CN207675951U - Indoor GNSS antenna array and positioning system - Google Patents
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Abstract
The utility model is suitable for GNSS field of locating technology, more particularly to a kind of indoor GNSS antenna array and positioning system, the interior GNSS antenna array includes multiple GNSS antennas, wherein at least two GNSS antenna includes two GNSS antennas that the distance of antenna phase center is less than the half of signal wavelength for receiving and forwarding the signal from different satellites, at least two GNSS antenna.The distance of the phase center of the adjacent GNSS antenna of the wherein at least two of aerial array by being set smaller than the half of signal wavelength by the utility model, ensure that user terminal does not include integer ambiguity to the phase difference of these GNSS antennas, so as to shorten indoor high-precision fixed to the required time.
Description
Technical Field
The utility model belongs to the technical field of the GNSS location, especially, relate to an indoor GNSS antenna array and positioning system.
Background
Due to the fact that a GNSS signal transmitted by a satellite for GNSS positioning is weak, and the fact that the satellite is far away from the ground is added, a common GNSS receiver in an outdoor open zone can receive the GNSS signal. The distances to a plurality of satellites are measured through a common GNSS receiver, the horizontal positioning accuracy of 5-10 meters can be achieved through single-point positioning, and most daily applications can be met. However, in indoor environments such as garages, buildings, tunnels or under high buildings, the GNSS signal intensity is seriously weakened by rubble and the like, and a common GNSS receiver cannot receive GNSS signals in the indoor environments. Therefore, how to achieve high-precision GNSS positioning in indoor environments has become an urgent problem to be solved.
In the prior art, indoor GNSS positioning technologies can be broadly classified into three categories. The first is a high-sensitivity receiver technology, which can receive weak GNSS satellite signals indoors by using a high-sensitivity receiver. However, since the signal strength is seriously weakened and is easily affected by factors such as indoor multipath, the indoor positioning accuracy cannot be ensured. The second category is pseudolite technology, which uses terrestrial generation of signals similar to GNSS satellite signals, which is highly time-synchronized. The third type is a GNSS relay scheme, which covers the indoor environment by relaying GNSS satellite signals outdoors.
For a third type of GNSS relay forwarding scheme, for example: chinese patent CN2824061Y adopts a simple relay forwarding scheme, which uses an outdoor GNSS module to collect outdoor GNSS satellite signals, amplifies the collected signals, and transmits the amplified signals to an indoor GNSS user terminal through an indoor transmitting antenna. In the scheme, satellite signals are not distinguished, and signals collected from all GNSS satellites reach the GNSS user terminal through the same transmission path, so that positioning results calculated by the GNSS user terminals distributed at different indoor positions are the same, and the indoor positions of the GNSS user terminals cannot be distinguished.
Chinese patent CN102782521A proposes to use multiple directional antennas outdoors to acquire signals of different satellites one-to-one, and use multiple transmitting antennas indoors to broadcast corresponding satellite signals. The indoor transmitting antennas are installed at different positions so as to reconstruct a new satellite constellation indoors. The terminal can use the new satellite constellation for indoor positioning. This solution uses multiple outdoor antennas to collect the signals of different satellites and requires that these directional antennas can dynamically point to different satellites, so the system is complex and costly.
Chinese patent CN104793227A proposes to use an outdoor omni-directional antenna to collect all GNSS satellite signals, then distinguish different satellite signals by a demodulation device, finally modulate the distinguished satellite signals onto radio frequency signals, and transmit corresponding radio frequency signals by using different indoor antennas.
Therefore, the current scheme can smoothly extend outdoor GNSS satellite signals to the indoor environment. However, for the indoor positioning scheme, on one hand, most schemes use pseudo-range observation quantity to perform indoor positioning; on the other hand, similar to the outdoor environment, the reference station is deployed indoors, and high-precision differential positioning is performed by using carrier phase observations of the user terminal and the reference station, but the high-precision differential positioning based on the carrier phase depends on the solution of the whole-cycle ambiguity, which is a challenging task and takes a long time.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides an indoor GNSS antenna array and positioning system to effectively shorten the time for indoor positioning.
The embodiment of the utility model provides an indoor GNSS antenna array is provided to the first aspect, including a plurality of GNSS antennas, wherein two at least GNSS antennas are used for receiving and forwardding the signal that comes from different satellites, including two at least GNSS antennas that the distance of antenna phase place center is less than half of signal wavelength.
