CN113933882A - Satellite navigation method applied to seamless positioning inside and outside tunnel and terminal receiver - Google Patents
Satellite navigation method applied to seamless positioning inside and outside tunnel and terminal receiver Download PDFInfo
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- CN113933882A CN113933882A CN202111003194.7A CN202111003194A CN113933882A CN 113933882 A CN113933882 A CN 113933882A CN 202111003194 A CN202111003194 A CN 202111003194A CN 113933882 A CN113933882 A CN 113933882A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the field of satellite navigation, and discloses a satellite navigation method and a terminal receiver applied to seamless positioning inside and outside a tunnel. The tunnel positioning system comprises a tunnel, a positioning data fusion processing module, a first receiving positioning module, a second receiving positioning module and a positioning data fusion processing module, wherein the tunnel is externally provided with a real satellite navigation signal, the positioning data fusion processing module directly uses the positioning data output by the first receiving positioning module as a positioning result, when the tunnel is internally provided with the positioning data, the second receiving positioning module outputs the positioning data in the tunnel, the first receiving positioning module does not output the positioning data, and the positioning data fusion processing module uses the positioning data output by the second receiving positioning module as a positioning result. The embodiment of the application can effectively and reliably realize seamless positioning inside and outside the tunnel, and can be directly applied to various devices needing positioning in high-speed rails, subways and mines.
Description
Technical Field
The invention relates to a satellite navigation method and a terminal receiver applied to seamless positioning inside and outside a tunnel, and belongs to the technical field of satellite navigation.
Background
At present, in places where indoor navigation satellite signals are invisible, such as railway and highway tunnels, subways and mines, the existing satellite navigation receiver or a smart phone cannot be used for positioning, the positioning can only be carried out by means of technologies such as RFID, WIFI, UWB and pseudolite, but the positioning is limited by multipath effect and cost caused by indoor complex terrains, the indoor positioning technologies are not enough, the RFID, WIFI and UWB positioning cannot help the navigation receiver to position, a set of positioning system needs to be additionally established, the pseudolites need to be densely distributed, and the near-far effect and the multipath effect are seriously influenced. 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. CN202010389587.5 indoor virtual satellite navigation positioning method, system and device disclose a method for realizing indoor positioning by using virtual satellite signals broadcast at two ends of a leaky cable and synchronized with real satellite time and ephemeris, because the signals are transmitted along the leaky cable direction, the leaky cable insertion loss is small, so that a navigation receiver below the leaky cable receives not only the top leaky cable signal, but also leaky cable signals at two sides and multipath signals caused by the reflection of the signals on the surrounding walls.
Disclosure of Invention
The invention aims to provide a satellite navigation method and a terminal receiver applied to seamless positioning inside and outside a tunnel, thereby overcoming the defects in the prior art.
The technical scheme of the invention is as follows:
the invention comprises an omnidirectional receiving antenna and a first navigation positioning module which are used for receiving real satellite signals outside a tunnel, and also comprises a narrow beam directional receiving antenna and a second navigation positioning module which are used for receiving virtual satellite signals broadcast by a leaky cable inside the tunnel;
the positioning data, the original observed quantity of the first navigation positioning module and the positioning data and the original observed quantity data of the second navigation positioning module are all transmitted to the positioning data fusion module, the positioning data fusion module comprehensively judges that an area where the current terminal receiver is located outside a tunnel or inside the tunnel according to the two groups of positioning data and the original observed quantity data, and then corresponding positioning data are selected to be output.
Furthermore, when the positioning data of the first navigation positioning module is valid and the original observed quantity of the second navigation positioning module does not have virtual satellite data, the current position is outside the tunnel, and the positioning data fusion module selects the positioning data of the first navigation positioning module to output.
Further, when the original observed quantities of the first navigation positioning module and the second navigation positioning module both have virtual satellite data, the current position is indicated to be in the tunnel, and the positioning data fusion module selects the positioning data of the second navigation positioning module to output.
The satellite navigation terminal receiver consists of an omnidirectional receiving antenna, a first navigation positioning module, a narrow beam directional receiving antenna, a second navigation positioning module and a positioning data fusion module;
the omnidirectional receiving antenna is connected with the first navigation positioning module and used for receiving real satellite signals outside the tunnel to position;
and the narrow-beam directional receiving antenna is connected with the second navigation positioning module and is used for receiving virtual satellite signals broadcast by a leaky-cable in the tunnel to position.
