WO2019033754A1

WO2019033754A1 - Frequency modulation data broadcasting-based positioning method, device, system and storage medium

Info

Publication number: WO2019033754A1
Application number: PCT/CN2018/079853
Authority: WO
Inventors: 陈曦; 张光华; 门爱东; 李立
Original assignee: 深圳思凯微电子有限公司
Priority date: 2017-08-14
Filing date: 2018-03-21
Publication date: 2019-02-21
Also published as: CN107589429A; CN107589429B

Abstract

A frequency modulation data broadcasting-based positioning method, device, system and storage medium; the method is applied to a common-view reference system, and comprises: a common-view reference system receiving a communication satellite signal and a first message that is sent by a ground orbit determination monitoring system (S10); according to the first message, extracting an identification signal from the communication satellite signal, determining a first time corresponding to the identification signal received when receiving the communication satellite signal and a location corresponding to the common-view reference system, and calculating a location of the communication satellite when the communication satellite transmits the identification signal (S20); according to the identification signal, the first time, the location corresponding to the common-view reference system, and the location of the communication satellite, generating a second message, and sending the second message to a user receiver by means of frequency-modulation data broadcasting such that the user receiver achieves positioning according to the received communication satellite signal and the second message, as well as a preset differential positioning equation (S30).

Description

Positioning method, device, system and storage medium based on FM data broadcasting

Technical field

The present invention relates to the field of navigation and positioning technologies, and in particular, to a positioning method, device, system and storage medium based on FM data broadcasting.

Background technique

With the vigorous development of various strategic emerging industries represented by driverless vehicles, various application fields have placed higher demands on the accuracy, usability and urgency of navigation and positioning technology, far exceeding the GNSS global navigation satellite system. Open service capabilities. Vulnerability and occlusion are inherent defects of GNSS navigation systems, and the availability of a single GNSS navigation signal cannot be guaranteed. In response to such problems, the prior art implements a navigation and positioning solution by means of an opportunity signal, represented by a NAVSOP positioning system, and uses the ubiquitous radio signals existing in the space to perform navigation and positioning, such as using wi-fi signals, television signals, and mobile phones. The GSM signal, etc., completes the navigation and positioning by matching the signal fingerprint feature of the network ID, the received signal strength and the spectrum distribution with the signal fingerprint database. However, the above positioning method is not suitable for large-scale motion of the radiation source and the opportunity signal of the radiation source covering thousands of kilometers, such as communication satellite signals, and the accuracy of the user receiver is limited by the accuracy of the signal fingerprint database, which has limitations. Therefore, it is urgent to establish a new opportunity signal localization mechanism, which is suitable for large-scale motion of radiation sources and communication satellite signals with radiation source coverage of thousands of kilometers, while ensuring high positioning accuracy and meeting application requirements.

Summary of the invention

The main object of the present invention is to provide a positioning method, device, system and storage medium based on FM data broadcasting, which aims to solve the technical problem that the existing opportunity signal positioning mode is not suitable for communication satellite signals, and the positioning accuracy has limitations.

To achieve the above object, the present invention provides a positioning method based on FM data broadcasting. The common reference system adopts a symbiotic FM data broadcasting technology, and the method includes:

The common reference system receives a communication satellite signal and a first message transmitted by a ground orbit monitoring system, wherein the first message includes feature information and ephemeris parameters, the feature information including synchronization header information and/or signals Level feature information;

Determining, according to the first message, an identification signal from the communication satellite signal, determining a first time corresponding to the identification signal received when receiving the communication satellite signal, and a location corresponding to the common-view reference system, and calculating a communication satellite transmission The location of the communication satellite when identifying the signal;

Generating a second message according to the identification signal, the first time, a location corresponding to the common reference system, and a location of the communication satellite, and transmitting the second message to the user receiver through the FM data broadcast, so that the user receiver Positioning is implemented based on the received communication satellite signal and the second message, and a preset differential positioning equation.

In addition, to achieve the above object, the present invention further provides a positioning method based on FM data broadcasting, the method comprising:

The ground orbit determination system receives the communication satellite signal, preprocesses the communication satellite signal to obtain a processing result, generates a first message according to the processing result, and sends the first message to the common view system;

Receiving, by the common view reference system, a communication satellite signal, extracting an identification signal from the communication satellite signal according to the first message, determining a first time corresponding to receiving the identification signal when receiving the communication satellite signal, and the common view Refer to the location of the system and calculate the location of the communication satellite when the communication satellite transmits the identification signal;

Generating the second message according to the identification signal, the first time, the position corresponding to the common reference system, and the location of the communication satellite, and transmitting the data to the user receiver through the FM data broadcast, so that the user receiver Positioning is implemented based on the received communication satellite signal and the second message, and a preset differential positioning equation.

