CN207675951U - Indoor GNSS antenna array and positioning system - Google Patents
Indoor GNSS antenna array and positioning system Download PDFInfo
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- CN207675951U CN207675951U CN201721439825.9U CN201721439825U CN207675951U CN 207675951 U CN207675951 U CN 207675951U CN 201721439825 U CN201721439825 U CN 201721439825U CN 207675951 U CN207675951 U CN 207675951U
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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 GNSS field of locating technology more particularly to a kind of indoor GNSS antenna array and positioning is
System.
Background technology
Since the GNSS signal of the satellite launch positioned for GNSS is weaker, farther out etc. along with satellite distance ground distance
Factor can barely receive GNSS signal in the common GNSS receiver of outdoor open field.It is surveyed by common GNSS receiver
The distance of multiple satellites is measured, and 5-10 meters of horizontal positioning accuracy can be reached by One-Point Location, most days can be met
Often application.But in garage, building, in tunnel or in overhead inferior indoor environment, GNSS signal intensity is serious by rubble etc.
Weaken, common GNSS receiver can not receive GNSS signal under environment indoors.Therefore, it how indoors to be realized under environment high
The GNSS positioning of precision has changed into urgent problem to be solved.
Under the prior art, indoor GNSS location technologies can generally be divided into three classes.The first kind is high sensitive receiver
Technology, such technology can receive indoor weaker GNSS satellite signal by using high sensitive receiver.But due to
Signal strength is seriously impaired, and is easily influenced by factors such as indoor multipaths, can not ensure indoor position accuracy.Second class is
Pseudo satellite technology, this kind of technology are using the signal generated on the ground similar to GNSS satellite signal, and this method is to the time
It synchronizes more demanding.Third class is the scheme of GNSS relay forwardings, and this scheme is real by forwarding outdoor GNSS satellite signal
Now cover indoor environment.
For the scheme of third class GNSS relay forwardings, such as：Chinese patent CN2824061Y using it is a kind of it is simple in
After forwarding scheme, it passes through room using the outdoor outer GNSS satellite signal of GNSS module collection room after amplifying collected signal
Interior transmitting antenna is dealt into indoor GNSS user terminals.This kind of scheme does not distinguish satellite-signal, collects all GNSS
The signal of satellite all reaches GNSS user terminals by identical transmission path, and the GNSS for being distributed in different indoor locations is caused to use
The positioning result that family terminal calculates is identical, and then the position of GNSS user terminals indoors cannot be distinguished.
Chinese patent CN102782521A proposes the letter in the different satellites of the one-to-one acquisition of the multiple directional aerials of outdoor application
Number, and indoors corresponding satellite-signal is broadcast using multiple transmitting antennas.Indoor transmitting antenna is mounted on different location, to
A new satellite constellation is rebuild indoors.Indoor positioning can be carried out for terminal using new satellite constellation.This side
Case acquires the signal of different satellites using multiple exterior aerials, and requires these directional aerials that can dynamically be directed toward difference and defend
Star, thus systematic comparison is complicated, cost is higher.
Using all GNSS satellite signals of outdoor omnidirectional antenna acquisition, then Chinese patent CN104793227A is proposed
Different satellite-signals is distinguished by demodulating equipment, and finally the satellite-signal distinguished is modulated in radiofrequency signal, and utilizes
Different domestic aerials emits corresponding radiofrequency signal.
As it can be seen that scheme can be successfully by outdoor GNSS satellite signal extension to interior at present.But for indoor positioning
Scheme for, on the one hand, most schemes be utilize pseudo range observed quantity carry out indoor positioning；On the other hand, in outdoor environment
It is similar, reference station is disposed indoors, and is carried out high-precision difference using the carrier phase observed quantity of user terminal and reference station and determined
Position, but solution of the positioning of the high-precision difference based on carrier phase dependent on integer ambiguity, and the solution of integer ambiguity
It is the work of a challenge, required time is longer.
Utility model content
In view of this, the utility model embodiment provides a kind of indoor GNSS antenna array and positioning system, with effective
Shorten the time of indoor positioning.