A second aspect of the embodiments of the present invention provides a GNSS positioning system, comprising the above first aspect of the indoor GNSS antenna array.
Compared with the prior art, the embodiment of the utility model beneficial effect who exists is: the utility model discloses indoor GNSS antenna array includes a plurality of GNSS antennas to set the distance of the phase place center of two at least adjacent GNSS antennas wherein to be less than half of signal wavelength, guarantee that user terminal does not contain whole week ambiguity to the phase difference of these GNSS antennas, thereby shortened the directional required time of indoor high accuracy.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an indoor GNSS antenna array according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an indoor portion of a GNSS positioning system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another indoor GNSS antenna array according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another indoor GNSS antenna array according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention 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 invention with unnecessary detail.
In order to explain the technical solution of the present invention, the following description is made by using specific examples.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It is also to be understood that the terms "first," "second," and "third," etc. used in the description of the invention are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance, nor is the term "second" necessarily preceded by a "first," i.e., a specific numerical meaning.
In the specific implementation, the user terminal described in the embodiments of the present invention includes but is not limited to a mobile phone, a tablet computer, and an intelligent wearable device. In the following detailed description, for convenience, a mobile phone will be specifically described as an example of the user terminal, and those skilled in the art will understand that the user terminal is not limited to the mobile phone.
In the following discussion, a user terminal including a GNSS receiver is described. However, it should be understood that the user terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and/or joystick.
The user terminal supports various applications, such as one or more of the following: a drawing application, a presentation application, a word processing application, a website creation application, a disc burning application, a spreadsheet application, a gaming application, a telephone application, a video conferencing application, an email application, an instant messaging application, an exercise support application, a photo management application, a digital camera application, a web browsing application, a digital music player application, and/or a digital video player application.
Various applications that may be executed on the user terminal may use at least one common physical user interface device, such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the terminal device may be adjusted and/or changed between applications and/or within respective applications. In this way, a common physical architecture (e.g., touch-sensitive surface) of the terminal device may support various applications with user interfaces that are intuitive and transparent to the user.
Fig. 1 is a schematic structural diagram of an indoor GNSS antenna array according to an embodiment of the present invention. Referring to fig. 1, the indoor GNSS antenna array includes two GNSS antennas a and B, which are respectively used for receiving and forwarding signals from two different satellites i and j, and a distance D between phase centers of the two GNSS antennas a and B is less than half of a signal wavelength.
It should be noted that, the GNSS antenna that indoor GNSS antenna array includes receives and retransmits the signal that comes from the satellite through relaying the technique of retransmitting, and the technical means homoenergetic that is used for relaying to retransmit that the technical staff in the field exists all can be used for realizing the utility model discloses, the utility model discloses do not specifically limit to this. Different satellites have different positions in the sky, and obviously, the positions of the satellite i and the satellite j in the sky are different; in addition, the signal wavelengths transmitted by different satellites may be the same or different, and the signal wavelength refers to the wavelength of the corresponding satellite signal carrier and is known. Generally speaking, satellites of the same satellite system, such as GPS, GLONASS, or GALILEO satellites, have the same signal wavelength, and the same signal wavelength herein means that the signal wavelength is theoretically the same, but there is actually a certain deviation, but the deviation is not large. But the difference between the satellite signal wavelengths of different satellite systems is also small.
In the embodiment of the present invention, if the wavelengths of the signals of the satellite i and the satellite j are different, the value range of the signal wavelength λ may be the minimum value of the wavelengths of the two satellite signals or more, and the maximum value of the wavelengths or less; if the wavelengths of the signals of the satellite i and the satellite j are the same, the signal wavelength λ is equal to the wavelength of the satellite signal. No matter what setting mode is adopted for the signal wavelength, the user terminal in the indoor environment can obtain good positioning accuracy.
Referring again to fig. 1, the phase centers D of adjacent GNSS antennas a and B in the indoor GNSS antenna array are very close, e.g., within 10 cm. When the position of the user terminal is relatively far, such as about 2-3 meters, the directions of the line of sight of the user terminal and the two adjacent GNSS antennas a and B may be approximately parallel.