In addition, in order to achieve the above object, the present invention further provides a positioning device based on FM data broadcasting, the positioning device based on FM data broadcasting includes: a memory, a processor, and a memory stored in the memory and in the processor A positioning program based on an FM data broadcast running on the step of implementing the positioning method based on the FM data broadcast as described above when the positioning program based on the FM data broadcast is executed by the processor.

In addition, in order to achieve the above object, the present invention further provides a storage medium on which a positioning program based on FM data broadcasting is stored, and the positioning program based on FM data broadcasting is implemented by a processor to implement the above. The steps of the positioning method based on FM data broadcasting.

In addition, to achieve the above object, the present invention further provides a positioning system based on FM data broadcasting, the positioning system based on FM data broadcasting includes: a ground-based orbit monitoring system, a common-view reference system, and a positioning program based on FM data broadcasting. And the step of implementing the positioning method based on the FM data broadcast as described above when the positioning program based on the FM data broadcast is executed by the ground-based orbit monitoring system and the common-view reference system.

The common reference system of the present invention first receives a communication satellite signal and a first message sent by the ground orbit determination system, and then extracts an identification signal from the received communication satellite signal according to the first message, and determines to receive when receiving the communication satellite signal. The time corresponding to the identification signal and the position corresponding to the identification signal at the time, and calculating the position corresponding to the communication satellite when the communication satellite sends the identification signal, and further receiving the time and position corresponding to the identification signal when the identification signal and the self-receiving communication satellite signal are received, And the location of the communication satellite is transmitted to the user receiver through the FM data broadcast. In the present invention, the common reference system is used as a differential reference station, and the identification signal in the downlink signal of the communication satellite is broadcasted to the user receiver through the FM data broadcast, which may be a user receiver. Provide a good time base, so that when the user receiver is positioned by differential positioning technology, the positioning accuracy is improved to meet the application requirements.

DRAWINGS

1 is a schematic structural diagram of a device in a hardware operating environment according to an embodiment of the present invention;

2 is a schematic structural diagram of a system involved in an embodiment of the present invention;

3 is a schematic flowchart of a first embodiment of a positioning method based on FM data broadcasting according to the present invention;

4 is a schematic flowchart diagram of a second embodiment of a positioning method based on FM data broadcasting according to the present invention;

5 is a schematic flow chart showing the steps of extracting feature information corresponding to a communication satellite signal by a ground orbit determination system according to a second embodiment of the present invention;

6 is a schematic diagram of a method of extracting a reference signal;

7 is a schematic diagram of a method for adjusting a signal length from a left end of a current reference signal;

FIG. 8 is a schematic diagram of a method for a user receiver to update a buffer signal in real time.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

Detailed ways

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The main solution of the embodiment of the present invention is that the common reference system receives the communication satellite signal and the first message sent by the ground orbit monitoring system, wherein the first message includes feature information and ephemeris parameters, and the feature information Include synchronization header information and/or signal level feature information; extracting an identification signal from the communication satellite signal according to the first message, and determining a first time corresponding to the identification signal received when receiving the communication satellite signal and the total Depending on the location corresponding to the reference system, and calculating the location of the communication satellite when the communication satellite transmits the identification signal; generating a second message according to the identification signal, the first time, the location corresponding to the common reference system, and the location of the communication satellite, and The second message is transmitted to the user receiver through the FM data broadcast, so that the user receiver realizes positioning according to the received communication satellite signal and the second message, and a preset differential positioning equation.

As shown in FIG. 1, FIG. 1 is a schematic structural diagram of a terminal in a hardware operating environment according to an embodiment of the present invention.

The terminal of the embodiment of the present invention is a common view reference system. As shown in FIG. 1, the terminal may include a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to implement connection communication between these components. The user interface 1003 can include a display, an input unit such as a keyboard, and the optional user interface 1003 can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The memory 1005 may be a high speed RAM memory or a non-volatile memory such as a disk memory. The memory 1005 can also optionally be a storage device independent of the aforementioned processor 1001. It will be understood by those skilled in the art that the terminal structure shown in FIG. 1 does not constitute a limitation to the terminal, and may include more or less components than those illustrated, or a combination of certain components, or different component arrangements.

