CN116299560A - Android terminal navigation positioning system and method based on pseudolite - Google Patents
Android terminal navigation positioning system and method based on pseudolite Download PDFInfo
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- G—PHYSICS
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- 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
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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
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- G—PHYSICS
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
- G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements
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Abstract
The invention discloses an android terminal navigation positioning system and method based on pseudolites. Acquiring three-dimensional coordinates of a pseudo-satellite beacon; generating a navigation signal by using the pseudo-satellite control module, wherein the navigation signal is internally provided with three-dimensional coordinates of a pseudo-satellite beacon; transmitting a navigation signal by using a pseudolite beacon; and receiving the wireless navigation signal by using the android terminal, processing the wireless navigation signal into a navigation message, and directly acquiring the three-dimensional coordinates of the pseudo satellite beacon from the navigation message, so as to calculate the position information of the android terminal. Therefore, the intelligent terminal directly acquires the position coordinates of the pseudolite through the deep development of the function of extracting the GNSS original navigation message and the original observation value provided by the android intelligent operation system, so that the complex method for expressing and calculating the number of the ephemeris kepler orbits is avoided, and all the android terminals do not need any hardware modification, so that the indoor positioning or enhanced positioning based on the pseudolite can be realized.
Description
Technical Field
The invention relates to the field of navigation positioning, in particular to an android terminal navigation positioning system and method based on pseudolites.
Background
The satellite navigation positioning technology has become standard configuration of various consumer electronic devices (hereinafter referred to as intelligent terminals) represented by intelligent mobile phones due to the characteristics of small volume, low power consumption, high precision, all weather, all-day time and the like. Currently, four global satellite navigation systems (G l oba l Navigat ion Sate l l ite System, GNSS) and satellite augmentation systems of global navigation system (GLONASS) are available in the world, and provide navigation and positioning services for various users in the world, but nevertheless, due to the fact that satellite navigation signals cannot penetrate buildings or need to augment navigation signal power, other technical means are still needed to augment the navigation and positioning services in the application scenarios represented by indoor positioning, regional navigation augmentation and the like. Pseudolite technology is a class of technology that attempts to directly simulate satellite navigation signals using fixed position beacons.
The first pseudolite technical approach is that the physical characteristics of the pseudolite broadcast signal such as frequency, carrier wave, modulation and the like are not the pseudolite technology of the standard GNSS navigation signal, and the method needs an independent and high-cost third party receiver, cannot multiplex the existing intelligent terminal and has no popularization value.
The second technical approach is that the physical characteristic of the pseudolite broadcasting signal is the pseudolite technology of the standard GNSS navigation signal, a plurality of pseudolite beacons are directly used, each pseudolite simulates a single navigation satellite to broadcast the navigation signal, and the user terminal directly calculates the position of the pseudolite as a true satellite. Because the pseudolite broadcasts a standard signal, the existing intelligent terminal can be directly used without any other auxiliary equipment or communication link, so the method has a strong popularization value.
In the second technical approach, it is necessary for the GNSS (global navigation satellite system ) receiver of the intelligent terminal to consider pseudolites deployed near the earth's surface as legitimate real navigation satellites operating in space, so as to be able to work properly. The real-time position of the real navigation satellite is described by the ephemeris parameters and the orbit calculation algorithm, so that the position of the pseudolite near the earth surface needs to be calculated for simulating the real navigation satellite, and the prior proposal tries to obtain the position of the pseudolite near the earth surface when the orbit calculation algorithm is multiplexed by modifying the ephemeris parameters. However, since the ephemeris parameter range of the modern navigation signal is well designed, such methods generally require additional assumptions, and cannot be completely compatible with the orbit calculation algorithm of the existing GNSS receiver.
The invention aims to solve the problem that whether the open architecture characteristic provided by the android system can be utilized only multiplexes hardware of the GNSS receiver of the intelligent terminal, and does not multiplex a satellite orbit calculation algorithm in the receiver, thereby realizing pseudo satellite position broadcasting and positioning based on application layer software.
Disclosure of Invention
In order to achieve the above purpose, the invention provides a pseudo-satellite-based android terminal navigation positioning system and method, which utilize at least 4 pseudo-satellite beacons and a pseudo-satellite control module to generate indoor pseudo-navigation signals, and utilize the android terminal to process the pseudo-navigation signals, calculate position information and output the position information.
The first aspect of the embodiment of the invention discloses an android terminal navigation positioning system based on pseudolites, which comprises the following steps: the system comprises a pseudolite control module, N pseudolite beacons and an android terminal; the N is an integer not less than 4;
the pseudo satellite control module is connected with the N pseudo satellite beacons; the pseudo satellite beacons are arranged in a scattered manner in a position area to be navigated and enhanced; the android terminal is deployed in the coverage range of the wireless signal of the pseudo-satellite beacon;
the pseudo satellite control module comprises a time synchronization unit and a multichannel navigation signal simulator; the time synchronization unit performs time synchronization on the N pseudo satellite beacons; the multichannel navigation signal simulator generates navigation messages and navigation signals for the N pseudo satellite beacons; the navigation message and the navigation signal are internally provided with three-dimensional coordinates of a pseudo satellite beacon;
The pseudo satellite beacon is used for receiving and transmitting wireless navigation signals; the pseudolite beacon comprises a radio frequency circuit and an antenna;
the android terminal receives the wireless navigation signals transmitted by the pseudo-satellite beacon, analyzes the three-dimensional coordinates of the pseudo-satellite beacon from the received wireless navigation signals, and performs resolving processing on the three-dimensional coordinates of the analyzed pseudo-satellite beacon to obtain the position information of the android terminal; the android terminal comprises a receiving unit, a navigation service unit and an application unit; and the android terminal is provided with an android operating system.
