CN114594499A - Switching method and system for indoor and outdoor positioning of pseudolite - Google Patents
Switching method and system for indoor and outdoor positioning of pseudolite Download PDFInfo
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- CN114594499A CN114594499A CN202210454975.6A CN202210454975A CN114594499A CN 114594499 A CN114594499 A CN 114594499A CN 202210454975 A CN202210454975 A CN 202210454975A CN 114594499 A CN114594499 A CN 114594499A
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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
- G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The embodiment of the invention discloses a method and a system for switching indoor and outdoor positioning of a pseudolite. The method comprises the steps that a guide area is constructed by a cross area between an outdoor area and an indoor area, and multistage pseudolite clusters used for transmitting transition signals are sequentially arranged in the guide area; setting the Doppler frequency and the phase of the transition signals of the multi-stage pseudolite cluster into step-by-step transition setting from an outdoor area to an indoor area or from the indoor area to the outdoor area along the arrangement direction of the Doppler frequency and the phase; when the receiver enters an indoor area from an outdoor area or enters an outdoor area from an indoor area, transition signals transmitted by all levels of pseudolite clusters in the guide area are searched step by step to carry out position positioning until positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed. The method realizes the rapid positioning of the receiver after the satellite signal switching between the outdoor area and the indoor area.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a switching method and system for indoor and outdoor positioning of a pseudolite.
Background
Currently, satellite navigation systems can provide receivers with all-weather position, velocity, and time information at any location on the surface of the earth or in near-earth space. In an indoor environment, because satellite signals are too weak and interference sources exist, the positioning accuracy of a satellite navigation system is seriously reduced or even unavailable, and a pseudo satellite system is a feasible high-accuracy indoor positioning scheme in indoor spaces such as large-scale venues, factories and parking lots.
In the design of a satellite system, as the landing power of a satellite is reduced, the information rate is only 50bps, the limitation is caused by the power consumption of a receiver and the like, and the number of parallel channels of the receiver is limited. In the cold start of the receiver, the visible star acquisition, tracking, bit synchronization, frame synchronization and complete text analysis are required to be completed firstly, and then effective positioning can be realized. In the cold start of the receiver, the first positioning time usually exceeds 30 seconds, and reaches the order of minutes under the weak signal condition. The correlation between the user experience and the first positioning time of the pseudolite positioning system is strong, when a receiver of a user enters indoors from outdoors or goes outdoors, the time of capturing and first positioning is usually required to be over 30 seconds, and the popularization and application of the pseudolite positioning system are seriously restricted by long initialization time.
Disclosure of Invention
The embodiment of the invention provides a switching method and a switching system for indoor and outdoor positioning of a pseudolite, and aims to solve the problem that a receiver in the prior art has long positioning time when switching indoor and outdoor satellite signals.
In a first aspect, an embodiment of the present invention provides a method for switching indoor and outdoor positioning of a pseudolite, including:
constructing a guide area by using a cross area between an outdoor area and an indoor area, sequentially arranging a plurality of stages of pseudolite clusters for transmitting transition signals in the guide area, wherein each stage of pseudolite cluster comprises a plurality of pseudolites;
setting the Doppler frequency of the multi-stage pseudolite cluster transition signal to be in a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and setting the phase of the multi-stage pseudolite cluster transition signal to be in a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;
when the receiver enters an indoor area from the outdoor area or enters an outdoor area from the indoor area, transition signals transmitted by all levels of pseudolite clusters in the guide area are searched step by step, and position positioning is carried out according to the transition signals until positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area.
In a second aspect, an embodiment of the present invention provides a switching system for indoor and outdoor positioning of a pseudolite, including:
the device comprises a region division module, a signal transmission module and a signal transmission module, wherein the region division module is used for constructing a guide region by using a cross region between an outdoor region and an indoor region, and sequentially arranging a plurality of stages of pseudolite clusters for transmitting transition signals in the guide region, and each stage of pseudolite cluster comprises a plurality of pseudolites;
a pseudolite cluster setting module, configured to set a doppler frequency of the multi-stage pseudolite cluster transition signal to be in a stepwise transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along an arrangement direction thereof, and set a phase of the multi-stage pseudolite cluster transition signal to be in a stepwise transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;
and the receiver is used for searching transition signals transmitted by all levels of pseudolite clusters in the guide area step by step when the pseudolite clusters enter the indoor area from the outdoor area or enter the outdoor area from the indoor area, and positioning according to the transition signals until the guide area is used for completing positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area.
