CN113534204B - Navigation multipath signal simulation method and system based on three-dimensional scene - Google Patents
Navigation multipath signal simulation method and system based on three-dimensional scene Download PDFInfo
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- CN113534204B CN113534204B CN202110803962.0A CN202110803962A CN113534204B CN 113534204 B CN113534204 B CN 113534204B CN 202110803962 A CN202110803962 A CN 202110803962A CN 113534204 B CN113534204 B CN 113534204B
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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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
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Abstract
The invention relates to the field of satellite navigation, and provides navigation multipath information based on a three-dimensional sceneThe number simulation method comprises the steps of importing a three-dimensional scene model, and setting the total number N of navigation multipath paths and the boundary conditions of the multipath; determining the positions of a user and a navigation satellite in a three-dimensional scene at the moment t; constructing a ray set R with the user position as a starting point, and dividing the ray set R into M ray subsets R i Arbitrarily selecting a certain ray subset R which is not subjected to multipath calculation i Performing ray tracing to obtain the ray subset R i The number of multipath paths from the user position to the navigation satellite satisfying the boundary condition is n i (ii) a Accumulating the total number of calculated multipath paths
If N is present k And if any condition of more than or equal to N or k = M is met, the calculation is quitted, and the multipath path signal simulation parameter calculation is carried out. The invention groups the constructed ray set, groups the multipath paths required by calculation, improves the multipath diversity, has small calculation amount, improves the multipath signal simulation efficiency and supports wired/offline simulation.
Description
Technical Field
The invention relates to the field of satellite navigation, in particular to a navigation multipath signal simulation method and system based on a three-dimensional scene.
Background
With the development of satellite navigation systems, satellite navigation positioning technology has been widely applied in many fields, in complex geographic environments such as cities, canyons and the like, signals received by a receiver antenna usually include LOS (line of sight) satellite signals and NLOS (not line of sight) satellite signals due to the ubiquitous multipath effect, and NLOS signal components may be zero or any number no matter whether LOS signals are present or not. There may also be a rate error between LOS and NLOS if the antenna carrier is moving or the reflecting object is moving.
The multipath effect brings a series of problems of asynchronous time delay, signal attenuation, polarization change, unstable link and the like, directly influences the positioning precision of a receiver, is one of important error sources of a satellite navigation system, the error caused by multipath signals to code tracking can reach the magnitude of several meters or even dozens of meters, and the multipath modeling and multipath elimination technology is a research hotspot in the field of satellite navigation.
Most of performance tests of the receiver are indoor detection, and the detection results cannot truly reflect the positioning performance of the receiver in a complex real-scene environment, so that a large number of ray tracing-based multipath simulation methods are generated. The algorithm has the disadvantages that the hardware channel capacity of multipath simulation and a satellite navigation simulator is not considered, a large amount of invalid calculation is caused, high-frequency simulation calculation cannot be carried out on a complex scene, and errors caused by multipath boundary conditions can cause a large amount of multipath to be formed between a reflecting surface and a single satellite and between single reflecting surfaces and carriers, so that the diversity of the multipath is lost; therefore, a more efficient and realistic multi-path simulation testing technique is needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a navigation multipath signal simulation method and a navigation multipath signal simulation system based on a three-dimensional scene, which realize high-fidelity multipath signals, are visual and improve the performance detection accuracy of a receiver, and specifically adopts the following technical scheme:
a navigation multipath signal simulation method based on a three-dimensional scene comprises the following steps:
step S1: importing a three-dimensional scene model, and setting the total number N of navigation multipath paths and the boundary conditions of the multipath;
step S2: determining the positions of a user and a navigation satellite in a three-dimensional scene at the moment t;
and step S3: according to the total number N of the set navigation multipath paths, a ray set R taking the user position as a starting point is constructed, and the ray set R is divided into M ray subsets R i Wherein i ∈ [1,M]There is no intersection between the subsets, and the union of all ray subsets is equal to the ray set R;
and step S4: selecting a subset R not subjected to multipath calculation i Performing ray tracing to obtain a multipath path set M from all user positions to the navigation satellite and meeting boundary conditions i ，M i The number of multipath paths contained in is n i ；
Step S5: accumulating the total number of calculated multipath paths
If N is present k If any condition of more than or equal to N or k = M is met, the calculation is quitted, the multipath path signal simulation parameter calculation is carried out, otherwise, the step S4 is returned, wherein k is less than or equal to M, and k is the number of ray groups which are already calculated;
step S6: and updating the time t, returning to the step S2, and recalculating the parameters for the multipath path signal simulation.
