CN116106949A - Indoor positioning system and method based on pseudolite - Google Patents

Indoor positioning system and method based on pseudolite Download PDF

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Publication number
CN116106949A
CN116106949A CN202310340077.2A CN202310340077A CN116106949A CN 116106949 A CN116106949 A CN 116106949A CN 202310340077 A CN202310340077 A CN 202310340077A CN 116106949 A CN116106949 A CN 116106949A
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pseudo
indoor
gnss signals
receiver
position information
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邓科
王泽霖
王文杰
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Xian Jiaotong University
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Xian Jiaotong University
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Priority to CN202310340077.2A priority Critical patent/CN116106949A/en
Publication of CN116106949A publication Critical patent/CN116106949A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Radio Relay Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses an indoor positioning system and method based on pseudolites, comprising the following steps: the system comprises an outdoor receiver, an indoor transmitter and a main control end; the indoor transmitter is a multi-antenna transmitter, and the coverage range of a transmitting signal of the indoor transmitter is divided into a plurality of transmitting areas; the outdoor receiver receives GNSS signals of the visible satellites and sends the GNSS signals to the main control terminal; the main control terminal calculates the position information of the outdoor receiver according to the received GNSS signals, and carries out pseudo-range modification on the calculated position information by modifying the C/A code phase according to the position information of the transmitting area and the position information of the outdoor receiver to obtain pseudo-GNSS signals corresponding to the transmitting area and send the pseudo-GNSS signals to the indoor transmitter and control the beam direction of the indoor transmitter; the indoor transmitter transmits pseudo GNSS signals to the corresponding transmitting areas under the control of the master control end. The invention can realize the signal transmission of a plurality of different transmitting areas through one indoor transmitter, and has lower equipment cost and maintenance cost.

Description

Indoor positioning system and method based on pseudolite
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to an indoor positioning system and method based on pseudolites.
Background
Indoor positioning is always a research hotspot, and a user cannot receive clear GNSS signals indoors due to interference of factors such as walls. At present, bluetooth and WIFI are generally adopted for auxiliary positioning, mainly through a ranging intersection method, signal intensity measurement based on RSSI is carried out, signal intensity attenuation intensity of signals from an access point to a receiver is converted into distance between the two by using a signal intensity attenuation model, and a triangular positioning method is adopted to estimate the position of the receiver according to distance constraint between more than three access points and the receiver. However, because the signal intensity attenuation model is strongly related to the indoor environment, the indoor environment is complex and changeable, the non-line-of-sight phenomenon is serious, and it is difficult to obtain an accurate signal intensity attenuation model. This approach requires at least three transmitters in the room and additional design of the solution system.
The proposed indoor positioning method is basically based on a fingerprint algorithm, standard reference diagrams need to be measured first, after a user enters a positioning area, the advancing user acquires characteristic information in real time, the real-time acquired data is compared with the stored reference diagrams, and the best matching result is acquired according to the corresponding criteria, so that the autonomous positioning of the carrier is realized. However, the method firstly needs to consume a certain cost of manpower and material resources through the stage of constructing the fingerprint library, and the field rasterization, the grid point signal fingerprint acquisition and the fingerprint library correction processing, so that the input and the use of the indoor positioning technology in actual occasions are greatly restricted.
Document CN110456307B discloses a terminal positioning method based on indoor pseudolite signal carrier-to-noise ratio, which is to build an indoor signal intensity database and compare the received pseudolite signal intensity with the database to realize positioning, but the method firstly needs to consume a certain cost of manpower and material resources through the stage of building a fingerprint database, and the steps of site rasterization, grid point signal fingerprint acquisition and fingerprint database correction processing are all needed. Document CN105425259B proposes an indoor positioning method based on inverse GNSS node, where one indoor transmitter corresponds to a fixed area, and when the indoor area is large or the positioning accuracy requirement is high, more areas need to be divided, that is, more indoor transmitters are needed, and the cost is high, and in this method, all indoor transmitters need to continuously transmit signals into the areas and refresh in real time, so that resources are wasted.
