CN113534196A - Indoor two-dimensional high-precision positioning method and system based on virtual GNSS signals - Google Patents
Indoor two-dimensional high-precision positioning method and system based on virtual GNSS signals 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
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- 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
Abstract
The invention relates to the field of satellite navigation, and discloses an indoor two-dimensional high-precision positioning method and system based on a virtual GNSS signal. The virtual GNSS satellite simulation device simulates eight groups of virtual GNSS satellite signals and comprises a first virtual GNSS satellite signal for positioning a first leaky cable area, a second virtual GNSS satellite signal for positioning a second leaky cable area, a third virtual GNSS satellite signal and a fourth virtual GNSS satellite signal for correcting the position in the first leaky cable direction, a fifth virtual GNSS satellite signal and a sixth virtual GNSS satellite signal for correcting the position in the second leaky cable direction, and a seventh virtual GNSS satellite signal and an eighth virtual GNSS satellite signal for correcting the position in the direction perpendicular to the leaky cable direction. The invention effectively and reliably realizes the indoor two-dimensional positioning of subways, tunnels, mines and underground parking lots, and the positioning precision is meter-level.
Description
Technical Field
The invention relates to an indoor two-dimensional positioning method and system based on a virtual GNSS signal, and belongs to the field of satellite navigation.
Background
At present, in indoor navigation satellite signal invisible places such as subways, underground parking lots and tunnels, the existing satellite navigation receiver or smart phone cannot be used for positioning, and the positioning can only be carried out by means of technologies such as RFID, WIFI, ultra wide band, inertial navigation and pseudolite, but the positioning is limited by multipath effect and cost caused by indoor complex terrains. In China, a plurality of patents utilize pseudolites to realize tunnel positioning navigation, CN201810729390.4 is a tunnel positioning method based on pseudolites, and CN201710617675.4 is a satellite navigation positioning enhancement system and method with dynamic compensation, wherein the pseudolites are used for simulating a plurality of area positions in a tunnel after being synchronized with outdoor real satellite signal time and ephemeris, and the positioning positions in the area are simulated positions. The pseudo satellite positioning method has small error, is limited by cost, and the simulated area position of the pseudo satellite cannot be very dense, so that the positioning error is dozens of meters to hundreds of meters, and the method is not suitable for occasions with high positioning and navigation precision requirements. Patent 2020103895875 discloses a method, system and device for indoor positioning based on virtual satellite, but only positioning along the direction of leaky cable can be realized, and positioning in indoor two-dimensional plane can not be realized.
Disclosure of Invention
The invention aims to provide a method and a system for indoor two-dimensional high-precision positioning based on a virtual GNSS signal, thereby overcoming the defects in the prior art.
The technical scheme of the invention is as follows: the device comprises a navigation receiver, virtual GNSS satellite simulation equipment, at least two first leaky cables and at least two second leaky cables which are arranged in parallel;
the virtual GNSS satellite simulation device simulates eight groups of virtual GNSS satellite signals and comprises a first virtual GNSS satellite signal for positioning a first leaky cable area, a second virtual GNSS satellite signal for positioning a second leaky cable area, a third virtual GNSS satellite signal and a fourth virtual GNSS satellite signal for correcting the position in the first leaky cable direction, a fifth virtual GNSS satellite signal and a sixth virtual GNSS satellite signal for correcting the position in the second leaky cable direction, and a seventh virtual GNSS satellite signal and an eighth virtual GNSS satellite signal for correcting the position perpendicular to the leaky cable direction;
the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are all connected with one end of the first leaky cable, and the fourth virtual GNSS satellite signal is connected with the other end of the first leaky cable;
the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are all connected with one end of a second leaky cable, and the sixth virtual GNSS satellite signal is connected with the other end of the second leaky cable;
correcting the position along the first leaky cable direction by using a difference value of a third virtual GNSS satellite signal carrier phase observation value and a fourth virtual GNSS satellite carrier phase observation value received by the navigation receiver; correcting the position along the second leaky cable direction by using a difference value between a fifth virtual GNSS satellite signal carrier phase observation value and a sixth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver, correcting the position of the user perpendicular to the leaky cable direction by using a difference value between a seventh virtual GNSS satellite signal pseudo-range observation value and an eighth virtual GNSS satellite signal pseudo-range observation value received by the navigation receiver;
