CN116577806A - Signal tracking method, device, terminal equipment and medium - Google Patents

Signal tracking method, device, terminal equipment and medium Download PDF

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Publication number
CN116577806A
CN116577806A CN202310489826.8A CN202310489826A CN116577806A CN 116577806 A CN116577806 A CN 116577806A CN 202310489826 A CN202310489826 A CN 202310489826A CN 116577806 A CN116577806 A CN 116577806A
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CN
China
Prior art keywords
signal
period
tracking
intermittent
indoor positioning
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CN202310489826.8A
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Chinese (zh)
Inventor
陈奕廷
王名为
焦继辉
高峰
许祥滨
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Guangdong University of Technology
Techtotop Microelectronics Co Ltd
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Techtotop Microelectronics Co Ltd
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Priority to CN202310489826.8A priority Critical patent/CN116577806A/en
Publication of CN116577806A publication Critical patent/CN116577806A/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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G01S19/115—Airborne or satellite based pseudolites or repeaters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • 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)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the application is suitable for the technical field of positioning and provides a signal tracking method, a device, terminal equipment and a medium, wherein the method comprises the following steps: determining a transmission period of a received indoor positioning signal, wherein the transmission period comprises an intermittent period or a transmission period, the transmission period is a period when a signal source transmits a pseudolite signal in a transmission period, and the intermittent period is a period when the signal source does not transmit the pseudolite signal in the transmission period; if the emission period of the indoor positioning signal is the emission period, adopting a first tracking mode to track the indoor positioning signal; and if the emission period of the indoor positioning signal is the intermittent period, adopting a second tracking mode to track the indoor positioning signal. By the method, the pseudo satellite signals can be intermittently sent in the indoor environment to track the signals, so that the multipath signals are prevented from being tracked, tracking errors are reduced, and the accuracy of indoor positioning can be improved.

Description

Signal tracking method, device, terminal equipment and medium
Technical Field
The present application belongs to the field of positioning technologies, and in particular, to a signal tracking method, a signal tracking device, a terminal device, and a medium.
Background
Indoor positioning technology plays an increasingly important role in daily life. Satellite signals based on global positioning systems (GPS, global Positioning System) and beidou and other systems cannot provide reliable position data in indoor environments, and indoor positioning technology is becoming a hotspot for academic research and industrial application.
Positioning can currently be performed in an indoor environment by pseudolite positioning. For example, a base station like a global navigation satellite system (GNSS, global Navigation Satellite System) satellite may be deployed in an indoor environment, and then a GPS-like radio signal is transmitted in the indoor environment through the base station, and positioning in the indoor environment may be achieved by receiving ranging of the radio signal with a receiving terminal.
However, due to the narrow space of the indoor environment, the signal generated by the signal source is reflected in space during the transmitting and propagating processes, so that the signal received by the receiving terminal is brought into the reflected signal caused by the surrounding environment, and thus, the multipath problem is generated in indoor positioning. Multipath problems can cause changes in the polarization, phase and doppler shift of the received signal, resulting in positioning errors and even loss of lock.
Disclosure of Invention
In view of this, the embodiments of the present application provide a signal tracking method, apparatus, terminal device, and medium, which are used to intermittently transmit a pseudolite signal in an indoor environment to perform signal tracking, prevent tracking to a multipath signal, reduce tracking error, and thus improve the accuracy of indoor positioning.
A first aspect of an embodiment of the present application provides a signal tracking method, including:
determining a transmission period of a received indoor positioning signal, wherein the transmission period comprises an intermittent period or a transmission period, the transmission period is a period when a signal source transmits a pseudolite signal in a transmission period, and the intermittent period is a period when the signal source does not transmit the pseudolite signal in the transmission period;
if the emission period of the indoor positioning signal is the emission period, performing signal tracking on the indoor positioning signal by adopting a first tracking mode, wherein the first tracking mode is used for performing signal tracking according to the indoor positioning signal;
and if the emission period of the indoor positioning signal is the intermittent period, performing signal tracking on the indoor positioning signal by adopting a second tracking mode, wherein the second tracking mode is used for performing signal tracking according to an analog positioning signal, and the analog positioning signal is a pseudolite signal obtained by simulating according to the indoor positioning signal.
A second aspect of an embodiment of the present application provides a signal tracking apparatus, including:
the system comprises a transmission period determining module, a receiving module and a receiving module, wherein the transmission period determining module is used for determining the transmission period of a received indoor positioning signal, the transmission period comprises an intermittent period or a transmission period, the transmission period is a period of time when a signal source transmits a pseudolite signal in a transmission period, and the intermittent period is a period of time when the signal source does not transmit the pseudolite signal in the transmission period;
the first tracking module is used for carrying out signal tracking on the indoor positioning signal by adopting a first tracking mode if the emission period of the indoor positioning signal is the emission period, and the first tracking mode is used for carrying out signal tracking according to the indoor positioning signal;
and the second tracking module is used for carrying out signal tracking on the indoor positioning signal by adopting a second tracking mode if the emission period of the indoor positioning signal is the intermittent period, wherein the second tracking mode is used for carrying out signal tracking according to an analog positioning signal, and the analog positioning signal is a pseudolite signal obtained by simulating according to the indoor positioning signal.