Further, the boundary conditions include: a first boundary condition, including an included angle theta formed by the final reflection or transmission direction of the multipath path and the direction of a connection line between the final reflection point or transmission point and any one navigation satellite, judges whether the included angle theta is smaller than a set threshold value, and the direction of the connection line is that the final reflection point or transmission point points to any one navigation satellite; if the condition is satisfied, when the difference between the total distance of the multipath path and the distance from the navigation satellite to the antenna position of the receiver is calculated to be smaller than a set first distance threshold value or larger than a set second distance threshold value, the multipath path is visible;
and/or a second boundary condition comprising: and calculating a power attenuation value of the multipath path due to reflection or transmission, and if the power attenuation value is smaller than a set power attenuation threshold value, reserving the multipath path.
Further, in the step S5: but also when the certain subset R is not subjected to multipath calculation i Performing ray tracing to the subset R i And (5) accumulating after all the rays are calculated, and returning to the step (S4) if the conditions are not met.
Further, the setting of the user trajectory comprises selecting a traveling path of the antenna carrier, wherein the traveling path comprises walking, driving and flying, or selecting a plurality of points in the three-dimensional simulation scene to draw a roaming trajectory of the antenna carrier, and the antenna carrier moves according to the roaming trajectory.
Furthermore, the size of the ray set R is adjusted according to the total number N of the navigation multipath paths, and the two are in a direct proportion relation; the ray set is divided into m groups of ray subsets, each group of ray subsets containing rays of similar or equal number.
Further, the navigation multi-path type comprises at least one type of direct light, reflection, transmission, refraction and diffuse reflection, and different delay parameters of each multi-path are set according to the multi-path type.
And further, generating navigation multipath simulation signals according to the parameters for multipath path signal simulation, wherein the parameters at least comprise multipath path coordinates, satellite positions, satellite speeds, receiver antenna speeds and receiver antenna coordinates.
Further, the parameters also include phase flip factor, power attenuation, time delay, doppler data.
Further, each of the ray subsets is computed in parallel using a GPU.
The invention also provides a system for realizing the navigation multipath simulation method based on the three-dimensional scene, which comprises a navigation multipath visual device and a navigation signal simulator, wherein the navigation signal simulator is connected with the navigation signal simulator, the navigation signal simulator acquires user tracks, scene information and ray sets through the navigation multipath visual device, the navigation multipath visual device acquires satellite ephemeris information and multipath information through the navigation signal simulator and visualizes the multipath, and the navigation signal simulator calculates multipath path signal simulation parameters through the visualized multipath and generates simulation signals of the multipath path.
Compared with the prior art, the invention has the advantages and positive effects that:
1. setting a required multipath path through a three-dimensional simulation scene, constructing a ray set, grouping, sequentially calculating the ray multipath paths of each group of subsets, and stopping ray calculation when the multipath paths meeting the required boundary conditions according to the set boundary conditions;
2. the method has the advantages that the calculation amount is small, the error of the multipath paths is small, high-fidelity multipath path signals are generated and output through the multipath simulation parameters of the diversity, the multipath simulation test efficiency is improved, and the accuracy, reliability and credibility of the multipath path effect resistance performance of the receiver test are improved;
3. the multipath path visualization method not only supports simulation environment simulation of a navigation signal simulator, but also can perform visualization simulation according to real-scene real-time ephemeris, and also can reserve parameters of multipath paths to perform off-line multipath path simulation, thereby providing verification traceability basis for receiver detection.
Drawings
FIG. 1 is a schematic flow chart of a multi-path signal simulation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a boundary condition angle according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the 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 invention.
