CN1776448A - Radio combined positioning method based on digital broadcasting-television signal - Google Patents
Radio combined positioning method based on digital broadcasting-television signal Download PDFInfo
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Abstract
Syncretizing DTV terrestrial broadcasting with satellite broadcasting signal, the disclosed positioning and navigating method raises positioning performance. Receiving signals of civil DTV ground transmitting station and/or DTV broadcast satellite and navigation satellite with multiple space coordinates are known, the method determines space position of receiver. Being built on broadcast transmission system of radio signal, the method receives signals from radio broadcast systems and observes multiple emission sources to form system structure of combining multiple wireless positioning system and mode of position and navigation so as to obtain navigating solution of combined positioning system. All new operating mode of combined navigating system includes two types of wireless positioning system for observing ground and space at same time in the invention.
Description
Technical field
The present invention is a kind of by receiving the known civilian digital TV ground transmitting station of a plurality of volume coordinates and/or the signal of digital television broadcasting satellite, can determine the method for recipient's locus, belong to the complex technique field of digital television broadcasting and radio navigation location.
Background technology
Receive the radiation signal of the radio emitting source of a plurality of known spatial coordinates and time reference simultaneously, can determine the geographic position at receiving end user place, be i.e. longitude, latitude and elevation (sea level elevation).And radio emitting source is arranged on positioning system on the various orbiters, for example: " Big Dipper " positioning system of Galileo (Galileo) system, Muscovite GLONASS system and the China in the GPS of the U.S. (GPS), Europe etc., the huge advantage that covers by feat of wide area more is with radiolocation technical development to a new height.At present this type systematic just from the GPS epoch to GPS (Global Position System) (GNSS) era development.
But still there are many shortcomings in the satellite positioning tech of GPS and so on: gps satellite transmits earthward from about 20000 kilometers high-altitudes, because meetings such as multipath effect, gps satellite orbit error, ionosphere delay effect produce positioning error; The location probability of GPS technology in the urban district is 60%, and is zero at indoor location probability, therefore uses the GPS technology to carry out the emergency relief location difficulty; GPS technological orientation real-time is poor, and it needs 30s consuming time or longer time just can finish initialization and search star work when cold start-up, and then changes normal navigator fix mode of operation over to and can affect emergency relief work adversely; Owing to GPS is adopted selection availability (SA) policy, uses the gps satellite location to be interfered under special circumstances.
Along with the progress of VLSI (very large scale integrated circuit) (VLSC) technology, based on Digital Television (DTV) the system widely use in the world of cable or satellite transmits.The terrestrial broadcast system of DTV has also begun Large scale construction, forms gradually based on the Digital Television and the digital audio radio network of broadcast standard separately in global zones of different.User's receiving end also can utilize the carrier wave and the spatial parameters such as distance of digital code stream mensuration from the launching tower to the receiving end of digital broadcasting except receiving effective digital video audio-frequency information, realize radiolocation.Adopt the DTV signal of american television standard committee (ATSC) standard to position through demonstration at ConUS, error can be in the 1m magnitude.The ground transmission standard of the DTV/HDTV broadcasting of China is established as yet at last, adopts the standard of European digital video broadcast terrestrial transmission (DVB-T) standard or China oneself all possible.But, so long as the broadcast television signal of digital radio transmission all can be used for the location.
But, this thinking is not suitable in the ocean, desert, island and other do not receive the ground point location of DTV ground broadcast signal, and the DTV signal that sends based on satellite broadcasting can remedy this deficiency.Therefore, to further make up with signal based on the system of DTV ground broadcast signal location if can be rightly from DTV broadcasting satellite (can certainly be the Navsat of GPS and so on), just be expected to obtain higher bearing accuracy, simultaneously reliability and adaptability that also can enhanced system.
Summary of the invention
Technical matters: the purpose of this invention is to provide a kind of radio combined positioning method based on digital broadcasting-television signal that can utilize the DTV broadcast system, is that merge to improve the space-ground combined positioning method of positioning performance mutually with satellite broadcast signal on a kind of ground with DTV.