Document CN104035068B arranges more than 3 pseudolite base stations equipped with barometric altimeter sensors in the room, and the three-dimensional position of the pseudolite is encoded according to a certain format to generate a navigation message, and the navigation message is modulated and transmitted through an antenna. The method requires that the user side is also provided with a temperature sensor and an air pressure sensor, and the receiver is combined with air pressure height measurement information after receiving signals sent by the pseudolite base station, so that three-dimensional positioning is realized. Document CN113848573a proposes a method for indoor and outdoor seamless positioning, where a master control end distributes captured astronomical satellites for indoor pseudolites through carrier-to-noise ratio, but an additional reference transmitting end is required to calculate the distance and the included angle between the transmitting end and an indoor target, so as to realize indoor and outdoor positioning. Document CN109839615 proposes an indoor positioning system of the UKF algorithm, which aims to solve the problem of influence of nonlinear errors on indoor positioning, eliminates the influence of receiver clock errors and the like by constructing a pseudo-satellite double-difference pseudo-range observation model, has low popularity, and requires to design additional receiver algorithms. Document CN113820730a designs an indoor positioning system based on beidou, which needs to set additional beidou active beacons, construct a beidou pseudolite fixed scattering point model, and realize complex realization through the active beacons, the scattering point model and the pseudolite three-dimensional positioning, so that most application scenes cannot be satisfied. The document CN113093251B sets a reference point in advance in a positioning environment, and positioning is achieved by comparing the user target with the reference point similarity. The outdoor receiver of the document CN106767831A collects the positioning information of the outdoor receiver, the indoor transmitter generates analog signals with similar satellite wave bands and frequencies, only the external GNSS signals are transmitted in through the system, no pseudo-range modification exists, and the synchronization problem exists. Document CN105549052a devised an indoor positioning method based on GNSS repeaters, combined with pseudolite and GNSS repeater technology, requires all repeaters to be connected with one outdoor antenna with cables, measuring the distances from different repeaters to the receiver by different satellite signals, no signal modification exists, and the cable length may cause erroneous judgment of the repeater.
In summary, although there are a plurality of indoor positioning methods, there are respective disadvantages.
Disclosure of Invention
Aiming at the problems existing in indoor positioning in the prior art, the invention provides an indoor positioning system and an indoor positioning method based on pseudolites, solves the problem of indoor blind areas of satellite signals, adopts satellite signal positioning, has high accuracy, can realize indoor and outdoor seamless connection, can realize signal transmission of a plurality of different transmitting areas through one indoor transmitter, and has lower equipment cost and maintenance cost.
The invention is realized by the following technical scheme:
an indoor positioning system based on pseudolites, comprising: the system comprises an outdoor receiver, an indoor transmitter and a main control end; the indoor transmitter is a multi-antenna transmitter; the indoor transmitter is divided into a plurality of transmitting areas in the indoor transmitting signal coverage area;
the outdoor receiver is used for receiving GNSS signals of the visible satellites and sending the GNSS signals to the main control end;
the main control terminal is used for receiving GNSS signals sent by the outdoor receiver, calculating the position information of the outdoor receiver according to the received GNSS signals, carrying out pseudo-range modification on the calculated position information by modifying the C/A code phase according to the position information of the transmitting area and the position information of the outdoor receiver, obtaining pseudo-GNSS signals corresponding to the transmitting area and sending the pseudo-GNSS signals to the indoor transmitter; for controlling the beam direction of the indoor transmitter;
and the indoor transmitter is used for receiving the pseudo GNSS signals sent by the main control end and transmitting the pseudo GNSS signals to the corresponding transmitting area under the control of the main control end.
Preferably, the outdoor receiver is a GNSS receiver.
Preferably, the master control end comprises a GNSS resolving module, a pseudo-range modifying module and a transmitting control module;
the GNSS resolving module is used for resolving the position information of the outdoor receiver according to the received GNSS signals;
the pseudo-range modification module is used for carrying out pseudo-range modification on the calculated position information by modifying the C/A code phase according to the position information of the transmitting area and the position information of the outdoor receiver, and reconstructing the pseudo-range modification into pseudo-GNSS signals corresponding to the transmitting area;
and the emission control module is used for controlling the beam direction of the indoor transmitter so that the indoor transmitter emits pseudo GNSS signals to the corresponding emission area.