The invention will be described in further detail below with reference to the drawings and specific examples.
The following describes an embodiment of a navigation multipath signal simulation method based on a three-dimensional scene, and fig. 1 shows a schematic flow chart of the method of the embodiment; the method comprises the following steps: in step S1, a scene model is imported: the method comprises the steps of presetting a three-dimensional simulation scene or acquiring a three-dimensional simulation scene constructed by a real-scene environment, wherein the three-dimensional simulation scene comprises a three-dimensional model, a user and a radio signal propagation path; specifically, the user refers to a receiver antenna and/or an antenna carrier, the three-dimensional model comprises an urban suburban area, an urban area, an expressway, a mountain area, an airport and a darkroom environment, a user track can be set, and the total number N of navigation multipath paths can be set, wherein the types of the navigation multipath paths comprise at least one type of reflection, transmission, refraction and diffuse reflection; setting the total number N of navigation multipath paths and the boundary condition of multipath; step S2: determining the positions of the user and the navigation satellite in the three-dimensional scene at the moment t;
and step S3: according to the set total number N of the navigation multipath paths, constructing a ray set R with a user position as a starting point, wherein the ray set R comprises R rays, specifically, R ≧ N, which can be grouped according to ray directions or ray angles, and dividing the R rays into M ray subsets R i ，i∈[1,M]Preferably, each ray subset R i The rays in (1) have corresponding rays on each surface (the surface refers to a mirror surface, such as a building, a glass and the like, on different-angle surfaces) which reflects and/or refracts, and the subsets R of the rays are improved i Rather than each ray subset R i The rays in the system are all classified into a certain mirror surface respectively to prevent most or all rays meeting the requirement of multipath boundary from generating in one surface, so that a large number of multipaths are formed among one surface, a single satellite and a carrier, the diversity of the multipaths is lost, multipath path signals generated according to the multipath are meaningless to the positioning test of a receiver, and each ray subset R is i Without any intersection, i.e. without any duplicate rays, the union of all ray subsets is equal to the ray set R;
and step S4: selecting a subset R not subjected to multipath calculation i Ray tracing is carried out to obtain a multipath path set M from all user positions to the navigation satellite and meeting boundary conditions i ，M i The number of multipath paths contained in is n i (ii) a The multipath paths that satisfy the boundary condition may be reflection and/or transmission multipath paths from all navigation satellites to the user;
step S5: accumulating the total number of calculated multipath paths
If N is present k If any condition of more than or equal to N or k = M is met, quitting the calculation, and calculating the simulation parameters of the multipath path signals, wherein k is less than or equal to M, and k is the number of ray groups which are already calculated; if the condition is not satisfied, returning to the step S4, and when the condition is satisfied, exiting the calculation, and reserving the multipath path set M i The multipath paths can be displayed in a three-dimensional scene through visualization, and parameters required by multipath path signal simulation meeting conditions are calculated.
Step S6: and updating the time t, returning to the step S2, and recalculating the parameters for the multipath path signal simulation.
In this embodiment, the number of multipath paths satisfying the boundary condition may be accumulated while calculating the multipath paths, and the number N is equal to k If not, the multi-path calculation is exited; performing the following steps; similarly, if a set of subsets R is completely calculated i Then add up, when the number N is equal k And when the number is larger than or equal to N, the multipath path calculation is exited, and the subsequent steps are executed.
Step S6: and updating the time t, returning to the step S2, and recalculating the parameters for the multipath path signal simulation. In this embodiment, when all the multipath paths of all the ray subsets are completely calculated, the calculation is exited, the time t is updated again, and the process returns to step S2. In another embodiment, after the time t is updated, the size of the ray set R may be updated and reasonably grouped in step S3.
