CN115951376A - Positioning method and device fusing indoor and outdoor satellites, terminal equipment and storage medium - Google Patents
Positioning method and device fusing indoor and outdoor satellites, terminal equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application is suitable for the technical field of navigation communication, and provides a positioning method, a positioning device, terminal equipment and a storage medium for fusing indoor and outdoor satellites. The method comprises the following steps: receiving a plurality of satellite signals; the plurality of satellite signals includes: satellite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals combined by an indoor pseudolite and an outdoor satellite; the satellite types comprise an outdoor type and an indoor type; determining a satellite corresponding to the satellite signal through a pseudo random code of the satellite number so as to acquire information required by positioning from the satellite; the pseudo-random codes comprise pseudo-random codes of indoor pseudo-satellites and pseudo-random codes of outdoor satellites; spatiotemporal information is generated from the information acquired from the plurality of satellites. By the method provided by the embodiment of the application, three conditions of outdoor positioning, indoor positioning and indoor and outdoor fusion positioning can be compatible on one receiver, so that the utilization efficiency of the receiver is improved.
Description
Technical Field
The embodiment of the application belongs to the technical field of navigation communication, and particularly relates to a method, a device, terminal equipment and a storage medium for fusing indoor and outdoor satellites.
Background
In the prior art, when people or objects located outdoors are positioned, a satellite positioning receiver is often used to position the people or objects located outdoors in a manner of receiving satellite signals. When positioning a person or an object indoors, because of different receiving schemes, an indoor positioning receiver different from an outdoor positioning receiver is needed to position the target object such as the person or the object indoors. Therefore, in the prior art, when the target object has both indoor and outdoor positioning requirements, at least two different types of receivers are required, which greatly affects the volume, power consumption, cost, etc. of the positioning terminal.
Disclosure of Invention
In view of this, embodiments of the present application provide a positioning method for simultaneously positioning an outdoor object/person and an indoor object/person by using one receiver, so as to improve the utilization efficiency of the receiver.
A first aspect of an embodiment of the present application provides a positioning method for fusing an indoor satellite and an outdoor satellite, which is applied to a receiver, and includes:
receiving a plurality of satellite signals; the plurality of satellite signals includes: pseudolite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals combined by an indoor pseudolite and an outdoor satellite;
respectively determining satellites corresponding to the satellite signals through pseudo-random codes of satellite numbers so as to acquire information required by positioning from the satellites; the pseudo-random codes comprise pseudo-random codes of indoor pseudo-satellites and pseudo-random codes of outdoor satellites; the satellite is the outdoor satellite or the indoor pseudolite;
generating spatiotemporal information from the information required for positioning acquired from the plurality of satellites.
A second aspect of the embodiments of the present application provides a positioning apparatus fusing an indoor satellite and an outdoor satellite, including:
the satellite signal receiving module is used for receiving a plurality of satellite signals; the plurality of satellite signals includes: pseudolite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals combined by an indoor pseudolite and an outdoor satellite;
the information receiving module is used for respectively determining satellites corresponding to the satellite signals through pseudo-random codes of satellite numbers so as to acquire information required by positioning from the satellites; the pseudo-random codes comprise pseudo-random codes of indoor pseudo-satellites and pseudo-random codes of outdoor satellites; the satellite is the outdoor satellite or the indoor pseudolite;
and the positioning module is used for generating space-time information according to the information required by positioning acquired from the satellites.
A third aspect of embodiments of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the positioning method according to the first aspect.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the positioning method according to the first aspect.
A fifth aspect of embodiments of the present application provides a computer program product, which when run on a computer, causes the computer to execute the positioning method according to the first aspect.