Preferably, the indoor transmitter transmits the pseudo-GNSS signals only to the transmitting area where the user receiver is present.
Preferably, a plurality of indoor transmitters are arranged, and the coverage range of the transmitting signals of each indoor transmitter is different.
An indoor positioning method based on pseudolites, based on the system, comprises the following steps:
step 1, an outdoor receiver receives GNSS signals of visible satellites and sends the GNSS signals to a main control terminal;
step 2, the master control end receives GNSS signals sent by the outdoor receiver, and the position information of the outdoor receiver is calculated;
step 3, the main control terminal carries out pseudo-range modification on the calculated position information of the outdoor receiver by modifying the C/A code phase according to the position information of the transmitting area and the position information of the outdoor receiver, so as to obtain a pseudo-GNSS signal corresponding to the transmitting area and send the pseudo-GNSS signal to the indoor transmitter;
step 4, the indoor transmitter receives the pseudo-GNSS signals, and the main control end controls the beam direction of the indoor transmitter to enable the indoor transmitter to transmit the pseudo-GNSS signals to the corresponding transmitting area;
and 5, receiving the pseudo GNSS signals by the user receiver, and calculating the position information of the user receiver according to the pseudo GNSS signals.
Preferably, in step 1, the outdoor receiver amplifies the received GNSS signal and sends the amplified GNSS signal to the master control end in an analog signal manner.
Preferably, in step 5, the user receiver is a receiver capable of resolving GNSS signals.
Preferably, in step 4, the indoor transmitter transmits the pseudo-GNSS signals only to the transmitting area where the user receiver is present.
Compared with the prior art, the invention has the following beneficial effects:
the system mainly receives the GNSS signals by the outdoor receiver, the main control end solves satellite navigation information in the GNSS signals, the indoor transmitter is used as a pseudo satellite to transmit the modified GNSS signals after the pseudo range is modified by signal processing, the user receiver does not need to modify, the position of the user can be solved by the existing GNSS positioning software, and the system can be used in large occasions such as markets. And because the GNSS signals are always received by the user receiver, the user receiver can immediately position the pseudolite signals after entering the room from the outside, and the seamless connection of the outdoor and the indoor positioning can be realized. The indoor transmitter is a multi-antenna transmitter, and the beam direction of the indoor transmitter is controlled through the main control end, so that one indoor transmitter can transmit pseudo GNSS signals to different transmitting areas, therefore, the indoor transmitter can realize signal transmission of a plurality of different transmitting areas, and compared with one indoor transmitter correspondingly arranged in one transmitting area, the indoor transmitter is lower in equipment cost and maintenance cost and easier to manage and control. According to the invention, through deployment of the virtual satellite, global coverage of GNSS satellite signals in an indoor environment is completed, and the problem of indoor blind areas of satellite signals is solved. The system has high universality, and the positioning information can be solved only by the terminal capable of analyzing the satellite signals without modifying the user receiver.
Furthermore, the invention controls the beam direction of the indoor transmitter through the main control end, only carries out pseudo GNSS signal transmission to the area where the user receiver is located, the indoor transmitter is selectively transmitted, and when no user exists in a certain transmitting area, the indoor transmitter stops transmitting signals to the area, thereby saving resources.
The invention designs a method for realizing indoor positioning by modifying pseudo-range of GNSS signals through an outdoor receiver and an indoor pseudo-satellite, wherein the GNSS realizes positioning, which is mainly embodied in pseudo-range measurement, a satellite transmits a ranging code according to own clock, the satellite reaches the GNSS receiver through time propagation, and the receiver generates a group of duplicate codes with identical structures under own clock, and the delay time is determined by comparing phases of the two duplicate codes. Pseudo-range modification can be achieved through modification of the C/A code phase, pseudo-GNSS signals are obtained, and the indoor transmitter sends the pseudo-GNSS signals to indoor users through control of the main control end on the beam direction of the indoor transmitter, so that the indoor transmitter can transmit signals to different transmitting areas. The invention solves the problem of indoor blind areas of satellite signals, adopts satellite signal positioning, has high accuracy and low cost, and can realize indoor and outdoor seamless connection.