The embodiment of the invention provides a method and a system for switching indoor and outdoor positioning of a pseudolite. The method comprises the steps that a guide area is constructed by a cross area between an outdoor area and an indoor area, and multistage pseudolite clusters used for transmitting transition signals are sequentially arranged in the guide area; setting the Doppler frequency of the multi-stage pseudolite cluster transition signals to be in step-by-step transition setting from an outdoor area to an indoor area or from the indoor area to the outdoor area along the arrangement direction of the multi-stage pseudolite cluster transition signals, and setting the phase of the multi-stage pseudolite cluster transition signals to be in step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction of the multi-stage pseudolite cluster transition signals; when the receiver enters an indoor area from an outdoor area or enters an outdoor area from an indoor area, the transitional signals transmitted by all levels of pseudolite clusters in the guide area are searched step by step, and the position is positioned according to the transitional signals until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area. The method comprises the steps of constructing a guide area between an outdoor area and an indoor area, splitting the guide area into a plurality of transition areas, designing a pseudo satellite signal broadcast by each transition area in the guide area in a graded transition mode, switching satellite signals in a small range step by a receiver based on the transition signals, starting initialization in advance when entering the indoor area from the outdoor area or entering the outdoor area from the indoor area, and completing rapid receiving and demodulation of the satellite signals in the guide area, so that rapid positioning during switching of the indoor and outdoor satellite signals is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for switching indoor and outdoor positioning of a pseudolite according to an embodiment of the present invention;
FIG. 2 is a schematic view of a detailed process of step S110 in FIG. 1;
FIG. 3 is a schematic view of a detailed process of step S130 in FIG. 1;
FIG. 4 is a schematic view of a detailed flow chart of another embodiment of step S130 in FIG. 1;
FIG. 5 is a block diagram of a switching system for indoor and outdoor positioning of a pseudolite according to an embodiment of the present invention;
fig. 6 is a schematic guidance area diagram of a method for switching indoor and outdoor positioning of a pseudolite according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for switching indoor and outdoor positioning of a pseudolite according to an embodiment of the present invention, where the method includes steps S110 to S130.
Step S110, constructing a guide area by using a cross area between an outdoor area and an indoor area, and sequentially arranging a plurality of stages of pseudolite clusters for transmitting transition signals in the guide area, wherein each stage of pseudolite cluster comprises a plurality of pseudolites;
in this embodiment, in order to facilitate the guidance of the receiver to perform positioning switching between the indoor area and the outdoor area, as shown in fig. 6, a guidance area is constructed by an intersection area between the outdoor area and the indoor area, and multiple stages of pseudolite clusters for transmitting transition signals are sequentially arranged at intervals in the guidance area. Wherein each level of pseudolite cluster comprises a plurality of pseudolites.
As shown in fig. 2, in an embodiment, step S110 includes:
step S210, splitting the guide area to obtain N transition areas;
s220, determining the number of stages of the pseudolite clusters according to the number N of the transition areas;
and step S230, sequentially arranging N levels of pseudo satellite clusters in the guide area, wherein the number of pseudo satellites in each level of pseudo satellite cluster is the same, and the number of pseudo satellites in each level of pseudo satellite cluster is the same.
In this embodiment, in order to implement fast positioning switching when guiding the receiver to pass through the guiding area, the guiding area is split so as to arrange a multi-stage pseudolite cluster, which specifically includes: splitting the guide area to obtain N transition areas; and then determining the number of stages of the pseudolite clusters according to the number N of the transition areas, and sequentially arranging N stages of the pseudolite clusters in the guide area, wherein the number of the pseudolites in each stage of the pseudolite clusters is the same, and transition signals of a plurality of the pseudolites in each stage of the pseudolite clusters are digitally synthesized and then broadcast. The pseudo satellite number of each transition area in the indoor area and the guide area is the same as the number of the outdoor satellite, and the search range of the receiver for the satellite number is consistent with that outdoors.
For example, the guidance area is divided into 6 transition areas, each transition area is provided with a first-level pseudolite cluster, the pseudolite clusters of each transition area are numbered in sequence, and then the first-level pseudolite cluster, the second-level pseudolite cluster, the third-level pseudolite cluster, the fourth-level pseudolite cluster, the fifth-level pseudolite cluster and the sixth-level pseudolite cluster are sequentially arranged in the guidance area. M pseudolites are arranged in each transition area, the numbers of the M pseudolites are PRN _ i (1 is larger than or equal to i and smaller than or equal to M), for example, if M is 32, PRN _ i (1 is larger than or equal to i and smaller than or equal to 32, and PRN _ i belongs to 1-32).