Wherein the boundary conditions include: a first boundary condition, including an included angle theta formed by the final reflection or transmission direction of the multipath path and the direction of a connection line between the final reflection point or transmission point and any one navigation satellite, judges whether the included angle theta is smaller than a set threshold value, and the direction of the connection line is that the final reflection point or transmission point points to any one navigation satellite; if the condition is satisfied, when the difference between the total distance of the multipath path and the distance from the navigation satellite to the antenna position of the receiver is calculated to be smaller than a set first distance threshold value or larger than a set second distance threshold value, the multipath path is reserved; as shown in fig. 2, the final angle θ formed by the connecting line of the reflection point/projection point P and the satellite determines whether θ is within a preset threshold, and in order to reduce the multipath error, the threshold is generally set to be lower, and the set condition is more severe, and the fidelity of the multipath is higher.
And/or a second boundary condition comprising: and calculating a power attenuation value of the multi-path due to reflection or transmission, and if the power attenuation value is smaller than a set power attenuation threshold value, reserving the multi-path.
Performing multipath simulation according to power attenuation, time delay and Doppler data to generate multipath signals; in the present invention, the navigation satellite refers to a visible satellite, and may be ephemeris information of the navigation satellite acquired from the internet, ephemeris information simulated by a navigation signal simulator, or pre-stored ephemeris information. Based on the three-dimensional scene, the multipath path is calculated according to the position of the user, the navigation ephemeris and the shielding object in the three-dimensional scene, so that the parameters required by the simulation of the vivid multipath path signal are efficiently acquired, and then the navigation signal simulator can efficiently and high-frequency generate the diverse multipath path signals which can be used for the test of the navigation terminal according to the simulation of the parameters. Instead of generating some multipath signals which are useless for the multipath resistance performance test of the receiver terminal in the prior art, the method also can obtain all multipath paths by traversing and calculating all rays through a GPU by using a ray tracing algorithm in the prior art. The method does not consider the hardware channel capacity of multipath simulation and a satellite navigation simulator, so a large amount of invalid calculation is caused, high-frequency simulation calculation cannot be carried out on a complex scene, and errors introduced by multipath boundary conditions can cause a large amount of multipath to be formed among a reflecting surface, a single satellite and a carrier, so that the diversity of the multipath is lost; the calculation workload is wasted and the efficiency is low.
In step S5 of the present embodiment: but also when the certain subset R is not subjected to multipath calculation i Performing ray tracing to obtain the ray subset R i And accumulating after all the rays are calculated. Accumulating the computed ray subsets R i And satisfies the total number of multipath paths of the set boundary conditions
If N is present k And when the number of the ray groups is more than or equal to N or k = m, if k is the number of the ray groups which are calculated, the calculation is quitted, the multipath path signal simulation parameter calculation is carried out, the step S6 is executed, and if the condition is not met, the step S4 is returned. That is to say for a certain subset R of rays not subjected to multipath calculation i When the ray tracing algorithm is carried out, the ray subset R is i After all the rays are calculated, accumulation is carried out, instead of accumulation while calculation is carried out, and the accumulated result may have N k And if the multipath calculation is more than or equal to N, the multipath calculation is quitted.
Specifically, in the present invention, through a three-dimensional scene, a desired three-dimensional scene model is selected, and the number of required multipath paths and boundary conditions satisfying the multipath are set, for example, the total number N of multipath paths is set to 64; according to the principle of ray tracing algorithm, a ray set R is constructed, for example, the ray set R can comprise 10000 rays, and all rays R in the ray set R are divided into M groups of ray subsets R i The ray subset R is assumed to be divided into 10 groups, or 20 groups, or arbitrarily groups i Is greater than or equal to 1 and less than or equal to M, wherein each group of ray subsets R i The direction and angle of the rays in (1) are different at will, the rays reflected or refracted by different mirrors are staggered and selected, the number of rays of each group of ray subsets can be similar or equal, the multipath paths of the rays of each group of subsets can be randomly or sequentially calculated according to any sequence, for example, the 1 st group and the ray subset R can be selected at will 1 Starting the calculation, or arbitrarily selecting the 3 rd group, ray subset R 3 Starting calculation and the like according to any sequence, calculating according to the user track and each reflection point and/or refraction point in the introduced three-dimensional scene model and the scene model, wherein