The second aspect of the embodiment of the invention discloses an android terminal navigation positioning method based on pseudolites, which is applied to the android terminal navigation positioning system based on pseudolites disclosed in the first aspect of the embodiment of the invention, and comprises the following steps:
s1, acquiring three-dimensional coordinates of the N pseudo satellite beacons to obtain a three-dimensional coordinate set; the three-dimensional coordinate set comprises N three-dimensional coordinates; the three-dimensional coordinates represent the three-dimensional coordinates of the pseudo-satellite beacon in a navigation coordinate system;
s2, processing the three-dimensional coordinate set by using the multichannel navigation signal simulator to obtain a navigation signal set; the navigation signal set comprises N navigation signals; the N navigation signals are in one-to-one correspondence with the N pseudo satellite beacons; the navigation signal comprises processed three-dimensional coordinates corresponding to the pseudo satellite beacon;
S3, utilizing the time synchronization unit to perform time synchronization on the N pseudo satellite beacons;
s4, transmitting navigation signals corresponding to the pseudo satellite beacons in the navigation signal set to be wireless navigation signals by using the N pseudo satellite beacons;
s5, receiving and processing wireless navigation signals by using the android terminal to obtain an original pseudo-range measurement value set and an original navigation message set;
and S6, resolving the original pseudo-range measurement value set and the original navigation message set by using the application unit to obtain the position information of the android terminal.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the manner of obtaining the three-dimensional coordinates of the pseudolite beacon includes at least one of the following manners:
placing an antenna of the pseudo-satellite beacon outdoors, receiving GNSS satellite navigation signals, and processing the GNSS satellite navigation signals to obtain three-dimensional coordinates of the pseudo-satellite beacon; the GNSS satellite navigation signals are GPS GNSS satellite navigation signals and/or Beidou GNSS satellite navigation signals;
and placing the antenna of the pseudo-satellite beacon machine indoors, and transferring by using an outdoor high-precision reference point and a mapping technique method to obtain the three-dimensional coordinates of the pseudo-satellite beacon machine.
In a second aspect of the embodiment of the present invention, the processing, by using the multi-channel navigation signal simulator, the three-dimensional coordinate set to obtain a navigation signal set includes:
s21, utilizing the multichannel navigation signal simulator to conduct quantization processing on all three-dimensional coordinates in the three-dimensional coordinate set to obtain a quantized three-dimensional coordinate set; the quantized three-dimensional coordinate set comprises N quantized three-dimensional coordinates which are in one-to-one correspondence with the N pseudo-satellite beacons;
s22, processing the quantized three-dimensional coordinate set by using a multichannel navigation signal simulator to obtain a navigation message set; the navigation message set comprises N navigation messages which are in one-to-one correspondence with the N pseudo satellite beacons; the navigation message is a message conforming to a GNSS signal standard format; the preset bit of the ephemeris parameter in each navigation message comprises a quantized three-dimensional coordinate of the corresponding pseudolite beacon;
s23, performing signal processing on the navigation message set by using the multichannel navigation signal simulator to obtain a navigation signal set.
In this optional embodiment, as an optional implementation manner, the performing, by using the multi-channel navigation signal simulator, quantization processing on all three-dimensional coordinates in the three-dimensional coordinate set to obtain a quantized three-dimensional coordinate set includes:
S211, selecting any three-dimensional coordinate in the three-dimensional coordinate set;
s212, sequentially carrying out quantization processing on three dimensional coordinates of the selected three dimensional coordinates by using the multichannel navigation signal simulator to obtain 32-bit binary data, so as to obtain quantized three dimensional coordinates of the three dimensional coordinates; all three dimensions of the quantized three-dimensional coordinates are 32-bit binary data;
s213, judging whether all three-dimensional coordinates in the three-dimensional coordinate set are quantized, and obtaining a first judgment result;
s214, if the first judgment result is negative, selecting any unprocessed three-dimensional coordinate in the three-dimensional coordinate set, and triggering and executing the step S212; and if the first judgment result is yes, carrying out set processing on all quantized three-dimensional coordinates after quantization processing to obtain a quantized three-dimensional coordinate set.
In this optional embodiment, as an optional implementation manner, the processing, by using a multichannel navigation signal simulator, the quantized three-dimensional coordinate set to obtain a navigation text set includes:
s221, selecting any quantized three-dimensional coordinate in the quantized three-dimensional coordinate set;
s222, generating a navigation message containing the selected quantized three-dimensional coordinates by using the multichannel navigation signal simulator according to the GNSS signal standard format message requirement; setting preset 96 bits of ephemeris parameters in the navigation message as binary data values of the quantized three-dimensional coordinates;
S223, judging whether all quantized three-dimensional coordinates in the quantized three-dimensional coordinate set generate a navigation message, and obtaining a second judging result;
s224, if the second judgment result is negative, selecting any unprocessed quantized three-dimensional coordinate in the quantized three-dimensional coordinate set, and triggering and executing step S222; and if the second judgment result is yes, carrying out aggregation processing on all the generated navigation messages to obtain a navigation message aggregation.
