WO2020105829A1 - Système et procédé de navigation d'intérieur asynchrone utilisant un gnss - Google Patents

Système et procédé de navigation d'intérieur asynchrone utilisant un gnss

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Publication number
WO2020105829A1
WO2020105829A1 PCT/KR2019/008000 KR2019008000W WO2020105829A1 WO 2020105829 A1 WO2020105829 A1 WO 2020105829A1 KR 2019008000 W KR2019008000 W KR 2019008000W WO 2020105829 A1 WO2020105829 A1 WO 2020105829A1
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WO
WIPO (PCT)
Prior art keywords
gnss
terminal
antenna
satellite
satellite signal
Prior art date
Application number
PCT/KR2019/008000
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English (en)
Korean (ko)
Inventor
김동현
황태현
한영훈
박상현
이상헌
Original Assignee
한국해양과학기술원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 한국해양과학기술원 filed Critical 한국해양과학기술원
Publication of WO2020105829A1 publication Critical patent/WO2020105829A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/50—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being pulse modulated and the time difference of their arrival being measured

Definitions

  • the present invention relates to an indoor navigation system and method using a Global Navigation Satellite System (GNSS), and more specifically, a signal allocated to a channel using a GNSS and separating and allocating satellite signals from the GNSS for each channel and using a splitter. It transmits to each antenna for radiating and the combiner for collecting again, and calculates the location of the device with a predetermined terminal or terminal in the room using the receiver and the antenna radiated signal implemented in connection with the combiner.
  • GNSS Global Navigation Satellite System
  • the present invention relates to an indoor navigation system and method using GNSS with increased precision.
  • a GNSS receiver In the system for measuring the current location, a GNSS receiver is widely used, and an effective GNSS-based indoor location recognition algorithm using low-cost hardware is adopted.
  • GNSS Global Positioning System
  • GPS Global Positioning System
  • a new architecture for an indoor location recognition system for estimating a user's location using a pseudo-range of a smartphone embedded GNSS module has been proposed.
  • the advantage of these systems is low cost and low requirements in terms of end user hardware level modifications.
  • all end users and most application developers do not have permission to read pseudoranges from the built-in GNSS module.
  • pseudo-range user location can be easily obtained from the GNSS module of any mobile device. Therefore, the above paper discloses a system that improves the positioning algorithm based on the location obtained from the embedded GNSS module rather than the pseudorange.
  • FIG. 1 is a view showing a system configuration for configuring a receiver in the above-mentioned paper and applying navigation indoors using GNSS.
  • the name of the pseudo position is used because it does not match the actual position.
  • a satellite signal is received from a plurality of satellites (10) to the GNSS antenna (12).
  • the distance from the user terminal 18 to the GNSS repeater 16 is calculated using the difference between the position of each satellite 10 and the pseudo position received from the GNSS antenna 12 by the software simulator 14. This algorithm was tested using a GNSS-based indoor positioning system implemented as a simulation in a GNSS software receiver.
  • the simulation results according to the above paper showed that the indoor positioning system can provide horizontal position with meter-level accuracy in both static and dynamic situations.
  • the method proposed in the above-mentioned paper has an advantage of improving the robustness of the indoor positioning system for asynchronous measurement.
  • indoors require higher position accuracy when measuring a position at the laboratory level.
  • higher positioning accuracy is required to apply to a location tracking or automatic parking system. Therefore, in the indoor positioning system, a high accuracy in centimeters is required with a higher accuracy than the metric units.
  • the cited invention includes a GNSS information receiving unit 11 that receives GNSS information corresponding to a location of the device from each of at least one Global Navigation Satellite System (GNSS); A Wi-Fi information receiving unit 12 that receives Wi-Fi information corresponding to the location of the device from each of at least one Wi-Fi AP (Access Point); A determination unit 13 for determining whether to use the Wi-Fi information based on the number of the at least one GNSS; And a location determination unit (14) for determining the location of the device using the received GNSS information and / or the received Wi-Fi information.