Technical scheme:
1. range measurement principle
Digit broadcasting system as data message, Voice ﹠ Video media stream, need carry out based on the information of frame (or being referred to as symbol) coding, modulation work at transmitting terminal, so that can receive continuous Frame at user side, under the condition that satisfies High Data Rate and real-time reception information, the accuracy of guarantee information satisfies the error correction demand of system.This essence that also is digital information transmits determines, data message and multi-media signal all are based on the data stream of bag or piece, need a packing to send and unpack the process of reception, and what need in the digit broadcasting system is the successive frame transmission of set time and length.For guaranteeing that real-time and anti-channel fading disturb, the every frame duration of general wireless digital broadcasting system is less than the ms level, and is most in hundreds of us scope.
For recognition data frame head better, system all can add the sync character that can discern at transmitting terminal, even improves its emissive power and guarantee frame synchronization accurately.When digital broadcasting transmitter was received a data broadcast frame, system wished accurately to detect the time of this data frame head, and its error is determined by factors such as channel disturbance, system's clock correction and receiver noises; Can accurately obtain simultaneously the numbering of each Frame, the system time when calculating this frame emission thus.Therefore be not difficult to measure the travel-time of each frame, obtain pseudo-range measurements between the two at transmitting terminal and receiving end.
2. pseudorange mathematical model
The digital broadcasting positioning system calculates sighting distance between cell site and the receiver by measuring the broadcast data frame travel-time, owing to comprise clocking error, multipath interference equal error item in the corresponding observed quantity, so it is referred to as pseudorange, the difference of twice observed quantity is referred to as the Δ pseudorange.
Be t Frame launch time of supposing scheduled transmissions order
T(sys), the time that is received is t
R(sys), do not having under the situation of channel disturbance, its propagation delay is:
τ＝t
R(sys)-t
T(sys) (1)
More than all measured values to the time be not have clocking error when all being based on system standard.And in reality system, exist various errors to disturb in the total system, and need following formula be revised, and when measured value and time of reception measured value transform to cell site and receiver respectively be launch time, can get following formula:
τ+δt
D＝(t
R-δt
R)-(t
T-δt
T) (2)
T in the formula
R, δ t
R, t
T, δ t
T, δ t
DBeing respectively receiver clock cell site's clock time when measuring time of reception, receiver clock with respect to the deviation of system time, emission, cell site's clock is subjected to manyly to postpone and machine is received the equivalent delay deviations of machine noise etc. through disturbing with respect to deviation, the system of system time.
Arrangement (2) formula obtains pseudo range observed quantity:
ρ＝c(t
R-t
T)＝cτ+c(δt
R-δt
T+δt
D)＝r+cδt
R+δr (3)
ρ in the formula, c, r, δ r are respectively that the sighting distance between the light velocity, transmitting terminal and the receiving end is geometric distance and other distance error equivalence values in pseudo range observed quantity, the vacuum.
3. positioning principle
The DTV signal framing adopts the pseudorange method.The pseudorange here is meant that digital broadcast transmitter antenna to the geometric distance between the receiver antenna signal adds various systematic errors, i.e. the pseudo-range measurements of the 1st joint definition.As shown in Figure 1, position calculation can realize at user terminal.Terminal will be measured the pseudorange of each horizon range transmitter, and the pseudorange of three transmitters is enough to solve user's longitude, latitude and clock jitter, and the position data of DTV transmitter can be stored in user terminal or obtain by broadcast data.In order to calculate the exact position of user side, must know the time limit of synchronous code transmission.But it is unlike the situation based on satnav, and the position of cell site is constant, does not need to upgrade continually.
Positioning system system state to be determined is generally system dynamic characteristic and system clock error term, that is: locus, speed, acceleration and clock jitter and clock drift.System state is:
[P in the formula
RV
RA
R]
T,
Be respectively alliance, speed acceleration three-dimensional coordinate vector and receive clock deviation and drift vector.
The dynamic perfromance and the clocking error of required system can be calculated by above system equation, multiple solution can be used here, for example: closed solution, linear iteration, Kalman filtering etc.