As shown in FIG. 1, a memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a positioning program based on FM data broadcasting.

In the terminal shown in FIG. 1, the network interface 1004 is mainly used to connect to the background server and perform data communication with the background server; the user interface 1003 is mainly used to connect the client (user end), and perform data communication with the client; and the processor The 1001 may be used to call a positioning program based on the FM data broadcast stored in the memory 1005, and perform the following operations:

The common reference system receives the communication satellite signal and the first message sent by the ground orbit monitoring system, wherein the first message includes feature information and ephemeris parameters, and the feature information includes synchronization header information and/or signal level features. information;

In addition, referring to FIG. 2, the system architecture involved in the solution of the embodiment of the present invention includes: a ground orbit determination system and a common reference system. The hardware structure of the ground orbit monitoring system can refer to the hardware structure of the above ground orbit monitoring system, and will not be described here. As shown in FIG. 2, the ground-based orbit determination system and the common-view reference system respectively call a positioning program based on FM data broadcasting, and perform the following operations:

Referring to FIG. 3, a first embodiment of a positioning method based on FM data broadcasting according to the present invention provides a positioning method based on FM data broadcasting, and the method includes:

Step S10, the common reference system receives the communication satellite signal, and the first message sent by the ground orbit monitoring system, wherein the first message includes feature information and ephemeris parameters, and the feature information includes synchronization header information and/or Signal level feature information;

Step S20, extracting, according to the first message, an identification signal from the communication satellite signal, determining a first time corresponding to the identification signal and a position corresponding to the common reference system when receiving the communication satellite signal, and calculating The position of the communication satellite when the communication satellite transmits the identification signal;

Step S30, generating a second message according to the identification signal, the first time, the location corresponding to the common reference system, and the location of the communication satellite, and transmitting the second message to the user receiver through the FM data broadcast, so that the The user receiver implements positioning according to the received communication satellite signal and the second message, and a preset differential positioning equation.

Since the communication satellite signal is widely existed in space, the number of signal sources is large and random, and the anti-interference ability is strong, the embodiment uses the communication satellite signal to achieve positioning. In this embodiment, a navigation enhanced satellite with a lower orbital height than a general communication satellite is used as a common reference system, and a low-track navigation enhanced satellite may also be referred to as a low-orbit differential station satellite, that is, a common-view reference system as a differential reference station. The advantage of using the low-orbit navigation enhanced satellite as a common-view reference system is that its signal covers a wide range of ground. The common reference system adopts the symbiotic FM data broadcasting technology, that is, the common reference system and the user receiver establish a communication connection through the symbiotic FM data broadcast symbiotic with the analog FM signal. The principle of the symbiotic FM data broadcasting technology is as follows: In the FM band, the available spectrum resource is 88-108 MHz, and the frequency interval between 90% or more stations is not less than 300 KHz. Since the actual signal body of the stereo FM signal is within ±75KHz, the frequency of the FM signal on the spectrum of ±[75,150]KHz is very low, and this spectrum resource can be reused. The present invention is not limited to the symbiotic FM data broadcasting technology, and other broadcasting systems may be utilized, and mobile communication networks such as 3G, 4G, and 5G may also be utilized.

First, the common reference system receives the communication satellite signal and receives the first message from the ground orbit determination system. A communication satellite signal is a continuous downlink signal sent by at least four communication satellites over a period of time. Specifically, the common view system and the ground orbit determination system receive communication satellite signals. It should be noted that, in this embodiment, the common view reference system, the ground orbit determination system, and the user receiver can receive the same communication satellite signal. The communication satellite in this embodiment adopts frequency division multiple access technology, and can transmit the same signal to the common view reference system, the ground orbit determination system, and the user receiver through different carrier frequencies.

After receiving the communication satellite signal, the ground-based orbit monitoring system orbits each communication satellite separately, and displays the orbits corresponding to each communication satellite with ephemeris, and obtains the ephemeris parameters corresponding to each communication satellite; The rail monitoring system also performs characteristic analysis on the communication satellite signals to obtain characteristic information corresponding to the communication satellite signals. Thereafter, the ground orbit monitoring system generates ephemeris parameters and feature information into a specific format message (defined as the first message). The first message consists of two pages of continuous content, Page0 and Page1. Among them, Page0 represents feature information, Page0 has a total length of 20 bytes; Page1 represents ephemeris parameters, and Page1 has a total length of 72 bytes. The format of the first message is as follows:

