WO2020125480A1 - Procédé et appareil de positionnement coopératif, dispositif d'ordinateur et support d'informations - Google Patents

Procédé et appareil de positionnement coopératif, dispositif d'ordinateur et support d'informations Download PDF

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Publication number
WO2020125480A1
WO2020125480A1 PCT/CN2019/124204 CN2019124204W WO2020125480A1 WO 2020125480 A1 WO2020125480 A1 WO 2020125480A1 CN 2019124204 W CN2019124204 W CN 2019124204W WO 2020125480 A1 WO2020125480 A1 WO 2020125480A1
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Prior art keywords
satellite
node
positioning
information
nodes
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PCT/CN2019/124204
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English (en)
Chinese (zh)
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陈孔阳
谭光
顾韶颀
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中国科学院深圳先进技术研究院
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Publication of WO2020125480A1 publication Critical patent/WO2020125480A1/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
    • G01S19/01—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
    • 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

Definitions

  • the invention belongs to the technical field of navigation and positioning, and in particular relates to a cooperative positioning method and device, computer equipment, and storage medium.
  • the satellite positioning system includes three components: a space station, a ground station, and a user receiver.
  • the satellite of the space station continuously broadcasts its position and time.
  • the ground station monitors and controls the operating status of the satellite.
  • the user receiver collects broadcast satellite signals. You can calculate your position by capturing more than 4 visible satellites. Satellite positioning does not require additional auxiliary equipment and can be independently positioned. It can provide positioning accuracy of about 10 meters in a sunny and visible environment. It has become an important positioning method for people's daily life.
  • satellite signals are very weak due to the obstruction and influence of buildings such as tall buildings, viaducts, etc., and the buildings will also cause interference such as multipath and non-line-of-sight reception, resulting in large deviations in satellite signals, often unable to The positioning, or the positioning result has a large deviation, and there are often positioning errors of tens of meters and hundreds of meters, which affect the actual positioning requirements.
  • how to design and implement a GPS high-precision positioning algorithm is still a very challenging problem.
  • Literature [2] A.Bilich,P.Axelrad,KMLarson.Scientific utility of the signal-to-noise ratio (SNR)reported by geodetic GPS receivers.Proc.of ION GNSS, 2007, which disclosed the detection of GPS multipath signals , Remove multipath satellites, hoping to reduce positioning errors.
  • Reference [2] can only be applied to the occasions with more visible satellites. In harsh environments such as high-rise buildings, the number of satellites can be seen to be small. After removing the multipath satellites, it is often impossible to locate.
  • Literature [3] P.D.Groves.Shadow matching: A new GNSS positioning for technology urban for canyons. Journal of Navigation, 2011 discloses that the 3D model of surrounding buildings is used to detect interfering satellites and reduce positioning errors.
  • Reference [3] requires a 3D model of surrounding buildings in advance, which is currently difficult to obtain on a large scale.
  • literature [3] also needs to have a relatively accurate initial position as a positioning reference, which is also difficult to guarantee in the actual environment.
  • the present invention aims to provide an inertial navigation device that does not depend on a large accumulation error, does not require 3D models, initial positions and other prerequisites, and can complete the position even when there are few visible satellites Computational positioning method to solve the positioning problem in complex urban environment.
  • a technical solution adopted by the present invention is to provide a collaborative positioning method, including the following steps:
  • the asynchronous CTN positioning method uses the asynchronous CTN positioning method to calculate the precise location information of the node to be located; the asynchronous CTN positioning method includes:
  • the clock deviation of the node and the rough positioning time deviation of the node, iteratively obtains the position iteration increment that meets the requirements through the least square method
  • the least square method is used to obtain the exact position of the seed node according to the clock deviation and the coarse time deviation;
  • the method further includes the steps before using the asynchronous CTN positioning method:
  • satellite signals independently collected by multiple receiver nodes, where the satellite signals include satellite pseudorange, satellite positioning accuracy, satellite signal strength, and satellite clock deviation information;
  • the original observation information set iteratively selects the optimal satellite pseudorange information, satellite positioning accuracy information, and satellite signal strength information.
  • the mapping method is: using the distance and direction of the mapping node and the seed node according to the satellite pseudorange of the seed node, to obtain the satellite pseudorange of the mapping node.
  • the step of "selecting the optimal satellite pseudorange information, satellite positioning accuracy information, satellite signal strength information" specifically includes, by setting a distance threshold, a signal-to-noise ratio threshold, and a positioning contribution threshold, a preliminary selection is selected.
  • the required information set further selects the optimal satellite pseudorange information, satellite positioning accuracy information, and satellite signal strength information from the information set in an iterative manner.
  • the position iteration increment calculation process is as follows:
  • the original observation set can be updated among them Is the distance between node B 1 and satellite S j ; thus, the increment of the original observation can be updated Use ⁇ M 1 to update the position increment ⁇ p;