Further, the omni-directional antenna is an active antenna with low noise amplification.
Further, the narrow beam directional antenna is a passive antenna or an active antenna with low noise amplification.
Furthermore, the first navigation positioning module and the omnidirectional antenna are arranged into an integrated structure, and the second navigation positioning module and the narrow beam directional antenna are arranged into an integrated structure; the positioning data fusion module is set to be a single structure and is connected with the navigation positioning modules in the first two integrated structures through serial port lines.
Furthermore, the omnidirectional antenna, the narrow-beam directional antenna, the first navigation positioning module, the second navigation positioning module and the positioning data fusion module are also arranged into an integrated structure, and a magnet adsorption block is fixedly arranged at the bottom of the integrated structure and used for being installed on the roof of a vehicle
The beneficial effects of this patent are under the prerequisite that does not destroy original high-speed railway, subway receiver installation, install a narrow beam directional aerial and second navigation orientation module again on the roof to fuse with original navigation receiver positioning data, just can realize the inside and outside seamless high accuracy continuous positioning of tunnel, the signal in the tunnel is caught and is tracked and not lose the lock in succession, therefore the precision, usability, the continuity index of location obtain increasing substantially, are favorable to the application in high-speed railway tunnel, subway and mine very much.
Drawings
Fig. 1 is a satellite navigation terminal receiver composition.
Fig. 2 is an embodiment of a satellite navigation terminal receiver.
Fig. 3 is a schematic diagram of an indoor and outdoor seamless positioning scenario.
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 and 2 in 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.
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1, the satellite navigation terminal receiver includes an omnidirectional receiving antenna, a first navigation positioning module, a narrow beam directional receiving antenna, a second navigation positioning module and a positioning data fusion module, wherein the omnidirectional receiving antenna is connected to the first navigation positioning module and is used for receiving a real satellite signal outside a tunnel to position, the narrow beam directional receiving antenna is connected to the second navigation positioning module and is used for receiving a virtual satellite signal broadcast by a leaky cable inside the tunnel to position, the positioning data, the original observed quantity of the first navigation positioning module, the positioning data and the original observed quantity data of the second navigation positioning module are all transmitted to the positioning data fusion module, and the positioning data fusion module comprehensively judges whether an area where the terminal receiver is located is outside the tunnel or inside the tunnel according to two sets of positioning data and the original observed quantity data, and then selects the corresponding positioning data to output.
Furthermore, when the positioning data of the first navigation positioning module is valid and the original observed quantity of the second navigation positioning module has no virtual satellite data, the current position is outside the tunnel, and the positioning data fusion module selects the positioning data of the first navigation positioning module to output.
Further, when the original observed quantities of the first navigation positioning module and the second navigation positioning module both have virtual satellite data, the current position is indicated to be in the tunnel, and at the moment, the positioning data fusion module selects the positioning data of the second navigation positioning module to output.
The omnidirectional antenna is an active antenna with low noise amplification, and the narrow beam directional antenna can be a passive antenna or an active antenna with low noise amplification.
The first navigation positioning module and the omnidirectional antenna can be of an integrated structure, the second navigation positioning module and the narrow beam directional antenna are of an integrated structure, and the positioning data fusion module is independently made into a structure and connected with the navigation positioning modules in the first two integrated structures through a serial port line.
The omnidirectional antenna, the narrow-beam directional antenna, the first navigation positioning module, the second navigation positioning module and the positioning data fusion module can be made into an integrated structure, and the magnet adsorption block is placed at the bottom of the structure, so that the omnidirectional antenna, the narrow-beam directional antenna, the first navigation positioning module, the second navigation positioning module and the positioning data fusion module can be conveniently installed on a vehicle roof. The first navigation positioning module and the second navigation positioning module can adopt commercial mature modules, and can also be realized on one board by using a modularized circuit, as shown in fig. 2, the first navigation positioning module and the second navigation positioning module comprise a low-noise amplifier, a phase-locked loop, two paths of mixers, amplification and filtering, an ADC, digital down-conversion, capturing and tracking, and PVT resolving.
Fig. 3 is a schematic diagram of an indoor and outdoor seamless positioning scene according to an embodiment of the present invention. As shown in the figure, the satellite navigation terminal receiver performs positioning calculation by receiving visible satellite signals outside the tunnel and enters the tunnel, the satellite navigation terminal receiver receives simulated satellite signals radiated by leaky cables, rough position positioning data calculation is performed according to one path of simulated satellite signals, and accurate position correction is performed according to the difference value change of pseudo-range observed values of two paths of simulated satellite signals with fixed pseudo-ranges.