Drawings
FIG. 1 is a diagram illustrating the position information of an original GNSS signal in a simulation according to the present invention;
FIG. 2 is a diagram of positioning information after a first pseudorange modification in a simulation of the present invention;
FIG. 3 is a diagram of positioning information after a second pseudo-range modification in a simulation of the present invention;
FIG. 4 is a schematic diagram of the pseudolite-based indoor positioning system of the present invention;
in the figure: 1 is a visible satellite, 2 is an outdoor receiver, 3 is a main control end, 4 is an indoor transmitter, and 5 is a user receiver.
Detailed Description
For a further understanding of the present invention, the present invention is described below in conjunction with the following examples, which are provided to further illustrate the features and advantages of the present invention and are not intended to limit the claims of the present invention.
The invention relates to an indoor positioning system based on pseudolites, which comprises: an outdoor receiver 2, an indoor transmitter 4 and a main control end 3; the indoor transmitter is a multi-antenna transmitter; the indoor transmitter is divided into a plurality of transmitting areas in the indoor transmitting signal coverage area;
the outdoor receiver 2 is used for receiving the GNSS signals of the visible satellites 1, amplifying the GNSS signals and then sending the GNSS signals to the main control end 3 in an analog signal mode;
the master control end 3 is configured to receive the GNSS signals sent by the outdoor receiver 2, calculate position information of the outdoor receiver 2 according to the received GNSS signals, modify the calculated position information of the outdoor receiver 2 by modifying the C/a code phase according to the position of the transmitting area and the position information of the outdoor receiver 2, obtain pseudo-GNSS signals corresponding to the transmitting area, and send the pseudo-GNSS signals to the indoor transmitter 4; for controlling a beam direction of an indoor transmitter using a beamforming (beamforming) technique; the position information of the transmitting area is obtained through mapping means;
and the indoor transmitter 4 is used for receiving the pseudo-GNSS signals sent by the main control end 3 and transmitting the received pseudo-GNSS signals to the corresponding transmitting areas under the control of the main control end.
The main control end 3 comprises a GNSS resolving module, a pseudo-range modifying module and a transmitting control module;
the GNSS resolving module of the main control end is used for resolving the position information of the outdoor receiver according to the received GNSS signals;
the pseudo-range modification module of the main control end is used for carrying out pseudo-range modification on the calculated position information of the outdoor receiver 2 by modifying the C/A code phase according to the position of the transmitting area and the position information of the outdoor receiver 2, and reconstructing the pseudo-range modification into pseudo-GNSS signals corresponding to the transmitting area;
and the transmitting control module of the main control end is used for controlling the beam direction of the indoor transmitter by utilizing a beam forming technology and realizing the transmission of the pseudo GNSS signals to the corresponding transmitting area. The invention can transmit the pseudo-GNSS signals to all transmitting areas simultaneously, more preferably only to the transmitting area with the user receiver, and when the user moves from one area to another area, as shown in fig. 4, the transmitting control module controls the beam direction of the indoor transmitter to transmit to the transmitting area where the user receiver is located.
The outdoor receiver 2 is a GNSS receiver, and is placed in an open environment such as a building top where clear satellite signals can be received.
The indoor transmitters 4 according to the present invention may be arranged in one or more, for example, three or more, according to the size of the indoor area, and the coverage ranges of the transmission signals of the indoor transmitters are different. And dividing the transmitting area of the transmitting signal coverage of each indoor transmitter, and controlling the indoor transmitters to transmit pseudo GNSS signals to different transmitting areas through a transmitting control module. The total coverage of each indoor transmitter is required to cover all areas in the room. The indoor transmitter transmits pseudo-GNSS analog signals, and the reconstructed pseudo-GNSS signals should contain all visible satellite signals in the air. All the indoor transmitters are connected to the main control end, the transmitting control module of the main control end performs unified management and control on the indoor transmitters and transmits pseudo GNSS signals in cooperation with the indoor transmitters, and the indoor transmitters have the advantages that the number of arranged antennas can be reduced, the transmitting control module can adjust the indoor transmitters to transmit signals to a transmitting area where a user is located, the power of each indoor transmitter can be flexibly adjusted, and the utilization rate of resources is improved.