A third aspect of an embodiment of the present application provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect as described above when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as described in the first aspect above.
A fifth aspect of an embodiment of the application provides a computer program product for, when run on a terminal device, causing the terminal device to perform the method of the first aspect described above.
Compared with the prior art, the embodiment of the application has the following advantages:
the signal tracking method in the embodiment of the application can be applied to the indoor positioning scene. In an indoor environment, a signal source similar to a base station may transmit pseudolite signals during a transmit period and not transmit pseudolite signals during an intermittent period. The terminal equipment can receive indoor positioning signals in an indoor environment, the indoor positioning signals received by the terminal equipment are pseudolite signals in a transmitting period, and the indoor positioning signals received by the terminal equipment do not contain the pseudolite signals in an intermittent period. In signal tracking, the terminal device may determine the transmission period in which the received signal is located, i.e. whether the received indoor positioning signal is in the transmission period of the signal source or in the intermittent period of the signal source. If the emission period of the indoor positioning signal is the emission period, the indoor positioning signal can be tracked based on a first tracking mode, wherein the first tracking mode is to track signals according to pseudolite signals. If the emission period of the indoor positioning signal is an intermittent period, the indoor positioning signal can be subjected to signal tracking based on a second tracking mode, wherein the second tracking mode is to simulate the indoor positioning signal to obtain an analog positioning signal similar to a pseudolite signal, so that the signal tracking is performed according to the analog positioning signal. The embodiment of the application can avoid the multipath problem in signal tracking based on the intermittent signal transmission mode. By adopting different signal tracking modes in different time periods, multipath signals can be prevented from being tracked in an intermittent period, so that the accuracy of signal tracking is improved, and the positioning accuracy is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art.
Fig. 1 is a schematic flow chart of steps of a signal tracking method according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating another signal tracking method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a signal tracking device according to an embodiment of the present application;
fig. 4 is a schematic diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to eliminate the multipath problem when indoor positioning is performed, positioning is performed based on intermittent signals. That is, the pseudolite signal for indoor positioning may intermittently transmit the pseudolite signal at the transmission period. The transmission period may include a transmission period during which the signal source may transmit pseudolite signals for positioning and an intermittent period; during the intermittent period, the signal source may transmit pseudolite signals for positioning. By way of example, a base station that can deploy satellites like a global navigation satellite system (gnss) may be provided in an indoor environment that can transmit signals for 1ms, then pause for 9ms, then continue to transmit signals for 1ms, pause for 9ms, and so on, so that intermittent transmission of signals in the indoor environment or local environment is achieved.
The influence of multipath effects on indoor positioning can be reduced by intermittently transmitting the positioning signal. Intermittent signaling, however, can result in difficulty in signal tracking in indoor environments, thereby increasing the difficulty of indoor positioning.
Based on this, the present embodiment provides a signal tracking method.
The technical scheme of the application is described below through specific examples.
Referring to fig. 1, a schematic step flow diagram of a signal tracking method provided by an embodiment of the present application may specifically include the following steps:
s101, determining a transmission period of a received indoor positioning signal, wherein the transmission period comprises an intermittent period or a transmission period, the transmission period is a period when a signal source transmits a pseudolite signal in a transmission period, and the intermittent period is a period when the signal source does not transmit the pseudolite signal in the transmission period.
The execution body of the embodiment may be a terminal device that needs to perform signal tracking or positioning. The terminal device may be a vehicle-mounted terminal, a mobile phone terminal, an automatic cleaning robot terminal, or the like, and the type of the terminal device is not limited in this embodiment. The terminal device may be a receiver. The terminal equipment can comprise a signal acquisition module and a signal tracking module, wherein the signal acquisition module can be used for acquiring indoor positioning signals and determining carrier frequency and pseudo code phase of the signals. The signal tracking module may perform signal tracking based on the signal captured by the signal capturing module.
The method in the embodiment can be applied to indoor environment or local environment, namely, signal tracking in a small-space range scene. In an indoor environment or a local environment, signal sources similar to base stations in a satellite positioning system can be arranged, and the number of the signal sources can be one or a plurality of the signal sources. The transmission period of the signal source may include a transmission period in which the signal source transmits the pseudolite signal and an intermittent period in which the indoor positioning signal received by the terminal device through the signal receiving apparatus may include the pseudolite signal. The signal source may not transmit the pseudolite signal during the intermittent period, and the indoor positioning signal received by the terminal device through the signal receiving device does not include the pseudolite signal.
