WO2024005286A1 - Procédé d'amélioration de la précision de positionnement gnss sur la base d'un effet doppler à l'aide de satellites à orbite terrestre basse multiples - Google Patents

Procédé d'amélioration de la précision de positionnement gnss sur la base d'un effet doppler à l'aide de satellites à orbite terrestre basse multiples Download PDF

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Publication number
WO2024005286A1
WO2024005286A1 PCT/KR2022/020366 KR2022020366W WO2024005286A1 WO 2024005286 A1 WO2024005286 A1 WO 2024005286A1 KR 2022020366 W KR2022020366 W KR 2022020366W WO 2024005286 A1 WO2024005286 A1 WO 2024005286A1
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terminal
positioning
model
low
satellites
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PCT/KR2022/020366
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English (en)
Korean (ko)
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신원재
후마윤카비르
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아주대학교산학협력단
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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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • 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
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • 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
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related

Definitions

  • the technical idea of the present disclosure relates to a method for improving GNSS positioning accuracy based on the Doppler effect using multiple low-orbit satellites.
  • GNSS Global Navigation Satellite System
  • GLONASS Global Navigation Satellite System
  • Galileo Galileo
  • Beidou The advantages of the positioning method based on GNSS include that the signal can be used if equipped with a receiver regardless of the user's geographic location, the receiver is small, and output can be obtained in real time, allowing work while moving.
  • GNSS does not provide actual location information because it performs positioning based on pseudorange, which is an estimated distance that takes into account propagation delay or synchronization error, and due to low signal power, it is used in cities with dense buildings, indoors, forests, etc. It has the problem of not providing accurate positioning results due to the fact that it is blocked in some geographical areas such as deserts, making positioning impossible.
  • One problem that the present invention seeks to solve is to provide a method that can further improve accuracy when providing positioning results using a positioning method using satellites.
  • a method of positioning a terminal using multiple low-orbit satellites includes the steps of receiving signals output from each of a plurality of low-orbit satellites; defining a positioning model based on a Doppler shift occurring in received signals and a clock error of the terminal; and obtaining a positioning result for the terminal based on a defined model.
  • the step of generating the model includes, based on a Doppler shift occurring for each of the signals received from the plurality of low-orbit satellites and a clock error existing in the terminal, the plurality of low-orbit satellites It may include the step of defining a delta range model for .
  • generating the model includes defining a delta range residual function based on the delta range model, a position and drift vector of the terminal, and a delta range measurement vector; And further comprising defining a model for obtaining a positioning result of the terminal based on a weight coefficient based on the carrier-to-noise intensity ratio of the received signal, the delta range residual function, and a geometry matrix, wherein the geometry matrix may represent the geometric characteristics between the terminal and the satellite.
  • the method includes receiving signals from a plurality of GNSS satellites; And further comprising defining a pseudorange-based positioning model using the received signal, wherein the step of obtaining the positioning result includes: a positioning model defined based on the Doppler shift and clock error; Comparing pseudorange-based positioning models and selecting one; And it may include obtaining a positioning result of the terminal using any one selected positioning model.
  • the selecting step includes calculating a geometric dilution of precision (GDOP) for each of the positioning model defined based on the Doppler shift and clock error and the pseudorange-based positioning model; And it may include selecting a positioning model with a low calculated GDOP.
  • GDOP geometric dilution of precision
  • the calculating step includes calculating a GDOP for each of the geometry matrix of the positioning model defined based on the Doppler shift and clock error and the geometry matrix of the pseudorange-based positioning model.
  • the geometry matrix may represent geometry characteristics between the terminal and the satellite.
  • the clocks of the plurality of low-orbit satellites may be synchronized using data received from a GNSS satellite.
  • a terminal includes a low-orbit satellite signal receiver that receives signals output from a low-orbit satellite; and a processor, wherein the processor receives signals output from each of a plurality of low-orbit satellites through the low-orbit satellite signal receiver, and based on the Doppler shift occurring for the received signals and the clock error of the terminal.
  • a positioning model can be defined, and positioning results for the terminal can be obtained based on the defined model.
  • a computer program stored in a computer-readable recording medium is provided, combined with a computer as hardware, to perform a positioning method according to embodiments of the present disclosure.
  • the terminal can obtain more accurate positioning results and provide them to the user by using a positioning model selected by comparing the quality of a positioning model based on Doppler shift using low-orbit satellites and a positioning model based on GNSS. .