In a preferred manner, when the user receiver 5 moves from one area to another, the master control end controls the beam direction of the indoor transmitter, performs pseudo-GNSS signal transmission to the transmitting area where the user receiver is located, and does not transmit signals to the area where the user receiver is not located. The user receiver 5 receives the pseudo-GNSS signals and calculates the position information of the user receiver from the pseudo-GNSS signals.
The user receiver 5 is a receiver capable of resolving GNSS signals, and the existing GNSS receiver does not need any modification.
The indoor positioning method is realized by transmitting pseudo GNSS signals through an indoor transmitter, and comprises the following specific processes:
step 1, an outdoor receiver receives GNSS signals of visible satellites, amplifies and forwards the GNSS signals for acquiring positioning information of the receiver, and sends the GNSS signals to a main control end in an analog signal mode;
step 2, the master control end receives the GNSS signals sent by the outdoor receiver, and the navigation information in the GNSS signals is calculated to obtain the position information of the outdoor receiver;
step 3, the main control end carries out pseudo-range modification on the calculated position information of the outdoor receiver 2 by modifying the C/A code phase according to the position information of the transmitting area and the position information of the outdoor receiver 2, the pseudo-GNSS signals obtained after modification are sent to the indoor transmitter, the main control end controls the beam direction of the indoor transmitter to enable the indoor transmitter to transmit the pseudo-GNSS signals to the corresponding transmitting area, and the pseudo-range modification can be calculated in advance without real-time calculation because the dividing mode of the indoor area is known in advance;
and 4, receiving the pseudo GNSS signals by the user receiver, positioning the user receiver mainly through pseudo ranges according to a GNSS positioning principle, and calculating the position information of the user receiver according to the pseudo GNSS signals.
In the invention, the indoor transmitting area is divided in advance and stored in the main control end, the main control end controls the indoor transmitter to transmit pseudo GNSS signals indoors, the indoor transmitter is a multi-antenna transmitter and consists of an antenna array, and when the indoor transmitter transmits pseudo GNSS signals, the indoor transmitter preferably transmits the pseudo GNSS signals to the transmitting area where the user receiver is located under the control of the main control end. The user moves in the room, the indoor transmitter transmits signals to the transmitting area with the user receiver for selective transmission, and when no user exists in a certain transmitting area, the signal transmission to the transmitting area is stopped, so that the resource can be saved.
The region division in the invention is not a fingerprint positioning algorithm, but ensures that the signal is transmitted. The regional division can reduce the energy consumption of the indoor transmitter and avoid interference caused by receiving pseudo GNSS signals by users at different positions. When a user moves from one area to another, the main control end controls the beam direction of the indoor transmitter to transmit pseudo GNSS signals to the area where the user receiver is located.
When a user walks indoors, the indoor transmitter transmits pseudo GNSS signals, and the satellite system can calculate the position of the user. When a user enters the room from the outside, the visible satellite of the user receiver is consistent, the indoor receiver transmits visible satellite signals after the pseudo range is modified, and the user receiver can realize seamless positioning.
Simulation examples
The simulation of the pseudo-range modification method is as follows:
the position information of the received raw GNSS signals is resolved as shown in fig. 1. As can be seen from FIG. 1, 6 satellites can be acquired, and the original positioning result is latitude 34 degrees 15 degrees 33.3894 ', longitude 108 degrees 38 degrees 53.0962'.
By modifying the C/a code phase, modifying the propagation time between the outdoor receiver reception time and the satellite transmission time, the pseudorange modification is achieved, increasing the longitude by one second, and again solving the position location with the positioning program (as shown in fig. 2): the positioning result is latitude 34 degrees 15 '33.3822', longitude 108 degrees 38 '54.1033', and the positioning result is compared with the original signal result, the longitude is increased by one second, and the modification is successful.
The pseudorange modification is re-performed such that the longitude increases by one minute, the latitude decreases by one minute, and the position is relocated (as shown in fig. 3): the result is latitude 34 deg. 14 '33.2492 ", longitude 108 deg. 39' 53.1731", and the modification was successful.
The simulation results illustrate the effectiveness of the pseudo-range modification method of the present invention.