  • GNSS Global Navigation Satellite System
  • Wi-Fi information receiving unit 12 that receives Wi-Fi information corresponding to the location of the device from each of at least one Wi-Fi AP (Access Point)
  • a determination unit 13 for determining whether to use the Wi-Fi information based on the number of the at least one GNSS
  • a location determination unit (14) for determining the location of the device using the received GNSS information and / or the received Wi
  • the GNSS information receiving unit (reference antenna) 11 of the cited invention is located outdoors to receive actual satellite signals, which are raw data for navigation.
  • the location determining unit 14 discloses a configuration for determining the location of the device using the received GNSS information and / or the received Wi-Fi information.
  • the method of using WiFi can vary in accuracy depending on the number of APs in the vicinity, and is generally tracked by one to two APs (Access Points). Therefore, there is a problem in that the accuracy of the location measured in the room using WiFi is inferior because the location is relatively inaccurate.
  • the present invention is to solve the above-mentioned problems of the prior art, the object of the present invention is to use the GNSS and separate and allocate satellite signals from the GNSS for each channel, and using a splitter to allocate the channel indoors
  • the present invention is to provide an indoor navigation system using GNSS, which measures the position of a predetermined terminal or a device equipped with a terminal and increases the precision of the measured position to a high precision.
  • An external GNSS antenna that receives a plurality of satellite signals from a plurality of GNSS satellites
  • a satellite channel allocation device for separating a plurality of satellite signals received from the external GNSS antenna and assigning them to each channel
  • a splitter for distributing a signal for each channel received from the satellite channel assignment device to a GNSS radiation antenna and a combiner;
  • a combiner for combining a plurality of satellite signals distributed from the splitter and a first satellite signal that is distance information from an external GNSS antenna to a reference GNSS receiver;
  • a reference GNSS receiver receiving a plurality of first satellite signals combined from the combiner and having a fixed position
  • a respective GNSS radiation antenna which receives and radiates a second satellite signal distributed from the splitter and represents a distance from an external GNSS antenna to a GNSS terminal;
  • the GNSS terminal receives wirelessly the second satellite signal emitted from each GNSS antenna and receives the distance measurement value of the first satellite signal collected from the reference GNSS receiver and the distance measurement value of the second satellite signal collected from the GNSS terminal wirelessly. It is configured to include; a mobile GNSS terminal for calculating the position of the.
  • the external GNSS antenna and satellite channel assignment device may be replaced with a simulated GNSS signal generation device that generates a GNSS signal and separates a plurality of satellite signals received from the external GNSS antenna and allocates them for each channel.
  • the GNSS terminal includes: a receiver that receives a second satellite signal from the GNSS radiation antenna, which is a delay time from the external GNSS antenna to the GNSS terminal via the GNSS radiation antenna; And a first satellite signal from the combiner, a second satellite signal from the GNSS radiation antenna, delay time information from the first and second satellite signals and an external GNSS antenna to a GNSS terminal, and an external GNSS antenna. It can be configured to include; using the delay time information to the reference GNSS receiver to measure the distance from each GNSS radiation antenna to the GNSS terminal, and to measure the position of the GNSS terminal in the room using the same.
  • a receiver for receiving a second satellite signal from a GNSS radiation antenna which is a delay time from the external GNSS antenna to the GNSS terminal via a GNSS radiation antenna;
  • the first satellite signal from the combiner, the second satellite signal from the GNSS radiation antenna, the first satellite signal and the second satellite signal, delay time information from an external GNSS antenna to a GNSS terminal, and a reference from an external GNSS antenna It may be configured to include; using a delay time information to the GNSS receiver to measure the distance from each GNSS radiation antenna to the GNSS terminal, and using this to measure the position of the GNSS terminal in the room.
  • the plurality of GNSS radiation antennas may be configured to secure at least four delay distance information between the plurality of GNSS radiation antennas and the GNSS terminal by configuring at least four.