Compared with the prior art, the embodiment of the application has the following advantages:
in the embodiment of the application, the receiver can receive a plurality of satellite signals; wherein the plurality of satellite signals may be satellite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals transmitted by a combination of indoor pseudolites and outdoor satellites; that is, the type of satellite transmitting the satellite signal may be an outdoor type or an indoor type; the receiver can respectively determine satellites corresponding to the satellite signals through the pseudo-random codes, so that information required by positioning is obtained through the satellites; the positioning of the receiver is then done by acquiring the information needed for the positioning from a plurality of satellites. By the method, the receiver can receive satellite signals sent by an outdoor satellite for outdoor positioning, can also receive satellite signals sent by an indoor pseudo satellite for indoor positioning, can also receive satellite signals sent by indoor and outdoor satellites for positioning simultaneously, and meets positioning requirements of the receiver in different scenes, so that the use efficiency of the receiver can be improved, different types of receivers are not required to be configured for different positioning scenes, and the size, power consumption and cost of the positioning terminal can be reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of indoor and outdoor positioning in the prior art provided by embodiments of the present application;
fig. 2 is a schematic diagram of a positioning method fusing indoor and outdoor satellites according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a practical application of a positioning method provided in an embodiment of the present application;
FIG. 4 is a diagram illustrating a code generator for a pseudo-random code according to an embodiment of the present invention;
fig. 5 is a schematic view of an outdoor satellite number of an outdoor satellite according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of numbers of satellites occupied by a GPS navigation system in an L5 frequency band according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of numbers of satellites occupied by a GPS navigation system in an L1 frequency band according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram of a positioning apparatus fusing indoor and outdoor satellites according to an embodiment of the present disclosure;
fig. 9 is a schematic view of an electronic device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
Fig. 1 is a schematic diagram of two positioning schemes in the prior art. As shown in fig. 1 (a), in the related art, when a terminal is located outdoors, outdoor positioning may be performed by an outdoor satellite. In this case, the terminal needs to be equipped with a receiver dedicated to an outdoor satellite to receive satellite signals, so as to achieve the effect of outdoor positioning. As shown in fig. 1 (b), when the terminal is located indoors, because there are many indoor positioning methods in the prior art, the terminal may perform indoor positioning by using multiple methods such as bluetooth, wiFi, 5G, ultra Wide Band (UWB), ultrasonic wave, infrared, vision, and laser, that is, the terminal needs to be configured with a corresponding indoor positioning module, so as to achieve indoor positioning. It follows that in the prior art, indoor positioning and outdoor positioning are implemented with different reception schemes, for example satellite positioning when outdoors and UWB positioning when indoors. Therefore, in the prior art, in order to meet the requirements of outdoor positioning and indoor positioning, a terminal needs to be configured with at least two receivers corresponding to different receiving schemes.
The technical solution of the present application will be described below by way of specific examples.
When it needs to be explained, the positioning method provided in the embodiment of the present application may be applicable to one satellite navigation system or multiple satellite navigation systems among a beidou satellite navigation system, a GPS satellite navigation system, a GLONASS satellite navigation system, and a Galileo satellite navigation system, and the embodiment of the present application does not limit a specific satellite navigation system.
Referring to fig. 2, a schematic diagram of a positioning method fusing indoor and outdoor satellites according to an embodiment of the present disclosure is shown, where the positioning method may be applied to an electronic device that can receive satellite signals. In particular, the electronic device may be a satellite signal receiver. In the embodiments, the positioning method provided in the present application is described by taking a receiver as an example. The method specifically comprises the following steps:
s201, receiving a plurality of satellite signals; the plurality of satellite signals includes: pseudolite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals combined by an indoor pseudolite and an outdoor satellite; .
In the embodiment of the present application, the receiver may periodically search for satellite signals within the reception range, or the receiver may start to search for and receive satellite signals after receiving a search instruction sent by a user. Since the satellite transmitting the satellite signal in the present application includes two types of satellites, one is an outdoor satellite for outdoor positioning and the other is an indoor pseudolite for indoor positioning. The receiver may be capable of receiving satellite signals transmitted by the two types of satellites to meet positioning requirements in different scenarios (indoor scenario, outdoor scenario, and indoor-outdoor fusion scenario).