In one possible implementation, the Signal may be transmitted over a period of time, and a Signal-to-Noise Ratio (SNR) of the pseudolite Signal may be analyzed to derive a range of time thresholds at which the pseudolite Signal is transmitted to suppress multipath, such that the satellite Signal may be transmitted within the range of time thresholds at which multipath is suppressed, i.e., the period of transmission is within the range of time thresholds at which multipath is suppressed.
Since indoor positioning signals received by the terminal device in the transmission period are different, the terminal device can switch signal tracking modes according to the different transmission periods. In order to determine the currently employed signal tracking mode, the terminal device needs to determine the transmission period in which the indoor positioning signal is currently received.
In one possible implementation, the terminal device may determine the transmission period of the indoor positioning signal based on a law of a signal source transmission period. The emission period has an emission duration and the intermittent period has an intermittent duration. The terminal device may determine the transmission period and the timing of the intermittent period switching by timing, thereby determining the transmission period in which it is currently located. For example, the terminal device may include a transmission timing unit and an intermittent timing unit, and during the transmission period, the transmission timing unit may be used to count time, and the intermittent timing unit is reset to zero; during the intermittent period, an intermittent timing unit may be used to count, and the transmit timing unit is zeroed. The terminal device may determine a current timing unit; if the timing unit is a transmitting timing unit and the timing time of the transmitting timing unit does not reach the transmitting time, determining the transmitting time period as the transmitting time period; if the timing unit is an intermittent timing unit and the timing time of the intermittent timing unit does not reach the intermittent time, determining the transmitting time period as the intermittent time. If the timing unit is a transmitting timing unit and the timing time of the transmitting timing unit reaches the transmitting time, determining the transmitting time period as an intermittent time period, resetting the transmitting timing unit, and switching the timing unit into the intermittent timing unit; if the timing unit is an intermittent timing unit and the timing time of the intermittent timing unit reaches the intermittent time, determining the transmitting period as the transmitting period, resetting the intermittent timing unit, and switching the timing unit into the transmitting timing unit.
The judgment of the transmission period is carried out based on the transmission rule, and the transmission period is determined in the stage of starting signal tracking. In one possible implementation, the transmission period in which the indoor positioning signal is received for the first time may be determined according to the carrier frequency and the pseudo code phase of the indoor positioning signal. The terminal equipment can comprise a signal capturing module, and the terminal equipment can determine the carrier frequency and the pseudo code phase of the received indoor positioning signal through the signal capturing module; if the carrier frequency is in the carrier frequency range corresponding to the pseudolite signal and the pseudocode phase is in the pseudolite phase range corresponding to the pseudolite signal, determining the transmitting period of the indoor positioning signal as the transmitting period, and at the moment, starting signal tracking. When the carrier frequency and the pseudo code phase of the indoor positioning signal are suddenly changed, that is, the change threshold of the carrier frequency is greater than the preset carrier change threshold and the change threshold of the pseudo code phase is greater than the preset pseudo code phase change threshold, the transmission period is indicated to be switched, and at the moment, the timing can be performed through the corresponding timing unit, that is, the intermittent timing unit is used for timing. In the following signal tracking process, the emission period of the indoor positioning signal can be determined according to the timing information. The intermittent period is defined to be a period that exists after the pseudolite signal is received for the first time, and the carrier frequency and the pseudocode phase are not within the tracking range until the pseudolite signal is not received.
Illustratively, the present embodiment may jointly make the transmission period determination in conjunction with the transmission period and the indoor signal carrier frequency and pseudo code phase. For example, when the change threshold of the carrier frequency is greater than a preset carrier change threshold and the change threshold of the pseudo code phase is greater than a preset pseudo code phase change threshold, it may be determined that the current transmission period is suddenly changed, and then the current transmission period is determined according to the timing information.
S102, if the emission period of the indoor positioning signal is the emission period, adopting a first tracking mode to track the indoor positioning signal, wherein the first tracking mode is used for tracking the indoor positioning signal according to the indoor positioning signal.
The terminal device may include a conventional tracking module and a vector tracking assistance module. When the traditional tracking module is used for signal tracking, the terminal equipment can carry out radio frequency processing on the indoor positioning signals so as to obtain digital intermediate frequency signals, and then the digital intermediate frequency signals are input into the traditional tracking module. A conventional tracking module may first mix-multiply the incoming digital intermediate frequency signal with the carrier wave replicated by the carrier wave loop. The digital intermediate frequency signal may be multiplied by a sine replica carrier on the I branch and by a cosine replica carrier on the Q branch, resulting in a mixed result signal on the I branch and the Q branch. Then, the mixed frequency result signals on the I branch and the Q branch are respectively correlated with three pseudo codes of leading, instant and lagging which are copied by a code ring; then, the correlation result and the integrated value are respectively output after passing through an integrator; then, the coherent integration value on the real-time branch is used as the input of the carrier ring discriminator, and the coherent integration values on the other two related branches are often used as the input of the code ring discriminator; finally, the carrier ring and the code ring respectively filter the output values of the discriminators, and the filtering result is used for adjusting the output phase and frequency states of the carrier numerical control oscillator and the pseudo-code numerical control oscillator.