  • An indoor navigation method using GNSS to achieve the above object includes: an external GNSS antenna that receives a plurality of satellite signals received from a plurality of GNSS satellites; A splitter that distributes a plurality of satellite signals received from the external GNSS antenna; A combiner for combining a first satellite signal which is a plurality of satellite signals distributed from the splitter; A reference GNSS receiver receiving a plurality of first satellite signals combined from the combiner and having a fixed position; A respective GNSS radiation antenna which receives and radiates a second satellite signal which is a plurality of satellite signals distributed from the splitter; A GNSS terminal that receives a second satellite signal from the plurality of GNSS radiant antennas and wirelessly receives the first satellite signal from the reference GNSS receiver to calculate its own position; an asynchronous indoor navigation method using an asynchronous indoor navigation system including a In,
  • the operation unit receives a plurality of second satellite signals from a GNSS terminal and knows by measuring delay time information of a second satellite signal between the external GNSS antenna and each of the GNSS radiant antennas in advance. Receiving a satellite signal and measuring delay time information of a first satellite signal between the external GNSS antenna and the reference GNSS receiver in advance;
  • Each of the GNSS radiant antennas may be configured to secure at least four distance measurement information between the GNSS radiant antenna and the GNSS terminal by configuring at least four.
  • the indoor navigation system using the GNSS of the present invention uses the GNSS and calculates the distance by receiving the signal from the GNSS, measures the position of the terminal or the device incorporating the terminal using the splitter and the implemented receiver, and measures the measured position. There is an effect that can increase the precision of.
  • the indoor navigation system using the GNSS of the present invention can recognize the position of a receiver equipped with a GNSS antenna driven indoors by using an external GNSS antenna and a splitter, so that the position in the room can be measured with high precision for more accurate research. It is possible and can be applied indoors to a precise automatic navigation system.
  • FIG. 1 is a view showing a system configuration for configuring a receiver in the above-mentioned paper and applying navigation indoors using GNSS.
  • Figure 3 is a block diagram showing the configuration of an indoor navigation system using GNSS according to an embodiment of the present invention.
  • Figure 4 is a block diagram showing the configuration of the GNSS terminal of Figure 3 according to an embodiment of the present invention.
  • FIG. 5 is a flowchart illustrating a process of indoor navigation using a GNSS by a GNSS terminal according to an embodiment of the present invention.
  • FIG. 6 is a block diagram showing the configuration of an indoor navigation system using GNSS according to another embodiment of the present invention.
  • GNSS satellite 120 External GNSS antenna
  • GNSS radiation antenna 170 GNSS terminal
  • FIG. 3 is a block diagram showing the configuration of an indoor navigation system using GNSS according to an embodiment of the present invention
  • FIG. 4 is a block diagram showing the configuration of a GNSS terminal of FIG. 3 according to an embodiment of the present invention .
  • the asynchronous indoor navigation system using the GNSS of the present invention includes a plurality of GNSS satellites 110, an external GNSS antenna 120, a splitter 130, a reference GNSS receiver 140, and a plurality of GNSSs. It comprises a radiation antenna 160 and the GNSS terminal 170.
  • a number of GNSS satellites 110 are artificial satellites capable of providing GNSS.
  • the external GNSS antenna 120 receives a plurality of satellite signals received from a plurality of GNSS satellites 110. Hundreds of GNSS satellites 110 are orbiting the Earth. The external GNSS antenna 120 may vary according to location and weather, but on average receives satellite signals from dozens of GNSS satellites 110. The external GNSS antenna 120 is theoretically also rounded, so it can be tracked using signals received from two GNSS satellites 110, but in this case, at least four satellite signals are received because the position accuracy is poor. Therefore, it is possible to track the location, and it is preferable to use 5 or more satellites. The external GNSS antenna 120 can track a stable position as it receives satellite signals from as many GNSS satellites 110 as possible.
  • the satellite channel assignment device 124 separates a plurality of satellite signals received from the external GNSS antenna 120 and allocates them to each channel.
  • the splitter 130 separates a plurality of satellite signals received from the satellite channel allocation device 124 and allocates them to each channel.
  • the splitter 130 receives the satellite signal received from the satellite channel assignment device 124 and transmits the satellite signal to the reference GNSS receiver 140 through the combiner 132.