establishing a leaky cable local coordinate system by taking a point with the same carrier phase of the third virtual satellite and the fourth virtual satellite as a coordinate origin, taking the traveling direction along the leaky cable as an X axis and taking the direction vertical to the leaky cable and facing to the second leaky cable as a Y axis; the two-dimensional coordinates x1 and y1 of the point A in the local coordinate system of the leaky cable are as follows:
wherein
3 is a third virtual GNSS satellite signal carrier phase observation resolved by the navigation receiver at point a,
for the fourth virtual GNSS satellite signal carrier phase observation,
is a fifth virtual GNSS satellite signal carrier phase observation,
a sixth virtual GNSS satellite signal carrier phase observation value, d7 a seventh virtual GNSS satellite signal pseudo-range observation value, d8 an eighth virtual GNSS satellite signal pseudo-range observation value, and L a vertical distance between two leaky cables at the A point;
the seventh virtual GNSS satellite signal and the eighth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and pseudo-range time delay are set to ensure that the power and time delay values at the port connection part of two leaky cables are the same, and the navigation message health control words are all set to be unhealthy; the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and pseudo-range time delay are set to ensure that the power and time delay values at the connection part of two ports of a leaky cable are the same, and the navigation message health control words are all set to be unhealthy; the fifth virtual GNSS satellite signal and the sixth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and the pseudo-range time delay are set to ensure that the power and the time delay values at the connection part of the two ports of the leaky cable are the same, and the navigation message health control words are all set to be unhealthy.
The invention comprises the following steps:
step 2, the first virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the first leaky cable origin coordinate, the third virtual GNSS satellite signals and the fourth virtual GNSS satellite signals have the same power and different satellite numbers, and health control words in the telegraph text are set to be unhealthy so as to ensure that the third virtual satellite and the fourth virtual satellite do not participate in positioning calculation;
the second virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the second leaky-cable origin coordinate, the power of the fifth virtual GNSS satellite signals is the same as that of the sixth virtual GNSS satellite signals, the satellite numbers are different, and the health control words in the telegraph text are set to be unhealthy so as to ensure that the fifth virtual satellite and the sixth virtual satellite do not participate in positioning calculation;
step 3, combining a first virtual GNSS satellite signal with a third virtual GNSS satellite signal and a seventh virtual GNSS satellite signal, and then receiving the combined signals to a near port of a first leaky cable for radiation, combining a second virtual GNSS satellite signal with a fifth virtual GNSS satellite signal and an eighth virtual GNSS satellite signal, and then receiving the combined signals to a near port of a second leaky cable for radiation, receiving a fourth virtual GNSS satellite signal to a far port of the first leaky cable far away from a virtual satellite simulation device for radiation, and receiving a sixth virtual GNSS satellite signal to a far port of the second leaky cable far away from the virtual satellite simulation device for radiation;
step 4, when a navigation receiver of a user passes below the leaky cable and approaches to a region of the first leaky cable, the navigation receiver receives a first virtual GNSS satellite signal for positioning calculation, and when the navigation receiver approaches to a region of the second leaky cable, the navigation receiver receives a second virtual GNSS satellite signal for positioning calculation, so that coordinates in a WGS84 geodetic coordinate system are obtained;
step 5, the navigation receiver corrects the position according to the pseudo-range difference and the area point coordinate to obtain an accurate position coordinate; the position correction algorithm is as follows:
and establishing a leaky cable local coordinate system by taking a point with the same carrier phase of the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal as a coordinate origin, taking the traveling direction along the leaky cable as an X axis, and taking the direction perpendicular to the leaky cable and towards the second leaky cable as a Y axis, wherein the two-dimensional coordinate X1 of the point A in the leaky cable local coordinate system is as follows, and the Y1 is as follows:
wherein
3 is a third virtual GNSS satellite carrier phase observation resolved by the navigation receiver at point a,
for the fourth virtual GNSS satellite carrier-phase observation,
for a fifth virtual GNSS satellite carrier phase observation,
the carrier phase observation of the sixth virtual GNSS satellite, d7 the pseudo-range observation of the seventh virtual GNSS satellite, d8 the pseudo-range observation of the eighth virtual GNSS satellite, and L the vertical distance between two leaky cables at the point A.