Fig. 3 is a schematic diagram illustrating an actual application of the positioning method with fusion of indoor and outdoor satellites according to the embodiment of the present application. Referring to fig. 3, in the embodiment of the present application, indoor and outdoor seamless positioning may be achieved by arranging a plurality of indoor pseudolites indoors. Indoor pseudolites disposed indoors may be transmitters capable of transmitting some sort of positioning signal, such as simple pseudolites, pulsed pseudolites, and synchronized pseudolites, among others. The satellite signals transmitted by the pseudolites may be signals similar to GPS, signals similar to the GLONASS system or the beidou system, or even some customized positioning signal format. Referring to fig. 3, when the electronic device is located outdoors and needs outdoor positioning, the receiver may start receiving satellite signals transmitted by outdoor satellites, so that the receiver may determine the relative position between the receiver and the outdoor satellite transmitting the satellite signals according to the satellite signals received from a plurality of outdoor satellites to complete subsequent positioning. When the electronic device enters an indoor scene and needs indoor positioning, the receiver can also receive satellite signals sent by an indoor pseudo satellite. The receiver can determine the relative position between the receiver and the indoor pseudolite transmitting the satellite signal according to the satellite signals received from the plurality of indoor pseudolites to complete indoor positioning. When the receiver is located in an indoor and outdoor boundary scene, for example, when the electronic device is located at a position near a window, the receiver may simultaneously receive a satellite signal sent by an indoor pseudolite and a satellite signal sent by an outdoor satellite, and the receiver may perform fusion positioning according to the satellite signal sent by the indoor pseudolite and the satellite signal sent by the outdoor satellite.
S202, respectively determining satellites corresponding to the satellite signals through pseudo-random codes of satellite numbers so as to obtain information required by positioning from the satellites; the pseudo-random codes comprise pseudo-random codes of indoor pseudo-satellites and pseudo-random codes of outdoor satellites; the satellite is the outdoor satellite or the indoor pseudolite.
In the embodiment of the present application, the receiver needs to determine which satellite is the specific satellite that transmits the satellite signal, and therefore needs to determine the satellite corresponding to the satellite signal by matching the satellite signal with the pseudo random code, and then after determining the satellite corresponding to the satellite signal, the receiver can acquire information required for corresponding positioning from the satellite to complete positioning operation in subsequent steps.
In a possible implementation manner, the determination of the satellite corresponding to the satellite signal by the pseudo-random code may specifically be implemented by the following steps: respectively matching the pseudo-random codes corresponding to the candidate satellites with the satellite signals; and determining the satellite corresponding to the satellite signal according to the matching result. The electronic device may determine all candidate satellites that have been registered, including outdoor satellites deployed outdoors and indoor pseudolites deployed indoors, where different candidate satellites may correspond to a pseudorandom code. The electronic equipment can compare and identify the pseudo-random codes for each satellite signal respectively, determine whether the pseudo-random codes are matched with the satellite signals, and if the pseudo-random codes are matched with the satellite signals, determine that the satellite sending the satellite signals is the same as the satellite corresponding to the pseudo-random codes, so that the satellite can be identified. Each pseudo-random code can correspond to a satellite number, and after the pseudo-random code matched with a satellite signal is determined, the electronic equipment can serve as the satellite number for sending the satellite signal according to the satellite code corresponding to the pseudo-random code, so that the purpose of satellite identification can be achieved through the pseudo-random code.
The method for acquiring the pseudo-random code of the candidate satellite by the electronic equipment comprises the following three modes:
mode 1: real-time generation of pseudo-random codes
The electronic equipment generates a first linear sequence and a second linear sequence of the candidate satellite through a shift register with a preset code length; the candidate satellite is an existing outdoor satellite or an existing indoor pseudolite; and generating corresponding pseudo-random codes of the candidate satellites according to the first linear sequence and the second linear sequence.
In the embodiment of the application, when the receiver needs to generate the pseudo random code of the candidate satellite, the receiver may generate the first linear sequence and the second linear sequence according to the satellite code corresponding to the candidate satellite and a preset code length. The receiver may generate a pseudorandom code corresponding to the candidate satellite by modulo-two adding the first linear sequence and the second linear sequence. The predetermined code length may be 2046. Fig. 4 is a schematic diagram of a code generator for a pseudorandom code provided in an embodiment of the present application. Wherein the first linear sequence and the second linear sequence may be generated by a first linear shift register of 11 stages and a second linear shift register of 11 stages, respectively. By resetting the control clock, the first and second linear sequences can be restored to the initial phase. The first linear shift register and the second linear shift register can be controlled to generate the first linear sequence and the second linear sequence by shifting the control clock. After the first and second linear shift registers generate the first and second linear sequences, the code generator may perform modulo two addition on the first and second linear sequences until a gold code is generated. The code generator may truncate the last chip of the gold code and generate a pseudorandom code. The gold code may be a combined code formed by linearly combining a pair of m sequences having the same number of stages. In the code generator shown in fig. 4, the phase selector may tap the second shift register differently according to the G2 sequence phase assignment of each candidate satellite (including the outdoor satellite and the indoor pseudolite) to achieve different offsets of the second linear sequence phase and generate a plurality of different second linear sequences. The code generator may generate a plurality of different pseudo-random codes by performing a modulo-two addition of a plurality of different second linear sequences with the first linear sequence, such as by an exclusive-or calculation. The generator polynomial for the first linear sequence and the second linear sequence may be as follows:
G1(X)＝1+X+X 7 +X 8 +X 9 +X 10 +X 11
G2(X)＝1+X+X 2 +X 3 +X 4 +X 5 +X 8 +X 9 +X 11
wherein G1 (X) may represent a first linear sequence, and the initial phase of the first linear sequence may be 01010101010; g2 (X) may represent a second linear sequence, and the initial phase of the second linear sequence may be 01010101010.