Step S120, setting Doppler frequency of the multi-stage pseudolite cluster transition signal to be in stage transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction of the multi-stage pseudolite cluster transition signal, and setting phase of the multi-stage pseudolite cluster transition signal to be in stage transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction of the multi-stage pseudolite cluster transition signal;
step S130, when the receiver enters an indoor area from the outdoor area or enters an outdoor area from the indoor area, transition signals transmitted by all levels of pseudolite clusters in the guide area are searched step by step, and position positioning is carried out according to the transition signals until positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area.
In this embodiment, the characteristics of the transition signal include pseudolite number, doppler frequency, and phase. And according to the phase of the transition signal of the multi-stage pseudolite cluster, performing gradual transition setting from the outdoor area to the internal area or from the indoor area to the outdoor area in the pseudolite cluster arrangement direction. By reasonably setting the transition signals of the transition area, when the receiver enters the indoor area from the outdoor area or enters the outdoor area from the indoor area, the transition signals transmitted by all levels of pseudolite clusters in the guide area are searched step by step and position positioning is carried out until the rapid positioning after satellite signal switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area.
Specifically, the phase of each stage of pseudolite cluster transition signal is determined according to the following formula: f. ofi＝fOutdoors+ i × Δ f; wherein Δ f ═ fIndoor use-fOutdoors)/N，fiIs the Doppler frequency, f, of the ith pseudolite clusterIndoor useDoppler frequency, f, representing a cluster of pseudolites in an indoor areaOutdoorsIndicating the Doppler frequency of satellite signals in an outdoor area, Δ f indicating the Doppler frequency difference, and i being 1 to N;
determining the phase of the multi-level pseudolite cluster transition signal according to the following formula: ρ is a unit of a gradienti＝ρOutdoors+ i Δ ρ; where Δ ρ ═ p (ρ)Indoor use–ρOutdoors)/N，ρiPhase, p, for an ith pseudolite clusterIndoorRepresenting the phase, p, of a pseudolite cluster in an indoor areaOutdoorsDenotes the phase of satellite signals in the outdoor area, Δ ρ denotes a phase difference, and i is 1 to N.
For example, by sampling the doppler frequency and phase of the indoor area pseudolite signal and the outdoor area pseudolite signal, the doppler frequency and phase of the outdoor area pseudolite signal are respectively f1 and ρ 1, the doppler frequency and phase of the indoor area pseudolite signal are respectively f2 and ρ 2, the characteristics of each level of transition signals in the guiding area are designed according to the doppler frequency difference, phase difference and size of the transition area of the indoor area and outdoor area pseudolite signals, and the doppler frequency difference and phase difference of each level of transition signals are respectively Δ f and Δ ρ; the Doppler frequency and the phase of the guiding area gradually increase or decrease within the range of f 1-f 2 and rho 1-rho 2 by taking deltaf and deltarho as steps. When the Doppler frequency and the phase of the satellite signals are increased during the movement of the receiver, the Doppler frequency and the phase of each level of pseudo satellite cluster signals in the guiding area are increased progressively; when the Doppler frequency and the phase of the satellite signals in the moving process are reduced, the Doppler frequency and the phase of pseudo satellite cluster signals at each level in the guiding area are reduced; the Doppler frequency and phase search range of the receiver in signal switching is reduced by N times, and the search time is reduced by N times2And (4) doubling. Through rationally setting up the transition region to broadcasting the transition signal similar with indoor outer satellite characteristic in the transition region, supplementary receiver accomplishes the capture and the receipt of satellite signal fast when indoor outer switch, can realize the first location when indoor outer satellite signal switches about 1 second.
It should be noted that, in this embodiment, the transition signals set in the step-by-step transition are the same doppler frequency difference or phase difference, in addition, the doppler frequency difference or phase difference between the transition signals of each step may also be different, and the doppler frequency difference or phase difference of the transition signals of each step may be adjusted according to the actual situation.
As shown in fig. 3, in an embodiment, step S130 includes:
step S310, when the receiver enters the indoor area from the outdoor area, the receiver firstly enters a first-level transition area of the guide area, searches a first-level transition signal emitted by a pseudolite cluster corresponding to the first-level transition area, and completes the position positioning of the receiver in the first-level transition area according to the first-level transition signal;
step S320, when the receiver enters a secondary transition area of the guide area, searching a secondary transition signal emitted by a pseudolite cluster corresponding to the secondary transition area, and completing the position location of the receiver in the secondary transition area according to the secondary transition signal;
step S330, when the receiver enters a third-level transition area of the guide area, searching a third-level transition signal emitted by a pseudolite cluster corresponding to the third-level transition area, and completing the position location of the receiver in the third-level transition area according to the third-level transition signal;
step S340, by analogy, when the receiver enters an N-level transition region of the guide region, searching N-level transition signals transmitted by pseudolite clusters corresponding to the N-level transition region, and completing the position positioning of the receiver in the N-level transition region according to the N-level transition signals;
and step S350, when the receiver enters the indoor area from the N-level transition area, performing position positioning by using the N-level transition signal, and completing position switching from the outdoor area to the indoor area.