For indoor GNSS antennas A and B, the phase difference between the antennasThe relationship with the distance D of the phase center between the antennas can be expressed by the following equation:
wherein θ (t) represents the azimuth angle of the user terminal, which changes with time and represents that the azimuth angle changes when the user terminal changes position with time, but the azimuth angle is certain at a certain moment; λ represents the signal wavelength. In the above equation, the distance D between the phase centers of the antennas is a parameter of the GNSS antenna array that is precisely known; λ is also a known quantity; the inter-antenna phase difference will be described in detail laterCan calculate the phase difference between the antennasTherefore, the only unknown in the above equation is the azimuth θ (t) of the ue. Thus, the orientation of the user terminal can be achieved according to the above formula.
Since the sine function has a periodicity, multiple solutions may occur for the azimuth based on the above formula. If the distance D of the phase centers between the antennas is within half a wavelength, i.e., D < λ/2, then there are no multiple solutions to the azimuth angle θ. In other words, the azimuth angle can be uniquely determined when the distance D of the phase centers between the antennas satisfies D < λ/2.
Next, the inter-antenna phase difference will be described in detailThe method of (3).
Fig. 2 is a schematic structural diagram of an indoor portion of a GNSS positioning system. As shown in fig. 2, a GNSS antenna array is installed indoors, and the antenna array includes two GNSS antennas, a GNSS antenna a and a GNSS antenna B, which are respectively used for receiving and forwarding signals from satellite i and satellite j. The user terminal 1 is located in an indoor environment, and the user terminal 1 is a user terminal 1 with a GNSS receiver. The user terminal 1 can determine carrier phase measurements when receiving signals corresponding to two satellites i and jAndthe unit is the number of carrier cycles. In practice, the carrier phase measurements obtained by the user terminal 1Andeach of the two parts includes two parts, one is the number of carrier cycles from the satellite to the indoor GNSS antenna, and the other is the phase difference between the indoor GNSS antenna and the user terminal 1, that is:
wherein t is the GNSS receiver time of the user terminal 1;represents the phase difference between the GNSS antenna a to the user terminal 1;represents the phase difference between the GNSS antenna B to the user terminal 1;represents the phase difference between satellite i to GNSS antenna a;represents the phase difference between satellite j to GNSS antenna B;andincluding the phase delay caused by the forwarding. In addition, two carrier phase measurementsAndall compriseThe clock offset of the subscriber terminal 1, which is eliminated in the subsequent differential operation, is not represented in the above two equations.
Carrier phase measurementAndthe difference between them is:
wherein,the difference between the phases of the user terminal 1 and the two indoor GNSS antennas a and B, referred to as an inter-antenna phase difference, may be used to calculate the direction of the user terminal 1. In order to calculate the inter-antenna phase difference, unknowns need to be calculated
With continued reference to fig. 2, a reference station 2 is also provided indoors, and the reference station 2 is used for estimation calculationsThe unknowns in the formula (1). With the reference station 2, it is possible to obtain and calculateIs similar to the equation:
wherein,representing the difference in phase of the reference station 2 to the two indoor GNSS antennas A and B, the meaning and calculation of the parametersThe parameters in the formula are similar, and are not described in detail here.
Comprehensive calculationFormula and calculation ofFormula (2), phase difference between antennasCan be calculated by the following formula:
wherein,andcalculated from the carrier phase measurements of the user terminal 1 and the reference station 2, respectively.Can be calculated from the precise position of the reference station 2 and the precise position of the antennas comprised by the indoor GNSS antenna array. This is conventional for those skilled in the art and will not be described further herein.
In the technical solution of this embodiment, the indoor GNSS antenna array includes two GNSS antennas, and the two GNSS antennas emit signals of different satellites. By arranging the two GNSS antennas, the distance between the GNSS antennas is smaller than half of the signal wavelength, the phase difference from a user to the two GNSS antennas does not contain the whole-cycle ambiguity, and therefore the time required by indoor high-precision orientation is shortened.
On the basis of the above technical solution, optionally, the indoor GNSS antenna array may include a plurality of GNSS antennas, where at least two GNSS antennas are used to receive and forward signals from different satellites, and the at least two GNSS antennas include two GNSS antennas whose distance between antenna phase centers is smaller than half of a signal wavelength.
If the wavelengths of the at least two satellite signals are not all the same, the value range of the signal wavelength is greater than or equal to the minimum value of the wavelengths of the at least two satellite signals and less than or equal to the maximum value of the wavelengths; if the wavelengths of the signals of the at least two satellites are all the same, the signal wavelength is equal to the wavelength of the satellite signal.