In one possible implementation, the receiver may write the outdoor satellite numbers and corresponding phase assignments for all outdoor satellites into a memory of the receiver before receiving the satellite signals. Illustratively, fig. 5 shows a phase allocation table of an outdoor satellite provided in an embodiment of the present application. In fig. 5, a first column may indicate an outdoor satellite number corresponding to each outdoor satellite, a second column may indicate a satellite type corresponding to each outdoor satellite, a third column may indicate a ranging code number corresponding to each outdoor satellite, and a fourth column may indicate a G2 sequence phase assignment corresponding to each outdoor satellite, which is used to generate a pseudo random code. For example, in fig. 5, the outdoor satellite with the outdoor satellite number 1 may be a GEO satellite, the ranging code number thereof is also 1, and the G2 sequence phase assignment thereof may be 1 exclusive or 3. Therefore, the receiver can acquire satellite numbers corresponding to all outdoor satellites and corresponding phase allocations first, and corresponding pseudo-random codes can be obtained through the method in real time.
In one possible implementation, the user may first write all indoor pseudolites corresponding to the indoor pseudolite number and the corresponding phase assignment to the receiver before the receiver receives the satellite signal. In the embodiment of the present application, since the receiver needs to generate the pseudo random code of the candidate satellite in real time, when the user generates the pseudo random code corresponding to the indoor pseudo satellite in the candidate satellite, the user needs to consider the outdoor satellite number of the existing outdoor satellite. Take GPS navigation system as an example of an outdoor satellite navigation system. As shown in fig. 6, a schematic diagram of numbers of satellites occupied by the GPS navigation system in the L5 frequency band is provided in the embodiment of the present application. According to the number of the L5 frequency band extended satellite defined by the GPS navigation system in ICD < IS-GPS-705H >, the GPS navigation system can be determined to occupy the number 38 to 68 as the outdoor satellite number. As shown in fig. 7, a schematic diagram of numbers of satellites occupied by a GPS navigation system in an L1 frequency band is provided in the embodiment of the present application. According to the number of the extended satellite in the L1 frequency band defined by the GPS navigation system in ICD < IS-GPS-705H >, the GPS navigation system can be determined to occupy the number 70-95 as the number of the outdoor satellite. Therefore, to distinguish the outdoor satellite numbers that the GPS navigation system has occupied, the indoor pseudolite numbers of the indoor pseudolites may take [ X +1, X +63]. In order to distinguish the numbers of the outdoor satellites occupied by the GPS navigation system, the value of X may be greater than or equal to 95. In the embodiment of the present application, taking X =256 as an example, as shown in table 1 below, an indoor pseudolite number table of indoor pseudolites provided in the embodiment of the present application is provided, and corresponding phase allocations are configured for different indoor pseudolites, so as to achieve the purpose of generating pseudo-random codes in real time.
TABLE 1
In the embodiment of the application, the generation process of the pseudo random code of the indoor pseudolite is completely the same as that of the pseudo random code of the outdoor satellite, the electronic equipment can generate the first linear sequence and the second linear sequence according to the codes configured in advance by the indoor pseudolite and then generate the pseudo random codes, namely the real-time generation mode of the pseudo random codes can be applied to satellites of different types, so that equipment positioning can be realized in different scenes. The satellite corresponding to the satellite signal is determined by generating the pseudo-random code in real time, the method has the characteristic of identification flexibility, and the satellite can be identified by adopting the method under the condition that the number of outdoor satellites is increased or decreased, so that the method has good capacity expansion capacity and compatibility.