Page0

Page1

Preamble indicates a signal synchronization header, which is a preset fixed content, such as "111000100110"; Page Num indicates the current page number, value 0 indicates Page0, value 1 indicates Page1, and Satellite ID indicates communication satellite identification number. Determined by the ground orbit monitoring system;

The Characteristic Type indicates whether the current communication satellite can extract the synchronization header information, the value 0 indicates no synchronization header information, the value 1 indicates synchronization header information, and the Signal Freq indicates the communication satellite signal frequency;

Modulation Mode indicates the modulation mode of the communication satellite signal, expressed in the form of a string, such as "ASK", "MSK", "QPSK" or "BPSK"; the Sync Header indicates the communication satellite synchronization header information, and the full synchronization header is not obtained. 0 means; Parity indicates that each bit corresponds to the parity value of each byte of the content in front of the page message. The number under each parameter variable name above indicates the number of bits that the parameter is recommended to occupy.

In this embodiment, the ephemeris parameter format in Page1 of the first message may be an example of a GPS 16 ephemeris, and the meanings of the parameters are as shown in Table 1:

Table 1 16 ephemeris parameters used by GPS satellites

In more implementations, the ephemeris parameter format in Page1 of the first message can also be exemplified by the GPS 28 ephemeris. When the ephemeris parameters are in other formats, the Page1 content and format can be adjusted according to specific needs.

The ground-based orbit monitoring system sends a message including ephemeris parameters and feature information to the common-view reference system. After receiving the first message, the common reference system extracts the identification signal from the communication satellite signal according to the first message, that is to say, a certain segment of the communication satellite signal that meets the preset requirement is the identification signal. Then, the ground orbit determination system determines the time (defined as the first time) corresponding to the receipt of the identification signal when receiving the communication satellite signal and the position of the common reference system at this time, and calculates the position of the communication satellite when the communication satellite transmits the identification signal .

Specifically, step S20 includes: step S21, determining whether the feature information in the first message is synchronization header information or signal layer feature information; and step S22, if the feature information is synchronization header information, according to the synchronization header information Extracting corresponding synchronization header information from the communication satellite signal as an identification signal, and determining a first time corresponding to the synchronization header information and a location corresponding to the common-view reference system when receiving the communication satellite signal; and step S23; If the feature information is signal level feature information, randomly extracting a signal of a preset length from the communication satellite signal as an identification signal, and determining a first time corresponding to receiving signal level feature information when receiving the communication satellite signal The location corresponding to the common reference system.

In this embodiment, after receiving the first message of the ground-based orbit determination system, the common-view reference system stores the feature information and the ephemeris parameters carried in the first message in a local database of the common-view reference system. The common view reference system first determines whether the feature information in the first message is synchronization header information or signal level feature information. The downlink signal of the communication satellite includes a periodically occurring synchronization header, so that the signal of the communication satellite has a periodic characteristic, and the signal level characteristic information refers to the frequency and waveform of the downlink signal of the communication satellite. If the feature information in the first message is the synchronization header information, the common reference system searches for the corresponding synchronization header information according to the feature information in the local database in the received communication satellite signal, and extracts it as an identification signal, and then determines The time when the identification signal is received when receiving the communication satellite signal (the first time) and the position of the common reference system at this time; if the feature information in the first message is the signal level characteristic information, the common reference system is received The communication satellite signal searches for corresponding signal layer feature information according to the feature information in the local database, and extracts it as an identification signal, and then determines the time (first time) when the signal level feature information is received when receiving the communication satellite signal. Its own location. The common reference system can also calculate the position of each communication satellite when each communication satellite sends an identification signal according to the corresponding ephemeris parameter in the first message and the preset satellite position calculation formula. Here, reference can be made to the prior art.

Thereafter, the common reference system generates a message of a specific format (defined as the second message) by its location and the above identification information, the location of the communication satellite, and the time at which the identity signal is received by itself. The second message contains three pages of continuous content, which are Page0, Page1, and Page2. Among them, Page0 indicates the identification signal, the total length is 11 bytes; Page1 indicates the position of the communication satellite transmitting the identification signal at the moment of communication satellite, the total length is 34 bytes; Page2 indicates the time when the common-view reference satellite receives the identification signal when receiving the communication satellite signal (first Time) and the location of the common reference satellite, with a total length of 38 bytes. The format of the second message is as follows:

Page0

Page1

Page2

Wherein, Sync Header/Random Signal Fragment represents the identification signal; Pos X/Y/Z represents the three-axis position coordinate of the communication satellite transmitting the identification signal moment; and Vel X/Y/Z represents the three-axis speed of the communication satellite transmitting the identification signal time; Ref The Sys ID represents the common reference system identification number; the Recv Time represents the time when the common reference system receives the identification signal when receiving the communication satellite signal; Pos X/Y/Z indicates that the common reference system receives the identification when receiving the communication satellite signal The three-axis position coordinates of the signal; Vel X/Y/Z represents the three-axis speed at which the common-view reference system receives the identification signal when receiving the communication satellite signal.