  • the terminal can obtain positioning results using signals received from low-orbit satellites mainly used for mobile communications, positioning results can be obtained effectively without having a separate positioning receiver.
  • FIG. 1 is a conceptual diagram of a positioning system using multiple low-orbit satellites according to an embodiment of the present disclosure.
  • Figure 2 is a flow chart for explaining a positioning method using multiple low-orbit satellites according to an embodiment of the present disclosure.
  • Figure 3 is an example diagram for explaining the positioning method of Figure 2.
  • Figure 4 is a conceptual diagram showing a positioning system using multiple low-orbit satellites and a precise positioning method using GNSS according to an embodiment of the present disclosure.
  • Figure 5 is a flow chart for explaining a precise positioning method according to an embodiment of the present disclosure.
  • Figure 6 is a block diagram schematically showing control configurations included in a terminal according to an embodiment of the present disclosure.
  • Embodiments of the present disclosure are related to the following national research and development projects.
  • first, second, etc. are used in this disclosure to describe various members, regions, layers, portions, and/or components, these members, parts, regions, layers, portions, and/or components are referred to by these terms. It is obvious that it should not be limited by . These terms do not imply any particular order, superiority, inferiority, or superiority or inferiority, and are used only to distinguish one member, region, region, or component from another member, region, region, or component. Accordingly, the first member, region, portion, or component to be described in detail below may refer to the second member, region, portion, or component without departing from the teachings of the technical idea of the present disclosure. For example, a first component may be referred to as a second component without departing from the scope of the present disclosure, and similarly, the second component may also be referred to as a first component.
  • a specific process sequence may be performed differently from the described sequence.
  • two processes described in succession may be performed substantially at the same time, or may be performed in an order opposite to the order in which they are described.
  • the term 'and/or' includes each and every combination of one or more of the mentioned elements.
  • FIG. 1 is a conceptual diagram of a positioning system using multiple low-orbit satellites according to an embodiment of the present disclosure.
  • the positioning system 10 may include a user terminal 100 and a plurality of low-orbit satellites 200.
  • the terminal 100 may include a receiver (not shown) for receiving signals output from a plurality of low-orbit satellites 200.
  • the terminal 100 may be a mobile terminal such as a smartphone, tablet PC, or wearable device, but is not limited thereto and may include various types of devices including the above-described receiver.
  • the plurality of low-orbit satellites 200 may refer to satellites moving along an orbit formed at a relatively low altitude (for example, about 300 km to 1500 km altitude) compared to medium-orbit satellites or geostationary orbit satellites. If the orbital height is lowered, the satellites' moving speed must become faster in order to withstand the Earth's gravity. Accordingly, the movement speed of the plurality of low-orbit satellites 200 may be faster than that of medium-orbit satellites or geostationary orbit satellites (for example, about 7.6 km/s at an altitude of 600 km).
  • the terminal 100 When the terminal 100 receives a signal output from the low-orbit satellites 200, Doppler shift (or Doppler effect) according to the relative speed difference between the terminal 100 and the low-orbit satellite 200 ), a phenomenon in which the frequency of the received signal may differ from the frequency of the signal output from the low-orbit satellites 200 may occur. According to the present disclosure, the terminal 100 can obtain a positioning result for the terminal 100 based on the Doppler shift of a signal received from low-orbit satellites 200. This will be described in more detail below with reference to FIGS. 2 and 3.
  • Figure 2 is a flow chart for explaining a positioning method using multiple low-orbit satellites according to an embodiment of the present disclosure.
  • Figure 3 is an example diagram for explaining the positioning method of Figure 2.
  • the terminal 100 can receive a signal output from the low-orbit satellite 200 (S200).
  • the terminal 100 may define a model for estimating the location of the terminal 100 based on the Doppler shift (Doppler effect) occurring in the received signal and the clock error of the terminal 100 (S210).
  • Doppler shift Doppler effect
  • the terminal 100 may obtain a positioning result of the terminal 100 based on the defined model (S220).
  • the position of the low-orbit satellite 200 at the first time point (t 0 ) corresponds to St 0
  • the location of the satellite 200 may correspond to St.
  • P and Q represent sub-satellite points for the positions (St 0 , St) of the low-orbit satellite 200 at the first time point (t 0 ) and the second time point (t), respectively.
  • Doppler shift (f d ) can be expressed as Equation 1 below.