The invention also comprises an indoor two-dimensional high-precision positioning system based on the virtual GNSS signal, which comprises: the device comprises at least two first leaky cables and second leaky cables which are arranged in parallel, and a virtual GNSS satellite simulation device, wherein the virtual GNSS satellite simulation device is respectively connected with signals at two ends of the first leaky cables and the second leaky cables.
The invention has the advantages that the indoor and outdoor seamless high-precision two-dimensional positioning can be realized under the condition of not changing the hardware of the navigation receiver, the two-dimensional positioning precision can reach the meter level, and the problem that the navigation receiver or the smart phone cannot be utilized to carry out the high-precision two-dimensional positioning in indoor occasions such as subways, underground parking lots and the like is solved.
Drawings
Fig. 1 is a system for indoor two-dimensional positioning based on virtual GNSS signals.
FIG. 2 is a schematic diagram of a virtual GNSS satellite simulation apparatus.
Fig. 3 is a schematic diagram of a leakage cable local coordinate system and position correction.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 3 of the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention includes a navigation receiver, and at least two first leaky cables, second leaky cables and a virtual GNSS satellite simulation apparatus which are arranged in parallel;
the virtual GNSS satellite simulation device simulates and generates a first virtual GNSS satellite signal for positioning the first leaky cable area and a second virtual GNSS satellite signal for positioning the second leaky cable area; generating a third virtual GNSS satellite signal and a fourth virtual GNSS satellite signal for correcting the position of the first leaky cable direction; generating a fifth virtual GNSS satellite signal and a sixth virtual GNSS satellite signal for correcting the position of the second leaky cable direction; and generating seventh and eighth virtual GNSS satellite signals for position correction perpendicular to the leaky cable direction;
the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are all connected with one end of the first leaky cable, and the fourth virtual GNSS satellite signal is connected with the other end of the first leaky cable;
the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are all connected with one end of a second leaky cable, and the sixth virtual GNSS satellite signal is connected with the other end of the second leaky cable;
correcting the position along the first leaky cable direction by using a difference value of a third virtual GNSS satellite signal carrier phase observation value and a fourth virtual GNSS satellite carrier phase observation value received by the navigation receiver; correcting the position along the second leaky cable direction by using a difference value between a fifth virtual GNSS satellite signal carrier phase observation value and a sixth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver, correcting the position of the user perpendicular to the leaky cable direction by using a difference value between a seventh virtual GNSS satellite signal pseudo-range observation value and an eighth virtual GNSS satellite signal pseudo-range observation value received by the navigation receiver;
as shown in fig. 2, eight sets of virtual GNSS satellite signals simultaneously simulated by the virtual GNSS satellite simulation apparatus are divided into four paths of signals to be output, where the first path of signals includes first, third, and seventh virtual GNSS satellite signals, the second path of signals includes second, fifth, and eighth virtual GNSS satellite signals, the third path of signals is fourth virtual GNSS satellite signal, and the fourth path of signals is sixth virtual GNSS signal.
As shown in fig. 3, a point where the carrier phases of the third virtual satellite and the fourth virtual satellite are the same is taken as a coordinate origin, the traveling direction along the leaky cable is taken as an X axis, and the direction perpendicular to the leaky cable is taken as a Y axis toward the second leaky cable, so as to establish a leaky cable local coordinate system; the two-dimensional coordinates x1 and y1 of the point A in the local coordinate system of the leaky cable are as follows:
wherein
Third virtual GNSS solved by navigation receiver at A pointA satellite signal carrier-phase observation,
for the fourth virtual GNSS satellite signal carrier phase observation,
is a fifth virtual GNSS satellite signal carrier phase observation,
a sixth virtual GNSS satellite signal carrier phase observation value, d7 a seventh virtual GNSS satellite signal pseudo-range observation value, d8 an eighth virtual GNSS satellite signal pseudo-range observation value, and L a vertical distance between two leaky cables at the A point;
all coordinates of the leaky cable can be obtained by surveying and mapping in advance, and can be converted into actual coordinates of surveying and mapping according to two-dimensional coordinate values in a leaky cable coordinate system, and then the actual coordinates are displayed in a map;
the seventh virtual GNSS satellite signal and the eighth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and pseudo-range time delay are set to ensure that the power and time delay values at the port connection part of two leaky cables are the same, and the navigation message health control words are all set to be unhealthy; the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and pseudo-range time delay are set to ensure that the power and time delay values at the connection part of two ports of a leaky cable are the same, and the navigation message health control words are all set to be unhealthy; the fifth virtual GNSS satellite signal and the sixth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and the pseudo-range time delay are set to ensure that the power and the time delay values at the connection part of the two ports of the leaky cable are the same, and the navigation message health control words are all set to be unhealthy.