Mode 2: static storage read-only memory cell
The electronic equipment can write the pseudo-random codes corresponding to all the candidate satellites into a read-only storage unit of the receiver; the candidate satellite includes: existing outdoor satellites and existing indoor pseudolites.
In one possible implementation, the receiver may write the corresponding pseudo-random codes of all outdoor satellites and the pseudo-random codes of all indoor pseudo-satellites into the read-only memory of the receiver before receiving the satellite signals. The pseudo-random code corresponding to the indoor pseudo-satellite can correspond to a satellite number, and the pseudo-random code corresponding to the outdoor satellite can also correspond to a satellite number. Wherein, the number section of the satellite number of indoor pseudo-satellite and the number section of the satellite number of outdoor satellite can be different to when can distinguish the satellite of different grade type, also can not influence the serial number of current outdoor satellite.
In the embodiment of the application, the indoor pseudo satellite number of the indoor pseudo satellite is different from the outdoor satellite number of the outdoor satellite, so that one receiver can simultaneously receive the satellite signal transmitted by the outdoor satellite and the satellite signal transmitted by the indoor pseudo satellite. Since the outdoor satellite number is different from the indoor pseudolite number, the receiver does not erroneously recognize the satellite signal because the numbers are the same, and thus the receiver can simultaneously receive the satellite signal transmitted by the outdoor satellite and the satellite signal transmitted by the indoor pseudolite.
In the embodiment of the present application, the pseudo random code lookup table stored in the receiver includes pseudo random codes corresponding to all outdoor satellites and all indoor pseudo satellites, and the pseudo random code lookup table is written into the read-only memory unit of the receiver. The pseudo-random codes corresponding to the satellites are generated in advance, so that when the receiver receives satellite signals and needs to determine the corresponding satellites, the pseudo-random codes corresponding to the outdoor satellites can be read directly and quickly from the storage unit, corresponding satellite identification is completed, and identification efficiency is improved.
Mode 3: part of the pseudo-random code is statically stored in a read-only memory unit, and another part of the pseudo-random code is stored in a erasable memory unit
The electronic device may write pseudo-random codes corresponding to a first number of candidate satellites into a read-only memory unit of the receiver; the candidate satellites comprise existing outdoor satellites and/or existing indoor pseudolites; writing pseudo-random codes corresponding to a second number of candidate satellites to a erasable memory unit of the receiver.
In this embodiment, the electronic device may be configured with a read-only memory unit (ROM) and an erasable memory unit (RAM), and the electronic device may write a part of the pseudo random codes of the candidate satellites into the read-only memory unit and the remaining part of the pseudo random codes of the candidate satellites into the erasable memory unit. The read-only memory unit can be used for storing the pseudo random code of the indoor satellite and can also be used for storing the pseudo random code of the outdoor satellite. Similarly, the erasable storage unit may be used to store the pseudo random code of the indoor satellite, and may also be used to store the pseudo random code of the outdoor satellite, and what type of storage unit is specifically used to store the pseudo random codes, and the storage amount may be determined according to practical situations, and is not limited herein.
In one possible implementation, the electronic device may store the pseudo random code corresponding to the existing outdoor satellite in the read-only memory unit, and store the pseudo random code corresponding to the existing indoor satellite in the erasable memory unit. Because the number of outdoor satellites is often fixed, the change probability of the corresponding pseudo random code is low, and therefore the fixed pseudo random code can be written in the read-only memory unit; the number and positions of the pseudolites arranged in the indoor pseudolites may change due to the change of the indoor layout and the like, so that the change probability of the corresponding pseudo random codes is high, and the pseudo random codes are changed frequently, so that the pseudo random codes of the indoor pseudolites can be stored in the erasable storage unit so as to be adjusted conveniently.
In this embodiment, when the electronic device stores the pseudo random code of the candidate satellite in the readable memory, the electronic device may store the satellite number corresponding to the candidate satellite in association with the pseudo random code, so that the purpose of satellite identification through the pseudo random code can be achieved. Similarly, when storing in the erasable storage unit, the pseudo random code of the candidate satellite and the corresponding satellite number may be stored in association with each other.