In a second aspect of the embodiment of the present invention, the receiving and processing, by using the android terminal, the wireless navigation signal to obtain an original pseudo-range measurement set and an original navigation message set includes:
s51, receiving and processing the wireless navigation signals by using the receiving unit to obtain a wireless navigation data set; the wireless navigation data set comprises at least 4 wireless navigation data;
s52, processing the wireless navigation data set by utilizing the navigation service unit to obtain an original GNSS observation data set;
s53, converting the original GNSS observation data by using the navigation service unit according to the basic principle of satellite navigation to obtain an original pseudo-range measurement value set;
S54, processing the wireless navigation data by utilizing the navigation service unit to obtain an original navigation text data set.
In a second aspect of the embodiment of the present invention, the calculating, by using the application unit, the original pseudo-range measurement set and the original navigation message set to obtain the location information of the android terminal includes:
analyzing the original pseudo-range measurement value set and the original navigation message set by using the application unit to obtain pseudo-satellite position calculation information;
calculating the pseudolite position calculation information by using the application unit according to a preset standard positioning algorithm of satellite navigation to obtain the position and clock error of the intelligent terminal;
and calculating the position and clock difference of the intelligent terminal by using the application unit to obtain the position information of the android terminal.
In this optional embodiment, as an optional implementation manner, the analyzing, by using the application unit, the original pseudo-range measurement set and the original navigation message set to obtain pseudo-satellite position resolution information includes:
processing the original pseudo-range measurement value set and the original navigation message set by using a GnssNavigat ionMessage function in the application unit to obtain an original binary message set of the GNSS receiver; the GnssNavi gat ionMessage function is a framework layer API class provided by an android operating system; the GNSS receiver original binary message set comprises at least 4 original binary messages; the original binary message is the same as the navigation message contained in the navigation signal transmitted by the corresponding pseudolite beacon.
And analyzing the preset bits of the ephemeris parameters of the original binary message in the original binary message set by using the application unit to obtain pseudolite position resolving information.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the android terminal navigation positioning system and method based on the pseudolites, three-dimensional coordinates of at least 4 pseudolites are obtained; generating a navigation signal by using the pseudo-satellite control module, wherein the navigation signal is internally provided with three-dimensional coordinates of a pseudo-satellite beacon; transmitting the navigation information to be a wireless navigation signal by using a pseudo satellite beacon; and receiving the wireless navigation signal by using the android terminal, processing the wireless navigation signal into a navigation message, and directly acquiring the three-dimensional coordinates of the pseudo satellite beacon from the navigation message, so as to calculate the position information of the android terminal. Therefore, the intelligent terminal directly acquires the position coordinates of the pseudolites through the deep development of the function of extracting the GNSS original navigation message and the original observation value provided by the android intelligent operation system, and the complex method for expressing and calculating the ephemeris kepler orbit root number is avoided. The effect is achieved that the pseudolite can directly broadcast GNSS signals, and only ephemeris parameters carried by the signals are not the number of kepler orbits but the coordinates of the pseudolite; and all android terminals can realize indoor positioning or enhanced positioning based on pseudolites without any hardware modification.
Drawings
Fig. 1 is a schematic diagram of a navigation and positioning system of an android terminal based on pseudolites, which is disclosed by the embodiment of the invention;
fig. 2 is a flowchart of a method for positioning and navigating an android terminal based on pseudolites, which is disclosed in the embodiment of the invention;
fig. 3 is a schematic diagram of 3 32bit variables in a NAV message subframe 2 according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a related architecture of a GNSS positioning function of an android system according to an embodiment of the present invention.
Reference numerals and descriptions in fig. 1:
and the system comprises a 1-pseudolite control module, a 2-pseudolite beacon machine and a 3-android terminal.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Please refer to fig. 1. Fig. 1 is a schematic diagram of a navigation and positioning system of an android terminal based on pseudolites.
As shown in fig. 1, an android terminal navigation positioning system based on pseudolites disclosed in the embodiment of the invention includes: the system comprises a pseudolite control module 1, N pseudolite beacons 2 and an android terminal 3; and N is an integer not less than 4.
The pseudo satellite control module 1 is connected with N pseudo satellite beacons 2; the pseudo satellite beacons 2 are arranged in a scattered manner in a position area to be navigated and enhanced; the android terminal 3 is deployed in the coverage range of the wireless signal of the pseudolite beacon machine 2.
The pseudo satellite control module 1 comprises a time synchronization unit and a multichannel navigation signal simulator; the time synchronization means time-synchronizes the N pseudolite beacons 2; the multichannel navigation signal simulator generates navigation messages and navigation signals for the N pseudo satellite beacons 2; the navigation message and the navigation signal are internally provided with three-dimensional coordinates of a pseudo satellite beacon; .
The pseudolite beacon 2 is used for receiving and transmitting wireless navigation signals; the pseudolite beacon 2 includes a radio frequency circuit and an antenna.