The vector tracking module provided by the embodiment of the application can comprise a carrier wave generator, a pseudo code generator, an integrator, a loop filter, a carrier wave phase discriminator, a carrier wave frequency discriminator, a pseudo code discriminator, a loop filter and a navigation information processor of each channel, wherein the traditional tracking module and the vector tracking module can both use the same navigation information processor, and the navigation information processor is realized through Kalman filtering. When the vector tracking module performs vector tracking, the navigation information processor obtains frequency measurement values and measurement errors through each tracking channel carrier frequency discriminator, and obtains phase measurement values and measurement errors through each tracking channel pseudo code phase discriminator; the Kalman filter fuses the information of all channels, finally gives out carrier speed estimated values and a receiver Zhong Piao, the two parameters obtain estimated values of carrier frequency and pseudo code phase of each channel by using satellite relative positions of each channel through a mapping function, the estimated values enter a loop filter for fusion simultaneously with the phase estimated values obtained by phase-locked loop calculation, the final result obtained by filtering is fed back to a digital control oscillator (Numerically Controlled Oscillator, NCO), the information is used as auxiliary information, and the tracking results of a carrier loop and a code loop obtained by combining the loop filtering are used as parameters of a next-cycle carrier generator and a pseudo code generator.
The first signal tracking mode is to use a conventional tracking module and a vector tracking module to perform signal tracking together. For example, weights corresponding to the conventional tracking module and the vector tracking module may be set respectively. In the first signal tracking mode, the sum of weights corresponding to the traditional tracking module and the vector tracking module is 1, the weight corresponding to the traditional tracking module is larger than the weight corresponding to the vector tracking module, and the weight corresponding to the traditional tracking module is larger than the weight corresponding to the vector tracking module and is larger than zero.
The weights corresponding to the traditional tracking module and the vector tracking module are the weights of the carrier frequency tracking value and the pseudo code phase tracking value corresponding to the traditional tracking module and the vector tracking module. That is, the weight value is used for weight calculation when determining the carrier loop and the code loop based on the carrier frequency tracking value and the pseudo code phase tracking value.
During the transmit period, signal tracking is based on pseudolite signals. The vector tracking module can record the parameter information of the positioning signal received at the moment in the process of signal tracking.
And S103, if the emission period of the indoor positioning signal is the intermittent period, adopting a second tracking mode to track the indoor positioning signal, wherein the second tracking mode is used for tracking the indoor positioning signal according to an analog positioning signal, and the analog positioning signal is a pseudolite signal obtained by simulating the indoor positioning signal.
The second signal tracking mode is signal tracking using a vector tracking module alone. For example, weights corresponding to the conventional tracking module and the vector tracking module may be set to 0 and 1, respectively, so that the vector tracking module may be used alone for signal tracking during the intermittent period.
If the transmission period is an intermittent period, a vector tracking module can be independently adopted for signal tracking. In the intermittent period, no pseudolite signal exists in the indoor positioning signals, and at the moment, the pseudolite positioning signals can be predicted based on the indoor positioning signals in the intermittent period according to the received indoor positioning signals and the parameter information of the positioning signals recorded by the vector tracking module in the transmitting period, so that vector tracking is performed based on the analog positioning signals. Signal tracking errors caused by signal tracking based on multipath signals during intermittent periods are avoided. The vector tracking module mainly comprises a Vector Tracking Loop (VTL) which can extract satellite positions from navigation messages and receiver positions calculated by a PVT algorithm in the tracking process. The pseudocode phase of the satellite signal is directly related to the carrier doppler frequency, the distance between the satellite and the receiver, and the relative velocity. The vector tracking module can realize continuous tracking through the change of the carrier frequency and the pseudo code phase of the signal following the signal parameter prediction signal obtained previously.
The terminal equipment can acquire vector tracking parameters of the vector tracking module in a transmitting period; determining an error of the indoor positioning signal in the intermittent period relative to the indoor positioning signal in the emission period based on the vector tracking parameter; the error may include an error in carrier frequency and pseudo code phase based on which the indoor positioning signal during the intermittent period may be compensated for carrier frequency and pseudo code phase to obtain the analog positioning signal.
In this embodiment, by intermittently transmitting a signal, multipath effects in signal tracking in a small spatial range are avoided. Signal tracking can be performed in different signal tracking modes during different periods of the signal transmission period, thereby avoiding errors due to signal tracking based on multipath signals during intermittent periods. Based on the method in the embodiment, the accuracy of signal tracking can be improved, so that the positioning accuracy is improved.