4. integrated navigation
Based on the DTV signal framing, need not to change the equipment of digital television station, and unlike GPS, the influence that its signal is not postponed by transmitter Doppler effect and ionospheric propagation; Because high-energy, the low duty ratio of DTV signal, make signal Processing require minimum; Bearing accuracy can reach the 1m magnitude; The equipment that this location technology provided is than desired more cheap, low speed of GPS technology and low-power; The quite huge DTV infrastructure of this technology utilization is come location of wireless devices, and is all more more economical effectively than current alternative any scheme.Therefore, use for reference DTV transmission system, the broadcast system of DTV location technology and China and set up the positioning system that China has autonomy, very necessary.
Along with the development of these technology with popularize, can derive various combined orientation technologies, the present invention proposes:
1) DTV location in ground constitutes integrated positioning/navigational system with the GPS location;
2) DTV location in ground constitutes integrated positioning/navigational system with satellite DTV location;
3) GPS location formation integrated positioning/navigational system is added with satellite DTV location in DTV location in ground.
Wherein:
The two advantage promptly can combined ground DTV location be located with GPS by system " 1) ";
System " 2) " can break away from dependence fully for gps satellite (or other special-purpose Navsat), thereby security is best, has national defence and is worth;
Security, dirigibility and the bearing accuracy of system " 3) " can be the highest, but system is also the most complicated.
The advantage of integrated navigation is to bring into play positioning subsystem advantage separately, learns from other's strong points to offset one's weaknesses, and to obtain higher bearing accuracy, improves the robustness of total system simultaneously.But this has increased the cost and the complexity of system on the other hand.General each subsystem that constitutes integrated navigation system adopts the location model of different principle, the original observed quantity that provides separately has quite different physical meaning, measuring unit and range are also very inconsistent simultaneously, this has all increased the combination of navigation equation and the complexity of resolving, and has reduced calculation accuracy simultaneously.
Navigation mode and thinking that the present invention proposes are promptly observed two kinds of (or multiple) radio positioning systems simultaneously, constitute a kind of combined positioning and navigating system of brand-new mode of operation.
The present invention determines the recipient locus by receiving the known civilian digital TV ground transmitting station of a plurality of volume coordinates and/or the signal of digital television broadcasting satellite and Navsat; This method is to be based upon on the radio signal broadcast transmission system, receives multiple wireless broadcast system and a plurality of emissive sources of observation simultaneously, to form the system architecture and the location navigation pattern of multiple wireless location system combination, draws the integrated positioning system navigational solution; The job step of system is:
1) received signal: radio frequency part receives wireless signal by antenna, then received signal is down-converted to intermediate-freuqncy signal;
2) finish the digitizing and the sampling task of intermediate-freuqncy signal by analog/digital conversion;
3) in digital signal processor, finish synchronous tracking, the demodulation sign indicating number task of signal, set up a signal carrier and sign indicating number tracking loop synchronously;
4) with time interval of digital television system broadcast data frame basic time unit as systematic observation, be ranked with Frame at interval or its multiple as observation interval, determine the observation time sequence;
5) the observation sequence time that is ranked in advance regularly extracts the raw pseudo range observed reading in a digital transmission of television source from synchronous track loop module, and obtains this emissive source sign and volume coordinate information by the data behind the demodulation sign indicating number;
6) repeating step 5) all Digital Television cell site and satellites in effective range of observation tracking; All information that obtain are sent into the positioning calculation equation, promptly obtain each emissive source from receiving the track loop extraction, the pseudorange value and the emissive source spatial value that promptly comprise digital TV ground and satellite, calculate the locus coordinate of final receiving antenna, and be scaled the locating information of receiving system: comprise position, speed and acceleration, these information are the basic navigation locating information; If because the influence of reception environment can't directly obtain the basic navigation locating information at this observation time point, can separate the basic navigation locating information of extrapolation from the last effectively integrated navigation of other navigator or system by supplementary means as this observation time point;
7) measure subsequently each data broadcast of digital TV synchronization frame time of reception, obtain belonging to the pseudorange information that this observation time is put all effective synchronizing frame heads;
8) the basic navigation locating information that obtains with step 6), pseudorange information and receiving time information in the substitution step 7) are successively finished the calculating based on order double filter smoothing algorithm, final output system optimum combination navigator fix information.