Further, the common reference system transmits the second message to the user receiver through the symbiosis FM data broadcast, and the user receiver searches for the same identification signal as the identification signal in the second message in the received communication satellite signal, if Present, the user receiver determines the time (defined as the second time) at which the identification signal is received when receiving the communication satellite signal. In this embodiment, the user receiver is pre-set with a differential positioning equation. The user receiver determines, according to the first time in the second message, the position of the communication satellite, the position of the common reference system, and the second time, and the preset differential positioning equation, in the ground alignment monitoring system, the common reference system, and When the number of communication satellites transmitting signals by the user receiver is four or more, the current position of the user can be calculated. Among them, the preset differential positioning equation is as follows:

among them,

Representing the time when the user receiver receives the identification signal when receiving the communication satellite signal, and the superscript i indicates the i-th visible communication satellite;

Representing the time when the common reference system receives the identification signal when receiving the communication satellite signal; C represents the speed of light; P _u represents the current position three-axis coordinates of the user receiver;

The position indicating the communication satellite transmitting the identification signal at the moment of communication satellite three-axis coordinate P _cv indicates the position three-axis coordinate when the common reference system receives the communication satellite signal when receiving the identification signal; Δt _u represents the user receiver clock difference.

As can be seen from the above, T _u , T _cv ,

And P _cv is a known quantity, P _u and Δt _u are the unknown quantities to be sought, and for each communication satellite, the equations are obtained in conjunction:

When the number of communication satellites is N≥4, the least squares algorithm can be used to solve the optimal solution of the triaxial position and the clock difference of the current position of the user receiver in the sense of the minimum root mean square error, that is, the user receiver calculates itself. The current location for navigation targeting.

In this embodiment, the common reference system is used as a differential reference station, and the identification signal in the downlink signal of the communication satellite is broadcasted to the user receiver through the FM data broadcast, which can provide a good time reference for the user receiver, so that the user receiver passes the differential positioning technology. When positioning is performed, the positioning accuracy is improved to meet the application requirements.

Referring to FIG. 4, a second embodiment of the method for positioning a frequency-modulated data broadcast according to the present invention provides a positioning method based on FM data broadcasting. Based on the foregoing embodiment, the method includes:

Step S40, the ground orbit determination system receives the communication satellite signal, preprocesses the communication satellite signal to obtain a processing result, generates a first message according to the processing result, and sends the first message to the common view reference system;

Step S50, the common reference system receives a communication satellite signal, and extracts an identification signal from the communication satellite signal according to the first message, and determines a first time and a corresponding time when the identification signal is received when receiving the communication satellite signal. Describe the location corresponding to the reference system and calculate the location of the communication satellite when the communication satellite transmits the identification signal;

Step S60, the common reference system generates a second message according to the identification signal, the first time, the position corresponding to the common reference system, and the position of the communication satellite, and transmits the data to the user receiver through the FM data broadcast, so that the The user receiver implements positioning according to the received communication satellite signal and the second message, and a preset differential positioning equation.

The system architecture involved in this embodiment includes a ground orbit monitoring system and a common view reference system. The ground-based orbit monitoring system can communicate with the common-view reference system; the common-view reference system adopts the symbiotic FM data broadcasting technology, that is, the common-view reference system and the user receiver establish a connection through the FM data broadcast symbiotic with the analog FM signal. The common reference system, the ground-based orbit monitoring system, and the user receiver can receive the same communication satellite signal. A communication satellite signal refers to a continuous downlink signal sent by at least four communication satellites over a period of time.

In this embodiment, the ground orbit determination system receives the communication satellite signal, and then preprocesses the communication satellite signal. Specifically, step S40 includes: step S41, the ground orbit determination system according to the communication satellite signal to the communication satellite Performing orbital respectively to obtain corresponding ephemeris parameters, and extracting feature information corresponding to the communication satellite signal; in step S42, the ground orbit determination system generates a first message according to the ephemeris parameter and feature information.