Referring to fig. 2, a schematic step flow diagram of another signal tracking method according to an embodiment of the present application is shown, which may specifically include the following steps:
s201, when the indoor positioning signal is received for the first time, the carrier frequency and the pseudo code phase of the received indoor positioning signal are determined.
The execution body of the embodiment may be a terminal device that needs to perform signal tracking or positioning. The terminal device may be a vehicle-mounted terminal, a mobile phone terminal, an automatic cleaning robot terminal, or the like, and the type of the terminal device is not limited in this embodiment. The terminal device may include a signal acquisition module that may be used to determine a carrier frequency and a pseudocode phase of the indoor positioning signal.
In the first time of receiving the positioning satellite signal, the terminal equipment does not have timing information of a transmission period before the terminal equipment, so that the transmission period cannot be determined based on the rule of the transmission period. The terminal equipment module can determine the carrier frequency and the pseudo code phase of the indoor positioning signal through the signal capturing module, and determine the transmitting period corresponding to the current indoor positioning signal based on the carrier frequency and the pseudo code phase. Thus, the terminal device can determine the carrier frequency and pseudo code phase of the indoor positioning signal.
S202, determining the transmitting period of the indoor positioning signal according to the carrier frequency and the pseudo code phase.
In the transmitting period, the received indoor positioning signals carry pseudolite signals, and in the intermittent period, the received indoor positioning signals do not carry pseudolite signals, so that the carrier frequency and the pseudocode phase of the indoor positioning signals received by the terminal equipment in the transmitting period and the intermittent period are different. The pseudolite signal has a corresponding carrier frequency range and pseudocode phase range.
If the carrier frequency and the pseudo code phase of the tracked pseudo satellite signals are in the set tracking threshold range, the terminal equipment can determine the transmitting period of the indoor positioning signals as the transmitting period; if the carrier frequency is not within the carrier frequency range or the pseudo code phase is not within the pseudo code phase range, the terminal device may determine that the transmission period of the indoor positioning signal is an intermittent period.
And S203, when the carrier frequency and the pseudo code phase are mutated, starting timing by using a corresponding timing unit.
After determining the current transmission period based on the carrier frequency and the pseudo code phase, the terminal device may monitor the carrier frequency and the pseudo code phase of the indoor positioning signal. When the carrier frequency and the pseudo code phase of the indoor positioning signal are suddenly changed, the transmission period can be determined to be switched, and the corresponding timing unit can be used for timing at the moment, so that the transmission period corresponding to the indoor positioning signal can be determined by using the transmission period rule of the signal in the following signal tracking process.
When the terminal equipment detects that the transmitting period of the indoor positioning signal is switched from the transmitting period to the intermittent period based on the carrier frequency and the pseudo code phase, the terminal equipment can start timing by using the intermittent timing unit; when the terminal device detects that the transmission period of the indoor positioning signal is switched from the intermittent period to the transmission period based on the carrier frequency and the pseudo code phase, the terminal device may start timing using the transmission timing unit.
S204, determining a current timing unit, wherein the timing unit comprises a transmitting timing unit or an intermittent timing unit.
The terminal equipment can determine the transmission period based on the carrier frequency and the pseudo code phase in the initial stage of receiving the indoor positioning signal, so that the terminal equipment can determine the transmission period corresponding to the indoor positioning signal according to the transmission period rule of the signal.
The terminal device may determine the current timing unit. The timing unit may include a transmission timing unit for timing during the transmission period or an intermittent timing unit for timing during the intermittent period.
S205, if the timing unit is the transmitting timing unit and the timing duration of the transmitting timing unit does not reach the transmitting duration, determining the transmitting period as the transmitting period.
S206, if the timing unit is the intermittent timing unit and the timing duration of the intermittent timing unit does not reach the intermittent duration, determining the emission period as the intermittent period.
In addition, if the terminal equipment monitors that the timing unit is a transmitting timing unit and the timing duration of the transmitting timing unit reaches the transmitting duration, the switching time of the signal tracking mode is indicated, the terminal equipment can determine that the transmitting period is an intermittent period, reset the transmitting timing unit and switch the timing unit into the intermittent timing unit; if the timing unit is an intermittent timing unit and the timing duration of the intermittent timing unit reaches the intermittent duration, the switching time of the signal tracking mode is also reached at the moment, the terminal equipment can determine the transmitting period as the transmitting period, and reset the intermittent timing unit, so that the timing unit is switched into the transmitting timing unit.
S207, if the emission period of the indoor positioning signal is the emission period, adopting a first tracking mode to track the indoor positioning signal, wherein the first tracking mode is used for tracking the indoor positioning signal according to the indoor positioning signal.