To each observation time point, need carry out asynchronous measurement to each broadcast transmission source synchronization frame, its distance measurement mode is to wait observation time to put not constant duration to measure each wireless observed reading, promptly the related time period of same predetermined observation time point is carried out repeatedly asynchronous measurement, rather than a synchro measure.
Location navigation pattern constituted mode is: one, location-independent only adopt a kind of definite positioning system at each observation time point, and independent asynchronous measurement belongs to the observation data of this observation station, application order double filter smoothing algorithm calculating navigational solution; Two, co-located adopts multiple positioning system at each observation time point, and independent asynchronous measurement belongs to each positioning system observation data of this observation station, application order double filter smoothing algorithm calculating navigational solution; Three, major-minor co-positioned, at each observation time point based on a kind of positioning system, and independent asynchronous measurement belongs to the main positioning system observation data of this observation station and the part observation data of other auxilliary positioning systems, application order double filter smoothing algorithm calculating navigational solution.
The method of carrying out the navigational solution smoothing processing in the combined positioning and navigating system is that order double filter smoothing algorithm is by using forward direction and back to two wave filters, at first begin to carry out forward direction filtering successively to next belonging under this time point the different orders of observed readings constantly in the scope from observation time point starting point, after finishing last involved observed reading of this time point, carry out inverse filtering successively, thereby and finally finish inverse filtering and calculate the level and smooth navigational solution that obtains this time point at this time point section start.
Beneficial effect:
1) because two kinds of wireless location systems provides similar observed quantity, so the different working method of one-tenth capable of being combined realizes multiple navigation working methods such as location-independent, co-located or major-minor co-positioned separately.
2) because two kinds of positioning systems all are to measure wireless signal, thus can more shared functional modules on integral body constitutes, and for example receiver rf front-end, intermediate frequency and Base-Band Processing etc. are with the reduction system cost.
3) systematic error of Cun Zaiing, for example: clocking error, receive to disturb etc., in the integrated navigation equation solver, can consistently treat, calculate simultaneously or difference cuts mutually, to improve bearing accuracy.
As a practical application of this kind integrated navigation is exactly above-mentioned based on satnav and integrated positioning/navigational system of constituting based on the received terrestrial digital broadcasting TV transmission network.This system is except having above three advantages, and also have own special advantages: satellite navigation provides the covering advantage, the enhanced system availability; The received terrestrial digital broadcasting location provides signal quality to guarantee the robustness of enhanced system.
This technology and satellite positioning tech are carried out effective combination, constitute a kind of brand-new navigator fix pattern, be i.e. the auxiliary ground digital television broadcast signal navigation positioning system of satellite.This new station-keeping mode has been given prominence to two kinds of location technologies advantage separately, short and the high advantage of received signal to noise ratio remedies latter's deficiency in these areas with the former signal lag, produce the bearing accuracy of more optimizing, simultaneously the reliability and the adaptability of enhanced system.
Description of drawings
Fig. 1 is a digital broadcast signal positioning system framework synoptic diagram.
Embodiment
The advantage of combined positioning and navigating is exactly to bring into play the advantage of each subsystem, obtains optimum navigational state and separates.This brand-new navigator fix pattern that the present invention proposes, be that the auxiliary ground digital television broadcast signal navigation positioning system of satellite not only can integrated navigation, can also satisfy two subsystems navigation information is provided separately, when a sub-positioning system can not provide observed reading, total system can be calculated navigational solution according to the self-adaptation observed reading.
The establishment of total system can be divided into the two large divisions: transmit and receive.Radiating portion is to be based upon on the DTV ground broadcast signal transmitting station that built up and the DTV broadcasting satellite basis.At first be that different emissive sources distribute different systematic identification codes (ID), again the information such as volume coordinate, launch time and identification code of emissive source carried out chnnel coding, realize the signal emission by the DTV digit broadcasting system at last.