The first aspect of the utility model embodiment provides a kind of indoor GNSS antenna array, including multiple GNSS days
Line, wherein at least two GNSS antenna is for receiving and forwarding the signal from different satellites, at least two GNSS antenna
Include two GNSS antennas that the distance of antenna phase center is less than the half of signal wavelength.
The second aspect of the utility model embodiment provides a kind of GNSS positioning systems, including described in above-mentioned first aspect
Indoor GNSS antenna array.
Existing advantageous effect is the utility model embodiment compared with prior art：GNSS antenna in the utility model room
Array includes multiple GNSS antennas, and the distance of the phase center of the adjacent GNSS antenna of wherein at least two is set smaller than letter
The half of number wavelength, ensure user terminal to these GNSS antennas phase difference not comprising integer ambiguity, so as to shorten room
It is interior high-precision fixed to the required time.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new
Some embodiments of type for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram for indoor GNSS antenna array that the utility model embodiment provides；
Fig. 2 is a kind of structural schematic diagram of the indoor section for GNSS positioning systems that the utility model embodiment provides；
Fig. 3 is the structural schematic diagram for the indoor GNSS antenna array of another kind that the utility model embodiment provides；
Fig. 4 is the structural schematic diagram for another indoor GNSS antenna array that the utility model embodiment provides.
Specific implementation mode
In being described below, for illustration and not for limitation, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the utility model embodiment.However, it will be clear to one skilled in the art that there is no these
The utility model can also be realized in the other embodiments of detail.In other situations, omit to well-known system,
The detailed description of apparatus, circuit and method, in case unnecessary details interferes the description of the utility model.
In order to illustrate technical solution described in the utility model, illustrated below by specific embodiment.
It should be appreciated that ought use in this specification and in the appended claims, term " comprising " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, element, component and/or its presence or addition gathered.
It is also understood that in this utility model term used in the description merely for the sake of description specific embodiment
Purpose and be not intended to limit the utility model.As used in the utility model specification and appended book
Like that, other situations unless the context is clearly specified, otherwise " one " of singulative, "one" and " described " are intended to include multiple
Number form formula.
It is also understood that term " first ", " second " and " third " etc. is only used for distinguishing in the description of the present invention,
Description should not be understood as indicating or implying relative importance, can not be interpreted as certainly existing one " first " before " second ",
It should not be understood as that there is specific quantity meaning.
In the specific implementation, the user terminal described in the utility model embodiment includes but not limited to mobile phone, tablet
Computer, intelligent wearable device.It in the following detailed description, for convenience, will be using mobile phone as user terminal
Example is specifically described, and those skilled in the art are it is understood that user terminal is not limited only to mobile phone.
In following discussion, the user terminal including GNSS receiver is described.It is to be understood, however, that with
Family terminal may include one or more of the other physical user-interface device of such as physical keyboard, mouse and/or control-rod.
User terminal supports various application programs, such as one of the following or multiple：Drawing application program, demonstration application
Program, word-processing application, website establishment application program, disk imprinting application program, spreadsheet applications, game are answered
With program, telephony application, videoconference application, email application, instant messaging applications, forging
Refining supports application program, photo management application program, digital camera application program, digital camera application program, web-browsing to answer
With program, digital music player application and/or video frequency player application program.
The various application programs that can be executed on the subscriber terminal can use at least one of such as touch sensitive surface
Public physical user-interface device.It can be adjusted among applications and/or in corresponding application programs and/or change touch is quick
Feel the corresponding information shown in the one or more functions and terminal device on surface.In this way, the public physics frame of terminal device
Structure (for example, touch sensitive surface) can be supported various using journey with intuitive and transparent user interface for a user
Sequence.
Fig. 1 is a kind of structural schematic diagram for indoor GNSS antenna array that the utility model embodiment provides.Refer to figure
1, indoor GNSS antenna array includes two GNSS antenna A and B, and described two GNSS antenna A and B are respectively used to receive and forward
The distance D at the signal of the satellite i and satellite j different from two, described two GNSS antenna A and B-phase center is less than signal
The half of wavelength.