And S208, if the emission period of the indoor positioning signal is the intermittent period, performing signal tracking on the indoor positioning signal by adopting a second tracking mode, wherein the second tracking mode is used for performing signal tracking according to an analog positioning signal, and the analog positioning signal is a pseudolite signal obtained by simulating according to the indoor positioning signal.
In the embodiment of the application, the terminal equipment can monitor the emission period of the indoor positioning signal, and when the emission period of the indoor positioning signal is detected to be switched, the terminal equipment can adjust the weight corresponding to the traditional tracking module and the vector tracking module, so that the signal tracking mode is switched.
S207 to S208 of the present embodiment are similar to S102 to S103 of the previous embodiment, and will not be described in detail herein by reference.
In this embodiment, pseudolite signals intermittently generated indoors are determined when a law is generated. For example, the pseudolite transmission period is 10ms, wherein 1ms will transmit a signal, and the next 9ms is in a non-transmitting state, i.e. the transmission duration is 1ms, and the intermittent duration is 9ms. In the transmitting period of a transmitting signal of 1ms, the terminal equipment can adopt the traditional tracking as a main tracking strategy, and vector tracking is used as auxiliary information for auxiliary tracking; in the 9ms intermittent period of no transmitted signal, the terminal equipment only adopts vector tracking as a tracking means, and predicts the change of parameters such as carrier frequency, pseudo code phase and the like of the next signal based on the tracking parameters of the signal before until the next time of reaching the transmitted signal. In this way, tracking to multipath signals can be effectively prevented while reducing tracking errors.
When the signal tracking mode is switched, judgment can be carried out according to the time law of signal generation, because the transmission period information of the pseudo satellite signal is known, the traditional tracking can be adopted as a main tracking strategy, the vector tracking is used as auxiliary information to assist in tracking data, timing is started, after the signal transmission time length reaches 1ms, the terminal equipment can be switched to independent vector tracking, and the vector tracking module can be independently adopted for signal tracking for 9 ms. In addition, the terminal equipment can also detect the change of carrier frequency and pseudo code phase in two adjacent tracking processes, if the carrier frequency and the pseudo code phase are suddenly changed, the tracked signal is suddenly disappeared, and at the moment, the terminal equipment can also switch the signal tracking mode.
Of course, when signal tracking is performed based on the transmission cycle information, it is necessary to determine the timing at which to start timing. Therefore, the terminal equipment can adopt a vector tracking loop to assist a traditional tracking loop in the initial stage of signal tracking, track based on a rough signal carrier frequency estimated value and a rough pseudo code phase estimated value obtained by capturing a satellite signal, and switch and track according to the principle of signal generation and the principle of change of the carrier frequency and the pseudo code phase after tracking data, namely the carrier frequency and the pseudo code phase enter a tracking range. The traditional tracking module and the vector tracking module can obtain a carrier frequency tracking value and a pseudo code phase tracking value at the moment through a weight relation; the switching of the signal tracking mode can be realized by adjusting the weight corresponding to the traditional tracking module and the vector tracking module. For example, when the conventional tracking is a main tracking strategy and the vector tracking is used as auxiliary information for auxiliary tracking, both the carrier frequency discrimination result and the pseudo code phase discrimination result of the conventional tracking and vector tracking loops have corresponding weights; when the vector tracking is carried out independently, the terminal equipment can adjust the weights of the carrier frequency discrimination result and the pseudo code phase discrimination result of the vector tracking loop to be 1, and the weights of the carrier frequency discrimination result and the pseudo code phase discrimination result of the traditional tracking loop to be 0.
In the embodiment of the application, the corresponding transmitting period of the indoor positioning signal can be determined based on the transmitting rule of the transmitting period of the signal and the carrier frequency and the pseudo code phase of the signal, so that the corresponding signal tracking mode can be determined. The terminal device can adjust weights of the conventional tracking module and the vector tracking module according to the change of the transmission period to realize switching of the signal tracking mode, thereby preventing tracking of multipath signals and reducing tracking errors.
It should be noted that, the sequence number of each step in the above embodiment does not mean the sequence of execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not limit the implementation process of the embodiment of the present application in any way.
Referring to fig. 3, a schematic diagram of a signal tracking apparatus provided by an embodiment of the present application may specifically include an emission period determining module 31, a first tracking module 32, and a second tracking module 33, where:
a transmission period determining module 31, configured to determine a transmission period of a received indoor positioning signal, where the transmission period includes an intermittent period or a transmission period, the transmission period is a period in which a signal source transmits a pseudolite signal in a transmission period, and the intermittent period is a period in which the signal source does not transmit the pseudolite signal in the transmission period;
A first tracking module 32, configured to perform signal tracking on the indoor positioning signal by using a first tracking mode if the emission period of the indoor positioning signal is the emission period, where the first tracking mode is used for performing signal tracking according to the indoor positioning signal;
and a second tracking module 33, configured to perform signal tracking on the indoor positioning signal by using a second tracking mode if the emission period of the indoor positioning signal is the intermittent period, where the second tracking mode is used for performing signal tracking according to an analog positioning signal, and the analog positioning signal is a pseudolite signal obtained by simulating according to the indoor positioning signal.