In the technical solution of this embodiment, at least two GNSS antennas are ensured to receive signals from different satellites, and by deploying these GNSS antennas to receive signals from different satellites, the distance between the phase centers of at least two adjacent GNSS antennas is made smaller than half of the signal wavelength, and it is ensured that the phase difference from the user terminal to these two GNSS antennas does not include the whole-cycle ambiguity, thereby shortening the time required for indoor high-precision orientation.
Further, it is also possible to deploy some of the antennas in the antenna array such that the distance of the phase center between at least two GNSS antennas is larger than half the signal wavelength. The integer ambiguity can be calculated based on the azimuth angles calculated by the two GNSS antennas with the distance between the antenna phase centers being less than half of the signal wavelength, so that the indoor positioning and orientation precision of the user terminal is improved.
In a specific embodiment, the indoor GNSS antenna array comprises at least three GNSS antennas for receiving and forwarding signals from different satellites, the distance between the phase centers of two of the at least three GNSS antennas is less than half of the signal wavelength, and the distance between the phase centers of two of the at least three GNSS antennas is greater than half of the signal wavelength.
In at least three GNSS antennas that receive and forward signals from different satellites, as long as the distance between the phase centers of two GNSS antennas is less than half of the signal wavelength and the distance between the phase centers of two GNSS antennas is greater than half of the signal wavelength, the positional relationship of other antennas is not limited, and the distance between the phase centers may be less than half of the signal wavelength, greater than half of the signal wavelength, or equal to half of the signal wavelength. It does not mean that only the phase centers of two GNSS antennas can be located less than half the signal wavelength apart, and that the phase centers of two GNSS antennas can be located more than half the signal wavelength apart.
In another embodiment, the indoor GNSS antenna array comprises at least four GNSS antennas for receiving and forwarding signals from different satellites, two of the at least four GNSS antennas having phase centers that are less than half of a signal wavelength apart, and two of the at least four GNSS antennas having phase centers that are greater than half of a signal wavelength apart.
Further, the plurality of GNSS antennas constituting the indoor GNSS antenna array may or may not be arranged coplanar. In order to reduce the complexity of the calculation, a plurality of GNSS antennas may be arranged axisymmetrically; to further reduce the computational complexity, multiple GNSS antennas may be arranged centrosymmetrically.
When the user terminal 1 has an elevation angle with respect to the line of sight direction of the indoor GNSS antenna array, the one-dimensional direction-finding antenna shown in fig. 1 cannot meet the direction-finding requirement. A two-dimensional antenna array is then required to achieve direction finding.
Fig. 3 is a schematic structural diagram of another indoor GNSS antenna array according to an embodiment of the present invention. The indoor GNSS antenna array shown in fig. 3 includes: three GNSS antennas A, B and C, three GNSS antennas A, B and C in turn for receiving and relaying signals from different satellites i,j and k, distance D between phase centers of GNSS antenna A and GNSS antenna B1And distance D between phase centers of GNSS antenna A and GNSS antenna C2Are less than half the wavelength of the signal.
Wherein D is1<λ1/2. Signal wavelength lambda1The value of (d) may be related to the signal wavelengths of the satellites i, j, and k, may be related to only the signal wavelengths of the satellites i and j, or may be related to only the signal wavelength of the satellite i or the satellite j. The present invention is not limited to this. In one embodiment, the wavelengths of the satellite signals of the three satellites i, j and k are not identical, and the signal wavelength λ1The value range of (a) may be greater than or equal to the minimum value of the wavelengths of the three satellite signals, and less than or equal to the maximum value of the wavelengths; in another embodiment, the wavelengths of the satellite signals of satellites i, j and k are identical, then the signal wavelength λ is1Equal to the wavelength of the satellite signal. Signal wavelength lambda1Regardless of the setting mode, the user terminal in the indoor environment can obtain good positioning accuracy.
D2<λ2/2. Signal wavelength lambda2The value of (c) may be related to the signal wavelengths of the satellites i, j, and k, may be related to only the signal wavelengths of the satellites j and k, or may be related to only the signal wavelength of the satellite j or the satellite k. The present invention is not limited to this. In one embodiment, the wavelengths of the satellite signals of the three satellites i, j and k are not identical, and the signal wavelength λ2The value range of (a) may be greater than or equal to the minimum value of the wavelengths of the three satellite signals, and less than or equal to the maximum value of the wavelengths; in another embodiment, the wavelengths of the satellite signals of satellites i, j and k are identical, then the signal wavelength λ is2Equal to the wavelength of the satellite signal. No matter what setting mode is adopted for the signal wavelength, the user terminal in the indoor environment can obtain good positioning accuracy.