  • the position increment ⁇ p xyz of node B 1 is much smaller than the pseudo-range M 1 , so
  • the matrix form is:
  • the calculation process of the precise position of the seed node is as follows:
  • each node Since each receiver has independent clock deviation t b and coarse time deviation t c , and N nodes are selected, each node contributes q i original observations; then the offset of the seed node is
  • the matrix form is:
  • the satellites that meet the requirements need to be sufficiently separated from each other and have a good geometric distribution.
  • a cooperative positioning device including:
  • a plurality of satellite signal acquisition modules for acquiring satellite signals independently collected by multiple receiver nodes, the satellite signals including satellite pseudorange, satellite positioning accuracy, satellite signal strength and satellite clock deviation information;
  • the mapping module uses the receiver node with the best positioning accuracy as the seed node, and maps the satellite signals collected by other receiver nodes to the seed node to form the original observation information set;
  • the information selection module selects the optimal satellite pseudorange information, satellite positioning accuracy information, and satellite signal strength information through iteration based on the original observation information set;
  • Asynchronous CTN positioning module according to the three-dimensional position of the node to be located, the clock deviation of the node, and the coarse positioning time deviation of the node, iteratively obtains the position iteration increment that meets the requirements through the iterative method; then it is further used according to the clock deviation and the coarse time deviation
  • the least square method is used to obtain the precise position of the seed node; finally, the geometric position of each node is used to calculate the precise position of the other nodes.
  • a computer device has a processor and a memory, and the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to perform the steps of the cooperative positioning method of any of the foregoing embodiments.
  • the present invention provides a collaborative positioning method and device, computer equipment, and storage medium. It proposes an asynchronous CTN positioning method for the time difference error of multiple nodes; this patent does not require auxiliary sensors (such as inertial navigation, etc.), nor does it require 3D. Prior knowledge such as maps does not need to obtain a more accurate initial position in advance and can also complete position calculation in the case of fewer visible satellites, thereby solving the positioning problem in complex urban environments.
  • the technical solution of the present invention is used The positioning accuracy can be improved by 2-3 times compared with the existing positioning accuracy.
  • FIG. 1 is a schematic flowchart of a collaborative positioning method of the present invention
  • FIG. 2 is a schematic diagram of a module structure of a cooperative positioning device of the present invention.
  • FIG. 3 is a schematic diagram of the mapping of the original observation of the present invention.
  • FIG. 4 is a schematic diagram of the iterative process of the CTN method of the present invention from position P to position P′;
  • Figure 6 is a schematic diagram of the comparison of positioning accuracy of the three methods.
  • the present invention provides a collaborative positioning method, including the following steps:
  • the satellite signals include satellite pseudorange, satellite positioning accuracy, satellite signal strength, and satellite clock deviation information;
  • the mapping method is based on the satellite pseudorange of the seed node, using the distance and direction of the mapping node and the seed node to obtain the satellite pseudorange of the mapping node.
  • Each node has a satellite receiver, node B i can observe z i satellite signals, each satellite satellite corresponds to an original observation, so the original observation set of satellite signals of node B i is The satellite positioning accuracy of node B i is DOP(B i ).
  • the seed node has the maximum positioning accuracy DOP(B i ), and then maps the original observations of other nodes to the seed node B l .
  • Shown in Figure 3 is a diagram of the satellite's original observation mapping. Assuming that node B 2 can observe satellite S, but node B 1 cannot directly observe satellite S (for example, blocked by a building), we want to map the original observation of node B 2 to B 1 . In other words, the pseudorange m 2S from B 2 to satellite S is now known, and the distance and direction between B 1 and B 2 are also known. The pseudorange m 1S from B 1 to satellite S needs to be solved.
  • the steps of “selecting the optimal satellite pseudorange information, satellite positioning accuracy information, and satellite signal strength information” specifically include that, by setting a distance threshold, a signal-to-noise ratio threshold, and a positioning contribution threshold, a preliminary selection of information sets that meet the requirements is selected, and further passed
  • the iterative method selects the optimal satellite pseudorange information, satellite positioning accuracy information, and satellite signal strength information from the information set.
  • the receiver After the mapping, the receiver has a lot of original observation information, and it is necessary to select a part of the original observations with better positioning effect, which includes: assuming that the original observation set of all K nodes is W, the algorithm selects one original observation at a time. Observation collection And add to the selected original observation set Q.
  • the selection process of the set U should consider the geometric distribution of the satellite, the signal strength of the satellite, and the positioning quality of the satellite, which respectively correspond to the three indicators of satellite distance, signal-to-noise ratio, and positioning accuracy.
  • the selected satellites need to be sufficiently separated from each other to ensure a good geometric distribution.
  • This patent uses the average distance between satellites to measure the geometric distribution.
  • the selected satellite set is Q, and the distance between each satellite in the candidate satellite set W-Q and the satellite in Q needs to be calculated, namely:
  • the selected satellite is considered to be sufficiently separated from Q, where ⁇ d is the distance threshold.
  • the signal-to-noise ratio of each original observation m is SNR(m). If the signal-to-noise ratio is high enough, the satellite signal is considered to be more reliable. If SNR(m)> ⁇ S , it is considered that the signal-to-noise ratio of the selected satellite is sufficiently high, where ⁇ S is the signal-to-noise ratio threshold.
  • the positioning contribution of each original observation should be strong enough to ensure that it can be used for positioning calculations. If DOP(m)> ⁇ P , it is considered that the positioning contribution of the selected satellite is sufficiently high, where ⁇ P is the positioning contribution threshold.
  • a satellite in the set WQ satisfies the three conditions of d> ⁇ d , SNR(m)> ⁇ S , and DOP(m)> ⁇ P at the same time, it is added to the set Q of the selected satellites.
  • the three threshold parameters ⁇ d , ⁇ S , and ⁇ P will be iterated step by step in the selection process, ensuring that only one optimal satellite (corresponding to an optimal satellite original observation) is added to the set Q at a time.
  • the asynchronous CTN positioning method includes:
  • the original observation set can be updated among them Is the distance between node B 1 and satellite S j ; thus, the increment of the original observation can be updated Use ⁇ M 1 to update the position increment ⁇ p;
  • the position increment ⁇ p xyz of node B 1 is much smaller than the pseudo-range M 1 , so
  • the matrix form is:
  • the least square method is used to obtain the exact position of the seed node according to the clock deviation and the coarse time deviation;
  • each node Since each receiver has independent clock deviation t b and coarse time deviation t c , and N nodes are selected, each node contributes q i original observations; then the offset of the seed node is
  • the matrix form is:
  • a cooperative positioning apparatus 100 includes:
  • a plurality of satellite signal collection modules 110 are used to obtain satellite signals independently collected by a plurality of receiver nodes, and the satellite signals include satellite pseudorange, satellite positioning accuracy, satellite signal strength, and satellite clock deviation information;
  • the mapping module 120 uses the receiver node with the best positioning accuracy as a seed node, and maps the satellite signals collected by other receiver nodes to the seed node to form an original observation information set;
  • the information selection module 130 selects the optimal satellite pseudorange information, satellite positioning accuracy information, and satellite signal strength information by iteration based on the original observation information set;
  • Asynchronous CTN positioning module 140 according to the three-dimensional position of the node to be positioned, the clock deviation of the node, and the coarse positioning time deviation of the node, iteratively obtains the position iteration increment that meets the requirements by using the least square method; further according to the clock deviation and the coarse time deviation
  • the least square method is used to obtain the exact position of the seed node; finally, the geometric position of each node is used to calculate the precise position of the other nodes.
  • a computer device has a processor and a memory, and the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to perform the steps of the cooperative positioning method of any of the foregoing embodiments.
  • the invention has been experimentally verified under a typical urban environment.
  • the experimental scene is in a densely populated urban community with an experimental area of 650 ⁇ 300 square meters.
  • 12 satellite receiver nodes are randomly arranged, and the distribution of each node is shown in Figure 5.
  • Each node continuously samples 5 minutes of satellite data and performs satellite positioning calculations. It was found that only nodes 4, 5, 7, and 10 could complete positioning independently. Compared with the real position, the positioning errors are 76.1 meters, 86.4 meters, 36.0 meters, and 43.2 meters. Among them, the real position is obtained by recording the current position and then searching Google Earth. The remaining eight nodes have too few visible satellites, or the signal offset error is too large to calculate their positions independently. In other words, the positioning accuracy of these 12 nodes is (as shown in Table 1):
  • the positioning accuracy of the node 7 is improved from 36.0 meters to 15.2 meters, and the remaining nodes have correspondingly obtained high-precision positioning positions.
  • the positioning of this patent is superior to the independent positioning of each node.
  • the average positioning accuracy of the four nodes of the independent positioning method is 60.4 meters
  • the average positioning accuracy of the patented method is 20.4 meters
  • the positioning accuracy is improved by 2.96 times.
  • this patent uses the distance and direction of each node. If these constraints are present, the positions of nodes 4, 5, 7, and 10 that can be independently located can also be transferred to the other 8 nodes. This method is called positioning-level collaboration. As a difference, this patent is an original observation-level satellite collaboration, which has penetrated into the node positioning, and there is an essential difference between the two.
  • the positioning accuracy of these 12 nodes is shown in the following table.
  • the average positioning accuracy of the 12 nodes is 41.2 meters. After calculation, the positioning accuracy of the patented method is improved by 2.02 times than the positioning-level collaboration method.
  • the present invention provides a collaborative positioning method and device, computer equipment, and storage medium. It proposes an asynchronous CTN positioning method for the time difference error of multiple nodes; this patent does not require auxiliary sensors (such as inertial navigation, etc.), nor does it require 3D. Prior knowledge such as maps does not need to obtain a more accurate initial position in advance and can also complete position calculation in the case of fewer visible satellites, thereby solving the positioning problem in complex urban environments.
  • the technical solution of the present invention is used The positioning accuracy can be improved by 2-3 times compared with the existing positioning accuracy.