In one possible implementation, the transmission period has a corresponding transmission duration, and the intermittent period has a corresponding intermittent duration, and the transmission period determining module 31 includes:
the timing unit determining submodule is used for determining a current timing unit, and the timing unit comprises a transmitting timing unit or an intermittent timing unit;
the first judging submodule is used for determining the emission period to be the emission period if the timing unit is the emission timing unit and the timing duration of the emission timing unit does not reach the emission duration;
And the second judging submodule is used for determining the emission period to be the intermittent period if the timing unit is the intermittent timing unit and the timing duration of the intermittent timing unit does not reach the intermittent duration.
In one possible implementation manner, the apparatus further includes:
the first switching module is used for determining the transmission period as the intermittent period and resetting the transmission timing unit to switch the timing unit into the intermittent timing unit if the timing unit is the transmission timing unit and the timing time of the transmission timing unit reaches the transmission time;
and the second switching module is used for determining the emission period as the emission period if the timing unit is the intermittent timing unit and the timing time of the intermittent timing unit reaches the intermittent time, resetting the intermittent timing unit and switching the timing unit into the emission timing unit.
In one possible implementation, the transmission period determining module 31 further includes:
the signal information determining submodule is used for determining the carrier frequency and the pseudo code phase of the received indoor positioning signal when the indoor positioning signal is received for the first time;
A transmission period determining sub-module, configured to determine, if the carrier frequency is in a carrier frequency range corresponding to the pseudolite signal and the pseudocode phase is in a pseudocode phase range corresponding to the pseudolite signal, that a transmission period of the indoor positioning signal is the transmission period;
an intermittent period determining sub-module, configured to determine, if the carrier frequency is not in the carrier frequency range or the pseudo code phase is not in the pseudo code phase range, that a transmission period of the indoor positioning signal is the intermittent period;
an intermittent timing starting sub-module, configured to start timing using the intermittent timing unit when detecting that the emission period of the indoor positioning signal is switched from the emission period to the intermittent period;
and the emission timing starting sub-module is used for starting timing by using the emission timing unit when detecting that the emission period of the indoor positioning signal is switched from the intermittent period to the emission period.
In one possible implementation, the method is applied to a terminal device, where the terminal device includes a vector tracking module and a legacy tracking module, and the first tracking module 32 includes:
and the common tracking sub-module is used for carrying out signal tracking on the indoor positioning signals through the vector tracking module and the traditional tracking module.
In one possible implementation, the method is applied to a terminal device, where the terminal device includes a vector tracking module, and the first tracking module 32 includes:
the signal prediction sub-module is used for predicting and obtaining an intermittent positioning signal in an intermittent period based on the indoor positioning signal in the emission period;
and the vector tracking sub-module is used for carrying out signal tracking on the intermittent positioning signal through the vector tracking module.
In one possible implementation manner, the signal simulation sub-module includes:
an acquisition unit for acquiring a satellite position and a receiver position;
the vector tracking parameter acquisition unit is used for acquiring vector tracking parameters of the vector tracking module in the transmitting period;
and a prediction unit configured to predict the carrier frequency and the pseudo code phase of an indoor positioning signal during the intermittent period based on the vector tracking parameter, the satellite position, and the receiver position.
The embodiment of the application also provides a signal tracking device, and the steps in the method embodiments can be realized by using the device.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference should be made to the description of the method embodiments.
Fig. 4 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 4, the terminal device 400 of this embodiment includes: at least one processor 40 (only one is shown in fig. 4), a memory 41 and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, the processor 40 implementing the steps in any of the various method embodiments described above when executing the computer program 42.
The terminal device 400 may be a desktop computer, a notebook computer, a palm computer, a mobile phone, or the like, which may implement the steps in the foregoing method embodiments. The terminal device may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of a terminal device 400 and is not limiting of the terminal device 400, and may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.
The processor 40 may be a central processing unit (Central Processing Unit, CPU), the processor 40 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may in some embodiments be an internal storage unit of the terminal device 400, such as a hard disk or a memory of the terminal device 400. The memory 41 may in other embodiments also be an external storage device of the terminal device 400, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal device 400. Further, the memory 41 may also include both an internal storage unit and an external storage device of the terminal device 4. The memory 41 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 41 may also be used for temporarily storing data that has been output or is to be output.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.
Embodiments of the present application provide a computer program product enabling a terminal device to carry out the steps of the method embodiments described above when the computer program product is run on the terminal device.