In addition, it should be noted that λ1And λ2The values of (A) may be the same or different.
Fig. 3 shows a very simple two-dimensional antenna array with GNSS antennas A, B and C having their phase centers located at the three vertices of a right triangle, where the phase center of GNSS antenna a is located at the right vertex of the right triangle. When the two-dimensional antenna array of fig. 3 is used, 3 GNSS antennas may form a three-dimensional coordinate system. The connection line of the phase centers of the GNSS antennas a and B is an x-axis direction, the connection line of the phase centers of the GNSS antennas a and C is a y-axis direction, and the z-axis direction is perpendicular to a plane where the phase centers of the GNSS antennas A, B and C are located. Similar to the formula of finding azimuth angle before the formula, the relationship between the inter-antenna phase difference of the user terminal and the elevation angle and azimuth angle can be expressed as:
similar to the one-dimensional antenna array shown in FIG. 1, when the distance between the phase centers of the GNSS antennas satisfies D1<λ1/2，D2<λ2The azimuth angle theta and the elevation angle β of the user terminal relative to the array of GNSS antennas can be uniquely determined.
In addition, on the one hand, based on the embodiment shown in fig. 3, the phase centers of the three GNSS antennas A, B and C included in the antenna array may not be located at the three vertices of the right triangle respectively, and may be located at any position, only the distance D between the phase centers of the GNSS antenna a and the GNSS antenna B needs to be satisfied1And distance D between phase centers of GNSS antenna A and GNSS antenna C2All are less than half of the signal wavelength; or only the distance D between the phase centers of the GNSS antenna B and the GNSS antenna A needs to be satisfied1And distance D between phase centers of GNSS antenna B and GNSS antenna C2All are less than half of the signal wavelength; or only need toDistance D satisfying phase centers of GNSS antenna C and GNSS antenna A1And distance D between phase centers of GNSS antenna C and GNSS antenna B2Both are less than half the wavelength of the signal, the azimuth angle θ and the elevation angle β of the user terminal with respect to the GNSS antenna array can be uniquely determined.
On the other hand, based on the above-mentioned embodiment shown in fig. 3, the antenna array may include not only three GNSS antennas A, B and C, but also other GNSS antennas, that is, the antenna array may include at least three GNSS antennas, wherein the three GNSS antennas A, B and C satisfy the above-mentioned phase center distance, wherein the distance between the phase centers of the two GNSS antennas is greater than half of the signal wavelength, and the distance between the phase centers of the other antennas is not particularly limited, and may be greater than, equal to, or less than half of the signal wavelength.
Furthermore, on the basis of the embodiment shown in fig. 3, the antenna array may include at least four GNSS antennas, the at least four GNSS antennas are configured to receive and transmit satellite signals from different positions, a distance between phase centers of a first GNSS antenna and a second GNSS antenna of the at least four GNSS antennas, and a distance between phase centers of the second GNSS antenna and a third GNSS antenna of the at least four GNSS antennas are both less than half of a signal wavelength, and a distance between the phase centers of the first GNSS antenna, the second GNSS antenna, or the third GNSS antenna of the at least four GNSS antennas and the fourth GNSS antenna is greater than half of the signal wavelength.
As long as the distance between the phase centers of at least two adjacent groups of GNSS antennas among the at least four GNSS antennas is less than half of the signal wavelength, and the distance between the phase centers of one group of two adjacent GNSS antennas is less than half of the signal wavelength, the distance between the phase centers of other antennas is not particularly limited, and the distance between the phase centers of other antennas may be greater than, equal to, or less than half of the signal wavelength. With this arrangement, some of the antennas in the antenna array are deployed such that the distance between the phase centers of at least two pairs of GNSS antennas is less than half the signal wavelength and the distance between the phase centers of at least one pair of GNSS antennas is greater than half the signal wavelength. The integer ambiguity can be calculated based on the azimuth angles calculated by the two GNSS antennas with the distance between the antenna phase centers being less than half of the signal wavelength, so that the indoor positioning and orientation precision of the user terminal is improved. In order to reduce the complexity of calculation, at least four GNSS antennas can be arranged in an axial symmetry mode; to further reduce the computational complexity, at least four GNSS antennas may be arranged centrosymmetrically.
