the long and narrow terrain area.
Specifically, the area length of the expanded effective coverage area is greater than or equal to 2 times the maximum movement speed.
In this embodiment, for the non-enclosed long and narrow topographic environment, taking the tunnel as an example, it should be ensured that the effective coverage area extends to a position outside the long and narrow topographic space, that is, the exit end and the entrance end of the tunnel should be used as an extension area of the effective coverage area, and the length of the effective coverage area at the exit end and the entrance end may be greater than or equal to 2 times the maximum moving speed.
In an embodiment, the step S103 further includes:
and grouping the transmitting antennas to be installed, and transversely installing the transmitting antennas in opposite horizontal radiation directions.
In this embodiment, since the installation position of the transmitting antenna has a certain distance to the starting point of the effective action range, in order to realize complete coverage of the whole long and narrow topographic scene, the transmitting antenna should be installed in opposite horizontal radiation directions to make up the coverage blind areas (refer to fig. 6).
In a specific embodiment, a typical tunnel scene with a length, a width and a height of 500m, 8m and 8m is described in detail; this embodiment utilizes a set of pseudolite systems to be deployed within the area, the system including a pseudolite host, a plurality of cables and 20 transmit antennas.
Two ports of the tunnel are defined as No. 1 gateway and No. 2 gateway respectively, the maximum movement speed V of the service user terminal is 25m/s, and the signal receiving dynamic range of the user terminal is-140 dBW to-160 dBW.
And determining the length L of an effective coverage area of the single group of transmitting antennas, namely d2-d1 which is more than or equal to 100m, wherein d1 is more than or equal to 15m, and d2 is more than or equal to 115 m.
Selecting a cross section with the distance of 65m from the No. 1 entrance and exit, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 1 entrance and exit;
selecting a cross section with the distance of 165m from the No. 1 entrance and exit, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 1 entrance and exit;
selecting a cross section with the distance of 265m from the No. 1 entrance, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 1 entrance;
selecting a cross section with the distance of 365m from the No. 1 entrance, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 1 entrance;
selecting a cross section with the distance of 465m from the No. 1 entrance, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 1 entrance;
selecting a cross section with the distance of 65m from the No. 2 entrance and exit, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 2 entrance and exit;
selecting a cross section with the distance of 165m from the No. 2 entrance and exit, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 2 entrance and exit;
selecting a cross section with the distance of 265m from the No. 2 entrance and exit, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 2 entrance and exit;
selecting a cross section with the distance of 365m from the No. 2 entrance, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 2 entrance;
selecting a cross section with a distance of 465m from the No. 2 entrance, and arranging 2 transmitting antennas in the cross section, wherein the radiation direction is the horizontal direction facing the No. 2 entrance;
the arrangement heights of the transmitting antennas are unified to be 2m from the ground surface, and the transmitting antennas have the characteristic of mirror symmetry along the central axis in the same cross section
And adjusting the equivalent omnidirectional radiation power of all 20 transmitting antennas to-82 dBW by controlling the pseudo satellite host. At this point, the pseudolite system has completed full coverage of the entire tunnel scene, and the coverage area extends to 50m beyond entrance No. 1 and entrance No. 2.
When the user terminal reaches an extended coverage area before entering a tunnel, the user terminal can receive an outdoor satellite navigation signal and can also receive a signal transmitted by a pseudo-satellite node, before entering the tunnel, the user terminal completes the steady tracking of the pseudo-satellite signal and extracts a carrier phase measurement value, and then in the whole tunnel area, the accurate longitudinal position in the system coverage area is solved by utilizing the carrier phase measurement value.
Embodiments of the present invention further provide a pseudolite deployment system suitable for an elongate topographic environment, which is configured to perform any one of the embodiments of the above pseudolite deployment method suitable for an elongate topographic environment. Specifically, referring to fig. 7, fig. 7 is a schematic block diagram of a pseudolite deployment system suitable for use in a long and narrow terrain environment according to an embodiment of the present invention.