Receiving unit is the major part of this invention.The structure of receiving unit total system is to be based upon on the software and radio technique.Its workflow is as follows:
1) at first the radio frequency part of front end receives wireless signal by antenna, frequency range according to need received signal (ground broadcast signal or satellite-signal) place down-converts to intermediate-freuqncy signal with it then, at this moment the bandwidth of useful signal can be different with different DTV systems, but generally in tens MHz scopes, therefore maximum bandwidth that need to select the various standard emission coefficients that receive is as the system works bandwidth, and determines the centre frequency of down coversion thus.
2) finish the digitizing and the sampling task of received signal then by analog/digital (A/D) conversion, ensuing finish by the mode of digital signal processing in steps.
3) in digital signal processor (DSP), finish synchronous tracking, the demodulation sign indicating number task of signal thereafter, set up the synchronous tracking loop of signal carrier and code tracking.
4) regularly extract the raw pseudo range observed reading of system, obtain information such as emissive source sign and volume coordinate by the data behind the demodulation sign indicating number from synchronous track loop module.
5) a plurality of DTV cell site and satellite are followed the tracks of in observation simultaneously, the information that obtains by step 4) is sent into pseudorange and is resolved equation, promptly obtain each emissive source pseudorange value of (comprising DTV digital ground and satellite) from receiving the track loop extraction, calculate the locus coordinate of final receiving antenna, and be scaled the locating information of receiving system: comprise position, speed and acceleration etc.
6) because machine is received the change that the residing geographic position of machine difference causes reception environment, side by side surface launching station and satellite and receiver also can be along with the relations of relative tertiary location between the two and are changed, these all can directly influence intensity and the quality that receiver receives each emissive source signal, make that effectively receiving planisphere changes, sometimes can only receive one type transmit, under extreme case, can only receive the signal of an emissive source even not have signal in the short time.This advantage that just need enable integrated navigation is come level and smooth or piloting information.Detailed process is as described below.
General integrated navigation system is directly raw observation or initial value to be carried out the value of interpolation calculation when obtaining observation time point in system coordination when coordinating observation time, because raw observation is the Nonlinear Mapping from emissive source to the reception sources dynamic communication of transmitting, and obtains positioning result by direct observed reading interpolation calculation and will produce bigger navigation error.And the calculating thought that the present invention proposes is that the observed reading of different emissive sources is calculated respectively, at last each navigational solution is carried out smoothing processing to the system coordination observation station, the concrete method of using is exactly an order double filter smoothing algorithm (Sequential Dual Filter Approach toSmoothing abbreviates SDF as).Its basic operating procedure is as follows:
1) determines observation time.Because when the data frame length that ground digital television broadcast is launched is grade, and can calculate or directly definite its launch time, so can will launch the chronomere of the time interval of each frame as systematic observation, all observation times are base unit with it, constitute sequence epoch of observation.Like this receiver just can be ranked in advance with Frame at interval or its multiple as observation interval, the output integrated navigation is separated.
2) obtain the basic navigation locating information.Integrated navigation system at first obtains from above job step 5 in each observation station) (or from other navigator, for example the GPS machine is received machine) the basic navigation locating information that obtains, because a variety of causes is when can not get the basic navigation locating information, separate or the initial navigation data is extrapolated to this observation station as the basic navigation locating information with effective integrated navigation of last time.
3) measure original observed quantity.A DTV digital broadcast data frame is just launched when each observation station is initial.This situation takes place under ideal state.In fact because all there are clock jitter in cell site and receiver, observation time and have deviation between launch time.Simultaneously owing to there is propagation delay, integrated navigation system is will be thereafter one uncertain but time point that can measure observes the data sync frame head; This synchronizing frame head will be different observing subsequently constantly along with the distance of receiver and each cell site is different.
4) SDF resolves.Next system just can use these observed readings to carry out SDF to calculate, and with the SDF smooth value of last output, i.e. the back of time point during Frame emission separated as integrated navigation output to filter value.Constant duration output navigational solution can be accomplished by system like this, and is optimal system state estimation value.