The android terminal 3 receives the wireless navigation signal transmitted by the pseudo-satellite beacon, analyzes the three-dimensional coordinates of the pseudo-satellite beacon from the received wireless navigation signal, and performs resolving processing on the three-dimensional coordinates of the analyzed pseudo-satellite beacon to obtain the position information of the android terminal 3; the android terminal 3 comprises a receiving unit, a navigation service unit and an application unit; the android terminal 3 is provided with an android operating system.
Implementing the android terminal navigation positioning system based on the pseudolites described in the embodiment, dispersedly arranging at least 4 pseudolites beacons in a position area to be navigated and enhanced, enabling wireless signals transmitted by the pseudolites beacons to fully cover the position area to be navigated and enhanced, enabling a pseudolites control module to complete time synchronization among the pseudolites, transmitting signals of GNSS navigation satellites corresponding to the pseudolites beacons to each pseudolites beacon, and transmitting respective single satellite navigation signals by each pseudolites beacon; and the indoor intelligent terminal receives the wireless navigation signals transmitted by the beacons, analyzes, positions and calculates the received wireless navigation signals, and obtains the position information of the android terminal. Therefore, by using the android terminal navigation positioning system based on the pseudolite, a user can realize positioning or enhanced positioning in a specific area based on the pseudolite without modifying any hardware of the existing intelligent terminal.
Example two
Please refer to fig. 2. Fig. 2 is a flowchart of a method for positioning and navigating an android terminal based on pseudolites, which is disclosed by the embodiment of the invention. The method for positioning the android terminal based on the pseudolite described in fig. 2 is applied to a positioning system of the android terminal based on the pseudolite, for example, the method is used for positioning other closed spaces, and the embodiment of the invention is not limited. As shown in fig. 2, the method for positioning and navigating the android terminal based on the pseudolite may include the following operations:
S1, acquiring three-dimensional coordinates of N pseudo satellite beacons to obtain a three-dimensional coordinate set;
in this embodiment, the three-dimensional coordinate set includes N three-dimensional coordinates; the three-dimensional coordinates represent the three-dimensional coordinates of the pseudolite beacon in a navigation coordinate system.
S2, processing the three-dimensional coordinate set by using a multichannel navigation signal simulator to obtain a navigation signal set;
in this embodiment, the navigation signal set includes N navigation signals; the N navigation signals are in one-to-one correspondence with the N pseudo satellite beacons; the navigation signal contains processed three-dimensional coordinates corresponding to the pseudolite beacon.
And S3, performing time synchronization on the N pseudo satellite beacons by using a time synchronization unit.
S4, utilizing the N pseudo satellite beacons to broadcast and transmit the navigation signals corresponding to the pseudo satellite beacons in the navigation signal set into wireless navigation signals through a radio frequency link.
S5, receiving and processing the wireless navigation signals by using the android terminal to obtain an original pseudo-range measurement value set and an original navigation message set.
And S6, resolving the original pseudo-range measurement value set and the original navigation message set by using the application unit to obtain the position information of the android terminal.
According to the android terminal navigation positioning method based on the pseudolites, which is described in the embodiment, the three-dimensional coordinates of the pseudolites are utilized, navigation signals conforming to the specifications are generated through the pseudolites control module, the preset bit position in the navigation signals corresponding to each pseudolites contains the three-dimensional coordinates of the pseudolites, after the satellite signals are reflected, the intelligent terminal receives the wireless navigation signals transmitted by each beacon, analyzes the received wireless navigation signals, directly obtains the three-dimensional coordinates of the pseudolites, and further obtains the position information through calculation. Therefore, the intelligent terminal can directly acquire the position coordinates of the pseudolites through developing the android intelligent operation system, and a complex ephemeris kepler orbit root number expression and calculation method is avoided. The method has the advantages that the pseudolite can directly broadcast GNSS signals, and only ephemeris parameters carried by the signals are not the Kepler orbit root number but the pseudolite coordinates, so that a satellite orbit calculation algorithm in a receiver is not needed, and the pseudolite position calculation based on application layer software is realized.
In an alternative embodiment, the manner of acquiring the three-dimensional coordinates of the pseudolite beacon includes at least one of the following:
Placing an antenna of the pseudo-satellite beacon outdoors, receiving GNSS satellite navigation signals, processing the GNSS satellite navigation signals, and directly obtaining three-dimensional coordinates of the pseudo-satellite beacon by using high-precision positioning technologies such as a GPS (global positioning system) technology and a Beidou technology, for example, RTK, PPP, PPP-RTK (real time kinematic) technology; the GNSS satellite navigation signals are GPS GNSS satellite navigation signals and/or Beidou GNSS satellite navigation signals.
And (3) placing an antenna of the pseudo-satellite beacon machine indoors, and transferring by using high-precision reference points and mapping technical methods such as theodolites, total stations and the like outdoors to obtain the three-dimensional coordinates of the pseudo-satellite beacon machine.
Specifically, if the pseudolite beacon acquires a signal of a GPS constellation, the three-dimensional coordinate position information uses a WGS84 coordinate system; if the signals of the Beidou constellation are obtained, the three-dimensional coordinate position information uses a CGS2000 coordinate system.
The android terminal navigation positioning method based on the pseudo satellite described in the embodiment can be implemented to calibrate the three-dimensional coordinates of the pseudo satellite beacon by adopting one of the two methods, so that the position calibration under different conditions is satisfied.