  • the splitter 130 distributes the signal for each channel received from the satellite channel assignment device 124 to the GNSS radiation antenna 160.
  • the combiner 132 combines the first satellite signals, which are a plurality of satellite signals distributed from each splitter 130.
  • the first satellite signal is a plurality of satellite signals distributed from the splitter 130, and is a signal including distance information from the external GNSS antenna 120 to the reference GNSS receiver.
  • the reference GNSS receiver 140 receives a plurality of satellite signals combined by the combiner 132.
  • the reference GNSS receiver 140 is configured with a fixed position to recognize its exact position.
  • the reference GNSS receiver 140 transmits delay distance information of the first satellite signal to the operation unit 174.
  • the GNSS radiation antenna 160 receives a plurality of satellite signals distributed from each splitter 130 and transmits them to each GNSS terminal 170. That is, the GNSS radiation antenna 160 separates the digital satellite signals distributed by the splitter 130 into respective satellite signals and transmits them to each GNSS terminal 170. In particular, the GNSS radiation antenna 160 receives and radiates a second satellite signal indicating the distance from the external GNSS antenna 120 to the GNSS terminal.
  • the GNSS terminal 170 is an object whose location is tracked.
  • the GNSS terminal 170 may receive a second satellite signal, which is each satellite signal received from the GNSS radiation antenna 160, to track its location.
  • the GNSS terminal 170 uses the distance between each GNSS radiation antenna 160 and the GNSS terminal 170 to obtain its own location. That is, a plurality of GNSS radiant antennas in a manner of recognizing the distance between one GNSS radiant antenna 160 and the GNSS terminal 170 and recognizing the distance between the other GNSS radiant antenna 160 and the GNSS terminal 170 ( 160) and the distance between the GNSS terminal 170 is obtained and the location of the GNSS terminal 170 can be calculated using the distance.
  • FIG. 6 is a block diagram showing the configuration of an indoor navigation system using GNSS according to another embodiment of the present invention.
  • FIG. 6 unlike FIG. 3, it comprises a simulated GNSS signal generator 122 that generates a GNSS signal instead of the GNSS satellite 110 and the external GNSS antenna 120.
  • the simulated GNSS signal generator 122 generates a random GNSS satellite signal identical to the GNSS satellite signal. That is, instead of the GNSS satellite 110 and the external GNSS antenna 120, the GNSS signal generating device 122 is configured to perform the same function, and is a mutually interchangeable configuration. The function of allocating for each channel performed by the channel allocating device 124 may also be performed. Therefore, the simulated GNSS signal generating device 122 can be interchanged with the GNSS satellite 110, the external GNSS antenna 120, and even the satellite channel assignment device 124.
  • the satellite channel assignment device 124 separates a plurality of satellite signals received from the simulated GNSS signal generation device 122 and allocates them to each channel.
  • the splitter 130 separates a plurality of satellite signals received from the satellite channel allocation device 124 and allocates them to each channel.
  • the splitter 130 receives the satellite signal received from the satellite channel assignment device 124 and transmits the satellite signal to the reference GNSS receiver 140 through the combiner 132.
  • the splitter 130 distributes the signal for each channel received from the satellite channel assignment device 124 to the GNSS radiation antenna 160.
  • the combiner 132 combines the first satellite signals, which are a plurality of satellite signals distributed from each splitter 130.
  • the first satellite signal is a plurality of satellite signals distributed from the splitter 130, and is a signal including distance information from the external GNSS antenna 120 to the reference GNSS receiver.
  • the reference GNSS receiver 140 receives a plurality of satellite signals combined by the combiner 132.
  • the reference GNSS receiver 140 is configured with a fixed position to recognize its exact position.
  • the reference GNSS receiver 140 transmits delay distance information of the first satellite signal to the operation unit 174.
  • the GNSS radiation antenna 160 receives a plurality of satellite signals distributed from each splitter 130 and transmits them to each GNSS terminal 170. That is, the GNSS radiation antenna 160 separates the digital satellite signals distributed by the splitter 130 into respective satellite signals and transmits them to each GNSS terminal 170. In particular, the GNSS radiation antenna 160 receives and radiates a second satellite signal indicating the distance from the external GNSS antenna 120 to the GNSS terminal.