It should be pointed out that the GNSS antenna that indoor GNSS antenna array includes is received and is forwarded by relay forwarding technology
Signal from satellite, the existing technological means for relay forwarding of those skilled in the art could be used for realizing that this practicality is new
Type, the utility model are not specifically limited this.Different satellites, on high in position it is inconsistent, it is thus evident that satellite i and
Satellite j on high in position it is different；In addition, the signal wavelength of different satellite launchs identical may may also differ, signal
Wavelength refers to the wavelength of corresponding satellite signal carrier, is known.Usually, the satellite of the same satellite system, such as
The satellite of GPS, GLONASS or GALILEO, signal wavelength is identical, and the signal wavelength said herein is identical, refers to theoretically
It is identical, but actually has certain deviation, but deviation is little.But the satellite signal wave lengths of different satellite systems
Between difference also very little.
In the utility model embodiment, if the wavelength of the signal of satellite i and satellite j differs, the signal wavelength lambda
Value range can be more than or equal to two satellite-signals wavelength minimum value, be less than or equal to wavelength maximum value；
If satellite i is identical with the wavelength of the signal of satellite j, the signal wavelength lambda is equal to the wavelength of satellite-signal.Signal wavelength no matter
Using wherein which kind of set-up mode, the user terminal under indoor environment can obtain positioning accuracy well.
Referring again to Fig. 1, the distance D of the phase center of the adjacent GNSS antenna A and B in indoor GNSS antenna array is very
Closely, such as within 10cm.When the position of user terminal is distant, such as about 2-3 meters, user terminal and two adjacent
GNSS antenna A can be approximated to be parallel with the direction of visual lines of B.
For indoor GNSS antenna A and B, phase difference between antennaThe phase center distance D between antenna
Relationship can be represented by the formula：
Wherein, θ (t) indicates user terminal azimuth, it is changed over time, and is represented user terminal and is changed over time position
When setting, azimuth changes, but for some moment, and azimuth is certain；λ indicates signal wavelength.In above formula,
The distance D of phase center is the parameter of accurately known GNSS antenna array between antenna；λ is also known quantity；It will subsequently retouch in detail
State phase difference between antennaComputational methods, phase difference between antenna can be calculatedTherefore, in above formula
Unique unknown number is exactly the azimuth angle theta (t) of user terminal.Therefore, the orientation of user terminal can be realized according to above-mentioned formula.
Due to SIN function there are one periodically, be based on above-mentioned formula, azimuth it is possible that multiple solutions feelings
Condition.If the distance D of the phase center between antenna is within half wavelength, i.e. D<λ/2, then just there is no more for azimuth angle theta
The case where a solution.In other words, when the distance D of phase center between antenna meets D<λ/2, azimuth can uniquely determine.
Next, will be described in phase difference between antennaComputational methods.
Fig. 2 is a kind of structural schematic diagram of the indoor section of GNSS positioning systems.As shown in Fig. 2, indoor location has GNSS
Aerial array, the aerial array include two GNSS antennas, GNSS antenna A and GNSS antenna B, they are respectively used to receive and turn
Send the signal from satellite i and satellite j.User terminal 1 is located under indoor environment, and user terminal 1 is to be equipped with GNSS receiver
User terminal 1.User terminal 1 can measure the carrier-phase measurement when signal for receiving corresponding two satellites i and jWithUnit is carrier cycle number.In fact, the carrier-phase measurement that user terminal 1 obtainsWith
Including two parts, a part is from satellite to the carrier cycle number indoor GNSS antenna, and another part is indoor GNSS antenna
Phase difference between user terminal 1, i.e.,：
Wherein, t is the GNSS receiver time of user terminal 1；Indicate GNSS antenna A between user terminal 1
Phase difference；Indicate GNSS antenna B to the phase difference between user terminal 1；Indicate satellite i to GNSS antenna
Phase difference between A；Indicate the phase difference between satellite j to GNSS antenna B；WithIt include forwarding
Caused phase delay.In addition, two carrier-phase measurementsWithAll include the clock correction of user terminal 1, institute
The clock correction for the user terminal 1 stated can be eliminated in subsequent difference operation, thus not showed in above-mentioned two formula.