The ground orbit determination system orbits the corresponding communication satellite based on the signals of the communication satellite. For unknown communication satellites, ground-based radar orbit determination, triangulation and control orbit determination can be used to complete the orbit determination of non-cooperative satellites; if satellite identity can be identified, the existing satellite two-row number information can be obtained directly through networking. Complete the orbit determination. After the orbit determination is completed, the ground monitoring system uses the ephemeris to represent the communication satellite orbit, and obtains the ephemeris parameters corresponding to each communication satellite. The specific content of the ephemeris parameter can be adjusted according to the height of the communication satellite orbit and the degree of influence of the perturbation field such as the earth's non-spherical perturbation, atmospheric resistance, and sun and moon perturbation. For example, for a high-orbit communication satellite that is less affected by each perturbation field, the same 16-ephemerian parameter as GPS can be used, the specific content of which is shown in Table 1 in the first embodiment; for the perturbation field Larger low-orbit navigation enhanced satellites can use 28 ephemeris parameters for low-orbit satellites, as shown in Table 2:

Table 2 for 28 ephemeris parameters for low-orbit satellites

In this embodiment, the ground orbit determination system further extracts characteristic information (including synchronization header information and/or signal level feature information) of the signal from the received communication signal. Referring to FIG. 5, the ground orbit determination system extracts the communication satellite. The steps of the characteristic information corresponding to the signal include:

Step S410, the ground orbit determination system selects a sample signal from the signal, and extracts a signal of a preset length from the sample signal as a reference signal; in step S411, the ground orbit determination system calculates the reference a correlation function between the signal and the sample signal, and determining whether the correlation function exhibits a periodic feature; and in step S412, if the correlation function exhibits a periodic feature, the ground orbit determination system detects presence or absence from the corresponding reference signal Synchronizing header information that satisfies a preset condition; step S413, if there is synchronization header information that satisfies a preset condition in the corresponding reference signal, extracting the synchronization header information as feature information of the signal; step S414, if The synchronization reference information that satisfies the preset condition is not present in the corresponding reference signal, and the ground orbit determination system uses the layer feature information of the sample signal as the feature information of the signal, wherein the layer feature information includes Frequency and waveform.

The ground orbit determination system selects a longer period of time as a sample signal from the received communication satellite signals, and then extracts a number of signals of preset length L as reference signals from the beginning of the sample signal, and extracts the reference signal. The method is referred to Figure 6. The ground-based orbit monitoring system correlates the sample signal and the reference signal to obtain a correlation function, and determines whether the periodic feature is present. If the correlation function is judged to exhibit periodic features, the ground-based orbit monitoring system exhibits periodicity. The synchronization header information that satisfies the preset condition is detected in the current reference signal corresponding to the feature. In the specific implementation, the ground orbit determination system starts from the left end of the current reference signal, gradually adjusts the signal length in units of ΔL, and correspondingly detects the periodic peak change of the correlation function, and finds the most obvious position of the periodic peak feature. The position is the start position of the synchronization header information, and the method of adjusting the signal length from the left end of the current reference signal is as shown in FIG. Correspondingly, the ground-based orbit monitoring system starts from the right end of the current reference signal, gradually adjusts the signal length in units of ΔL, and correspondingly detects the periodic peak change of the correlation function, and finds the most obvious position of the periodic peak feature. The location is the end of the sync header information. The ground orbit monitoring system extracts a signal between the start position and the end position as the synchronization header information. If the ground orbit monitoring system correlates the sample signal and the reference signal to obtain a correlation function, and judges that the correlation function does not exhibit periodic features, it continues to extract a reference signal of a preset length L from the sample signal, according to The above manner continues to perform the corresponding action. As an embodiment, if the ground orbit monitoring system does not find the synchronization header information that satisfies the preset condition in the above manner, only the layer feature of the sample signal is used as the feature information, and the layer feature information includes the signal frequency and the waveform.

Thereafter, the ground orbit monitoring system generates ephemeris parameters and feature information into a specific format message, and defines the message as the first message. The ground orbit monitoring system sends the first message to the common view system. After receiving the first message, the common reference system extracts the identification signal from the communication satellite signal according to the first message, and determines the first time corresponding to the identification signal received when receiving the communication satellite signal and the common reference system at this time. Position and calculate the position of the communication satellite when the communication satellite transmits the identification signal. Then, the common reference system generates a second message according to the identification signal, the first time, the location corresponding to the common reference system, and the location of the communication satellite, and sends the second message to the user receiver through the symbiotic FM data broadcasting technology. .