In another optional embodiment, in the step S2, the processing the three-dimensional coordinate set by using the multi-channel navigation signal simulator to obtain a navigation signal set includes:
S21, utilizing a multichannel navigation signal simulator to conduct quantization processing on all three-dimensional coordinates in the three-dimensional coordinate set to obtain a quantized three-dimensional coordinate set; the quantized three-dimensional coordinate set includes N quantized three-dimensional coordinates corresponding to the N pseudolite beacons one by one.
S22, processing the quantized three-dimensional coordinate set by utilizing a multichannel navigation signal simulator to obtain a navigation message set; the navigation message set comprises N navigation messages which are in one-to-one correspondence with the N pseudo satellite beacons; the navigation message is a message conforming to the GNSS signal standard format; the preset bit of the ephemeris parameter in each navigation message contains the quantized three-dimensional coordinates of the corresponding pseudolite beacon.
S23, performing signal processing on the navigation message set by using a multichannel navigation signal simulator to obtain a navigation signal set. For each pseudolite, generating navigation signals with corresponding characteristics by using a multichannel navigation signal simulator according to an official signal interface file of the simulated GNSS system, wherein the electric ephemeris part fills corresponding bits to express the fixed positions of the pseudolites by adopting the method.
In this optional embodiment, as an optional implementation manner, in the step S21, all three-dimensional coordinates in the three-dimensional coordinate set are quantized by using the multi-channel navigation signal simulator, so as to obtain a quantized three-dimensional coordinate set, which specifically includes:
S211, selecting any three-dimensional coordinate in the three-dimensional coordinate set.
S212, sequentially quantizing three dimensional coordinates of the selected three dimensional coordinates into 32-bit binary data by using a multichannel navigation signal simulator to obtain quantized three dimensional coordinates of the three dimensional coordinates; all three dimensions of the quantized three-dimensional coordinates described above are 32-bit binary data.
In the pseudolite distributed near the earth surface, according to the earth radius of about 6400km, the value range interval of each dimension of the three-dimensional coordinate is generally within [ -6600km,6600km ], and the range can be satisfied by the expression of a signed 32-bit integer i nt32 with the quantization precision of 1 cm.
S213, judging whether all three-dimensional coordinates in the three-dimensional coordinate set are quantized, and obtaining a first judgment result.
S214, if the first judgment result is negative, selecting any unprocessed three-dimensional coordinate in the three-dimensional coordinate set, and triggering and executing the step S212; and if the first judgment result is yes, carrying out set processing on all quantized three-dimensional coordinates after quantization processing to obtain a quantized three-dimensional coordinate set.
In this optional embodiment, as an optional implementation manner, the processing of the quantized three-dimensional coordinate set by using the multi-channel navigation signal simulator in the step S22 to obtain a navigation message set specifically includes:
S221, selecting any quantized three-dimensional coordinate in the quantized three-dimensional coordinate set.
S222, generating a navigation message containing the selected quantized three-dimensional coordinates by utilizing a multichannel navigation signal simulator according to the GNSS signal standard format message requirement; the preset 96 bits of the ephemeris parameters in the navigation message are set as binary data values of the quantized three-dimensional coordinates.
It should be noted that, the above-mentioned preset 96 bits are 96 bits in the bits occupied by the ephemeris parameters in the GNSS signal specification, and each 32 bits expresses the coordinates of the pseudolite beacon in one of the three dimensions of the navigation coordinate system, and the quantization precision is 1 cm.
Specifically, the analysis is performed according to an ephemeris accuracy definition table of the simulated GNSS signal specification, for example, 16 ephemeris parameters, such as NAV message used by GPS C/a code, and information such as bits expressed by each parameter is shown in table 1 below. All ephemeris parameters are 358 bits in total, and three dimensional coordinates of 96 bits of the ephemeris parameters expressing pseudolites are selected.
Table 1 quantization table of 16 ephemeris parameters for GPS C/a code
One particular selection method is that the angle of closest point parameter M 0 Is expressed as X-axis coordinates; the track eccentricity e is 32 bits, expressing Y-axis coordinates; square root of semi-major axis 
Is expressed as the Z-axis coordinate.
For example, take the GPS NAV message as an example, it is divided into 5 subframes, 300 bits each, into 10 words, 30 bits each. As shown in fig. 3, fig. 3 is a schematic diagram of 3 32bit variables in NAV message subframe 2.
Possible implementationIn such a way that the 17 th to 24 th bits of the 4 th word and the 1 st to 24 th bits of the 5 th word of subframe 2 are 32 bits in total, for expressing the closest point angle M0 in ephemeris; the 17 to 24 bits of the 6 th word and the 1 to 24 bits of the 7 th word together are 32 bits for expressing the eccentricity parameters in the ephemeris; the 17 to 24 bits of the 8 th word and the 1 to 24 bits of the 9 th word together are 32 bits for expressing the semi-major axis square root parameter in ephemeris. These three 32 bits are encoded by the (X i ,Y i ,Z i ) The coordinates are replaced by 1 cm quantization precision expression, and the original parameter meaning is not represented any more.
S223, judging whether all the quantized three-dimensional coordinates in the quantized three-dimensional coordinate set generate a navigation message, and obtaining a second judging result.