Carrier-phase measurementWithBetween difference be：
Wherein,Indicate the difference of the phase of user terminal 1 to two indoor GNSS antenna A and B, abbreviation day
Phase difference between line can be used for calculating the direction of user terminal 1.In order to calculate phase difference between the antenna, need to calculate not
Know number
With continued reference to Fig. 2, interior is additionally provided with reference station 2, estimates to calculate using reference station 2Formula in
Unknown number.Using reference station 2, it can obtain and calculateThe similar equation of formula：
Wherein,Indicate that the difference of the phase of reference station 2 to two indoor GNSS antenna A and B, each parameter contain
Justice and calculatingFormula in parameter it is similar, details are not described herein again.
COMPREHENSIVE CALCULATINGFormula and calculatingFormula, phase difference between antennaIt can lead to
Following formula is crossed to calculate：
Wherein,WithIt is calculated respectively by the carrier-phase measurement of user terminal 1 and reference station 2
It arrives.The exact position for each antenna that can include by reference to the exact position and indoor GNSS antenna array at station 2
It is calculated.This is those skilled in the art's routine techniques, and details are not described herein again.
The technical solution of the present embodiment, indoor GNSS antenna array include two GNSS antennas, two GNSS antenna transmittings
The signal of different satellites.By disposing the two GNSS antennas, the distance between GNSS antenna is made to be less than the half of signal wavelength,
Ensure that user does not include integer ambiguity to the phase difference of two GNSS antennas, so as to shorten indoor high-precision fixed to required
Time.
Based on the above technical solution, optionally, indoor GNSS antenna array may include multiple GNSS antennas,
In at least two GNSS antennas for receiving and forwarding the signal from different satellites, at least two GNSS antenna include
The distance of antenna phase center is less than two GNSS antennas of the half of signal wavelength.
Wherein, if inwhole identical, the value ranges of the signal wavelength of the wavelength of at least two satellite-signal
For the minimum value of the wavelength more than or equal at least two satellite-signal, it is less than or equal to the maximum value of wavelength；If described
The wavelength of the signal of at least two satellites is all identical, then the signal wavelength is equal to the wavelength of satellite-signal.
In the technical solution of the present embodiment, it is ensured that the GNSS antenna for receiving the signal from different satellites is at least two
It is a, and by disposing these GNSS antennas for receiving the signals from different satellites, make that wherein minimum there are two adjacent GNSS
The distance of the phase center of antenna is less than the half of signal wavelength, and the phase difference of guarantee user terminal to the two GNSS antennas is not
Including integer ambiguity, so as to shorten indoor high-precision fixed to the required time.
Further, can also pass through dispose aerial array in some antennas so that at least there are two GNSS antenna it
Between phase center distance be more than signal wavelength half.Distance based on antenna phase center is less than the half of signal wavelength
Two calculated azimuths of GNSS antenna can calculate integer ambiguity, to improve user terminal indoor positioning orientation
Precision.
In a specific embodiment, indoor GNSS antenna array include at least three GNSS antennas, described at least three
GNSS antenna is for receiving and forwarding the signal from different satellites, two GNSS antennas at least three GNSS antenna
The distance of phase center be less than the half of signal wavelength, and the phase of two GNSS antennas at least three GNSS antenna
Centrical distance is more than the half of signal wavelength.
Wherein, it receives and forwards at least three GNSS antennas of the signal from different satellites, as long as there are two wherein
The distance of the phase center of GNSS antenna is less than the half of signal wavelength, and there are two the distance of the phase center of GNSS antenna is big
In the half of signal wavelength, the position relationship of other antennas is not limited, the distance of phase center can be less than signal
The half of wavelength, the also greater than half of signal wavelength can also be equal to the half of signal wavelength.Not indicate can only there are two
The distance of the phase center of GNSS antenna is less than the half of signal wavelength, and there are two the distance of the phase center of GNSS antenna is big
In the half of signal wavelength.
In another specific embodiment, indoor GNSS antenna array include at least four GNSS antennas, described at least four
A GNSS antenna is for receiving and forwarding the signal from different satellites, two at least four GNSS antenna GNSS days
The distance of the phase center of line is less than the half of signal wavelength, and two GNSS antennas at least four GNSS antenna
The distance of phase center is more than the half of signal wavelength.
Further, forming multiple GNSS antennas of indoor GNSS antenna array coplanar can not also be coplanar with.
