CN205384374U - Combination positioner in environment of city - Google Patents
Combination positioner in environment of city Download PDFInfo
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- CN205384374U CN205384374U CN201620074598.3U CN201620074598U CN205384374U CN 205384374 U CN205384374 U CN 205384374U CN 201620074598 U CN201620074598 U CN 201620074598U CN 205384374 U CN205384374 U CN 205384374U
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Abstract
The utility model discloses a combination positioner in environment of city relates to the satellite positioning technology field, resolve module, location display module including GPS satellite signal reception module, big dipper satellite signal reception module, DTMB signal reception module, location, GPS satellite signal reception module, big dipper satellite signal reception module and DTMB signal reception module output are connected the module is resolved to the location, module output user three -dimensional coordinate is resolved to the location, the location display module shows user's three -dimensional coordinate. The utility model discloses use china's DTMB standard digital television signalling station conduct GPS, big dipper satellite system's pseudo - satellite reinforcing system, the digital television signalling tower distributes extensively, and signal intensity is also stronger relatively, gets into city building and indoor region more easily, cooperation GPS, big dipper satellite system, the seamless location of realization in the environment of city for the satellite signal.
Description
Technical field
This utility model relates to technical field of satellite, the integrated positioning device in especially a kind of urban environment.
Background technology
Satellite navigation location refers to and utilizes satellite navigation and location system to provide the information such as position, speed and time to complete the location of various targets, navigation, monitoring and management, it is to utilize some navigation positioning satellite composition satellite navigation and location systems, combine tradition celestial navigation location and the advantage of ground based radio navigation location, be equivalent to a radio navigation station being arranged in space, at any time and any place, its place height above sea level and geographical longitude and latitude are provided the user.
GLONASS (GlobalNavigationSatelliteSystem, guide number SS) is exactly a kind of radio navigation system based on satellite.At present, GNSS system contains the GALILCO system of the GPS system of the U.S., Muscovite GLONASS system, the dipper system of China, European Union, and available number of satellite reaches more than 100.For GNSS system, its positioning precision, availability are all relevant with the geometric figure structure of the number of satellite that can observe and satellite constellation with reliability, in the urban environment that popularity is assembled, the number of satellite that can observe and the geometric figure structure of satellite are generally all undesirable, it is difficult to meet the demand of precision positioning.Restriction due to these factors of GNSS so that simple GNSS system still can not meet the precision positioning requirement in complicated urban environment.
China Digital TV broadcasting standard for terrestrial DTMB, has independent independent intellectual property right.Due to signal frame and absolute time stringent synchronization under this standard, so can pass through signal frame frame originating point information at signal receiving end obtain the absolute time of cell site's transmitting signal, this just provides possibility for utilizing DTMB signal to carry out pseudo range measurement.Utilize Positioning using digital television signal without changing existing digital television signal infrastructure, and unlike GNSS navigation positioning system, the impact that digital television signal is not postponed by ionospheric propagation；Simultaneously as the high-energy of digital television signal and low duty ratio so that signal processing requirement reduces, and the equipment that processes reduces, and power consumption also decreases.Therefore, DTMB signal is that assisted GNSS system provides a kind of good of reliable seamless location to select in urban environment.
Utility model content
For the problems referred to above, this utility model provides a kind of integrated navigation and location device based on gps satellite signal, Big Dipper satellite signal and DTMB signal, it is achieved the seamless location in urban environment.
In order to solve above-mentioned technical problem, the technical solution of the utility model is:
Integrated positioning device in a kind of urban environment, including gps satellite signal receiver module, Big Dipper satellite signal receiver module, DTMB signal receiving module, positioning calculation module, positioning display module；
Described DTMB signal receiving module includes reception antenna, signal conversion module, data sampling module and DTMB pseudo range measurement module, and described reception antenna is sequentially connected with signal conversion module, data sampling module, DTMB pseudo range measurement module；
Described DTMB pseudo range measurement module includes FIR filter, PN sequencer, multiplier, capturing unit, tracking cell, control clock source, described data sampling module connects described FIR filter, described FIR filter accesses described multiplier, described multiplier is sequentially connected with described capturing unit, tracking cell, described capturing unit, tracking cell connect described control clock source, described control clock source connects PN sequencer, and described PN sequencer connects multiplier, tracking cell respectively；
Described gps satellite signal receiver module is used for receiving gps satellite signal and exporting gps satellite pseudo-range measurements, described Big Dipper satellite signal receiver module is used for receiving Big Dipper satellite signal and exporting big-dipper satellite pseudo-range measurements, and described DTMB signal receiving module is used for receiving DTMB signal and exporting DTMB pseudo-range measurements；
Described gps satellite signal receiver module, Big Dipper satellite signal receiver module and DTMB signal receiving module outfan connect described positioning calculation module, described positioning calculation module output user's three-dimensional coordinate, user's three-dimensional coordinate is displayed by described positioning display module.