In this embodiment, if the guidance area is split into 6 transition areas, 6 levels of pseudolite clusters are set, a first level pseudolite cluster to a fifth level pseudolite cluster are sequentially arranged at a split point of each transition area in the guidance area, a sixth level pseudolite cluster is arranged at a junction point of the guidance area and the indoor area, and according to the doppler frequency difference and the phase difference of transition signals of each level being respectively Δ f and Δ ρ, the sixth level transition signals are the same as the satellite signals of the indoor area, and a process of entering the indoor area from the outdoor area by the receiver includes: entering a first-stage transition region of a guide region, searching a first-stage transition signal transmitted by a pseudolite cluster corresponding to the first-stage transition region, and completing the position positioning of a receiver in the first-stage transition region according to the first-stage transition signal; when the receiver enters a secondary transition area of the guide area, searching a secondary transition signal transmitted by a pseudolite cluster corresponding to the secondary transition area, and completing the position positioning of the receiver in the secondary transition area according to the secondary transition signal; when the receiver enters a third-level transition region of the guide region, searching a third-level transition signal transmitted by a pseudolite cluster corresponding to the third-level transition region, and completing the position positioning of the receiver in the third-level transition region according to the third-level transition signal; by analogy, when the receiver enters a six-level transition region of the guide region, searching a six-level transition signal transmitted by a pseudolite cluster corresponding to the six-level transition region, and completing the position positioning of the receiver in the six-level transition region according to the six-level transition signal; when the receiver enters the indoor area from the six-stage transition area, the position is positioned by the six-stage transition signal, and the position switching from the outdoor area to the indoor area is completed. Because the six-level transition signals corresponding to the six-level transition area are the same as the pseudo satellite signals of the indoor area, when the receiver enters the indoor area, the pseudo satellite signals of the indoor area are searched, and the receiver can realize the quick positioning switching between the outdoor area and the indoor area based on the pseudo satellite signals only by acquiring the current ephemeris data for positioning calculation. Through tests, based on the method, when the receiver is switched indoors and outdoors, the observation quantity of the pseudo satellite signals is obtained within about 1 second, ephemeris data obtained by the guiding area is used for positioning calculation, the first positioning time can be shortened to about 1 second from 36 seconds of cold start, and rapid switching of indoor and outdoor positioning is achieved.
In an embodiment, the guiding region is split into 6 transition regions, or a level 5 pseudolite cluster may be arranged, it should be noted that, arranging the level 5 pseudolite cluster is a level six pseudolite cluster arranged by removing a junction point between the guiding region and the indoor region on the basis of arranging the level 6 pseudolite cluster, and a process of a receiver entering the indoor region from the outdoor region includes: entering a first-stage transition region of a guide region, searching a first-stage transition signal transmitted by a pseudolite cluster corresponding to the first-stage transition region, and completing the position positioning of a receiver in the first-stage transition region according to the first-stage transition signal; when the receiver enters a secondary transition area of the guide area, searching a secondary transition signal transmitted by a pseudolite cluster corresponding to the secondary transition area, and completing the position positioning of the receiver in the secondary transition area according to the secondary transition signal; when the receiver enters a third-level transition region of the guide region, searching a third-level transition signal transmitted by a pseudolite cluster corresponding to the third-level transition region, and completing the position positioning of the receiver in the third-level transition region according to the third-level transition signal; by analogy, when the receiver enters a six-stage transition area of the guide area, searching indoor signals transmitted by pseudolite clusters corresponding to the indoor area, and completing the position positioning of the receiver in the six-stage transition area according to the indoor signals; when the receiver enters the indoor area from the six-stage transition area, the indoor signal is used for positioning, and position switching from the outdoor area to the indoor area is completed.