In order to reduce the complexity of calculating, multiple GNSS antennas can be arranged with axial symmetry；It is more in order to be further reduced the complexity of calculating
A GNSS antenna can be with center symmetric setting.
When user terminal 1 relative to indoor GNSS antenna array direction of visual lines there are when the elevation angle, one-dimensional survey as shown in Figure 1
Direction finding demand is cannot be satisfied to antenna.Two-dimensional antenna array is needed to realize direction finding at this time.
Fig. 3 is the structural schematic diagram for the indoor GNSS antenna array of another kind that the utility model embodiment provides.Such as Fig. 3 institutes
The indoor GNSS antenna array shown, including：Three GNSS antennas A, B and C, three GNSS antennas A, B and C are orderly used to reception simultaneously
The distance D of the phase center of signal of the forwarding from different satellite i, j and k, GNSS antenna A and GNSS antenna B1And GNSS
The distance D of the phase center of antenna A and GNSS antenna C2The respectively less than half of signal wavelength.
Wherein, D1<λ1/2.Signal wavelength lambda1Value can simultaneously with satellite i, the signal wavelength of j to k threes is related,
Can be only related to the signal wavelength of satellite i and j, it also can be only related to the signal wavelength of satellite i or satellite j.The utility model pair
This is not especially limited.The wavelength of the satellite-signal of satellite i in one of the embodiments, j and k three is not exactly the same, institute
State signal wavelength lambda1Value range can be more than or equal to three satellite-signals wavelength minimum value, be less than or equal to wave
Long maximum value；In another embodiment, the wavelength of the satellite-signal of satellite i, j and k is identical, then the signal wavelength
λ1Equal to the wavelength of satellite-signal.Signal wavelength lambda1No matter using wherein which kind of set-up mode, the user terminal under indoor environment is equal
Positioning accuracy well can be obtained.
D2<λ2/2.Signal wavelength lambda2Value can simultaneously with satellite i, the signal wavelength of j to k threes is related, also can be only
It is related to the signal wavelength of satellite j and k, it also can be only related to the signal wavelength of satellite j or satellite k.The utility model to this not
Make specific limit.The wavelength of the satellite-signal of satellite i in one of the embodiments, j and k three is not exactly the same, the letter
Number wavelength X2Value range can be the wavelength more than or equal to three satellite-signals minimum value, be less than or equal to wavelength
Maximum value；In another embodiment, the wavelength of the satellite-signal of satellite i, j and k is identical, then the signal wavelength lambda2Deng
In the wavelength of satellite-signal.For signal wavelength no matter using wherein which kind of set-up mode, user terminal under indoor environment can be with
Obtain positioning accuracy well.
In addition it should be pointed out that λ1And λ2Value can it is identical also can be different.
Fig. 3 show a kind of very simple two-dimensional antenna array, and the phase center of GNSS antenna A, B and C are located at
Three vertex of right angled triangle, the wherein phase center of GNSS antenna A are located at the right-angled apices of the right angled triangle.When adopting
When with the two-dimensional antenna array of Fig. 3,3 GNSS antennas can form a three-dimensional system of coordinate.Wherein, the phase of GNSS antenna A and B
Centrical line direction is x-axis direction, and the line direction of the phase center of GNSS antenna A and C is y-axis direction, and z-axis direction is hung down
Directly in the plane where the phase center of GNSS antenna A, B and C three.Similar to asking azimuthal formula, user before formula
Phase difference can be expressed as with the elevation angle and azimuthal relationship between the antenna of terminal：
It is similar with one-dimensional aerial array shown in FIG. 1, when the distance of phase center between GNSS antenna meets D1<λ1/ 2, D2<
λ2/ 2, user terminal can be uniquely determined relative to the azimuth angle theta and elevation angle β of GNSS antenna array.It can thus realize user's end
The orientation at end.