  • Equation 1 represents the rate of change of the line-of-sight vector between the low-orbit satellite 200 and the terminal 100, and ⁇ corresponds to the wavelength of the signal output from the low-orbit satellite 200.
  • the frequency (f) of the signal output from the low-orbit satellite 200 can be expressed as Equation 2 below (c means the speed of light).
  • Equation 3 Equation 3 ( v s is the speed of the low-orbit satellite 200, v u is the speed of the terminal 100).
  • Equation 4 the Doppler shift (f d ) can be expressed as Equation 4.
  • the clock used in the terminal 100 may not be as accurate as a GNSS satellite having an atomic clock. Accordingly, the clock of the terminal 100 may have a slight bias.
  • the clock error of the terminal 100 may be referred to as clock drift (receiver clock drift).
  • Clock drift of terminal 100 the error ⁇ f occurring in the estimation of the frequency of the received signal can be expressed as Equation 5 below.
  • clocks used in low-orbit satellites 200 may also not be as accurate as GNSS satellites. Accordingly, the low-orbit satellites 200 can synchronize the clocks of the transmitter and receiver using data output from the GNSS satellite. Depending on the embodiment, the low-orbit satellites 200 may synchronize their clocks through mutual communication between the low-orbit satellites.
  • the delta range model can be defined as Equation 6 below.
  • Equation 7 is the delta range It can be considered and defined as Equation 8.
  • the terminal 100 can receive signals from a plurality of different low-orbit satellites 200, and the delta range for each of the signals received from a plurality (n) of low-orbit satellites 200 is organized.
  • One equation (delta range model) can be defined as Equation 9 below.
  • the delta range residual function Can be defined as Equation 10 below.
  • Is is a function of , where n may correspond to the number of measured delta ranges. is the argument Measure the difference between the measured delta range and the predicted delta range.
  • the delta range residual function If the first order Taylor series is used to linearize , it can be expressed as Equation 11 below.
  • Equation 12 Equation 12 below can be expressed.
  • W is a weighting matrix and is a diagonal matrix with main diagonal elements ⁇ w 1 , w 2 , ..., w k ⁇
  • G is the terminal 100 and the low-orbit satellite 200. It may be a geometry matrix representing the geometric characteristics of the liver.
  • the estimated value (positioning result) for the position and drift of the terminal 100 can be finally obtained by being repeatedly updated until ⁇ x reaches within a predetermined range.
  • ⁇ x may be influenced by the geometry matrix G , and as a result, the accuracy of the estimate for the position and drift of the terminal 100 may also be related to the geometry matrix G.
  • the terminal 100 can obtain more accurate positioning results for the terminal 100 by using signals received from a larger number of low-orbit satellites than GNSS satellites. .
  • Figure 4 is a conceptual diagram showing a positioning system using multiple low-orbit satellites and a precise positioning method using GNSS according to an embodiment of the present disclosure.
  • the system 1 includes a terminal 100 of a positioning system using multiple low-orbit satellites described above in FIGS. 1 to 3 and a plurality of low-orbit satellites 200, and in addition, GNSS-based positioning. It may include a plurality of GNSS satellites 300 and a ground station 400 for.
  • the ground station 400 can perform control such as signal observation, clock inspection, and synchronization of a plurality of GNSS satellites 300.
  • Satellites can be broadly classified into the above-described low-Earth orbit satellites, medium earth orbit (MEO) satellites, and geostationary earth orbit (GEO) satellites, depending on their altitude.
  • the plurality of GNSS satellites 300 may correspond to medium earth orbit (MEO) satellites with an altitude of approximately 20,000 km, but are not limited thereto.
  • the terminal 100 can receive GNSS signals from a plurality of GNSS satellites 300.
  • the terminal 100 may obtain positioning results by receiving GNSS signals from four or more GNSS satellites 300.
  • the terminal 100 may obtain a positioning result through pseudorange-based positioning using received GNSS signals.
  • the terminal 100 measures the pseudorange based on GNSS signals received from GNSS satellites 300 within the field of view, and builds a positioning model based on the pseudorange measurements. And, the positioning results can be obtained through an iterative estimation algorithm based on the constructed positioning model.