  • the GNSS terminal 170 is an object whose location is tracked.
  • the GNSS terminal 170 may receive a second satellite signal, which is each satellite signal received from the GNSS radiation antenna 160, to track its location.
  • the GNSS terminal 170 uses the distance between each GNSS radiation antenna 160 and the GNSS terminal 170 to obtain its own location. That is, a plurality of GNSS radiant antennas in a manner of recognizing the distance between one GNSS radiant antenna 160 and the GNSS terminal 170 and recognizing the distance between the other GNSS radiant antenna 160 and the GNSS terminal 170 ( 160) and the distance between the GNSS terminal 170 is repeatedly obtained and the position of the GNSS terminal 170 can be calculated using the distance.
  • the position of the GNSS terminal 170 will be described in more detail with reference to FIGS. 4 and 5 described later.
  • the GNSS terminal 170 is configured to include a receiver 172 and an operation unit 174.
  • the receiver 172 receives a second satellite signal from each of the GNSS radiant antennas 160, and receives a first satellite signal from the reference GNSS receiver 140.
  • the first satellite signal is delay distance information from the GNSS satellite 110 or the simulated GNSS signal generator 122 to the reference GNSS receiver 140.
  • the second satellite signal is delay distance information from the simulated GNSS satellite 110 or the simulated GNSS signal generator 122 to the GNSS terminal 170.
  • the receiver 172 receives delay time information (referred to as B for convenience) from the external GNSS antenna 120 or the simulated GNSS signal generator 122 to the reference GNSS receiver 140.
  • the receiver 172 receives delay time information (referred to as C for convenience) from the external GNSS antenna 120 to the GNSS radiant antenna 160.
  • the calculator 174 receives the second satellite signal and the first satellite signal from the receiver 172.
  • the calculation unit 174 receives delay time information (referred to as B for convenience) from the external GNSS antenna 120 or the simulated GNSS signal generator 122 to the reference GNSS receiver 140.
  • the calculating unit 174 receives delay time information (called C for convenience) from the external GNSS antenna 120 or the simulated GNSS signal generating device 122 to the GNSS radiating antenna 160. In addition, the calculation unit 174 infers a plurality of delay time information (called D for convenience) from each GNSS radiation antenna 160 to the GNSS terminal 170.
  • C delay time information
  • D delay time information
  • the calculating unit 174 uses the first differential signal and the second satellite signal to obtain the GNSS terminal 170 from each of the GNSS radiant antennas 160 using a conventionally researched dual difference method and a precision relative positioning technique such as RTK. ), And may be configured to accurately measure the position of the GNSS terminal 170 using the distance between each of the GNSS radiation antennas 160 and the GNSS terminal 170.
  • the calculation unit 174 receives a plurality of satellite signals from the reference GNSS receiver 140.
  • the calculating unit 174 transmits the received satellite signal to the GNSS terminal 170.
  • the above-described operation unit 174 has been described as a configuration included in the terminal 170, but may be configured to be individually installed in a certain part of the room.
  • the operation unit 174 and the GNSS terminal 170 may be configured by being connected by short-range wireless communication. That is, when the operation unit 174 is configured separately from the GNSS terminal 170, it is configured as a server.
  • the operation unit 174 and the reference GNSS receiver 140 may be connected through short-range wireless communication.
  • the GNSS terminal 170 and the operation unit 174 to communicate by a communication method such as WiFi or Bluetooth may communicate.
  • FIG. 5 is a flowchart illustrating a process of indoor navigation using a GNSS by a GNSS terminal according to an embodiment of the present invention.
  • step S202 the operation unit 174 of the GNSS terminal 170 measures and knows the delay time information of the second satellite signal between the external GNSS antenna and the respective GNSS radiation antenna in advance, and the reference A plurality of first satellite signals are received from a GNSS receiver, and delay time information of a first satellite signal between the external GNSS antenna and the reference GNSS receiver is known in advance.