As shown in fig. 4, in an embodiment, step S130 further includes:
step S410, when the receiver enters an outdoor area from the indoor area, the receiver firstly enters an N-level transition area of the guide area, searches N-level transition signals emitted by pseudolite clusters corresponding to the N-level transition area, and completes the position location of the receiver in the N-level transition area according to the N-level transition signals;
step S420, when the receiver enters the N-1 level transition region of the guide region, searching N-1 level transition signals transmitted by the pseudolite clusters corresponding to the N-1 level transition region, and completing the position positioning of the receiver in the N-1 level transition region according to the N-1 level transition signals;
step S430, when the receiver enters an N-2 level transition region of the guide region, searching an N-2 level transition signal transmitted by a pseudolite cluster corresponding to the N-2 level transition region, and completing the position positioning of the receiver in the N-2 level transition region according to the N-2 level transition signal;
step S440, by analogy, when the receiver enters a first-level transition region of the guide region, searching a first-level transition signal transmitted by a pseudolite cluster corresponding to the first-level transition region, and completing the position positioning of the receiver in the first-level transition region according to the first-level transition signal;
step S450, when the receiver enters the outdoor area from the first-stage transition area, searching the outdoor signal of the outdoor area for position location, and completing position switching from the indoor area to the outdoor area.
In this embodiment, if the guidance area is split into 6 transition areas, 6 levels of pseudolite clusters are set, a first level pseudolite cluster to a fifth level pseudolite cluster are sequentially arranged at a split point of each transition area in the guidance area, a sixth level pseudolite cluster is arranged at a junction point of the guidance area and the indoor area, and according to the doppler frequency difference and the phase difference of each level of transition signals being respectively Δ f and Δ ρ, the sixth level of transition signals are identical to the satellite signals of the indoor area, and a process of the receiver entering the outdoor area from the indoor area includes: entering a six-stage transition area of the guide area, searching a six-stage transition signal transmitted by a pseudolite cluster corresponding to the six-stage transition area, and completing the position positioning of a receiver in the six-stage transition area according to the six-stage transition signal; when the receiver enters a five-level transition region of the guide region, searching a five-level transition signal transmitted by a pseudolite cluster corresponding to the five-level transition region, and completing the position positioning of the receiver in the five-level transition region according to the five-level transition signal; when the receiver enters a four-level transition region of the guide region, searching a four-level transition signal transmitted by a pseudolite cluster corresponding to the four-level transition region, and completing the position positioning of the receiver in the four-level transition region according to the four-level transition signal; by analogy, when the receiver enters a first-level transition region of the guide region, searching a first-level transition signal transmitted by the pseudolite cluster corresponding to the first-level transition region, and completing the position positioning of the receiver in the first-level transition region according to the first-level transition signal; when the receiver enters the outdoor area from the first-stage transition area, the outdoor signal of the outdoor area is searched for position location, and position switching from the indoor area to the outdoor area is completed.
In one embodiment, if the pilot region is split into 6 transition regions, and a cluster of pseudolites of level 5 is set, the process of the receiver entering the outdoor region from the indoor region comprises: entering a six-stage transition area of a guide area, searching indoor signals transmitted by a pseudolite cluster corresponding to the indoor area, and completing the position positioning of a receiver in the six-stage transition area according to the indoor signals; when the receiver enters a five-level transition region of the guide region, searching a five-level transition signal transmitted by a pseudolite cluster corresponding to the five-level transition region, and completing the position positioning of the receiver in the five-level transition region according to the five-level transition signal; when the receiver enters a four-level transition region of the guide region, searching a four-level transition signal transmitted by a pseudolite cluster corresponding to the four-level transition region, and completing the position positioning of the receiver in the four-level transition region according to the four-level transition signal; by analogy, when the receiver enters a first-stage transition region of the guide region, searching a first-stage transition signal emitted by the pseudolite cluster corresponding to the first-stage transition region, and completing the position positioning of the receiver in the first-stage transition region according to the first-stage transition signal; when the receiver enters the outdoor area from the first-stage transition area, the outdoor signal of the outdoor area is searched for position location, and position switching from the indoor area to the outdoor area is completed.
The method comprises the steps of constructing a guide area between an outdoor area and an indoor area, splitting the guide area into a plurality of transition areas, designing a pseudo satellite signal broadcast by each transition area in the guide area in a graded transition mode, switching satellite signals in a small range step by a receiver based on the transition signals, starting initialization in advance when entering the indoor area from the outdoor area or entering the outdoor area from the indoor area, and completing rapid receiving and demodulation of the satellite signals in the guide area, so that rapid positioning during switching of the satellite signals in the indoor area and the outdoor area is realized.
The embodiment of the invention also provides a switching system for the indoor and outdoor positioning of the pseudolite, which is used for executing any embodiment of the switching method for the indoor and outdoor positioning of the pseudolite. Specifically, please refer to fig. 5, fig. 5 is a schematic block diagram of a switching system for pseudolite indoor and outdoor positioning according to an embodiment of the present invention. The switching system 100 for indoor and outdoor positioning of pseudolites can be configured in a server.