Since part of the pseudo random code is stored in the erasable memory unit, when the pseudo random code of the satellite needs to be added, the pseudo random code needing to be added can be stored in the erasable memory unit. The specific implementation process is as follows: receiving an adding instruction of a pseudo-random code, and acquiring a new added pseudo-random code and a satellite number carried in the adding instruction; and writing the newly added pseudo random code and the satellite code into the erasable storage unit. When an indoor pseudo satellite or an outdoor satellite needs to be added, an adding instruction can be generated, the adding instruction carries a pseudo-random code corresponding to the newly added satellite (namely, the newly added pseudo-random code) and a satellite number corresponding to the newly added satellite, and after the electronic equipment receives the adding instruction, the corresponding content of the electronic equipment can be stored in the erasable storage unit, so that the capacity expansion of the quantity of the identifiable satellites is realized.
Because part of the pseudo random code is stored in the erasable storage unit, the pseudo random code can be modified, and the specific implementation process is as follows: receiving an update instruction of a pseudo-random code, and acquiring the update pseudo-random code and a satellite code carried in the update instruction; and updating the pseudo random code corresponding to the satellite code in the erasable storage unit into the updated pseudo random code. When the pseudo-random code corresponding to the indoor pseudo-satellite or the outdoor satellite needs to be modified, an updating instruction can be generated, the updating instruction carries the pseudo-random code corresponding to the satellite to be modified (namely, the newly added pseudo-random code) and the satellite number corresponding to the satellite, and after the electronic equipment receives the updating instruction, the pseudo-random code corresponding to the satellite number can be updated, so that the pseudo-random code can be modified.
In S203, spatiotemporal information is generated based on the information required for positioning acquired from the plurality of satellites.
In the embodiment of the present application, after determining which satellite the satellite corresponding to the transmitted satellite signal corresponds to, the receiver may obtain information required for positioning from the satellite, and after receiving the information required for positioning from a plurality of different satellites, may implement a positioning function, that is, determine the location of the receiver, and generate a corresponding positioning update. Alternatively, the plurality of satellite signals may be satellite signals transmitted by 4 different satellites, which may include indoor pseudolites and outdoor satellites.
The time-space information includes various types of information such as positioning information, time service information, speed information and the like. The positioning information in the spatio-temporal information can be used for positioning.
In the embodiment of the application, the receiver can receive a plurality of satellite signals; wherein the plurality of satellite signals may be satellite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals transmitted by a combination of indoor pseudolites and outdoor satellites; that is, the type of satellite transmitting the satellite signal may be an outdoor type or an indoor type; the receiver can respectively determine satellites corresponding to the satellite signals through pseudo-random codes, so that information required by positioning is obtained through the satellites; the positioning of the receiver is then done by acquiring the information needed for the positioning from a plurality of satellites. By the method, the receiver can receive satellite signals sent by an outdoor satellite for outdoor positioning, can also receive satellite signals sent by an indoor pseudo satellite for indoor positioning, and can also receive satellite signals sent by indoor and outdoor satellites for positioning at the same time, so that the positioning requirements of the receiver in different scenes are met, the use efficiency of the receiver is improved, different types of receivers do not need to be configured for different positioning scenes, and the size, power consumption and cost of the positioning terminal are reduced.
It should be noted that, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Referring to fig. 8, a schematic diagram of a positioning apparatus provided in the embodiment of the present application is shown, and specifically, the positioning apparatus may include a satellite signal receiving module 801, an information receiving module 802, and a positioning module 803, where:
a satellite signal receiving module 801, configured to receive a plurality of satellite signals; the plurality of satellite signals includes: pseudolite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals combined by an indoor pseudolite and an outdoor satellite;
an information receiving module 802, configured to determine satellites corresponding to the satellite signals respectively through pseudo-random codes of satellite numbers, so as to obtain information required for positioning from the satellites; the pseudo-random codes comprise pseudo-random codes of indoor pseudo-satellites and pseudo-random codes of outdoor satellites; the satellite is the outdoor satellite or the indoor pseudolite;
a positioning module 803, configured to generate spatiotemporal information according to the information required for positioning acquired from the plurality of satellites.
Optionally, the positioning device further comprises:
the linear sequence generating module is used for generating a first linear sequence and a second linear sequence of the candidate satellite through a shift register with a preset code length; the candidate satellite is an existing outdoor satellite or an existing indoor pseudolite;
and the linear sequence combining module is used for generating the pseudo random codes corresponding to the candidate satellites according to the first linear sequence and the second linear sequence.