Further, described gps satellite signal receiver module and Big Dipper satellite signal receiver module adopt and can receive the bimodulus or multi-mode satellite receptor processing Big Dipper signal and gps signal simultaneously.
Further, described positioning calculation module comprises Kalman filter.
This utility model uses DTMB standard digital television signals cell site of China as the Pseudolite Augmentation System of GPS, Beidou satellite system, digital television signal is not by the impact of the data in transmitter Doppler effect, ionospheric propagation delay and modulation to signal so that system accuracy is higher；Digital television signal frequency is low, and digital television transmissions tower transmitting power is relatively large, is easier to enter city building and room area compared to satellite-signal, coordinates GPS, Beidou satellite system, it is achieved the seamless location in urban environment.
Accompanying drawing explanation
Fig. 1 is composition structural representation of the present utility model；
Fig. 2 is DTMB data frame structure figure；
Fig. 3 is the composition structural representation of DTMB signal receiving module.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, this utility model is described in further detail.Embodiment of the present utility model provides for example with for the purpose of describing, and is not exhaustively or this utility model is limited to disclosed form.Many modifications and variations are apparent from for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present utility model and practical application are better described, and makes those of ordinary skill in the art it will be appreciated that this utility model is thus design is suitable to the various embodiments with various amendments of special-purpose.
Embodiment
Integrated positioning device in a kind of urban environment, as it is shown in figure 1, include gps satellite signal receiver module, Big Dipper satellite signal receiver module, DTMB signal receiving module, positioning calculation module, positioning display module；Described gps satellite signal receiver module and Big Dipper satellite signal receiver module adopt and can receive the multi-mode satellite receptor GYM-1010-B processing Big Dipper signal and gps signal simultaneously, and it can support Beidou II, GPS, L1 satellite-signal simultaneously；
Described DTMB signal receiving module includes reception antenna, signal conversion module, data sampling module and DTMB pseudo range measurement module, and described reception antenna is sequentially connected with signal conversion module, data sampling module, DTMB pseudo range measurement module；
Described gps satellite signal receiver module is used for receiving gps satellite signal and exporting gps satellite pseudo-range measurements, described Big Dipper satellite signal receiver module is used for receiving Big Dipper satellite signal and exporting big-dipper satellite pseudo-range measurements, and described DTMB signal receiving module is used for receiving DTMB signal and exporting DTMB pseudo-range measurements；
Described gps satellite signal receiver module, Big Dipper satellite signal receiver module and DTMB signal receiving module outfan connect described positioning calculation module, described positioning calculation module output user's three-dimensional coordinate, user's three-dimensional coordinate is displayed by described positioning display module.
Owing to gps satellite signal receiver module and Big Dipper satellite signal receiver module widely use in navigation positioning system, it is not belonging to the emphasis that this utility model is discussed.
DTMB data frame structure, as in figure 2 it is shown, its adopts a kind of multi-frame structure, has four layers of composition, respectively signal frame, superframe, framing and day frame.Signal frame is the elementary cell of data frame structure, comprises frame head and frame, and frame head part is by PN Sequence composition, and frame comprises 3780 symbols, wherein has 3744 symbol datas, 36 semiotic system information；Superframe comprises first frame and signal frame, and first frame is the first frame, has 255 signal frames, and signal frame number (FN) is encoded in the frame synchronization PN pseudo-code sequence of current demand signal frame；Framing is to be made up of 480 superframes；Day frame is the top layer of frame structure, is made up of 1440 framings, resets with 24 hours for the cycle.
Described DTMB signal receiving module composition structural representation is as shown in Figure 3, described DTMB pseudo range measurement module includes FIR filter, PN sequencer, multiplier, capturing unit, tracking cell, control clock source, described data sampling module connects described FIR filter, described FIR filter accesses described multiplier, described multiplier is sequentially connected with described capturing unit, tracking cell, described capturing unit, tracking cell connects described control clock source, described control clock source connects PN sequencer, described PN sequencer connects multiplier respectively, tracking cell.Described DTMB pseudo range measurement module is to utilize the autocorrelation performance of PN pseudo-code, determines time of arrival (toa) by measuring the correlation peak location of local quasi-code and signal.Digital television signal after data sampling module is sampled is after FIR filter, the PN code produced with local PN sequencer in multiplier carries out related operation, described capturing unit adjustment controls clock source, in order to adjust frequency and the phase place of the local PN code that PN sequencer produces, catch useful signal.Once capture useful signal, starting tracking cell immediately, in order to adjust control clock source, making local PN sequencer keep precise synchronization with input signal.