S224, if the second judgment result is negative, selecting any unprocessed quantized three-dimensional coordinate in the quantized three-dimensional coordinate set, and triggering and executing step S222; and if the second judgment result is yes, carrying out aggregation processing on all the generated navigation messages to obtain a navigation message aggregation.
According to the method for positioning the android terminal based on the pseudo satellite, which is described in the embodiment, a navigation message conforming to the standard format of GNSS signals is generated through a multichannel navigation signal simulator, and preset bits in the navigation message are set to be three-dimensional coordinates of a pseudo satellite beacon machine and are used for adopting the standard message, so that after broadcasting through the pseudo satellite beacon machine, the intelligent terminal regards received wireless navigation signals as signals transmitted by real navigation satellites.
In yet another optional embodiment, in the step S5, the android terminal is used to receive and process the wireless navigation signal to obtain an original pseudo-range measurement set and an original navigation message set, and the specific manner includes:
s51, receiving and processing the wireless navigation signals by using the receiving unit to obtain a wireless navigation data set; the set of wireless navigation data includes at least 4 wireless navigation data.
S52, processing the wireless navigation data set by utilizing the navigation service unit to obtain an original GNSS observation data set.
S53, converting the original GNSS observation data by using the navigation service unit according to the basic principle of satellite navigation to obtain an original pseudo-range measurement value set.
Specifically, the interface classes such as location ionomanager, gnsMessaurementEvent. Ca l back, gnsMessaurementEvent, gnsC l lock, gnsMessaurement and the like provided by the android operating system are utilized to obtain original GNSS observation data, and the original GNSS observation data are converted into original pseudo-range observation values according to the basic principle of satellite navigation.
S54, processing the wireless navigation data by utilizing the navigation service unit to obtain an original navigation text data set.
Specifically, the GnssNavigat ionMessage class provided by the android operating system is utilized to obtain the original navigation text data. According to the definition of GnsNavigat ionMassa. GetData () function in GnssNavigat ionMessage class, for C/A code NAV message of GPS L1 frequency point, C/A code NAV message of L5 frequency point of India I RNSS system, D1 and D2 message of China Beidou system, each subframe contains 10 30 bits words, each word (30 bits) is expressed by low 30 bits of a 4 bytes computer word, the high bytes occupy 40 bytes in front, and the broadcasting period is 6 seconds, 6 seconds and 0.6 seconds respectively; for original texts in the formats of GLONASS, ga l eo system, CNAV2 and the like, the GnsNavigat i onmessage.
It should be noted that, the architecture related to the GNSS positioning function of the android system is shown in fig. 4. The android system positioning service is divided into four layers, the bottom layer is a GNSS receiver of the intelligent terminal, and satellite navigation systems such as GPS, beidou, ga l eo and GLONASS are generally supported. The hardware abstraction layer is realized by C/C++ language, abstracts the hardware functions and provides calls to the upper layer. The framework layer comprises an interface called by an upper application program and the realization of system services thereof, is mainly realized by Java language, related APIs comprise locationmanager, locat ionProvider, locat ionManagerService and the like, provided class libraries comprise GnsMeasurementevent, gnsC l lock, gnsmeasurement and the like for acquiring original GNSS observation data, and GnssNavigat i onMessage classes provide original texts. The positioning resolving application program of the application layer is generally written by java, and a satellite position calculating and positioning resolving algorithm in the satellite navigation field is operated to calculate the position of the intelligent terminal. It should be noted that, while the conventional application software obtains the original GNSS observation data and text, typically the normal satellite navigation signal observation value and text of a non-pseudolite, the application layer analyzes the kepler orbit root number of the ephemeris according to the GNSS official signal format, and develops various positioning algorithms, the application layer program of the present invention needs to analyze the pseudolite position according to the customized pseudolite text format, and does not need to use the kepler orbit root number.
In still another optional embodiment, in step S6, the calculating, by using the application unit, the original pseudo-range measurement set and the original navigation message set to obtain the location information of the android terminal includes:
and S61, analyzing the original pseudo-range measurement value set and the original navigation message set by using the application unit to obtain pseudo-satellite position calculation information.
And S62, calculating the pseudolite position calculation information by using the application unit according to a preset standard positioning algorithm of satellite navigation to obtain the position and clock error of the intelligent terminal.
And S63, calculating the position and the clock error of the intelligent terminal by using the application unit to obtain the position information of the android terminal.
In this optional embodiment, as an optional implementation manner, in the step S61, the analyzing, by using the application unit, the original pseudo-range measurement set and the original navigation message set to obtain the pseudolite position resolution information specifically includes:
s611, processing the original pseudo-range measurement value set and the original navigation message set by utilizing a GnssNavigat ionMessage function in the application unit to obtain an original binary message set of the GNSS receiver; the GnssNavi gat I onMessage function is a framework layer AP I class provided by an android operating system; the GNSS receiver original binary message set comprises at least 4 original binary messages; the original binary message is the same as the navigation message contained in the navigation signal transmitted by the corresponding pseudolite beacon.
S612, analyzing the preset bits of the ephemeris parameters of the original binary message in the original binary message set by using the application unit to obtain the pseudolite position resolving information.