In one specific embodiment, as shown in fig. 4, a two-dimensional antenna array is provided, and the indoor antenna array includes 6 GNSS antennas, and the phase centers of GNSS antennas A, B, C, D, E and F are located at six vertices of a regular hexagon, respectively, so as to form a circular antenna array. The distances between phase centers of adjacent GNSS antennas in the circular antenna array are equal and are smaller than half of the signal wavelength; the phase center distance of other non-adjacent GNSS antennas is larger than half of the signal wavelength. The circular antenna array is arranged in central symmetry, so that the orientation of the user terminal is easier to realize.
Further, the circular antenna array can be set to have equal phase center distances of adjacent GNSS antennas, which are less than half of the signal wavelength; other non-adjacent GNSS antenna phase centers are located some distance greater than half the signal wavelength.
Further, as can be seen from the foregoing description, the circular antenna arrays may not be arranged coplanar.
It should be noted that, as can be understood by those skilled in the art, the two-dimensional antenna array may not only be limited to a circular antenna array forming a hexagon, but also be a quadrilateral, pentagonal or other polygonal antenna array, and the manner of implementing the user terminal orientation is similar to that described above, and is not described herein again.
The utility model discloses an utilize phase place central distance to be less than the antenna that signal wavelength is half, can measure user terminal's azimuth and angle of elevation roughly, then utilize them to go to calculate whole week ambiguity to improve the directional, the precision of location of user terminal.
In addition, when there are multiple GNSS antenna arrays indoors, and the positions of these antenna arrays are precisely known, the user terminal can achieve the positioning purpose by measuring the elevation angle and the azimuth angle relative to these antenna arrays, and then calculating the precise position of the user by using the frontal intersection technique.
The above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. An indoor GNSS antenna array is characterized by comprising a plurality of GNSS antennas, wherein at least two GNSS antennas are used for receiving and forwarding signals from different satellites, and the at least two GNSS antennas comprise two GNSS antennas of which the distance between antenna phase centers is less than half of the signal wavelength.
2. An indoor GNSS antenna array according to claim 1 comprising two GNSS antennas for receiving and retransmitting signals from different satellites, the distance of the phase centres of the two GNSS antennas being less than half the signal wavelength.
3. An indoor GNSS antenna array according to claim 1 or 2, further comprising two GNSS antennas having antenna phase centers spaced more than half the signal wavelength apart.
4. An indoor GNSS antenna array according to claim 1 comprising at least three GNSS antennas for receiving and forwarding signals from different satellites, the distance of the phase centers of a first GNSS antenna and a second GNSS antenna of the at least three GNSS antennas and the distance of the phase centers of the second GNSS antenna and a third GNSS antenna each being less than half the signal wavelength.
5. An indoor GNSS antenna array according to claim 4 wherein the first, second and third GNSS antennas are located at the three vertices of a right triangle respectively, wherein the second GNSS antenna is located at the right vertex of the right triangle.
6. The indoor GNSS antenna array of claim 4 comprising at least four GNSS antennas for receiving and transmitting satellite signals from different locations, the distance of the phase centers of a first GNSS antenna and a second GNSS antenna of the at least four GNSS antennas and the distance of the phase centers of the second GNSS antenna and a third GNSS antenna are each less than half of a signal wavelength, and the distance of the phase centers of the first GNSS antenna, the second GNSS antenna or the third GNSS antenna of the at least four GNSS antennas is greater than half of a signal wavelength.
7. An indoor GNSS antenna array according to claim 1 or 4 comprising at least four GNSS antennas, said at least four GNSS antennas being non-coplanar.
8. An indoor GNSS antenna array according to claim 1 or 4, wherein the plurality of GNSS antennas are distributed in axial symmetry.
9. An indoor GNSS antenna array according to claim 1, wherein if the wavelengths of the at least two satellite signals are not all the same, the signal wavelength ranges from a minimum value greater than or equal to the wavelengths of the at least two satellite signals to a maximum value less than or equal to the wavelengths; if the wavelengths of the signals of the at least two satellites are all the same, the signal wavelength is equal to the wavelength of the satellite signal.
10. A GNSS positioning system comprising one or more indoor GNSS antenna arrays according to any of claims 1-9.
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| CN108054522A (en) * | 2017-11-01 | 2018-05-18 | 深圳市时空导航科技有限公司 | Indoor GNSS antenna array, alignment system, localization method and device |
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| CN108054522A (en) * | 2017-11-01 | 2018-05-18 | 深圳市时空导航科技有限公司 | Indoor GNSS antenna array, alignment system, localization method and device |
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