In addition, on the one hand, on the basis of above-mentioned embodiment illustrated in fig. 3, three GNSS antennas A, B that aerial array includes
Three vertex of right angled triangle can not be located at the phase center of C, it can be at an arbitrary position, it is only necessary to meet GNSS
The distance D of the phase center of antenna A and GNSS antenna B1And the distance D of the phase center of GNSS antenna A and GNSS antenna C2
The respectively less than half of signal wavelength；Or only need the distance for meeting the phase center of GNSS antenna B and GNSS antenna A
D1And the distance D of the phase center of GNSS antenna B and GNSS antenna C2The respectively less than half of signal wavelength；Or it only needs
Meet the distance D of the phase center of GNSS antenna C and GNSS antenna A1And in the phase of GNSS antenna C and GNSS antenna B
The distance D of the heart2The respectively less than half of signal wavelength.At this time user terminal relative to GNSS antenna array azimuth angle theta and
Elevation angle β can be uniquely determined.
On the other hand, on the basis of above-mentioned embodiment illustrated in fig. 3, aerial array includes not only three GNSS antennas A, B
And C, can also include other GNSS antennas, i.e. aerial array includes at least three GNSS antennas.Wherein, three GNSS antenna A,
B and C meets phase center distance described above, and the distance of the phase center between two of which GNSS antenna is more than letter
The half of number wavelength, and the phase center distance between other antennas is not specifically limited, can be greater than, equal to or less than letter
The half of number wavelength.At this time user terminal relative to GNSS antenna array azimuth angle theta and elevation angle β can by GNSS antenna A,
B and C are uniquely determined.Further, by disposing some antennas in aerial array so that at least two pairs two adjacent
The distance of the phase center of GNSS antenna is less than the half of signal wavelength, the phase center between at least a pair of of GNSS antenna
Distance is more than the half of signal wavelength.Distance based on antenna phase center is less than two GNSS antennas of the half of signal wavelength
Calculated azimuth can calculate integer ambiguity, to improve the precision of user terminal indoor positioning orientation.And in order to subtract
The complexity of small calculating, at least three GNSS antennas can be arranged with axial symmetry；In order to be further reduced the complexity of calculating, at least
Three GNSS antennas can be with center symmetric setting.
In addition, on the basis of above-mentioned embodiment illustrated in fig. 3, aerial array may include at least four GNSS antennas, institute
At least four GNSS antennas are stated for receiving and emitting the satellite-signal from different location, at least four GNSS antenna
The first GNSS antenna and the second GNSS antenna phase center distance and second GNSS antenna and the 3rd GNSS days
The distance of the phase center of line is respectively less than the half of signal wavelength, and the first GNSS at least four GNSS antenna
Antenna, the second GNSS antenna or third GNSS antenna are more than the one of signal wavelength at a distance from the phase center of the 4th GNSS antenna
Half.
Wherein, if having at least at least four GNSS antennas the phase center of two groups of two adjacent GNSS antennas away from
From the half less than signal wavelength, and the distance of the phase center of one group of two adjacent GNSS antenna is less than the one of signal wavelength
Half, the distance of other antenna phase centers is not especially limited, the distances of other antenna phase centers can be more than, etc.
In or less than signal wavelength half.By this set, some antennas in aerial array are disposed so that at least two pairs
The distance of the phase center of GNSS antenna is less than the half of signal wavelength, the phase center between at least a pair of of GNSS antenna
Distance is more than the half of signal wavelength.Distance based on antenna phase center is less than two GNSS antennas of the half of signal wavelength
Calculated azimuth can calculate integer ambiguity, to improve the precision of user terminal indoor positioning orientation.And in order to subtract
The complexity of small calculating, at least four GNSS antennas can be arranged with axial symmetry；In order to be further reduced the complexity of calculating, at least
Four GNSS antennas can be with center symmetric setting.
In a kind of specific embodiment, it is illustrated in figure 4 a kind of two-dimensional antenna array, domestic aerial array includes 6
The phase center of a GNSS antenna, GNSS antenna A, B, C, D, E and F is located at six vertex of regular hexagon, and composition is round
Aerial array.Wherein, adjacent GNSS antenna phase center is less than the half of signal wavelength apart from equal in circular antenna array；
Other non-conterminous GNSS antenna phase center distances are more than the half of signal wavelength.It is symmetrically set centered on circular antenna array
It sets, it is easier to realize the orientation of user terminal.