The invention comprises the following steps:
step 2, the first virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the first leaky cable origin coordinate, the third virtual GNSS satellite signals and the fourth virtual GNSS satellite signals have the same power and different satellite numbers, and health control words in the telegraph text are set to be unhealthy so as to ensure that the third virtual satellite and the fourth virtual satellite do not participate in positioning calculation;
the second virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the second leaky-cable origin coordinate, the power of the fifth virtual GNSS satellite signals is the same as that of the sixth virtual GNSS satellite signals, the satellite numbers are different, and the health control words in the telegraph text are set to be unhealthy so as to ensure that the fifth virtual satellite and the sixth virtual satellite do not participate in positioning calculation;
step 3, combining a first virtual GNSS satellite signal with a third virtual GNSS satellite signal and a seventh virtual GNSS satellite signal, and then receiving the combined signals to a near port of a first leaky cable for radiation, combining a second virtual GNSS satellite signal with a fifth virtual GNSS satellite signal and an eighth virtual GNSS satellite signal, and then receiving the combined signals to a near port of a second leaky cable for radiation, receiving a fourth virtual GNSS satellite signal to a far port of the first leaky cable far away from a virtual satellite simulation device for radiation, and receiving a sixth virtual GNSS satellite signal to a far port of the second leaky cable far away from the virtual satellite simulation device for radiation;
step 4, when a navigation receiver of a user passes below the leaky cable and approaches to a region of the first leaky cable, the navigation receiver receives a first virtual GNSS satellite signal for positioning calculation, and when the navigation receiver approaches to a region of the second leaky cable, the navigation receiver receives a second virtual GNSS satellite signal for positioning calculation, so that coordinates in a WGS84 geodetic coordinate system are obtained;
further, in order to further improve the positioning accuracy, coordinates of all leaky cable area points are obtained by mapping in advance during system construction and are sent to a smart phone in a wireless communication mode or are downloaded to a navigation receiver, when the difference value between the calculated coordinates and the coordinates of a certain leaky cable area point is smaller than an error threshold, a person skilled in the art can set the size of the error threshold by combining the positioning accuracy index and the technical requirement of the navigation receiver, and the coordinates of the leaky cable area points are used as area center coordinates and are marked as x0, y0 and z 0;
step 5, the navigation receiver corrects the position according to the pseudo-range difference and the area point coordinate to obtain an accurate position coordinate; the position correction algorithm is as follows:
and establishing a leaky cable local coordinate system by taking a point with the same carrier phase of the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal as a coordinate origin, taking the traveling direction along the leaky cable as an X axis, and taking the direction perpendicular to the leaky cable and towards the second leaky cable as a Y axis, wherein the two-dimensional coordinate X1 of the point A in the leaky cable local coordinate system is as follows, and the Y1 is as follows:
wherein
3 is a third virtual GNSS satellite carrier phase observation resolved by the navigation receiver at point a,
for the fourth virtual GNSS satellite carrier-phase observation,
for a fifth virtual GNSS satellite carrier phase observation,
as a sixth virtual GNSS satellite carrier-phase observation, d7 as a seventh virtual GNSS satellite pseudorangeAnd d8 is a pseudo-range observation of the eighth virtual GNSS satellite, and L is a vertical distance between two leaky cables at the point A. All coordinates of the leaky cable can be obtained by surveying and mapping in advance, and can be converted into actual coordinates of surveying and mapping according to two-dimensional coordinate values in a leaky cable coordinate system, and then the actual coordinates are displayed in a map.