As shown in fig. 7, a pseudolite deployment system 700 suitable for use in an elongate terrain environment comprises: a calculating unit 701, an adjusting unit 702, and a mounting unit 703.
A calculating unit 701, configured to calculate an effective coverage area of a current transmitting antenna installed horizontally, where a signal of the current transmitting antenna is radiated in a horizontal direction in the effective coverage area;
an adjusting unit 702, configured to obtain a receiving dynamic range and a maximum moving speed of a user terminal, and adjust an equivalent omnidirectional radiation power of the current transmitting antenna according to the receiving dynamic range, the maximum moving speed, and an effective coverage area, so that a signal power of the current transmitting antenna reaches a maximum upper limit value of the receiving dynamic range of the user terminal;
a mounting unit 703 for continuously transversely mounting the next transmitting antenna according to the effective coverage area of the current transmitting antenna until the coverage of the whole long and narrow terrain is completed
The system can complete the full coverage of the scene by using a small number of transmitting nodes by utilizing the characteristic of large horizontal reverse coverage range of a single group of transmitting nodes in a specific scene of a long and narrow terrain, thereby solving the coverage problem of a pseudolite system of the long and narrow terrain scene and reducing the number of the required transmitting nodes. Through reasonable arrangement of a single group of transmitting nodes, only 1 transmitting antenna is needed in the single group of transmitting nodes at least, longitudinal high-precision positioning in a long and narrow terrain scene can be realized, and the complexity of a single group of pseudolite system is greatly reduced.
In one embodiment, the calculation unit comprises:
the first obtaining unit is used for obtaining an effective dividing point P1 at the end close to the current transmitting antenna and an effective dividing point P2 at the end far from the current transmitting antenna;
and the sub-calculation unit is used for calculating and obtaining the length L of the effective coverage area of the current transmitting antenna according to the effective demarcation point P1 and the effective demarcation point P2.
In one embodiment, the adjusting unit includes:
the second acquisition unit is used for acquiring a receiving dynamic range K and a maximum movement speed V of the user terminal;
a sub-adjusting unit, configured to adjust the equivalent omnidirectional radiation power of the current transmit antenna according to the following formula, so that the signal power of the effective demarcation point P1 reaches the maximum upper limit Rmax of the reception dynamic range of the user terminal:
d2-d1≥4×V；
d2/d1≥10^(K/20)；
where d1 is the distance from the current transmit antenna to the effective demarcation point P1, and d2 is the distance from the current transmit antenna to the effective demarcation point P2.
In one embodiment, the mounting unit includes:
and the overlapping unit is used for continuously transversely installing the next transmitting antenna according to the effective coverage area of the current transmitting antenna and enabling the effective coverage areas between the adjacent transmitting antennas to be overlapped.
In an embodiment, the mounting unit further comprises:
and the expansion unit is used for expanding the effective coverage area of other areas except the two ends of the long and narrow terrain area.
In an embodiment, the mounting unit further comprises:
and the reverse unit is used for grouping the transmitting antennas to be installed and transversely installing the transmitting antennas in the reverse horizontal radiation direction.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A pseudolite deployment method suitable for use in an elongate terrain environment, comprising:
calculating an effective coverage area of a current transmitting antenna which is transversely arranged, wherein a signal of the current transmitting antenna is radiated in a horizontal direction in the effective coverage area;
acquiring a receiving dynamic range and a maximum moving speed of a user terminal, and adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the receiving dynamic range, the maximum moving speed and an effective coverage area to enable the signal power of the current transmitting antenna to reach the maximum upper limit value of the receiving dynamic range of the user terminal;
and according to the effective coverage area of the current transmitting antenna, continuously and transversely installing the next transmitting antenna until the area coverage of the whole long and narrow terrain is completed.