Claims (4)
1, a kind of radio combination positioning navigation method based on digital broadcasting-television signal, it is characterized in that determining the recipient locus by receiving the known civilian digital TV ground transmitting station of a plurality of volume coordinates and/or the signal of digital television broadcasting satellite and Navsat; This method is to be based upon on the radio signal broadcast transmission system, receives multiple wireless broadcast system and a plurality of emissive sources of observation simultaneously, to form the system architecture and the location navigation pattern of multiple wireless location system combination, draws the integrated positioning system navigational solution; The job step of system is:
1). received signal: radio frequency part receives wireless signal by antenna, then received signal is down-converted to intermediate-freuqncy signal;
2). finish the digitizing and the sampling task of intermediate-freuqncy signal by analog/digital conversion;
3). in digital signal processor, finish synchronous tracking, the demodulation sign indicating number task of signal, set up signal carrier and sign indicating number tracking loop synchronously;
4). with time interval of digital television system broadcast data frame basic time unit as systematic observation, be ranked with Frame at interval or its multiple as observation interval, determine the observation time sequence;
5). the observation sequence time that is ranked in advance regularly extracts the raw pseudo range observed reading in a digital transmission of television source from synchronous track loop module, and obtains this emissive source sign and volume coordinate information by the data behind the demodulation sign indicating number;
6). repeating step 5) all Digital Television cell site and satellites in effective range of observation tracking; All information that obtain are sent into the positioning calculation equation, promptly obtain each emissive source from receiving the track loop extraction, the pseudorange value and the emissive source spatial value that promptly comprise digital TV ground and satellite, calculate the locus coordinate of final receiving antenna, and be scaled the locating information of receiving system: comprise position, speed and acceleration, these information are the basic navigation locating information; If because the influence of reception environment can't directly obtain the basic navigation locating information at this observation time point, can separate the basic navigation locating information of extrapolation from the last effectively integrated navigation of other navigator or system by supplementary means as this observation time point;
7). measure subsequently each data broadcast of digital TV synchronization frame time of reception, obtain belonging to the pseudorange information that this observation time is put all effective synchronizing frame heads;
8). with the basic navigation locating information that step 6) obtains, pseudorange information and receiving time information in the substitution step 7) are successively finished the calculating based on order double filter smoothing algorithm, final output system optimum combination navigator fix information.
2, the radio combined positioning method based on digital broadcasting-television signal according to claim 1, it is characterized in that: to each observation time point, need carry out asynchronous measurement to each broadcast transmission source synchronization frame, its distance measurement mode is to wait observation time to put not constant duration to measure each wireless observed reading, promptly the related time period of same predetermined observation time point is carried out repeatedly asynchronous measurement, rather than a synchro measure.
3, the radio combined positioning method based on digital broadcasting-television signal according to claim 1, it is characterized in that location navigation pattern constituted mode is: one, location-independent, only adopt a kind of definite positioning system at each observation time point, and independent asynchronous measurement belongs to the observation data of this observation station, application order double filter smoothing algorithm calculating navigational solution; Two, co-located adopts multiple positioning system at each observation time point, and independent asynchronous measurement belongs to each positioning system observation data of this observation station, application order double filter smoothing algorithm calculating navigational solution; Three, major-minor co-positioned, at each observation time point based on a kind of positioning system, and independent asynchronous measurement belongs to the main positioning system observation data of this observation station and the part observation data of other auxilliary positioning systems, application order double filter smoothing algorithm calculating navigational solution.
4, radio combined positioning method based on digital broadcasting-television signal according to claim 1, the method that it is characterized in that carrying out in the combined positioning and navigating system navigational solution smoothing processing i.e. order double filter smoothing algorithm is by using forward direction and back to two wave filters, at first begin to carry out forward direction filtering successively to next belonging under this time point the different orders of observed readings constantly in the scope from observation time point starting point, after finishing last involved observed reading of this time point, carry out inverse filtering successively, thereby and finally finish inverse filtering and calculate the level and smooth navigational solution that obtains this time point at this time point section start.
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| CN110557191A (en) * | 2019-09-05 | 2019-12-10 | 东南大学 | terminal positioning method and device in low-earth-orbit satellite mobile communication system |
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