As shown in fig. 5, the switching system 100 for pseudolite indoor and outdoor positioning includes an area division module 110, a pseudolite cluster setting module 120, and a receiver 130.
A region dividing module 110, configured to construct a guidance region with a crossing region between an outdoor region and an indoor region, where multiple levels of pseudolite clusters for transmitting transition signals are sequentially arranged, where each level of pseudolite cluster includes multiple pseudolites;
a pseudolite cluster setting module 120 configured to set a doppler frequency of the multi-stage pseudolite cluster transition signal to be in a stepwise transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along an arrangement direction thereof, and set a phase of the multi-stage pseudolite cluster transition signal to be in a stepwise transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;
and the receiver 130 is configured to search transition signals transmitted by each stage of pseudolite clusters in the guiding area step by step when entering the indoor area from the outdoor area or entering the outdoor area from the indoor area, and perform position location according to the transition signals until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guiding area.
In one embodiment, the region dividing module 110 includes:
the splitting unit is used for splitting the guide area to obtain N transition areas;
the progression setting unit is used for determining the progression of the pseudolite cluster according to the number N of the transition areas;
and the pseudolite setting unit is used for sequentially arranging N levels of pseudolite clusters in the guide area, wherein the number of the pseudolites in each level of pseudolite clusters is the same, and the pseudolites in each level of pseudolite clusters are the same in number.
The receiver is configured to:
when the receiver enters the indoor area from the outdoor area, the receiver firstly enters a first-level transition area of the guide area, searches a first-level transition signal transmitted by a pseudolite cluster corresponding to the first-level transition area, and completes the position location of the receiver in the first-level transition area according to the first-level transition signal;
when the receiver enters a secondary transition area of the guide area, searching a secondary transition signal transmitted by a pseudolite cluster corresponding to the secondary transition area, and completing the position positioning of the receiver in the secondary transition area according to the secondary transition signal;
when the receiver enters a third-level transition region of the guide region, searching a third-level transition signal transmitted by a pseudolite cluster corresponding to the third-level transition region, and completing the position positioning of the receiver in the third-level transition region according to the third-level transition signal;
by analogy, when a receiver enters an N-level transition region of the guide region, searching N-level transition signals transmitted by pseudolite clusters corresponding to the N-level transition region, and completing the position location of the receiver in the N-level transition region according to the N-level transition signals;
and when the receiver enters the indoor area from the N-level transition area, the position is positioned by the N-level transition signal, and the position switching from the outdoor area to the indoor area is completed.
The receiver is further configured to:
when the receiver enters an outdoor area from the indoor area, the receiver firstly enters an N-level transition area of the guide area, N-level transition signals transmitted by pseudolite clusters corresponding to the N-level transition area are searched, and the position of the receiver in the N-level transition area is positioned according to the N-level transition signals;
when the receiver enters an N-1 level transition region of the guide region, searching an N-1 level transition signal transmitted by a pseudolite cluster corresponding to the N-1 level transition region, and completing the position positioning of the receiver in the N-1 level transition region according to the N-1 level transition signal;
when the receiver enters an N-2 level transition region of the guide region, searching an N-2 level transition signal transmitted by a pseudolite cluster corresponding to the N-2 level transition region, and completing the position positioning of the receiver in the N-2 level transition region according to the N-2 level transition signal;
by analogy, when a receiver enters a first-level transition region of the guide region, searching a first-level transition signal emitted by a pseudolite cluster corresponding to the first-level transition region, and completing the position positioning of the receiver in the first-level transition region according to the first-level transition signal;
and when the receiver enters the outdoor area from the first-stage transition area, searching an outdoor signal of the outdoor area for position location, and completing position switching from the indoor area to the outdoor area.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, systems and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus, system, and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only a logical division, and there may be other divisions in actual implementation, or units with the same function may be grouped into one unit, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. Further, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may also be an electrical, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for switching indoor and outdoor positioning of a pseudolite is characterized by comprising the following steps:
constructing a guide area by using a cross area between an outdoor area and an indoor area, sequentially arranging a plurality of stages of pseudolite clusters for transmitting transition signals in the guide area, wherein each stage of pseudolite cluster comprises a plurality of pseudolites;
setting the Doppler frequency of the multi-stage pseudolite cluster transition signal to be in a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and setting the phase of the multi-stage pseudolite cluster transition signal to be in a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;
when the receiver enters an indoor area from the outdoor area or enters an outdoor area from the indoor area, transition signals transmitted by all levels of pseudolite clusters in the guide area are searched step by step, and position positioning is carried out according to the transition signals until positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area.