the reflection points can also comprise diffuse reflection points, scattering points, diffraction points and the like, the projection points comprise refraction points and the like, calculating whether each multipath path meets the requirement of a boundary condition, if so, retaining the multipath path, displaying the multipath path in the three-dimensional scene through a visual device, retaining according to the set boundary condition, and further retainingDepending on the diversity of multipath paths, the invention may be applied to computing the 3 rd set of ray subsets R 3 Then, having calculated the 64 multipath paths that satisfy the requirement, the calculation of the other ray subsets R is stopped i The invention has the advantages of keeping 64 satisfied multipath paths, being visible in a three-dimensional scene, reversely calculating the final reflection point and/or refraction point and other parameters of each reserved multipath path in the three-dimensional scene, along with small calculation amount, fast improving the simulation efficiency of multipath path signals, not needing to completely traverse and calculate all rays, realizing the simulation of high-efficiency and high-frequency diversity multipath path signals, and improving the accuracy and reliability of the positioning performance test of the receiver. The multipath path parameters at least comprise multipath path coordinates, satellite positions, satellite speeds, receiver antenna speeds and receiver antenna coordinates. More preferably, the parameters may further include phase flip factor, power attenuation, time delay, doppler data. The method has low calculation cost, can finish the simulation parameter calculation of the multipath path only by a common CPU (central processing unit), thereby efficiently generating the multipath path simulation signal, certainly, the GPU can be selected for parallel calculation according to the actual conditions, the calculation efficiency is further improved, and the number of rays contained in the ray subset is set according to the hardware performance of the GPU. When accumulating the calculated ray subset R i And satisfies the total number of multipath paths of the set boundary conditions
If N is present k When the signal strength is more than or equal to N, more diversity can be selected from the multipath paths meeting the conditions to be used as the calculation of the multipath path simulation parameters, so that the diversity of the simulated multipath path signals is improved, and the positioning performance/anti-multipath performance test of the receiver is facilitated.
Obtaining the multipath paths of all the rays in each group of ray subsets passing through the triangular grid according to any order, and reserving the multipath paths meeting the boundary condition, wherein the number of the multipath paths is n i (ii) a Counting the total number of multipath paths present
If N is present k Quitting the calculation if the number is more than or equal to N, wherein k is a natural number, and M is more than or equal to k and is the number of ray groups which have already finished the calculation, and constructing a ray set R taking the user position as a starting point;
in this embodiment, when a certain ray subset is calculated, the ray of the ray subset is calculated, and then multipath path statistics is performed, or the ray is calculated while boundary condition judgment and statistics of multipath paths are performed, which is more efficient, that is, it is not necessary to calculate a complete certain ray subset R i The calculation can be ended in advance, and the calculation amount is smaller.
According to the ray tracing principle, the invention carries out grouping tracing calculation on the rays which use the user position as the starting point, acquires the multipath paths meeting the boundary conditions, reserves, can also display the multipath paths and displays in the visual device for the user to know the positions of the user (receiver antenna or antenna carrier) and the navigation satellite in the three-dimensional scene at the determined time t.
In this embodiment, the three-dimensional simulation scene library includes a preset three-dimensional simulation scene or a three-dimensional simulation scene constructed by collecting a real-scene environment, the three-dimensional model may include an urban suburban area, an urban area, an expressway, a mountain area, an airport, and a darkroom environment, different three-dimensional models may have different shelters such as buildings, the shelters may also move, materials of the shelters are also known, different shelters may have different reflection coefficients, refraction coefficients, diffuse reflection coefficients, and the like, and the coefficients are necessary parameters for calculating a multipath path.
In this embodiment, the method further includes editing a scene model, which can edit the three-dimensional simulation scene, where the editing includes at least one of a rotation angle, a position change, and scaling; importing the scene model further comprises selecting a scene interface, different interface colors, different weather representations and different ionosphere environments; or different interface styles, which is suitable for user experience. For example, in a rain and snow weather scene, the influence of the rain and snow weather on multipath is calculated by setting the reflection, the refraction coefficient and the like of rain/snow, so that the multipath resistance performance test of the receiver in a real environment is realized more vividly; or different interface styles are selected, so that the experience degree of an operator is improved.
