CN116660957B - Water surface rapid positioning method of underwater sensor based on Beidou system - Google Patents
Water surface rapid positioning method of underwater sensor based on Beidou system Download PDFInfo
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- CN116660957B CN116660957B CN202310929187.2A CN202310929187A CN116660957B CN 116660957 B CN116660957 B CN 116660957B CN 202310929187 A CN202310929187 A CN 202310929187A CN 116660957 B CN116660957 B CN 116660957B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 4
- 230000010354 integration Effects 0.000 claims description 14
- 230000006870 function Effects 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 5
- 230000001427 coherent effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 5
- 238000011084 recovery Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 229910052741 iridium Inorganic materials 0.000 description 1
- GKOZUEZYRPOHIO-UHFFFAOYSA-N iridium atom Chemical compound [Ir] GKOZUEZYRPOHIO-UHFFFAOYSA-N 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- 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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- 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
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- 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 invention provides a water surface rapid positioning method of an underwater sensor based on a Beidou system, which comprises the following steps: acquiring local Beidou satellite information and position information of a last receiver, and estimating a satellite outline position; judging visible IGSO and MEO satellite information according to the Beidou satellite information and the position information of the last receiver; the pseudo-random code is selected according to the visible IGSO and MEO satellite information, the generation receiver enters a baseband signal processing link, the FFT is captured, then enters a follow-up tracking and bit synchronizing link, and the first is recordediSatellite signal receiving timeThe method comprises the steps of carrying out a first treatment on the surface of the Calculating the transmission time of the ith satellite signalAnd the i-th satellite to receiver rough estimated pseudorangeThe method comprises the steps of carrying out a first treatment on the surface of the When the receiver obtains 4 or more visible star positions and pseudo ranges, the receiver position is solved through a least square method, so that quick positioning and resolving are realized; and storing the position information of the current calculation into a local memory to provide information for the next position calculation.
Description
Technical Field
The invention relates to the technical field of satellite positioning of underwater equipment, in particular to a water surface rapid positioning method of an underwater sensor based on a Beidou system.
Background
In the ocean bottom-sitting observation system, an observation platform carrying an underwater sensor releases a counterweight at the bottom of the observation platform by a releaser after an observation task is completed, and after the observation platform floats out of the water surface, a recovery person returns to the vicinity of a putting point to carry out equipment recovery. However, due to the influence of ocean currents, ocean storms and other factors, when the observation system is recovered, the final position of the observation system is often changed greatly compared with the position of the observation system in throwing, which causes certain difficulty for equipment recovery. Along with the increasing maturity of satellite communication positioning technology, the application requirements of realizing real-time high-precision positioning, speed measurement and the like of a maneuvering carrier are no longer difficult, but the application of satellites taking the satellite communication positioning technology as a core is seriously dependent on maritime satellites, beidou systems, iridium satellites and the like, and the positioning time of the satellite systems is longer. Taking a Beidou system as an example, taking the design of a current Beidou system receiver, about 60-80 seconds is required to reach 3D positioning in open places and in static environments.
After the traditional underwater sensor outputs water, under the condition of no effective information assistance, the starting process needs to sequentially perform blind search on all satellites, and after capturing, tracking, bit synchronization and frame synchronization of the satellites are realized, the signal transmitting time and the navigation message are obtained, so that the positioning calculation can be completed. The above process generally takes at least several tens of seconds, and even longer. In order to reduce the time required by positioning and navigation, the information such as almanac, sketch position, sketch time and the like can be injected in advance, the position of a visible satellite is directly predicted without a blind search process, the time for capturing satellite signals is shortened, and then the processes of tracking, bit synchronization, frame synchronization and text demodulation are continued, so that the water outlet positioning time of an underwater sensor can be further shortened. However, this mode saves only a few seconds of start-up time, since complete message demodulation takes at least 30 seconds. Limited to special applications, some underwater sensors have a water outlet time of only a few seconds or even less than one second, so that a method for quickly positioning and uploading the position of the underwater sensor needs to be studied under the condition.
Disclosure of Invention
In view of the above, the invention aims to provide a water surface rapid positioning method of an underwater sensor based on a Beidou system, which is characterized in that local time is kept through a high-precision atomic clock, and the pseudo range of the Beidou satellite and the underwater sensor is rapidly estimated by utilizing pre-written ephemeris data and the local time, so that the rapid positioning of the underwater sensor in a short time and the uploading of the position of the underwater sensor are realized.