In this embodiment, the user receiver always buffers the received communication satellite signal, that is, the communication satellite signal received in the past Δt time is always buffered, and is updated in real time in a first-in first-out manner, as shown in FIG. 8. Δt is a preset buffer signal duration, and the value of Δt can be reasonably set according to the actual situation. Specifically, when the received signal time is less than or equal to Δt, all received signals are buffered, and when the received signal time is greater than Δt, the received signal in the past Δt time is buffered. The user receiver determines, according to the received second message, whether the same identification signal as the identification signal exists in the buffer signal. If present, the user receiver determines the time (defined as the second time) at which the identification signal was received upon receipt of the communication satellite signal. Otherwise, the cached communication satellite signal is continuously updated and an attempt is made to extract the identification signal from the updated buffer signal until the operation of extracting the identification signal or extracting the identification signal exceeds a preset time threshold. The preset time threshold may be the same as the buffer signal duration Δt. The user receiver starts counting from the moment when the identification signal sent by the common-view reference system is received. If the identification signal is not extracted from the buffered signal within the preset time threshold, the operation is timed out, and the user receiver reports to the common view. Refer to the system for feedback error messages.

The user receiver according to the first time in the second message (the time when the common reference system receives the identification signal when receiving the communication satellite signal), the position of the communication satellite, the position of the common reference system, and the second time (user receiver) The time at which the identification signal is received when receiving the communication satellite signal, and the preset differential positioning equation, when the number of communication satellites transmitting signals to the ground orbit determination system, the common reference system, and the user receiver is four or more , that is, you can solve the current position of your own, and achieve navigation and positioning. For the process of the user receiver to solve the current location, reference may be made to the related content of the first embodiment, and details are not described herein again.

In the above manner, the present embodiment utilizes the communication satellite signals widely existing in the space to realize positioning, the number of signal sources is large and random, and the anti-interference ability is strong, and the utility model has high availability; and the identification signal in the downlink signal of the communication satellite is used for the user. The receiver provides a good time reference. At the same time, the common reference system represented by the low-orbit navigation enhanced satellite is used as the differential reference station, which can make full use of the low-orbit navigation to enhance the satellite's proximity to the ground, strong signal penetration and wide coverage. And other advantages; and the user receiver uses differential positioning technology to achieve positioning, which can improve positioning accuracy.

In addition, an embodiment of the present invention further provides a storage medium. The positioning medium based on the FM data broadcast is stored on the storage medium of the present invention, and the positioning program based on the FM data broadcast is executed by the processor to implement the step of the positioning method based on the FM data broadcast as described above.

The specific embodiment of the positioning program based on the FM data broadcast stored in the storage medium of the present invention is substantially the same as the foregoing embodiment of the positioning method based on the FM data broadcast, and details are not described herein.

It is to be understood that the term "comprises", "comprising", or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or It also includes other elements that are not explicitly listed, or elements that are inherent to such a process, method, item, or system. An element defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in a process, method, article, or system that includes the element, without further limitation.

The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better. Implementation. Based on such understanding, portions of the technical solution of the present invention that contribute substantially or to the prior art may be embodied in the form of a software product stored in a storage medium (such as a ROM/RAM as described above). , a disk, an optical disk, including a number of instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the methods described in various embodiments of the present invention.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

A positioning method based on FM data broadcasting, characterized in that the method is applied to a common view reference system, and the common view reference system adopts a symbiotic FM data broadcast technology, and the method includes:

The common reference system receives a communication satellite signal and a first message transmitted by a ground orbit monitoring system, wherein the first message includes feature information and ephemeris parameters, the feature information including synchronization header information and/or signals Level feature information;

Determining, according to the first message, an identification signal from the communication satellite signal, determining a first time corresponding to the identification signal received when receiving the communication satellite signal, and a location corresponding to the common-view reference system, and calculating a communication satellite transmission The location of the communication satellite when identifying the signal;

Generating a second message according to the identification signal, the first time, a location corresponding to the common reference system, and a location of the communication satellite, and transmitting the second message to the user receiver through the FM data broadcast, so that the user receiver Positioning is implemented based on the received communication satellite signal and the second message, and a preset differential positioning equation.
The method for positioning a frequency modulated data broadcast according to claim 1, wherein the extracting an identification signal from the communication satellite signal according to the first message determines that an identification signal is received when receiving a communication satellite signal And corresponding to the first time and the location corresponding to the common reference system, and calculating the location of the communication satellite when the communication satellite transmits the identification signal includes:

Determining whether the feature information in the first message is synchronization header information or signal layer feature information;

If the feature information is synchronization header information, extract corresponding synchronization header information from the communication satellite signal as an identification signal according to the synchronization header information, and determine that the synchronization header information is received when receiving the communication satellite signal. The first time corresponds to the location of the common reference system.
The method for positioning a frequency-modulated data broadcast according to claim 2, wherein the step of determining whether the feature information in the first message is synchronization header information or signal level feature information further comprises:

If the feature information is signal level feature information, randomly extracting a signal of a preset length from the communication satellite signal as an identification signal, and determining a first time corresponding to receiving signal level feature information when receiving the communication satellite signal The location corresponding to the common reference system.
The method for positioning a frequency modulated data broadcast according to claim 1, wherein the extracting an identification signal from the communication satellite signal according to the first message determines that an identification signal is received when receiving a communication satellite signal And corresponding to the first time and the location corresponding to the common reference system, and calculating the location of the communication satellite when the communication satellite transmits the identification signal further includes:

Calculating a location of the communication satellite when the communication satellite transmits the identification signal according to the ephemeris parameter in the first message.
A positioning method based on FM data broadcasting, characterized in that the method comprises:

The ground orbit determination system receives the communication satellite signal, preprocesses the communication satellite signal to obtain a processing result, generates a first message according to the processing result, and sends the first message to the common view system;

Receiving, by the common view reference system, a communication satellite signal, extracting an identification signal from the communication satellite signal according to the first message, determining a first time corresponding to receiving the identification signal when receiving the communication satellite signal, and the common view Refer to the location of the system and calculate the location of the communication satellite when the communication satellite transmits the identification signal;

Generating the second message according to the identification signal, the first time, the position corresponding to the common reference system, and the location of the communication satellite, and transmitting the data to the user receiver through the FM data broadcast, so that the user receiver Positioning is implemented based on the received communication satellite signal and the second message, and a preset differential positioning equation.
The method for positioning a frequency-modulated data broadcast according to claim 5, wherein the ground-based orbit determination system receives a communication satellite signal, performs pre-processing on the communication satellite signal to obtain a processing result, and generates a result according to the processing result. The first message, and the step of sending the first message to the common reference system includes:

The ground orbit determination monitoring system respectively determines a communication ephemeris according to the communication satellite signal to obtain a corresponding ephemeris parameter, and extracts feature information corresponding to the communication satellite signal;

The ground orbit determination system generates a first message based on the ephemeris parameter and feature information.
The method for positioning a frequency-modulated data broadcast according to claim 6, wherein the ground-based orbit determination system performs a orbit determination on the communication satellite according to the communication satellite signal to obtain a corresponding ephemeris parameter, and extracts the The steps of communicating the characteristic information corresponding to the satellite signal include:

The ground orbit determination system selects a sample signal from the communication satellite signal, and extracts a signal of a preset length from the sample signal as a reference signal;

The ground orbit determination system calculates a correlation function between the reference signal and the sample signal, and determines whether the correlation function exhibits a periodic feature;

If the correlation function exhibits a periodic feature, the ground orbit determination system detects whether there is synchronization header information that satisfies a preset condition from the corresponding reference signal;

If there is synchronization header information that meets a preset condition in the corresponding reference signal, the ground orbit determination system extracts the synchronization header information as feature information;

If the synchronization reference information that satisfies the preset condition does not exist in the corresponding reference signal, the ground orbit determination system uses the layer feature information of the sample signal as the feature information, where the layer feature information includes the frequency and Waveform.
A positioning device based on FM data broadcasting, characterized in that the positioning device based on FM data broadcasting comprises: a memory, a processor, and a FM-based data broadcast stored on the memory and operable on the processor And a positioning procedure of the FM data broadcast based positioning method according to claim 1 when the positioning program based on the FM data broadcast is executed by the processor.
A storage medium, characterized in that a storage program based on FM data broadcasting is stored on the storage medium, and the positioning program based on the FM data broadcast is executed by a processor to implement the FM-based data broadcasting according to claim 1. The steps of the positioning method.
A positioning system based on FM data broadcasting, characterized in that the positioning system based on FM data broadcasting comprises: a ground-based orbit monitoring system, a common-view reference system, and a positioning program based on FM data broadcasting, the FM-based data broadcasting The step of implementing the positioning method based on the FM data broadcast according to claim 5 when the positioning program is executed by the ground-based orbit monitoring system and the common-viewing system.