In this embodiment, the method further includes selecting a travel path of the antenna carrier, where the travel path includes walking, driving, and flying, or selecting multiple points in the three-dimensional simulation scene to draw a roaming track of the antenna carrier, and the antenna carrier moves according to the roaming track, and the user track may be formed by drawing according to simple walking, driving, flying, or a ship, or the like, and the position and the speed of the antenna carrier are calculated, and the reflection point or the refraction point of each multipath path and the like are calculated according to the position and the speed of the antenna carrier, ephemeris information, and scene information.
In this embodiment, the size of the ray set R is adjusted according to the total number N of navigation multipath paths, and the two are in a direct proportion relationship; dividing a ray set R into M ray subsets R i Each group of ray subsets R i Containing approximately or equal numbers of rays, each set of ray subsets R i The rays in the system are from all surfaces, the calculation amount can be effectively reduced and the simulation efficiency of the navigation multipath signals can be improved by grouping calculation, and high-cost calculation software/hardware is not needed, so that the efficiency is high, and the multipath paths are diverse and have low cost.
In this embodiment, the navigation multi-path types include at least one of reflection, transmission, refraction, and diffuse reflection, and different colors are set according to the types of the multi-path, or different delay parameters of each multi-path are set, so as to facilitate clear visualization.
In the invention, according to the parameters of the multipath paths, the multipath simulation parameters required by simulating the multipath path signals are calculated to generate navigation multipath simulation signals, wherein the parameters at least comprise the coordinates of each multipath path, the satellite position, the satellite speed, the receiver antenna speed and the receiver antenna coordinates. The navigation signal simulator generates a multipath path simulation signal according to the parameters.
In this embodiment, the parameters further include a phase flip factor, power attenuation, time delay, and doppler data, so as to further improve the accuracy of multipath path simulation.
In the present invention, a navigation multi-path signal simulation system based on a three-dimensional scene is also provided, which comprises: the navigation multipath visual device can be connected with a navigation signal simulator through wireless/wired connection, the navigation signal simulator obtains user tracks, scene information and ray sets through the navigation multipath visual device and calculates multipath information, the navigation multipath visual device obtains satellite ephemeris information and the multipath information through the navigation signal simulator and visualizes the multipath, and the navigation signal simulator calculates simulation data of the multipath path through visualized parameters of the multipath path, generates simulation signals of the multipath path and outputs the simulation signals through a radio frequency interface. The multipath path can be visually displayed through the navigation multipath visual device, an operator can conveniently and visually navigate a screen of the multipath visual device, and the experience degree of the operator is improved.
Compared with the prior art, the invention has the advantages and positive effects that:
1. setting a required multipath path through a three-dimensional simulation scene, constructing a ray set according to a ray tracing principle, carrying out ray grouping, sequentially calculating ray multipath paths of each group of subsets, reserving visible high-fidelity multipath paths meeting boundary conditions according to the set boundary conditions, stopping ray calculation when the number of the reserved multipath paths meets the number of the set multipath paths, and calculating parameters required by multipath path signal simulation through the multipath paths meeting the set conditions, the final reflection and/or refraction directions and reflection points or transmission points;
2. the method comprises the steps of calculating parameters such as final reflection points and/or refraction points of the diverse multipath paths meeting conditions, performing visual display and/or management on the met multipath paths, and calculating simulation parameters of signals of all multipath paths, wherein the errors of the multipath paths are small, the highly-realistic and diverse multipath path simulation signals are realized, and the accuracy, reliability and credibility of a positioning performance test of a receiver are improved;
3. the multipath path signal simulation of the invention not only supports the simulation environment simulation of the navigation signal simulator, but also can carry out real-time simulation according to the live-action ephemeris, and can also reserve the parameters of the multipath path to carry out off-line multipath path signal simulation, thereby providing verification traceability basis for the positioning performance test of the receiver.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make many possible variations and modifications to the disclosed solution, or modify equivalent embodiments using the teachings disclosed above, without departing from the scope of the solution. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (9)