It should be noted that, the interaction between the early android operating system and the bottom layer of the GNSS receiver hardware only obtains the final positioning information output by the GNSS receiver. The development of high-precision satellite navigation original observed quantity post-processing technologies such as real-time dynamic differencing (RTK), precise single point positioning (PPP) and the like promotes an android operating system to develop the capability of outputting original carrier, pseudo-range and text observed data of a bottom-layer GNSS receiver to upper-layer application software in 2016, thereby allowing a third party to develop a more precise navigation positioning calculation algorithm. At present, the application of the function provided by android aims at acquiring normal satellite navigation signals received by a standard receiver and then improving a back-end positioning algorithm. The method and the device for obtaining the pseudo-satellite navigation signal text acquire the non-standard pseudo-satellite navigation signal text by utilizing the capability, and form a self-defined pseudo-satellite positioning system and special android positioning software. According to the method, android terminal hardware is not required to be modified, the popularization threshold is reduced, the application range of the pseudo satellite positioning technology is expanded from a professional market to a common consumer market, and real indoor and outdoor continuous seamless navigation positioning can be realized.
The apparatus embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based On such understanding, the foregoing technical solutions may be embodied essentially or in part in a software product that may be stored in a computer-readable storage medium including Read-only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-only Memory (Programmab l eRead-On Memory, PROM), erasable programmable Read-only Memory (Erasab l e Programmab l eRead On ly Memory, EPROM), one-time programmable Read-only Memory (OTPROM), electronically erasable rewritable Read-only Memory (E l ectr ica l ly-Erasab l e Programmab l e Read-On Memory, EEPROM), compact disc Read-only Memory (Compact Di sc Read-On y Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a pseudo-satellite-based android terminal navigation positioning system and a pseudo-satellite-based android terminal navigation positioning method, which are disclosed by the embodiment of the invention, are only used for illustrating the technical scheme of the invention, and are not limited by the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (9)
1. An android terminal navigation positioning system based on pseudolites, which is characterized by comprising: the system comprises a pseudolite control module (1), N pseudolite beacons (2) and an android terminal (3); the N is an integer not less than 4;
the pseudolite control module (1) is connected with the N pseudolite beacons (2); the pseudo satellite beacons (2) are arranged in a scattered manner in a position area to be navigated and enhanced; the android terminal (3) is deployed in the coverage range of wireless signals of the pseudo satellite beacon (2);
The pseudo satellite control module (1) comprises a time synchronization unit and a multichannel navigation signal simulator; the time synchronization unit performs time synchronization on the N pseudo satellite beacons; the multichannel navigation signal simulator generates navigation messages and navigation signals for the N pseudo satellite beacons (2); the navigation message and the navigation signal are internally provided with three-dimensional coordinates of a pseudo satellite beacon;
the pseudolite beacon machine (2) is used for receiving and transmitting wireless navigation signals; the pseudolite beacon (2) comprises a radio frequency circuit and an antenna;
the android terminal (3) receives the wireless navigation signals transmitted by the pseudo-satellite beacon (2), analyzes the three-dimensional coordinates of the pseudo-satellite beacon from the received wireless navigation signals, and performs resolving processing on the three-dimensional coordinates of the analyzed pseudo-satellite beacon to obtain the position information of the android terminal (3); the android terminal (3) comprises a receiving unit, a navigation service unit and an application unit; and the android terminal (3) is provided with an android operating system.
2. The android terminal navigation positioning method based on the pseudolites is applied to the android terminal navigation positioning system based on the pseudolites and is characterized by comprising the following steps:
S1, acquiring three-dimensional coordinates of the N pseudo satellite beacons to obtain a three-dimensional coordinate set; the three-dimensional coordinate set comprises N three-dimensional coordinates; the three-dimensional coordinates represent the three-dimensional coordinates of the pseudo-satellite beacon in a navigation coordinate system;
s2, processing the three-dimensional coordinate set by using the multichannel navigation signal simulator to obtain a navigation signal set; the navigation signal set comprises N navigation signals; the N navigation signals are in one-to-one correspondence with the N pseudo satellite beacons; the navigation signal comprises processed three-dimensional coordinates corresponding to the pseudo satellite beacon;
s3, utilizing the time synchronization unit to perform time synchronization on the N pseudo satellite beacons;
s4, transmitting navigation signals corresponding to the pseudo satellite beacons in the navigation signal set to be wireless navigation signals by using the N pseudo satellite beacons;
s5, receiving and processing wireless navigation signals by using the android terminal to obtain an original pseudo-range measurement value set and an original navigation message set;
and S6, resolving the original pseudo-range measurement value set and the original navigation message set by using the application unit to obtain the position information of the android terminal.
3. The method for positioning and navigation of a pseudo-satellite based android terminal according to claim 2, wherein the means for obtaining three-dimensional coordinates of the pseudo-satellite beacon comprises at least one of the following means:
placing an antenna of the pseudo-satellite beacon outdoors, receiving GNSS satellite navigation signals, and processing the GNSS satellite navigation signals to obtain three-dimensional coordinates of the pseudo-satellite beacon; the GNSS satellite navigation signals are GPS GNSS satellite navigation signals and/or Beidou GNSS satellite navigation signals;
and placing the antenna of the pseudo-satellite beacon machine indoors, and transferring by using an outdoor high-precision reference point and a mapping technique method to obtain the three-dimensional coordinates of the pseudo-satellite beacon machine.