Cell site launches DTMB standard digital television signals, DTMB signal receiving module carries out signal capture after receiving this signal, after capturing digital television signal, with locally generated reproduction code (the PN pseudo-code sequence of namely locally generated same structure), the signal captured is carried out frame synchronization process.Once reach frame synchronization, just can accurately know the signal frame number of digital television signal according to DTMB standard.Owing to the initial phase of different frame head modes is known, the reproduction code of the next initial phase pattern of so locally generated determined signal frame number, this reproduction code is utilized to carry out relevant treatment with the PN pseudo-code received, time point residing for relevant peaks obtains the time difference of a receiver and cell site, namely can obtain DTMB signal pseudo-range measurements.When DTMB signal receiving module receives the digital television signal that four cell sites launch simultaneously, then four DTMB pseudo-range measurements can be obtained.Utilize these four DTMB pseudo-range measurements can obtain comprising user three dimensional local information (xu,yu,zu) and the non-linear positioning equation group of user terminal and launching tower four unknown parameters of system clock error, carry out resolving process by positioning calculation module, thus completing whole position fixing process.Non-linear positioning equation group is carried out Kalman filtering process by described positioning calculation module, nonlinear problem is converted into linear problem and processes.
In certain reality, DTMB signal framing is to cooperate with GPS and/or what Big Dipper location carried out using, when user terminal receives GPS and big-dipper satellite number less than 4, required data cannot realize positioning calculation, this is to be accomplished by receiving, by DTMB signal receiving module, the digital signal that digital signal transmission tower is launched, data needed for positioning calculation are supplemented, finally realizes the seamless location in urban environment.
Obviously, described embodiment is only a part of embodiment of the present utility model, rather than whole embodiments.The every other embodiment obtained under the premise not making creative work based on the embodiment in this utility model, this area and those of ordinary skill in the related art, all should belong to the scope of this utility model protection.
Claims (3)
1. the integrated positioning device in urban environment, including gps satellite signal receiver module, it is characterised in that: also include Big Dipper satellite signal receiver module, DTMB signal receiving module, positioning calculation module, positioning display module；
Described DTMB signal receiving module includes reception antenna, signal conversion module, data sampling module and DTMB pseudo range measurement module, and described reception antenna is sequentially connected with signal conversion module, data sampling module, DTMB pseudo range measurement module；
Described DTMB pseudo range measurement module includes FIR filter, PN sequencer, multiplier, capturing unit, tracking cell, control clock source, described data sampling module connects described FIR filter, described FIR filter accesses described multiplier, described multiplier is sequentially connected with described capturing unit, tracking cell, described capturing unit, tracking cell connect described control clock source, described control clock source connects PN sequencer, and described PN sequencer connects multiplier, tracking cell respectively；
Described gps satellite signal receiver module is used for receiving gps satellite signal and exporting gps satellite pseudo-range measurements, described Big Dipper satellite signal receiver module is used for receiving Big Dipper satellite signal and exporting big-dipper satellite pseudo-range measurements, and described DTMB signal receiving module is used for receiving DTMB signal and exporting DTMB pseudo-range measurements；
Described gps satellite signal receiver module, Big Dipper satellite signal receiver module and DTMB signal receiving module outfan connect described positioning calculation module, and described positioning display module displays for the user's three-dimensional coordinate exported by described positioning display module.
2. the integrated positioning device in urban environment according to claim 1, it is characterised in that: described gps satellite signal receiver module and Big Dipper satellite signal receiver module adopt and can receive the bimodulus or multi-mode satellite receptor processing Big Dipper signal and gps signal simultaneously.
3. the integrated positioning device in urban environment according to claim 1, it is characterised in that: described positioning calculation module comprises Kalman filter.
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| CN201620074598.3U CN205384374U (en) | 2016-01-26 | 2016-01-26 | Combination positioner in environment of city |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291642A (en) * | 2016-07-21 | 2017-01-04 | 芜湖航飞科技股份有限公司 | A kind of alignment system combined based on big-dipper satellite and pseudo satellite, pseudolite |
| CN108919628A (en) * | 2018-05-15 | 2018-11-30 | 原时（荆门）电子科技有限公司 | A kind of Kalman filtering and Fir filtering control method and system to combining for atomic clock |
| CN113099190A (en) * | 2021-05-12 | 2021-07-09 | 华中科技大学 | IP service convergence communication system and communication method based on DTMB and communication-in-motion |
| CN113466910A (en) * | 2021-05-12 | 2021-10-01 | 广西科技大学 | Signal positioning system based on WiFi + GPS algorithm |
-
2016
- 2016-01-26 CN CN201620074598.3U patent/CN205384374U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291642A (en) * | 2016-07-21 | 2017-01-04 | 芜湖航飞科技股份有限公司 | A kind of alignment system combined based on big-dipper satellite and pseudo satellite, pseudolite |
| CN108919628A (en) * | 2018-05-15 | 2018-11-30 | 原时（荆门）电子科技有限公司 | A kind of Kalman filtering and Fir filtering control method and system to combining for atomic clock |
| CN113099190A (en) * | 2021-05-12 | 2021-07-09 | 华中科技大学 | IP service convergence communication system and communication method based on DTMB and communication-in-motion |
| CN113466910A (en) * | 2021-05-12 | 2021-10-01 | 广西科技大学 | Signal positioning system based on WiFi + GPS algorithm |
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