  • the terminal 100 can first interpret the encoding time of the received GNSS signal and determine the transmission time of the GNSS signal. And, the pseudorange can be determined by multiplying the time difference between the transmission time and the reception time by the delay rate of the GNSS signal transmitted from the GNSS satellite 300. Thereafter, after the location of the GNSS satellite 300 is determined, the location of the terminal 100 may be calculated.
  • the pseudorange measurement value for the mth GNSS satellite 300 can be expressed as Equation 14 below.
  • r [m] represents the distance between the terminal 100 at time t r and the GNSS satellite 300 at time t s
  • I [m] is the ionospheric delay
  • T [m] is the tropospheric delay
  • the corrected pseudorange can be expressed as Equation 15 below.
  • Equation 16 the distance r [m] from the mth GNSS satellite 300 to the terminal 100 can be expressed as Equation 16 below.
  • x [ x , y , z ] T is the location of the terminal 100
  • x [m ] [ It may correspond to the location of .
  • Equation 15 can be expressed as Equation 17 below as Equation 16 is applied.
  • the viewing angle unit vector is corresponds to
  • Equation 19 Equation 19 below, and its least square solution corresponds to Equation 20.
  • G is a geometry matrix representing the geometric characteristics between the terminal 100 and the GNSS satellite 300, and can be expressed as Equation 21 below.
  • the least squares method treats all pseudorange measurements equally, which may not be realistic. Positioning accuracy may vary depending on the number of GNSS satellites 300 present in the field of view of the terminal 100.
  • the strength of the signal received from the GNSS satellite with the lowest altitude angle may be lowered due to blockage by trees or structures.
  • the strength of the signal received from the GNSS satellite with the highest elevation angle can reach the terminal 100 without being attenuated.
  • Equation 22 a weighted least squares solution can be obtained using a weighting coefficient.
  • W may correspond to a weighting matrix.
  • Equation 22 it can be seen that the accuracy of the positioning result for the terminal 100 may be related to the geometry matrix G. Meanwhile, the location estimate of the terminal 100 can be expressed as Equation 23 below.
  • the terminal 100 determines the positioning results obtained according to the Doppler shift-based positioning method using multiple low-orbit satellites described above in FIGS. 1 to 3 and the pseudorange using GNSS described above in FIG. 4. Precise positioning of the terminal 100 is possible using positioning results obtained according to a positioning method. This will be described below with reference to FIG. 5.
  • Figure 5 is a flow chart for explaining a precise positioning method according to an embodiment of the present disclosure.
  • the terminal 100 can receive signals from each of the low-orbit satellites 200 and GNSS satellites 300 (S500).
  • signals received from low-orbit satellites 200 may be communication signals for mobile communication, etc., but are not limited thereto.
  • Signals received from GNSS satellites 300 may be GNSS signals for positioning.
  • the terminal 100 generates a first positioning model based on Doppler shift using signals received from low-orbit satellites 200 (S510) and generates a pseudorange using signals received from GNSS satellites 300. )-based second positioning model can be obtained (S520).
  • the first positioning model produces a positioning result of the terminal 100 based on a weight coefficient based on the carrier-to-noise intensity ratio of the received signal, a delta range residual function, and a geometry matrix. It may correspond to a model to acquire.
  • the second positioning model may correspond to a model for obtaining positioning results of the terminal 100 based on pseudorange measurements and geometry matrices for a plurality of GNSS satellites 300, as described above with reference to FIG. 4 .
  • Steps S510 and S520 have been described in detail in FIGS. 1 to 4. Meanwhile, the execution order of steps S510 and S520 may be changed in various ways and may be performed in parallel.
  • the terminal 100 may obtain a positioning result of the terminal 100 using any one positioning model selected through comparison of the obtained first positioning model and the second positioning model (S530).
  • the geometrical arrangement of the satellite relative to the terminal 100 may cause a change in positioning accuracy, which is referred to as geometric dilution of precision (GDOP).
  • the GDOP represents the accuracy of the 3D positioning result and time, and a higher value may indicate lower accuracy. For example, as shown in FIG. 4, the lower the GDOP (good GDOP), the smaller the area of the uncertainty region, and the higher the GDOP (poor GDOP), the larger the area of the uncertainty region.
  • the GDOP can be defined as Equation 24 below.
  • H ( G T G ) -1
  • G corresponds to the geometry matrix described above.
  • the geometry matrix can be defined in each of a Doppler shift-based model using signals from multiple low-orbit satellites and a pseudorange-based model using GNSS signals, and is an element related to the accuracy (precision) of the positioning result as described above.