The invention also comprises an indoor two-dimensional high-precision positioning system based on the virtual GNSS signal, which comprises: the device comprises at least two first leaky cables and second leaky cables which are arranged in parallel, and a virtual GNSS satellite simulation device, wherein the virtual GNSS satellite simulation device is respectively connected with signals at two ends of the first leaky cables and the second leaky cables. The indoor two-dimensional high-precision positioning can be realized under the condition that the hardware of the navigation receiver is not changed, the positioning precision reaches the meter level, and the problem that the satellite navigation receiver or the smart phone cannot be used for positioning in indoor occasions such as subways, tunnels, mines and underground parking lots is solved.
Claims (5)
1. An indoor two-dimensional high-precision positioning method based on virtual GNSS signals is characterized in that:
the device comprises a navigation receiver, a virtual GNSS satellite simulation device, at least two first leaky cables and at least two second leaky cables which are arranged in parallel;
the virtual GNSS satellite simulation device simulates eight groups of virtual GNSS satellite signals and comprises a first virtual GNSS satellite signal for positioning the first leaky cable area, a second virtual GNSS satellite signal for positioning the second leaky cable area, a third virtual GNSS satellite signal and a fourth virtual GNSS satellite signal for correcting the first leaky cable direction position, a fifth virtual GNSS satellite signal and a sixth virtual GNSS satellite signal for correcting the second leaky cable direction position, and a seventh virtual GNSS satellite signal and an eighth virtual GNSS satellite signal for correcting the position perpendicular to the leaky cable direction;
the first virtual GNSS satellite signal, the third virtual GNSS satellite signal and the seventh virtual GNSS satellite signal are all connected with one end of the first leaky cable, and the fourth virtual GNSS satellite signal is connected with the other end of the first leaky cable;
the second virtual GNSS satellite signal, the fifth virtual GNSS satellite signal and the eighth virtual GNSS satellite signal are all connected with one end of a second leaky cable, and the sixth virtual GNSS satellite signal is connected with the other end of the second leaky cable;
the seventh virtual GNSS satellite signal and the eighth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and pseudo-range time delay are set to ensure that the power and time delay values at the port connection part of two leaky cables are the same, and the navigation message health control words are all set to be unhealthy; the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and pseudo-range time delay are set to ensure that the power and time delay values at the connection part of two ports of a leaky cable are the same, and the navigation message health control words are all set to be unhealthy; the fifth virtual GNSS satellite signal and the sixth virtual GNSS satellite signal which are simulated by the virtual GNSS satellite simulation device have different satellite numbers, the power and the pseudo-range time delay are set to ensure that the power and the time delay values at the connection part of the two ports of the leaky cable are the same, and the navigation message health control words are all set to be unhealthy.
2. The method of claim 1, wherein the indoor two-dimensional high-precision positioning method based on virtual GNSS signals comprises:
correcting the position along the first leaky cable direction by using a difference value of a third virtual GNSS satellite signal carrier phase observation value and a fourth virtual GNSS satellite carrier phase observation value received by the navigation receiver; and correcting the position along the second leaky cable direction by using the difference value of the fifth virtual GNSS satellite signal carrier phase observation value and the sixth virtual GNSS satellite signal carrier phase observation value received by the navigation receiver, correcting the position of the user perpendicular to the leaky cable direction by using the difference value of the seventh virtual GNSS satellite signal pseudo-range observation value and the eighth virtual GNSS satellite signal pseudo-range observation value received by the navigation receiver.
3. The method as claimed in claim 1, wherein the method comprises two-dimensional high-precision indoor positioning based on virtual GNSS signals
Establishing a leaky cable local coordinate system by taking a point with the same carrier phase of the third virtual satellite and the fourth virtual satellite as a coordinate origin, taking the traveling direction along the leaky cable as an X axis and taking the direction vertical to the leaky cable and facing to the second leaky cable as a Y axis; the two-dimensional coordinates x1 and y1 of the point A in the local coordinate system of the leaky cable are as follows:
wherein
3 is a third virtual GNSS satellite signal carrier phase observation resolved by the navigation receiver at point a,
for the fourth virtual GNSS satellite signal carrier phase observation,
is a fifth virtual GNSS satellite signal carrier phase observation,
the sixth virtual GNSS satellite signal carrier phase observation, d7 the seventh virtual GNSS satellite signal pseudorange observation, d8 the eighth virtual GNSS satellite signal pseudorange observation, and L the vertical distance between two leaky cables at the A point.