  • step S204 the value obtained by subtracting the delay time information of the second satellite signal from the second satellite signal and the value obtained by subtracting the delay time information of the first satellite signal from the first satellite signal are subtracted from the respective GNSS radiation antennas. Each distance to the GNSS terminal is calculated.
  • the distance from each GNSS radiation antenna 160 to the GNSS terminal 170 is calculated by subtracting.
  • step S206 the position of the GNSS terminal 170 is measured using the distance between each GNSS radiation antenna 160 and the GNSS terminal 170.
  • the position of the GNSS terminal 170 can be measured. However, since it is converted into a precise length unit indoors, it is possible to measure a position with more precise accuracy.
  • Each of the GNSS radiation antennas 160 may be configured to secure at least four delay distance information between the GNSS radiation antennas 160 and the GNSS terminal 170 by configuring at least four. This is to measure the location of the GNSS terminal 170 using three GNSS radiation antennas 160 and to measure the location using GNSS to correct errors using one or more GNSS 160, preferably five. If the estimation is made using the above GNSS radiation antenna 160, a more accurate location can be measured.
  • the present invention it is possible to measure the position of a terminal or a device incorporating a terminal using a GNSS, receive a signal from the GNSS, calculate the distance, and use a splitter and an implemented receiver to increase the precision of the measured position,
  • the indoor navigation system using the GNSS of the present invention can be more accurately researched by recognizing the position of a receiver equipped with a GNSS antenna driven indoors by using an external GNSS antenna and a splitter, thereby accurately measuring the indoor position. Therefore, it can be used more effectively in the field of automatic navigation system.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un système et un procédé de navigation d'intérieur utilisant un GNSS, le système comprenant : une antenne GNSS externe qui reçoit de multiples signaux satellites en provenance de multiples satellites GNSS ; un dispositif d'attribution de canal satellite qui sépare les multiples signaux satellites reçus de l'antenne GNSS externe et attribue les signaux séparés en fonction de canaux ; un diviseur qui divise les signaux spécifiques de canal reçus en provenance du dispositif d'attribution de canal satellite, de telle sorte que les signaux soient distribués à des antennes rayonnantes GNSS et à un combinateur ; le combinateur qui combine des premiers signaux satellites, constituant le signal satellite multiple distribué par le diviseur et constituant des informations de distance entre l'antenne GNSS externe et un récepteur GNSS de référence ; le récepteur GNSS de référence qui reçoit les multiples premiers signaux satellites combinés par le combinateur, et dont l'emplacement est fixe ; les antennes rayonnantes GNSS, chacune recevant et émettant ensuite des seconds signaux satellites, constituant les multiples signaux satellites distribués par le diviseur et représentant la distance entre l'antenne GNSS externe et un terminal GNSS ; et un terminal GNSS mobile qui reçoit les seconds signaux satellites émis par les antennes rayonnantes GNSS respectives, reçoit sans fil des valeurs de mesure de distance des premiers signaux satellites collectés en provenance du récepteur GNSS de référence et des valeurs de mesure de distance des seconds signaux satellites collectés en provenance du terminal GNSS, et calcule l'emplacement du terminal GNSS, ce qui permet de localiser un terminal ou un dispositif comprenant le terminal et d'augmenter la précision de l'emplacement de ce dernier.
PCT/KR2019/008000 2018-11-20 2019-07-02 Système et procédé de navigation d'intérieur asynchrone utilisant un gnss WO2020105829A1 (fr)

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KR10-2018-0143633 2018-11-20
KR1020180143633A KR101975437B1 (ko) 2018-11-20 2018-11-20 Gnss를 이용한 비동기식 실내 항법 시스템 및 방법

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CN111123318B (zh) * 2019-12-31 2022-04-19 泰斗微电子科技有限公司 一种卫星定位装置、卫星信号接收机及终端设备
CN113640835A (zh) * 2020-05-10 2021-11-12 张勇虎 室内虚拟卫星导航定位方法、系统及装置
KR20240083973A (ko) 2022-12-06 2024-06-13 최철순 Gnss rtk 기반 실내 측위 시스템

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