1. The navigation multipath signal simulation method based on the three-dimensional scene is characterized by comprising the following steps:
step S1: importing a three-dimensional scene model, and setting the total number N of navigation multipath paths and the boundary conditions of the multipath;
step S2: determining the positions of a user and a navigation satellite in a three-dimensional scene at the moment t;
and step S3: according to the total number N of the set navigation multipath paths, a ray set R taking the user position as a starting point is constructed, and the ray set R is divided into M ray subsets R i Wherein i is E [1,M]The subsets have no intersection, and the union of all the ray subsets is equal to the ray set R;
and step S4: selecting a subset R not subjected to multipath calculation i Performing ray tracing to obtain a multipath path set M from all user positions to the navigation satellite and meeting boundary conditions i ，M i The number of multipath paths contained in is n i ；
Step S5: accumulating the total number of calculated multipath paths
If N is present k If any condition of more than or equal to N or k = M is satisfied, the calculation is quit, and more calculation is performedCalculating simulation parameters of the path signals, otherwise returning to the step S4, wherein k is less than or equal to M, and k is the number of ray groups which have already been calculated;
step S6: updating the time t, returning to the step S2, and recalculating the parameters for multipath path signal simulation;
the boundary conditions include: a first boundary condition, including an included angle theta formed by the final reflection or transmission direction of the multipath path and the direction of a connection line between the final reflection point or transmission point and any one navigation satellite, judges whether the included angle theta is smaller than a set threshold value, and the direction of the connection line is that the final reflection point or transmission point points to any one navigation satellite; if the condition is satisfied, when the difference between the total distance of the multipath path and the distance from the navigation satellite to the antenna position of the receiver is calculated to be smaller than a set first distance threshold value or larger than a set second distance threshold value, the multipath path is reserved;
and/or a second boundary condition comprising: and calculating a power attenuation value of the multipath path due to reflection or transmission, and if the power attenuation value is smaller than a set power attenuation threshold value, reserving the multipath path.
2. The method for simulating navigation multipath signals based on three-dimensional scene as claimed in claim 1, wherein in the step S5: when the certain subset R is not subjected to multipath calculation i Performing ray tracing to the subset R i And after all the rays are calculated, accumulating, and if the conditions are not met, returning to the step S4.
3. The method as claimed in claim 1, wherein the setting of the user trajectory includes selecting a traveling path of the antenna carrier, the traveling path includes walking, driving, flying, or selecting multiple points in the three-dimensional simulation scene to draw a roaming trajectory of the antenna carrier, and the antenna carrier moves according to the roaming trajectory.
4. The navigation multipath signal simulation method based on three-dimensional scene as claimed in claim 1, wherein the size of the ray set R is adjusted according to the total number N of the navigation multipath paths, and the two are in a direct proportion relationship; the ray set is divided into M groups of ray subsets, each group of ray subsets containing a similar or equal number of rays.
5. The method as claimed in claim 1, wherein the navigation multipath signal simulation method is characterized in that the navigation multipath signal simulation method comprises at least one of direct projection, reflection, transmission, refraction and diffuse reflection, and different delay parameters of each multipath path are set according to the multipath path category.
6. The method according to any one of claims 1 to 5, wherein the navigation multipath simulation signal is generated according to the parameters calculated for multipath path signal simulation, wherein the parameters at least comprise multipath path coordinates, satellite position, satellite velocity, receiver antenna velocity and receiver antenna coordinates.
7. The method of claim 6, wherein the parameters further include phase flip factor, power attenuation, time delay, and Doppler data.
8. The method of claim 7, wherein each subset of rays is computed in parallel using a GPU.
9. A system for implementing the navigation multipath signal simulation method based on three-dimensional scene according to any one of claims 1 to 8, comprising: the navigation multipath visual device is connected with a navigation signal simulator, the navigation signal simulator obtains user tracks, scene information and ray sets through the navigation multipath visual device, the navigation multipath visual device obtains satellite ephemeris information and multipath information through the navigation signal simulator and visualizes multipath, and the navigation signal simulator calculates multipath path signal simulation parameters through the visualized multipath and generates simulation signals of the multipath paths.
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