4. The method of claim 1, comprising the steps of:
step 1, a virtual GNSS satellite simulation device simulates and generates a first virtual GNSS satellite signal for positioning a first leaky cable area, a second virtual GNSS satellite signal for positioning a second leaky cable area, a third virtual GNSS satellite signal for correcting the position of the first leaky cable direction, a fourth virtual GNSS satellite signal, a fifth virtual GNSS satellite signal for correcting the position of the second leaky cable direction, a sixth virtual GNSS satellite signal, and a seventh virtual GNSS satellite signal and an eighth virtual GNSS satellite signal for correcting the position perpendicular to the leaky cable direction;
step 2, the first virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the first leaky cable origin coordinate, the third virtual GNSS satellite signals and the fourth virtual GNSS satellite signals have the same power and different satellite numbers, and health control words in the telegraph text are set to be unhealthy so as to ensure that the third virtual satellite and the fourth virtual satellite do not participate in positioning calculation;
the second virtual GNSS satellite signals comprise all visible satellite signals at the current simulation moment at the second leaky-cable origin coordinate, the power of the fifth virtual GNSS satellite signals is the same as that of the sixth virtual GNSS satellite signals, the satellite numbers are different, and the health control words in the telegraph text are set to be unhealthy so as to ensure that the fifth virtual satellite and the sixth virtual satellite do not participate in positioning calculation;
step 3, combining a first virtual GNSS satellite signal with a third virtual GNSS satellite signal and a seventh virtual GNSS satellite signal, and then receiving the combined signals to a near port of a first leaky cable for radiation, combining a second virtual GNSS satellite signal with a fifth virtual GNSS satellite signal and an eighth virtual GNSS satellite signal, and then receiving the combined signals to a near port of a second leaky cable for radiation, receiving a fourth virtual GNSS satellite signal to a far port of the first leaky cable far away from a virtual satellite simulation device for radiation, and receiving a sixth virtual GNSS satellite signal to a far port of the second leaky cable far away from the virtual satellite simulation device for radiation;
step 4, when a navigation receiver of a user passes below the leaky cable and approaches to a region of the first leaky cable, the navigation receiver receives a first virtual GNSS satellite signal for positioning calculation, and when the navigation receiver approaches to a region of the second leaky cable, the navigation receiver receives a second virtual GNSS satellite signal for positioning calculation, so that coordinates in a WGS84 geodetic coordinate system are obtained;
step 5, the navigation receiver corrects the position according to the pseudo-range difference and the area point coordinate to obtain an accurate position coordinate; the position correction algorithm is as follows:
and establishing a leaky cable local coordinate system by taking a point with the same carrier phase of the third virtual GNSS satellite signal and the fourth virtual GNSS satellite signal as a coordinate origin, taking the traveling direction along the leaky cable as an X axis, and taking the direction perpendicular to the leaky cable and towards the second leaky cable as a Y axis, wherein the two-dimensional coordinate X1 of the point A in the leaky cable local coordinate system is as follows, and the Y1 is as follows:
wherein
3 is a third virtual GNSS satellite carrier phase observation resolved by the navigation receiver at point a,
for the fourth virtual GNSS satellite carrier-phase observation,
for a fifth virtual GNSS satellite carrier phase observation,
the carrier phase observation of the sixth virtual GNSS satellite, d7 the pseudo-range observation of the seventh virtual GNSS satellite, d8 the pseudo-range observation of the eighth virtual GNSS satellite, and L the vertical distance between two leaky cables at the point A.
5. The method as claimed in any one of claims 1 to 4, further comprising an indoor two-dimensional high-precision positioning system based on virtual GNSS signals: the device comprises at least two first leaky cables and second leaky cables which are arranged in parallel, and a virtual GNSS satellite simulation device, wherein the virtual GNSS satellite simulation device is respectively connected with signals at two ends of the first leaky cables and the second leaky cables.
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