Claims (9)

1. An indoor positioning system based on pseudolites, comprising: the system comprises an outdoor receiver, an indoor transmitter and a main control end; the indoor transmitter is a multi-antenna transmitter; the indoor transmitter is divided into a plurality of transmitting areas in the indoor transmitting signal coverage area;
the outdoor receiver is used for receiving GNSS signals of the visible satellites and sending the GNSS signals to the main control end;
the main control terminal is used for receiving GNSS signals sent by the outdoor receiver, calculating the position information of the outdoor receiver according to the received GNSS signals, carrying out pseudo-range modification on the calculated position information by modifying the C/A code phase according to the position information of the transmitting area and the position information of the outdoor receiver, obtaining pseudo-GNSS signals corresponding to the transmitting area and sending the pseudo-GNSS signals to the indoor transmitter; for controlling the beam direction of the indoor transmitter;
and the indoor transmitter is used for receiving the pseudo GNSS signals sent by the main control end and transmitting the pseudo GNSS signals to the corresponding transmitting area under the control of the main control end.
2. The pseudolite based indoor positioning system of claim 1, wherein said outdoor receiver is a GNSS receiver.
3. The indoor positioning system based on pseudolites of claim 1, wherein the master control terminal comprises a GNSS resolving module, a pseudo-range modifying module and a transmitting control module;
the GNSS resolving module is used for resolving the position information of the outdoor receiver according to the received GNSS signals;
the pseudo-range modification module is used for carrying out pseudo-range modification on the calculated position information by modifying the C/A code phase according to the position information of the transmitting area and the position information of the outdoor receiver, and reconstructing the pseudo-range modification into pseudo-GNSS signals corresponding to the transmitting area;
and the emission control module is used for controlling the beam direction of the indoor transmitter so that the indoor transmitter emits pseudo GNSS signals to the corresponding emission area.
4. A pseudolite based indoor positioning system according to claim 1, wherein the indoor transmitter transmits pseudognss signals only to the transmitting area where the user receiver is present.
5. A pseudolite based indoor positioning system according to claim 1, wherein there are a plurality of indoor transmitters, each indoor transmitter having a different coverage area of the transmitted signal.
6. A pseudolite-based indoor positioning method, characterized in that it is based on the system of claim 1, comprising:
step 1, an outdoor receiver receives GNSS signals of visible satellites and sends the GNSS signals to a main control terminal;
step 2, the master control end receives GNSS signals sent by the outdoor receiver, and the position information of the outdoor receiver is calculated;
step 3, the main control terminal carries out pseudo-range modification on the calculated position information of the outdoor receiver by modifying the C/A code phase according to the position information of the transmitting area and the position information of the outdoor receiver, so as to obtain a pseudo-GNSS signal corresponding to the transmitting area and send the pseudo-GNSS signal to the indoor transmitter;
step 4, the indoor transmitter receives the pseudo-GNSS signals, and the main control end controls the beam direction of the indoor transmitter to enable the indoor transmitter to transmit the pseudo-GNSS signals to the corresponding transmitting area;
and 5, receiving the pseudo GNSS signals by the user receiver, and calculating the position information of the user receiver according to the pseudo GNSS signals.
7. The indoor positioning method based on pseudolite of claim 6, wherein in step 1, the outdoor receiver amplifies the received GNSS signal and transmits the amplified GNSS signal to the master control terminal by means of an analog signal.
8. A pseudolite based indoor positioning method according to claim 6, wherein in step 5 the user receiver is a receiver capable of resolving GNSS signals.
9. The pseudolite based indoor positioning method according to claim 6, wherein in step 4, the indoor transmitter transmits the pseudognss signals only to the transmitting area where the user receiver is present.
CN202310340077.2A 2023-03-31 2023-03-31 Indoor positioning system and method based on pseudolite Pending CN116106949A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116520367A (en) * 2023-07-04 2023-08-01 深圳市天龙世纪科技发展有限公司 Satellite positioning security method and device based on Internet of things, electronic equipment and medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116520367A (en) * 2023-07-04 2023-08-01 深圳市天龙世纪科技发展有限公司 Satellite positioning security method and device based on Internet of things, electronic equipment and medium
CN116520367B (en) * 2023-07-04 2023-09-08 深圳市天龙世纪科技发展有限公司 Satellite positioning security method and device based on Internet of things, electronic equipment and medium

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