Further, circular antenna array can also be arranged to adjacent GNSS antenna phase center apart from equal, be less than letter
The half of number wavelength；Other non-conterminous GNSS antenna phase centers are set greater than the half of signal wavelength apart from certain some.
Further, referring to the description of front it is found that circular antenna array non-coplanar can be arranged.
It should be noted that it will be understood by those skilled in the art that two-dimensional antenna array can be not limited only to six sides of composition
The circular antenna array of shape can also be quadrangle, pentagon or other polygonal antenna arrays, and now user terminal orients in fact
Mode with it is aforementioned similar, details are not described herein again.
The utility model is less than the antenna of signal wavelength half by using phase center distance, can measure user roughly
Then the azimuth and the elevation angle of terminal are gone to calculate integer ambiguity using them, to improve the essence of user terminal orientation, positioning
Degree.
In addition, when there are multiple GNSS antenna arrays in interior, and the position of these antenna array be all it is accurately known,
Then user terminal can utilize forward intersection technology meter by measuring elevation angle and azimuth relative to these antenna array
The exact position for calculating user, to achieve the purpose that positioning.
Embodiment described above is only to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to before
Embodiment is stated the utility model is described in detail, it will be understood by those of ordinary skill in the art that：It still can be with
Technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；And
These modifications or replacements, the spirit for various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
And range, it should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of interior GNSS antenna array, which is characterized in that including multiple GNSS antennas, wherein at least two GNSS antenna is used
Include that the distance of antenna phase center is small in receiving and forwarding the signal from different satellites, at least two GNSS antenna
In two GNSS antennas of the half of signal wavelength.
2. interior GNSS antenna array as described in claim 1, which is characterized in that described two including two GNSS antennas
GNSS antenna is for receiving and forwarding the signal from different satellites, the distance of the phase center of described two GNSS antennas to be less than
The half of signal wavelength.
3. interior GNSS antenna array as claimed in claim 1 or 2, which is characterized in that further include antenna phase center away from
Two GNSS antennas from the half more than signal wavelength.
4. interior GNSS antenna array as described in claim 1, which is characterized in that described including at least three GNSS antennas
At least three GNSS antennas are for receiving and forwarding the signal from different satellites, and first at least three GNSS antenna
The phase of the distance of the phase center of GNSS antenna and the second GNSS antenna and second GNSS antenna and third GNSS antenna
Centrical distance is respectively less than the half of signal wavelength.
5. interior GNSS antenna array as claimed in claim 4, which is characterized in that first GNSS antenna, the 2nd GNSS
Antenna and third GNSS antenna are located at three vertex of right angled triangle, wherein second GNSS antenna is positioned at described straight
The right-angled apices of angle triangle.
6. interior GNSS antenna array as claimed in claim 4, which is characterized in that described including at least four GNSS antennas
At least four GNSS antennas are for receiving and emitting the satellite-signal from different location, at least four GNSS antenna
The distance of the phase center of first GNSS antenna and the second GNSS antenna and second GNSS antenna and third GNSS antenna
The distance of phase center be respectively less than the half of signal wavelength, and the described first at least four GNSS antenna GNSS days
Line, the second GNSS antenna or third GNSS antenna are more than the one of signal wavelength at a distance from the phase center of the 4th GNSS antenna
Half.
7. interior GNSS antenna array as described in claim 1 or 4, which is characterized in that including at least four GNSS antennas, institute
It is non-coplanar to state at least four GNSS antennas.
8. interior GNSS antenna array as described in claim 1 or 4, which is characterized in that the multiple GNSS antenna is in axis pair
Claim distribution.
9. interior GNSS antenna array as described in claim 1, which is characterized in that if the wave of at least two satellite-signal
Long all not identical, then the value range of the signal wavelength is the wavelength more than or equal at least two satellite-signal
Minimum value is less than or equal to the maximum value of wavelength；If the wavelength of the signal of at least two satellite is all identical, the letter
Number wavelength is equal to the wavelength of satellite-signal.
10. a kind of GNSS positioning systems, which is characterized in that including in one or more claim 1-9 any one of them rooms
GNSS antenna array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721439825.9U CN207675951U (en) | 2017-11-01 | 2017-11-01 | Indoor GNSS antenna array and positioning system |
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