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

Abstract

L'invention concerne un procédé et un appareil de positionnement coopératif, un dispositif d'ordinateur et un support d'informations. Le procédé consiste : à obtenir des signaux de satellite acquis indépendamment par de multiples nœuds récepteurs (S1) ; à utiliser un nœud récepteur présentant la meilleure précision de positionnement en tant que nœud germe, et à mettre en correspondance les signaux de satellite acquis par les autres nœuds récepteurs au nœud germe afin de former un ensemble d'informations d'observation d'origine (S2) ; à sélectionner des informations de pseudo-distance de satellite optimales, des informations de précision de positionnement de satellite, et des informations d'intensité de signal de satellite au moyen d'une itération en fonction de l'ensemble d'informations d'observation d'origine (S3) ; et à calculer, au moyen d'un positionnement de CTN asynchrone, des informations de localisation précises d'un nœud à positionner (S3). Le procédé de positionnement coopératif peut être utilisé pour résoudre le problème de positionnement dans un environnement urbain complexe.
PCT/CN2019/124204 2018-12-18 2019-12-10 Procédé et appareil de positionnement coopératif, dispositif d'ordinateur et support d'informations WO2020125480A1 (fr)

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CN109738924A (zh) * 2018-12-18 2019-05-10 中国科学院深圳先进技术研究院 一种协作定位方法与装置、计算机设备、存储介质

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