In order to achieve the purpose of the invention, the invention provides a water surface rapid positioning method of an underwater sensor based on a Beidou system, which comprises the following steps:
s101, acquiring locally stored Beidou system satellite information and last receiver position information, and estimating the outline position of a satellite according to local time;
s102, judging visible IGSO and MEO satellite information under the condition of a shielding angle at the moment according to the Beidou system satellite information and the position information of the last receiver;
s103, selecting corresponding pseudo-random codes according to the visible IGSO and MEO satellite information obtained in the previous step, generating a receiver, entering a baseband signal processing link, performing FFT capturing based on data blocking, then entering a subsequent tracking and bit synchronization link, and if capturingiThe satellite information records the signal receiving time；
S104, calculating the transmission time of the ith satellite signalAnd i-th satellite to receiver roughly estimated pseudorange +.>；
S105, when the receiver obtains more than 4 visible star positions and pseudo ranges, solving the receiver positions through a least square method to realize quick positioning and resolving;
s106, storing the receiver position information of the current calculation into a local memory, and providing information for the next position calculation.
Further, the Beidou system satellite information comprises Beidou system satellite ephemeris and almanac.
Further, FFT capturing based on data blocks is performed, specifically, data with a length of Lms is divided into L data blocks, each data block includes 1ms of data samples, and FFT capturing operation is performed on the L data blocks.
Further, the follow-up tracking comprises carrier tracking and pseudo code tracking, a carrier tracking loop adopts a Kestes loop, a pseudo code tracking loop adopts a non-coherent delay locking loop, an approximate coherent point multiplication power method is used, and dynamic information of the carrier loop is utilized for assistance.
Further, the bit synchronization adopts an energy integration method, after the tracking loop enters a carrier phase locking state, an integration result of each millisecond is buffered, after the integration result of 20ms is buffered, the previous continuous integration result and the NH code sliding window coefficient are multiplied and summed at the end of each millisecond integration, and the correct data bit jump time corresponding to the time when the signal energy reaches the maximum value is found.
Further, calculating the transmission time of the ith satellite signalThe calculation formula is as follows:
wherein,in seconds, (-)>For code phase value, +.>For the number of received complete pseudo-random codes in the current bit obtained after bit synchronization,/>For the number of bits already received in the current word obtained after bit synchronization +.>For the number of words that have been received in the current subframe, and (2)>Is the time within the week of the Beidou system.
Further, the methodCalculating rough estimated pseudo range from ith satellite to receiverThe calculation formula is as follows:
wherein c is the speed of light, 299792458m/s.
Further, the position of the receiver is solved by a least square method, and a calculation formula is as follows:
。
wherein,for the position coordinates of the ith satellite, +.>For receiver position coordinates +.>Is the clock error of the receiver.
Further, in step S106, the calculated receiver position information is uploaded and shared through the Beidou system short message communication function.
Compared with the prior art, the invention has the beneficial effects that:
according to the water surface rapid positioning method of the underwater sensor based on the Beidou system, provided by the invention, based on a baseband signal algorithm taking FFT capturing of data blocking as a core, the Beidou system signal of 20ms is received at the shortest, the tracking and bit synchronization process is only needed, the frame synchronization process and the text demodulation are not needed, the transmission time and the pseudo range of the signal are estimated, and then the positioning calculation and the uploading are carried out, so that the rapid positioning of the underwater sensor in a short time and the self position uploading function can be realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only preferred embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic overall flow chart of a water surface rapid positioning method of an underwater sensor based on a Beidou system.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the illustrated embodiments are provided for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1, the embodiment provides a water surface rapid positioning method of an underwater sensor based on a beidou system, which comprises the following steps:
s101, acquiring locally stored Beidou system satellite information and last receiver position information, and estimating the outline position of the satellite according to local time. The Beidou system satellite information comprises Beidou system satellite ephemeris and almanac. Local time is provided using a high precision atomic clock. Considering that the signal receiving time is short, the message broadcast by the Beidou GEO satellite is mainly used for a high-precision positioning function, so that only the IGSO and MEO satellite ephemeris of the Beidou system are read.