4. The method for positioning and navigating an android terminal based on pseudolites according to claim 2, wherein said processing said three-dimensional coordinate set by using said multi-channel navigation signal simulator to obtain a navigation signal set comprises:
s21, utilizing the multichannel navigation signal simulator to conduct quantization processing on all three-dimensional coordinates in the three-dimensional coordinate set to obtain a quantized three-dimensional coordinate set; the quantized three-dimensional coordinate set comprises N quantized three-dimensional coordinates which are in one-to-one correspondence with the N pseudo-satellite beacons;
S22, processing the quantized three-dimensional coordinate set by using a multichannel navigation signal simulator to obtain a navigation message set; the navigation message set comprises N navigation messages which are in one-to-one correspondence with the N pseudo satellite beacons; the navigation message is a message conforming to a GNSS signal standard format; the preset bit of the ephemeris parameter in each navigation message comprises a quantized three-dimensional coordinate of the corresponding pseudolite beacon;
s23, performing signal processing on the navigation message set by using the multichannel navigation signal simulator to obtain a navigation signal set.
5. The method for positioning and navigating an android terminal based on pseudolites according to claim 4, wherein the step of performing quantization processing on all three-dimensional coordinates in the three-dimensional coordinate set by using the multi-channel navigation signal simulator to obtain a quantized three-dimensional coordinate set comprises:
s211, selecting any three-dimensional coordinate in the three-dimensional coordinate set;
s212, sequentially carrying out quantization processing on three dimensional coordinates of the selected three dimensional coordinates by using the multichannel navigation signal simulator to obtain 32-bit binary data, so as to obtain quantized three dimensional coordinates of the three dimensional coordinates; all three dimensions of the quantized three-dimensional coordinates are 32-bit binary data;
S213, judging whether all three-dimensional coordinates in the three-dimensional coordinate set are quantized, and obtaining a first judgment result;
s214, if the first judgment result is negative, selecting any unprocessed three-dimensional coordinate in the three-dimensional coordinate set, and triggering and executing the step S212; and if the first judgment result is yes, carrying out set processing on all quantized three-dimensional coordinates after quantization processing to obtain a quantized three-dimensional coordinate set.
6. The method for positioning and navigating an android terminal based on pseudolites according to claim 5, wherein the processing the quantized three-dimensional coordinate set by using a multichannel navigation signal simulator to obtain a navigation text set comprises:
s221, selecting any quantized three-dimensional coordinate in the quantized three-dimensional coordinate set;
s222, generating a navigation message containing the selected quantized three-dimensional coordinates by using the multichannel navigation signal simulator according to the GNSS signal standard format message requirement; setting preset 96 bits of ephemeris parameters in the navigation message as binary data values of the quantized three-dimensional coordinates;
s223, judging whether all quantized three-dimensional coordinates in the quantized three-dimensional coordinate set generate a navigation message, and obtaining a second judging result;
S224, if the second judgment result is negative, selecting any unprocessed quantized three-dimensional coordinate in the quantized three-dimensional coordinate set, and triggering and executing step S222; and if the second judgment result is yes, carrying out aggregation processing on all the generated navigation messages to obtain a navigation message aggregation.
7. The method for positioning and navigating an android terminal based on pseudolites according to claim 2, wherein the steps of receiving and processing wireless navigation signals by using the android terminal to obtain an original pseudo-range measurement value set and an original navigation message set include:
s51, receiving and processing the wireless navigation signals by using the receiving unit to obtain a wireless navigation data set; the wireless navigation data set comprises at least 4 wireless navigation data;
s52, processing the wireless navigation data set by utilizing the navigation service unit to obtain an original GNSS observation data set;
s53, converting the original GNSS observation data by using the navigation service unit according to the basic principle of satellite navigation to obtain an original pseudo-range measurement value set;
s54, processing the wireless navigation data by utilizing the navigation service unit to obtain an original navigation text data set.
8. The method for positioning and navigating an android terminal based on pseudolites according to claim 2, wherein the calculating the original pseudo-range measurement value set and the original navigation message set by using the application unit to obtain the position information of the android terminal comprises:
analyzing the original pseudo-range measurement value set and the original navigation message set by using the application unit to obtain pseudo-satellite position calculation information;
calculating the pseudolite position calculation information by using the application unit according to a preset standard positioning algorithm of satellite navigation to obtain the position and clock error of the intelligent terminal;
and calculating the position and clock difference of the intelligent terminal by using the application unit to obtain the position information of the android terminal.
9. The method for positioning and navigation of an android terminal based on pseudolites according to claim 8, wherein said analyzing the original pseudo-range measurement set and the original navigation message set by using the application unit to obtain pseudolites position resolution information comprises:
processing the original pseudo-range measurement value set and the original navigation message set by utilizing a GnsNavigationmessage function in the application unit to obtain an original binary message set of the GNSS receiver; the GnsNavigationnmessage function is a framework layer API class provided by an android operating system; the GNSS receiver original binary message set comprises at least 4 original binary messages;
The original binary message is the same as the navigation message contained in the navigation signal transmitted by the corresponding pseudo-satellite beacon;
and analyzing the preset bits of the ephemeris parameters of the original binary message in the original binary message set by using the application unit to obtain pseudolite position resolving information.
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