The above embodiments are only for illustrating the technical solution of the present application, and are not limited thereto. Although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A signal tracking method, comprising:
determining a transmission period of a received indoor positioning signal, wherein the transmission period comprises an intermittent period or a transmission period, the transmission period is a period when a signal source transmits a pseudolite signal in a transmission period, and the intermittent period is a period when the signal source does not transmit the pseudolite signal in the transmission period;
if the emission period of the indoor positioning signal is the emission period, performing signal tracking on the indoor positioning signal by adopting a first tracking mode, wherein the first tracking mode is used for performing signal tracking according to the pseudolite signal;
And if the emission period of the indoor positioning signal is the intermittent period, performing signal tracking on the indoor positioning signal by adopting a second tracking mode, wherein the second tracking mode is used for performing signal tracking according to an analog positioning signal, and the analog positioning signal is a pseudolite signal obtained by simulating according to the indoor positioning signal.
2. The method of claim 1, wherein the transmission periods have corresponding transmission durations, the intermittent periods have corresponding intermittent durations, the determining the transmission period of the received indoor positioning signal comprises:
determining a current timing unit, wherein the timing unit comprises a transmitting timing unit or an intermittent timing unit;
if the timing unit is the transmitting timing unit and the timing duration of the transmitting timing unit does not reach the transmitting duration, determining the transmitting period as the transmitting period;
and if the timing unit is the intermittent timing unit and the timing duration of the intermittent timing unit does not reach the intermittent duration, determining the emission period as the intermittent period.
3. The method of claim 2, wherein the method further comprises:
If the timing unit is the emission timing unit and the timing duration of the emission timing unit reaches the emission duration, determining the emission period as the intermittent period, resetting the emission timing unit, and switching the timing unit into the intermittent timing unit;
if the timing unit is the intermittent timing unit and the timing duration of the intermittent timing unit reaches the intermittent duration, determining the transmitting period as the transmitting period, resetting the intermittent timing unit, and switching the timing unit into the transmitting timing unit.
4. The method of claim 2, wherein the determining the transmission period of the received indoor positioning signal further comprises:
when the indoor positioning signal is received for the first time, determining the carrier frequency and the pseudo code phase of the received indoor positioning signal;
if the carrier frequency is in the carrier frequency range corresponding to the pseudo satellite signal and the pseudo code phase is in the pseudo code phase range corresponding to the pseudo satellite signal, determining the transmitting period of the indoor positioning signal as the transmitting period;
and when the change threshold of the carrier frequency of the indoor positioning signal is detected to be larger than a preset carrier change threshold and the change threshold of the pseudo code phase is detected to be larger than a preset pseudo code phase change threshold, determining that the transmitting period is switched from the transmitting period to the intermittent period, and starting timing by using the intermittent timing unit.
5. The method of any of claims 1-4, applied to a positioning device comprising a vector tracking module and a legacy tracking module, the employing a first tracking mode to signal track the indoor positioning signal, comprising:
and carrying out signal tracking on the indoor positioning signal through a vector tracking module and a traditional tracking module.
6. The method according to any one of claims 1-4, applied to a terminal device, the terminal device comprising a vector tracking module, the employing a second tracking mode for signal tracking of the indoor positioning signal comprising:
predicting and obtaining an intermittent positioning signal in an intermittent period based on the indoor positioning signal in the emission period;
and carrying out signal tracking on the intermittent positioning signals through a vector tracking module.
7. The method of claim 6, wherein predicting an intermittent positioning signal for an intermittent period based on the indoor positioning signal for the transmit period comprises:
acquiring a satellite position and a receiver position; acquiring vector tracking parameters of the vector tracking module in the transmitting period;
based on the vector tracking parameters, the satellite positions and the receiver positions, a carrier frequency and a pseudo code phase of indoor positioning signals during the intermittent period are predicted.
8. A signal tracking device, comprising:
the system comprises a transmission period determining module, a receiving module and a receiving module, wherein the transmission period determining module is used for determining the transmission period of a received indoor positioning signal, the transmission period comprises an intermittent period or a transmission period, the transmission period is a period of time when a signal source transmits a pseudolite signal in a transmission period, and the intermittent period is a period of time when the signal source does not transmit the pseudolite signal in the transmission period;
the first tracking module is used for carrying out signal tracking on the indoor positioning signal by adopting a first tracking mode if the emission period of the indoor positioning signal is the emission period, and the first tracking mode is used for carrying out signal tracking according to the indoor positioning signal;
and the second tracking module is used for carrying out signal tracking on the indoor positioning signal by adopting a second tracking mode if the emission period of the indoor positioning signal is the intermittent period, wherein the second tracking mode is used for carrying out signal tracking according to an analog positioning signal, and the analog positioning signal is a pseudolite signal obtained by simulating according to the indoor positioning signal.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the computer program.
10. A computer readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of claims 1-7.
CN202310489826.8A 2023-04-28 2023-04-28 Signal tracking method, device, terminal equipment and medium Pending CN116577806A (en)

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Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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