Optionally, the positioning device further comprises:
the first read-only writing module is used for writing the pseudo-random codes corresponding to all the candidate satellites into a read-only storage unit of the receiver; the candidate satellite includes: existing outdoor satellites and existing indoor pseudolites.
Optionally, the positioning device further comprises:
the second read-only writing module is used for writing the pseudo-random codes corresponding to the first number of candidate satellites into a read-only storage unit of the receiver; the candidate satellites comprise existing outdoor satellites and/or existing indoor pseudolites;
and the erasable writing module is used for writing the pseudo random codes corresponding to the second number of candidate satellites into an erasable storage unit of the receiver.
Optionally, the positioning device further comprises:
the device comprises an adding instruction receiving module, a satellite number acquiring module and a pseudo random code adding module, wherein the adding instruction receiving module is used for receiving an adding instruction of a pseudo random code and acquiring a new added pseudo random code and a satellite number carried in the adding instruction;
and adding a corresponding module for writing the newly added pseudo random code and the satellite code into the erasable storage unit.
Optionally, the positioning device further comprises:
the updating instruction receiving module is used for receiving an updating instruction of the pseudo-random code and acquiring the updating pseudo-random code and the satellite code carried in the updating instruction;
and the updating response module is used for updating the pseudo random code corresponding to the satellite code in the erasable storage unit into the updating pseudo random code.
Optionally, the information receiving module 802 includes:
the signal matching module is used for respectively matching the pseudo-random codes corresponding to the candidate satellites with the satellite signals;
and the satellite determining module is used for determining a satellite corresponding to the satellite signal according to the matching result.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to the description of the method embodiment section for relevant points.
Referring to fig. 9, a schematic diagram of a terminal device provided in an embodiment of the present application is shown. As shown in fig. 9, the terminal device 900 in the embodiment of the present application includes: a processor 910, a memory 920, and a computer program 921 stored in the memory 920 and operable on the processor 910. The processor 910 implements the steps in the embodiments of the positioning method described above, such as the steps S201 to S203 shown in fig. 2, when executing the computer program 921. Alternatively, the processor 910 implements the functions of the modules/units in the device embodiments described above, for example, the functions of the modules 801 to 803 shown in fig. 8, when executing the computer program 921.
Illustratively, the computer program 921 may be partitioned into one or more modules/units, which are stored in the memory 920 and executed by the processor 910 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing certain functions, which may be used to describe the execution of the computer program 921 in the terminal device 900. For example, the computer program 921 may be divided into a satellite type determining module, a pseudo-random code generating module, and a positioning information generating module, and the specific functions of the modules are as follows:
the satellite type judging module is used for judging the type of a satellite sending the satellite signal according to the satellite signal when the satellite signal is received; the satellite types comprise an outdoor type and an indoor type; the outdoor type satellite is used for carrying out outdoor positioning; the indoor type satellite is a pseudolite for indoor positioning;
the pseudo-random code generating module is used for generating a pseudo-random code corresponding to the satellite signal through a transcoding algorithm associated with the satellite type; the pseudo-random code is used to determine the relative position between the receiver and the satellite transmitting the satellite signal;
and the positioning information generating module is used for generating positioning information according to the plurality of pseudo random codes.
The terminal device 900 may be the receiver in the foregoing embodiments, and the receiver may be a computing device such as a desktop computer, a cloud server, and the like. The terminal device 900 may include, but is not limited to, a processor 910, a memory 920. Those skilled in the art will appreciate that fig. 9 is only one example of a terminal device 900 and does not constitute a limitation of terminal device 900 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., terminal device 900 may also include input-output devices, network access devices, buses, etc.
The Processor 910 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 920 may be an internal storage unit of the terminal device 900, such as a hard disk or a memory of the terminal device 900. The memory 920 may also be an external storage device of the terminal device 900, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so on, provided on the terminal device 400. Further, the memory 920 may also include both an internal storage unit and an external storage device of the terminal device 900. The memory 920 is used for storing the computer program 921 and other programs and data required by the terminal device 900. The memory 920 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the present application further discloses a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the positioning method according to the foregoing embodiments when executing the computer program.
The embodiment of the application also discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the positioning method according to the foregoing embodiments.