S102, judging visible IGSO and MEO satellite information under a certain shielding angle condition according to the Beidou system satellite information and the last receiver position information. The shielding angle condition may be set according to actual requirements, which is not particularly limited in this embodiment.
S103, selecting corresponding pseudo-random codes according to the visible IGSO and MEO satellite information obtained in the previous step, generating a receiver, entering a baseband signal processing link, performing FFT capturing based on data blocking, then entering a subsequent tracking and bit synchronization link, and if capturingiThe satellite information records the signal receiving time。/>In seconds.
S104, calculating the transmission time of the ith satellite signalAnd i-th satellite to receiver roughly estimated pseudorange +.>。
S105, when the receiver obtains 4 or more visible star positions and pseudo ranges, the receiver position is solved through a least square method, and quick positioning calculation is achieved.
S106, storing the receiver position information of the current calculation into a local memory, and providing information for the next position calculation. The local memory may be a local memory of the receiver itself or may be an independent local memory, which is not specifically limited in this embodiment.
Specifically, in step S103, in order to improve the capturing efficiency and reduce the time required for capturing, the present invention adopts an FFT capturing mode based on data blocking, and divides data with a length of Lms into L data blocks, where each data block exactly includes 1ms of data samples. And then performing FFT capturing operation on the L data blocks respectively.
The subsequent tracking in step S103 includes carrier tracking and pseudo code tracking, the carrier tracking loop adopts a costas loop, the pseudo code tracking loop adopts a non-coherent delay locked loop, an approximate coherent point multiplication power method is used, and the dynamic information of the carrier loop is utilized for assistance.
On the other hand, the bit synchronization adopts an energy integration method, after the tracking loop enters a carrier phase locking state, an integration result of each millisecond is buffered, after the integration result of 20ms is buffered, the previous continuous integration result is multiplied by an NH code sliding window coefficient and summed at the end of each millisecond integration, and the correct data bit jump time corresponding to the time when the signal energy reaches the maximum value is found.
As a good resultSelected examples, calculate the ith satellite signal transmission timeThe calculation formula is as follows:
wherein,in seconds, (-)>For code phase value, +.>For the number of received complete pseudo-random codes in the current bit obtained after bit synchronization,/>For the number of bits already received in the current word obtained after bit synchronization +.>For the number of words that have been received in the current subframe, and (2)>Is the time within the week of the Beidou system. />Because of the natural number, ambiguity can be removed very easily through locally stored satellite ephemeris, almanac and last power-on position information of the receiver, and the correct value can be judged. />And->Read-out by bit sync judgment, ">And->Can be read out by a tracking loop.
Calculating a roughly estimated pseudorange from the ith satellite to the receiverThe calculation formula is as follows:
wherein c is the speed of light, 299792458m/s.
The position of the receiver is solved by a least square method, and the calculation formula is as follows:
wherein,for the position coordinates of the ith satellite, +.>For receiver position coordinates +.>Is the clock error of the receiver.
As a preferred example, in step 106, the receiver position information resolved at this time is uploaded and shared through the beidou short message communication function.
In order to solve the problem that after the underwater sensor in some application occasions discharges water, the underwater sensor cannot position itself when the time for receiving signals is seriously insufficient, the embodiment provides a water surface quick positioning method of the underwater sensor based on a Beidou system, the baseband signal algorithm based on FFT capturing of data blocks is used as a core, the Beidou system signal of 20ms is only needed to be received at the minimum, the tracking and bit synchronization process is only needed to be entered, the frame synchronization and text demodulation process is not needed to be entered, and the quick positioning and self position uploading functions of the underwater sensor in a short time are realized by estimating the transmission time and pseudo range of the signal and then carrying out positioning calculation and position uploading.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The water surface quick positioning method of the underwater sensor based on the Beidou system is characterized by comprising the following steps of:
s101, acquiring locally stored Beidou system satellite information and last receiver position information, and estimating the outline position of a satellite according to local time;
s102, judging visible IGSO and MEO satellite information under the condition of a shielding angle at the moment according to the Beidou system satellite information and the position information of the last receiver;
s103, selecting corresponding pseudo-random codes according to the visible IGSO and MEO satellite information obtained in the previous step, generating a receiver, entering a baseband signal processing link, performing FFT capturing based on data blocking, then entering a subsequent tracking and bit synchronization link, and if capturingiThe satellite information records the signal receiving time；
S104, calculating the transmission time of the ith satellite signalAnd i-th satellite to receiver roughly estimated pseudorange +.>；
S105, when the receiver obtains more than 4 visible star positions and pseudo ranges, solving the receiver positions through a least square method to realize quick positioning and resolving;
s106, storing the receiver position information of the current calculation into a local memory, and providing information for the next position calculation.