2. A pseudolite deployment method as claimed in claim 1 wherein said calculating an effective coverage area of a currently transmitting antenna installed horizontally wherein signals of the currently transmitting antenna radiate horizontally within the effective coverage area comprises:
obtaining an effective demarcation point P1 at the end close to the current transmitting antenna and an effective demarcation point P2 at the end far away from the current transmitting antenna;
and calculating and obtaining the length L of the effective coverage area of the current transmitting antenna according to the effective demarcation point P1 and the effective demarcation point P2.
3. The pseudolite deployment method for an elongate topographic environment as claimed in claim 2, wherein said obtaining a dynamic receiving range and a maximum moving speed of the user terminal, and adjusting an equivalent omnidirectional radiation power of the current transmitting antenna according to the dynamic receiving range, the maximum moving speed and an effective coverage area to make a signal power of the current transmitting antenna reach a maximum upper limit of the dynamic receiving range of the user terminal comprises:
acquiring a receiving dynamic range K and a maximum movement speed V of a user terminal;
adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the following formula, so that the signal power of the effective demarcation point P1 reaches the maximum upper limit Rmax of the receiving dynamic range of the user terminal:
d2-d1≥4×V；
d2/d1≥10^(K/20)；
where d1 is the distance from the current transmit antenna to the effective demarcation point P1, and d2 is the distance from the current transmit antenna to the effective demarcation point P2.
4. A pseudolite deployment method as claimed in claim 3 wherein when the signal power of the effective demarcation point P1 reaches the maximum upper limit Rmax of the receiving dynamic range of the user terminal, X ≈ 32.5+20 × log10(F) +20 × log10(d1) + Rmax, where F is the central frequency point of the currently transmitted signal.
5. A pseudolite deployment method for an elongate topographic environment as claimed in claim 1 wherein said continuing to install the next transmit antenna laterally according to the effective coverage area of the current transmit antenna until the complete coverage of the elongate topographic area is achieved comprises:
and according to the effective coverage area of the current transmitting antenna, continuously transversely installing the next transmitting antenna, and enabling the effective coverage areas between the adjacent transmitting antennas to be mutually overlapped.
6. A pseudolite deployment method according to claim 5 wherein the length of the overlapping regions is 2 times or more the maximum speed of movement.
7. A pseudolite deployment method for an elongate topographic environment as claimed in claim 1, wherein said continuing to install the next transmit antenna horizontally according to the effective coverage area of the current transmit antenna until the complete coverage of the elongate topographic area is completed further comprises:
and expanding the effective coverage area of other areas except the two ends of the long and narrow terrain area.
8. A pseudolite deployment method according to claim 7 wherein an extended effective coverage area has an area length of 2 times or more said maximum speed of movement.
9. A pseudolite deployment method for an elongate topographic environment as claimed in claim 1, wherein said continuing to install the next transmit antenna horizontally according to the effective coverage area of the current transmit antenna until the complete coverage of the elongate topographic area is completed further comprises:
and grouping the transmitting antennas to be installed, and transversely installing the transmitting antennas in opposite horizontal radiation directions.
10. A pseudolite deployment system adapted for use in an elongate terrain environment, comprising:
the calculating unit is used for calculating the effective coverage area of the current transmitting antenna which is transversely arranged, wherein the signal of the current transmitting antenna is radiated in the horizontal direction in the effective coverage area;
the adjusting unit is used for acquiring the receiving dynamic range and the maximum moving speed of the user terminal, and adjusting the equivalent omnidirectional radiation power of the current transmitting antenna according to the receiving dynamic range, the maximum moving speed and the effective coverage area, so that the signal power of the current transmitting antenna reaches the maximum upper limit value of the receiving dynamic range of the user terminal;
and the mounting unit is used for continuously transversely mounting the next transmitting antenna according to the effective coverage area of the current transmitting antenna until the coverage of the area of the whole long and narrow terrain is completed.
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