The embodiment of the present application also discloses a computer program product, which when running on a computer, causes the computer to execute the positioning method described in the foregoing embodiments.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A positioning method for fusing indoor and outdoor satellites is applied to a receiver, and the receiver is used for receiving satellite signals and is characterized by comprising the following steps:
receiving a plurality of satellite signals; the plurality of satellite signals includes: pseudolite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals combined by an indoor pseudolite and an outdoor satellite;
respectively determining satellites corresponding to the satellite signals through pseudo-random codes of satellite numbers so as to acquire information required by positioning from the satellites; the pseudo-random codes comprise pseudo-random codes of indoor pseudo-satellites and pseudo-random codes of outdoor satellites; the satellite is the outdoor satellite or the indoor pseudolite;
generating spatiotemporal information from the information required for positioning acquired from the plurality of satellites.
2. The method of claim 1, wherein before the determining the satellites corresponding to the satellite signals respectively by the satellite-numbered pseudo random codes, further comprising:
generating a first linear sequence and a second linear sequence of the candidate satellite through a shift register with a preset code length; the candidate satellite is an existing outdoor satellite or an existing indoor pseudolite;
and generating corresponding pseudo-random codes of the candidate satellites according to the first linear sequence and the second linear sequence.
3. The method of claim 1, wherein before the determining the satellites corresponding to the satellite signals respectively by the satellite-numbered pseudo random codes, further comprising:
writing pseudo-random codes corresponding to all candidate satellites into a read-only memory unit of the receiver; the candidate satellite includes: existing outdoor satellites and existing indoor pseudolites.
4. The method of claim 1, wherein before the determining the satellites corresponding to the satellite signals respectively by the satellite-numbered pseudo random codes, further comprising:
writing pseudo-random codes corresponding to a first number of candidate satellites into a read-only memory unit of the receiver; the candidate satellites comprise existing outdoor satellites and/or existing indoor pseudolites;
writing pseudo-random codes corresponding to a second number of candidate satellites to a erasable memory unit of the receiver.
5. The method of claim 4, wherein after writing pseudo random codes corresponding to a second number of candidate satellites to the erasable memory unit of the receiver, further comprising:
receiving an adding instruction of a pseudo-random code, and acquiring a new added pseudo-random code carried in the adding instruction;
and writing the new added pseudo random code into the erasable storage unit.
6. The method of claim 4, wherein after writing pseudo random codes corresponding to a second number of candidate satellites to the erasable memory unit of the receiver, further comprising:
receiving an updating instruction of a pseudo random code, and acquiring the updating pseudo random code and a satellite code carried in the updating instruction;
and updating the pseudo random code corresponding to the satellite code in the erasable storage unit into the updated pseudo random code.
7. The method according to any one of claims 1-6, wherein the determining the satellite corresponding to the satellite signal by the pseudo random code of the satellite number comprises:
respectively matching the pseudo-random codes corresponding to the candidate satellites with the satellite signals;
and determining the satellite corresponding to the satellite signal according to the matching result.
8. A positioning apparatus that fuses indoor and outdoor satellites, comprising:
the satellite signal receiving module is used for receiving a plurality of satellite signals; the plurality of satellite signals includes: pseudolite signals transmitted by a plurality of indoor pseudolites, or satellite signals transmitted by a plurality of outdoor satellites, or a plurality of satellite signals combined by an indoor pseudolite and an outdoor satellite;
the information receiving module is used for respectively determining satellites corresponding to the satellite signals through pseudo-random codes of satellite numbers so as to acquire information required by positioning from the satellites; the pseudo-random codes comprise pseudo-random codes of indoor pseudo-satellites and pseudo-random codes of outdoor satellites; the satellite is the outdoor satellite or the indoor pseudolite;
and the positioning module is used for generating space-time information according to the information required by positioning acquired from the satellites.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the positioning method according to any of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the positioning method according to any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310027691.3A CN115951376A (en) | 2023-01-09 | 2023-01-09 | Positioning method and device fusing indoor and outdoor satellites, terminal equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310027691.3A CN115951376A (en) | 2023-01-09 | 2023-01-09 | Positioning method and device fusing indoor and outdoor satellites, terminal equipment and storage medium |
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| CN202310027691.3A Pending CN115951376A (en) | 2023-01-09 | 2023-01-09 | Positioning method and device fusing indoor and outdoor satellites, terminal equipment and storage medium |
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| CN (1) | CN115951376A (en) |
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