2. The method for rapidly positioning the water surface of the underwater sensor based on the Beidou system according to claim 1, wherein the Beidou system satellite information comprises Beidou system satellite ephemeris and almanac.
3. The method for rapidly positioning the water surface of the underwater sensor based on the Beidou system according to claim 1, wherein the FFT capturing based on the data block is carried out, specifically, the length isLms data is divided into L data blocks, each data block contains 1ms data samples, and FFT capturing operation is carried out on the L data blocks respectively.
4. The method for rapidly positioning the water surface of the underwater sensor based on the Beidou system according to claim 1, wherein the follow-up tracking comprises carrier tracking and pseudo code tracking, a carrier tracking loop adopts a Kestes loop, a pseudo code tracking loop adopts a noncoherent delay locking loop, an approximate coherent point multiplication power method is used, and dynamic information of the carrier loop is utilized for assistance.
5. The method for rapidly positioning the water surface of the underwater sensor based on the Beidou system according to claim 4, wherein the bit synchronization adopts an energy integration method, after the tracking loop enters a carrier phase locking state, an integration result of each millisecond is buffered, after the integration result of 20ms is buffered, the continuous integration result before and the NH code sliding window coefficient are multiplied and summed at the end of each millisecond, and the correct data bit jump time corresponding to the time when the signal energy reaches the maximum value is found.
6. The method for rapidly positioning the water surface of an underwater sensor based on the Beidou system according to claim 1, wherein the transmission time of the ith satellite signal is calculatedThe calculation formula is as follows:
wherein,in seconds, (-)>For code phase value, +.>For the number of received complete pseudo-random codes in the current bit obtained after bit synchronization,/>For the number of bits already received in the current word obtained after bit synchronization +.>For the number of words that have been received in the current subframe, and (2)>Is the time within the week of the Beidou system.
7. The method for rapidly positioning the water surface of an underwater sensor based on the Beidou system according to claim 1, wherein the rough estimated pseudo range from the ith satellite to the receiver is calculatedThe calculation formula is as follows:
wherein c is the speed of light, 299792458m/s.
8. The rapid water surface positioning method of an underwater sensor based on a Beidou system according to claim 7, wherein the position of a receiver is solved by a least square method, and a calculation formula is as follows:
wherein,for the position coordinates of the ith satellite, +.>For receiver position coordinates +.>Is the clock error of the receiver.
9. The method for rapidly positioning the water surface of the underwater sensor based on the Beidou system according to claim 1, wherein in the step S106, the calculated receiver position information is uploaded and shared through a Beidou system short message communication function.
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| CN102778683A (en) * | 2012-07-09 | 2012-11-14 | 北京邮电大学 | Beidou receiver and warm start method thereof |
| CN106680842A (en) * | 2016-11-24 | 2017-05-17 | 南京航空航天大学 | Weak signal capture method for secondary encoding of satellite navigation system |
| CN108196288A (en) * | 2018-01-11 | 2018-06-22 | 南京理工大学 | Method for relocating based on micro- inertia, chip atomic clock auxiliary Beidou receiver |
| CN112558117A (en) * | 2020-11-30 | 2021-03-26 | 上海航天控制技术研究所 | Quick hot start method for reconstructing satellite signal transmission time without external assistance |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102778683A (en) * | 2012-07-09 | 2012-11-14 | 北京邮电大学 | Beidou receiver and warm start method thereof |
| CN106680842A (en) * | 2016-11-24 | 2017-05-17 | 南京航空航天大学 | Weak signal capture method for secondary encoding of satellite navigation system |
| CN108196288A (en) * | 2018-01-11 | 2018-06-22 | 南京理工大学 | Method for relocating based on micro- inertia, chip atomic clock auxiliary Beidou receiver |
| CN112558117A (en) * | 2020-11-30 | 2021-03-26 | 上海航天控制技术研究所 | Quick hot start method for reconstructing satellite signal transmission time without external assistance |
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