2. The method for switching the indoor and outdoor pseudolite positioning according to claim 1, wherein a plurality of pseudolite clusters for transmitting the transition signal are sequentially arranged in the guiding area, each pseudolite cluster comprises a plurality of pseudolites, and the method comprises:
splitting the guide area to obtain N transition areas;
determining the number of stages of the pseudolite cluster according to the number N of the transition areas;
and sequentially arranging N levels of pseudolite clusters in the guide area, wherein the number of the pseudolites in each level of pseudolite cluster is the same, and the number of the pseudolites in each level of pseudolite cluster is the same.
3. The method for switching the pseudolite indoor and outdoor positioning according to claim 2, wherein the setting the doppler frequency of the multi-stage pseudolite cluster transition signal to a stepwise transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and the setting the phase of the multi-stage pseudolite cluster transition signal to a stepwise transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof comprises:
determining the Doppler frequency of the transition signals of the multi-stage pseudolite cluster according to the following formula: f. ofi＝fOutdoors+ i × Δ f; wherein Δ f ═ fIndoor use-fOutdoors)/N，fiIs the Doppler frequency, f, of the ith pseudolite clusterIndoor useDoppler frequency, f, representing a cluster of pseudolites in an indoor areaOutdoorsIndicating the Doppler frequency of satellite signals in an outdoor area, Δ f indicating the Doppler frequency difference, and i being 1 to N;
determining the phase of the multi-level pseudolite cluster transition signal according to the following formula: rhoi＝ρOutdoors+ i Δ ρ; where Δ ρ ═ p (ρ)Indoor use–ρOutdoors)/N，ρiFor the phase, p, of the ith pseudolite clusterIndoor useRepresenting the phase, p, of a pseudolite cluster in an indoor areaOutdoorsDenotes the phase of satellite signals in the outdoor area, Δ ρ denotes a phase difference, and i is 1 to N.
4. The method for switching the pseudolite indoor and outdoor positioning according to claim 2, wherein when the receiver enters the indoor area from the outdoor area or enters the outdoor area from the indoor area, the method searches the transition signals transmitted by each pseudolite cluster in the guiding area step by step, and performs position positioning according to the transition signals until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the transition area comprises:
when the receiver enters the indoor area from the outdoor area, the receiver firstly enters a first-level transition area of the guide area, searches a first-level transition signal transmitted by a pseudolite cluster corresponding to the first-level transition area, and completes the position location of the receiver in the first-level transition area according to the first-level transition signal;
when the receiver enters a secondary transition area of the guide area, searching a secondary transition signal transmitted by a pseudolite cluster corresponding to the secondary transition area, and completing the position positioning of the receiver in the secondary transition area according to the secondary transition signal;
when the receiver enters a third-level transition region of the guide region, searching a third-level transition signal transmitted by a pseudolite cluster corresponding to the third-level transition region, and completing the position positioning of the receiver in the third-level transition region according to the third-level transition signal;
by analogy, when a receiver enters an N-level transition region of the guide region, searching N-level transition signals transmitted by pseudolite clusters corresponding to the N-level transition region, and completing the position location of the receiver in the N-level transition region according to the N-level transition signals;
and when the receiver enters the indoor area from the N-level transition area, the position is positioned by the N-level transition signal, and the position switching from the outdoor area to the indoor area is completed.
5. The method for switching the pseudolite indoor and outdoor positioning according to claim 2, wherein when the receiver enters the indoor area from the outdoor area or enters the outdoor area from the indoor area, the method searches the transition signals transmitted by each pseudolite cluster in the guiding area step by step, and performs position positioning according to the transition signals until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the transition area comprises:
when the receiver enters an outdoor area from the indoor area, the receiver firstly enters an N-level transition area of the guide area, searches for N-level transition signals transmitted by pseudolite clusters corresponding to the N-level transition area, and completes the position location of the receiver in the N-level transition area according to the N-level transition signals;
when a receiver enters an N-1 level transition region of the guide region, searching an N-1 level transition signal transmitted by a pseudolite cluster corresponding to the N-1 level transition region, and completing the position location of the receiver in the N-1 level transition region according to the N-1 level transition signal;
when the receiver enters an N-2 level transition region of the guide region, searching an N-2 level transition signal transmitted by a pseudolite cluster corresponding to the N-2 level transition region, and completing the position positioning of the receiver in the N-2 level transition region according to the N-2 level transition signal;
by analogy, when the receiver enters a first-level transition region of the guide region, searching a first-level transition signal transmitted by a pseudolite cluster corresponding to the first-level transition region, and completing the position positioning of the receiver in the first-level transition region according to the first-level transition signal;
and when the receiver enters the outdoor area from the first-stage transition area, searching an outdoor signal of the outdoor area for position location, and completing position switching from the indoor area to the outdoor area.