The beneficial effects of this patent are under the prerequisite that does not destroy original high-speed railway, subway receiver installation, install a narrow beam directional aerial and second navigation orientation module again on the roof to fuse with original navigation receiver positioning data, just can realize the inside and outside seamless high accuracy continuous positioning of tunnel, the signal in the tunnel is caught and is tracked and not lose the lock in succession, therefore the precision, usability, the continuity index of location obtain increasing substantially, are favorable to the application in high-speed railway tunnel, subway and mine very much.
Claims (8)
1. The satellite navigation method for seamless positioning inside and outside the tunnel is characterized in that:
the system comprises an omnidirectional receiving antenna and a first navigation positioning module which are used for receiving real satellite signals outside a tunnel, and further comprises a narrow beam directional receiving antenna and a second navigation positioning module which are used for receiving virtual satellite signals broadcast by a leaky-cable in the tunnel;
the positioning data, the original observed quantity of the first navigation positioning module and the positioning data and the original observed quantity data of the second navigation positioning module are all transmitted to the positioning data fusion module, the positioning data fusion module comprehensively judges that an area where the current terminal receiver is located outside a tunnel or inside the tunnel according to the two groups of positioning data and the original observed quantity data, and then corresponding positioning data are selected to be output.
2. The satellite navigation method applied to inside and outside seamless positioning of tunnels according to claim 1, wherein:
when the positioning data of the first navigation positioning module is effective and the original observed quantity of the second navigation positioning module does not have virtual satellite data, the current position is outside the tunnel, and the positioning data fusion module selects the positioning data of the first navigation positioning module to output.
3. The satellite navigation method applied to inside and outside seamless positioning of tunnels according to claim 1, wherein:
when the original observed quantities of the first navigation positioning module and the second navigation positioning module both have virtual satellite data, the current position is indicated to be in the tunnel, and the positioning data fusion module selects the positioning data of the second navigation positioning module to output.
4. The satellite navigation terminal receiver applied to the seamless positioning inside and outside the tunnel is characterized in that,
the system comprises an omnidirectional receiving antenna, a first navigation positioning module, a narrow beam directional receiving antenna, a second navigation positioning module and a positioning data fusion module;
the omnidirectional receiving antenna is connected with the first navigation positioning module and used for receiving real satellite signals outside the tunnel to position;
and the narrow-beam directional receiving antenna is connected with the second navigation positioning module and is used for receiving virtual satellite signals broadcast by a leaky-cable in the tunnel to position.
5. The satellite navigation terminal receiver applied to seamless positioning inside and outside tunnels according to claim 4,
the omni-directional antenna is an active antenna with low noise amplification.
6. The satellite navigation terminal receiver applied to seamless positioning inside and outside tunnels according to claim 4,
the narrow beam directional antenna is a passive antenna or an active antenna with low noise amplification.
7. The satellite navigation terminal receiver applied to seamless positioning inside and outside tunnels according to claim 4,
the first navigation positioning module and the omnidirectional antenna are arranged into an integrated structure, and the second navigation positioning module and the narrow beam directional antenna are arranged into an integrated structure; the positioning data fusion module is set to be a single structure and is connected with the navigation positioning modules in the first two integrated structures through serial port lines.
8. The satellite navigation terminal receiver applied to seamless positioning inside and outside tunnels according to claim 4,
the omnidirectional antenna, the narrow-beam directional antenna, the first navigation positioning module, the second navigation positioning module and the positioning data fusion module are also arranged into an integrated structure, and a magnet adsorption block is fixedly arranged at the bottom of the integrated structure and used for being installed on the roof.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111003194.7A CN113933882A (en) | 2021-08-30 | 2021-08-30 | Satellite navigation method applied to seamless positioning inside and outside tunnel and terminal receiver |
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| CN202111003194.7A CN113933882A (en) | 2021-08-30 | 2021-08-30 | Satellite navigation method applied to seamless positioning inside and outside tunnel and terminal receiver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114814919A (en) * | 2022-06-21 | 2022-07-29 | 东南大学 | Fusion positioning system and positioning method based on pseudolite and UWB |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114814919A (en) * | 2022-06-21 | 2022-07-29 | 东南大学 | Fusion positioning system and positioning method based on pseudolite and UWB |
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