6. The method of switching between indoor and outdoor pseudolite positioning as claimed in claim 2, wherein transition signals of a plurality of pseudolites in each pseudolite cluster are digitally synthesized and broadcast.
7. A switching system for indoor and outdoor positioning of a pseudolite, comprising:
the device comprises a region division module, a signal transmission module and a signal transmission module, wherein the region division module is used for constructing a guide region by using a cross region between an outdoor region and an indoor region, and sequentially arranging a plurality of stages of pseudolite clusters for transmitting transition signals in the guide region, and each stage of pseudolite cluster comprises a plurality of pseudolites;
a pseudolite cluster setting module, configured to set a doppler frequency of the multi-stage pseudolite cluster transition signal to be in a stepwise transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along an arrangement direction thereof, and set a phase of the multi-stage pseudolite cluster transition signal to be in a stepwise transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;
and the receiver is used for searching transition signals transmitted by all levels of pseudolite clusters in the guide area step by step when the pseudolite clusters enter the indoor area from the outdoor area or enter the outdoor area from the indoor area, and positioning according to the transition signals until the guide area is used for completing positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area.
8. The method of switching indoor and outdoor pseudolite positioning according to claim 7, wherein the area division module comprises:
the splitting unit is used for splitting the guide area to obtain N transition areas;
the progression setting unit is used for determining the progression of the pseudolite cluster according to the number N of the transition areas;
and the pseudolite setting unit is used for sequentially arranging N levels of pseudolite clusters in the guide area, wherein the number of the pseudolites in each level of pseudolite clusters is the same, and the pseudolites in each level of pseudolite clusters are the same in number.
9. The method of claim 8, wherein the receiver is configured to:
when the receiver enters the indoor area from the outdoor area, the receiver firstly enters a first-level transition area of the guide area, searches a first-level transition signal transmitted by a pseudolite cluster corresponding to the first-level transition area, and completes the position location of the receiver in the first-level transition area according to the first-level transition signal;
when the receiver enters a secondary transition area of the guide area, searching a secondary transition signal emitted by a pseudolite cluster corresponding to the secondary transition area, and completing the position location of the receiver in the secondary transition area according to the secondary transition signal;
when the receiver enters a third-level transition region of the guide region, searching a third-level transition signal transmitted by a pseudolite cluster corresponding to the third-level transition region, and completing the position positioning of the receiver in the third-level transition region according to the third-level transition signal;
by analogy, when a receiver enters an N-level transition region of the guide region, searching N-level transition signals transmitted by pseudolite clusters corresponding to the N-level transition region, and completing the position location of the receiver in the N-level transition region according to the N-level transition signals;
and when the receiver enters the indoor area from the N-level transition area, the position is positioned by the N-level transition signal, and the position switching from the outdoor area to the indoor area is completed.
10. The method of claim 8, wherein the receiver is further configured to:
when the receiver enters an outdoor area from the indoor area, the receiver firstly enters an N-level transition area of the guide area, N-level transition signals transmitted by pseudolite clusters corresponding to the N-level transition area are searched, and the position of the receiver in the N-level transition area is positioned according to the N-level transition signals;
when the receiver enters an N-1 level transition region of the guide region, searching an N-1 level transition signal transmitted by a pseudolite cluster corresponding to the N-1 level transition region, and completing the position positioning of the receiver in the N-1 level transition region according to the N-1 level transition signal;
when the receiver enters an N-2 level transition region of the guide region, searching an N-2 level transition signal transmitted by a pseudolite cluster corresponding to the N-2 level transition region, and completing the position positioning of the receiver in the N-2 level transition region according to the N-2 level transition signal;
by analogy, when the receiver enters a first-level transition region of the guide region, searching a first-level transition signal transmitted by a pseudolite cluster corresponding to the first-level transition region, and completing the position positioning of the receiver in the first-level transition region according to the first-level transition signal;
and when the receiver enters the outdoor area from the first-stage transition area, searching an outdoor signal of the outdoor area for position location, and completing position switching from the indoor area to the outdoor area.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115220066A (en) * | 2022-09-20 | 2022-10-21 | 中移(上海)信息通信科技有限公司 | Pseudo satellite number design method, device, equipment and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115220066A (en) * | 2022-09-20 | 2022-10-21 | 中移(上海)信息通信科技有限公司 | Pseudo satellite number design method, device, equipment and readable storage medium |
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