  • the terminal 100 can obtain the GDOP for the first positioning model and the second positioning model by applying each geometry matrix to Equation 24. Since the acquired positioning model with a small GDOP value means that it is a positioning model with high accuracy, the terminal 100 can finally obtain the positioning result of the terminal 100 using the positioning model with a small GDOP value.
  • Figure 6 is a block diagram schematically showing control components included in the positioning device according to an embodiment of the present disclosure.
  • the terminal 100 included in the positioning system may be a mobile terminal such as a smartphone, tablet PC, or wearable device, but is not limited thereto.
  • This terminal 100 may include a communication unit 110, a GNSS signal receiver 120, an input unit 130, an output unit 140, a control unit 150, and a memory 160.
  • the control configuration shown in FIG. 6 is an example for convenience of explanation, and the terminal 100 may include more or less configurations than the configuration shown in FIG. 6 .
  • the communication unit 110 may include one or more communication modules that enable communication with other terminals or servers by connecting the terminal 100 to a network.
  • the communication module may include a mobile communication module such as LTE, 5G, etc., a wireless communication module such as Wi-Fi, and/or various other wired or wireless communication modules.
  • the communication unit 110 may include a low-orbit satellite signal receiver 112 for receiving signals output from a plurality of low-orbit satellites 200.
  • each of the plurality of low-orbit satellites 200 outputs a signal according to the above-described mobile communication method or other wireless communication method, and the terminal 100 can receive the output signal through the low-orbit satellite signal receiver 112. there is.
  • the control unit 150 uses the received signal to determine location information (first location information) of the terminal 100 using an algorithm that performs positioning based on the Doppler shift (Doppler effect) described above with reference to FIGS. 2 and 3. can be obtained.
  • Memory 160 may store computer program data including the algorithm.
  • the GNSS signal receiver 120 may receive GNSS signals output from a plurality of GNSS satellites 500.
  • the control unit 150 may obtain location information (second location information) of the terminal 100 using an algorithm that performs pseudorange-based positioning using the received GNSS signal.
  • Memory 160 may store computer program data including the algorithm.
  • the input unit 130 is a component for acquiring information such as user input, video, and audio, and may include various input means such as various mechanical/electronic input means, cameras, and microphones.
  • the output unit 140 is used to provide information to users by generating output related to vision, hearing, or tactile sensations, and may include a display, speaker, vibration module, etc.
  • the control unit 150 may output either the first location information or the second location information selected according to the embodiment of FIG. 5 through the output unit 140.
  • the control unit 150 can control the overall operation of the terminal 100.
  • the control unit 150 may process signals, data, information, etc. input or output through the above-described components, or may provide certain information or functions by running various computer programs or applications stored in the memory 160.
  • This control unit 150 may include at least one processor, and the processor may be implemented with hardware such as a CPU, application processor (AP), MCU, integrated circuit, ASIC, or FPGA.
  • processor may be implemented with hardware such as a CPU, application processor (AP), MCU, integrated circuit, ASIC, or FPGA.
  • the memory 160 can store programs and data necessary for the operation of the terminal 100. Additionally, the memory 160 may store data generated or acquired through the control unit 150. This memory 160 may be composed of a storage medium such as ROM, RAM, flash memory, SSD, or HDD, or a combination of storage media.

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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)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Un procédé de positionnement d'un terminal à l'aide de satellites à orbite terrestre basse multiples selon un aspect par l'idée technique de la présente divulgation comprend les étapes consistant : à recevoir des signaux émis par une pluralité de satellites d'orbite terrestre basse, respectivement ; à définir un modèle de positionnement sur la base d'une erreur d'horloge du terminal et d'un décalage Doppler généré sur les signaux reçus ; et à acquérir un résultat de positionnement du terminal sur la base du modèle défini.
PCT/KR2022/020366 2022-06-30 2022-12-14 Procédé d'amélioration de la précision de positionnement gnss sur la base d'un effet doppler à l'aide de satellites à orbite terrestre basse multiples WO2024005286A1 (fr)

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KR10-2022-0080811 2022-06-30
KR20220080811 2022-06-30
KR1020220096117A KR102504015B1 (ko) 2022-06-30 2022-08-02 다중 저궤도위성을 이용한 도플러 효과 기반의 gnss 측위 정확도 향상 방법
KR10-2022-0096117 2022-08-02

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KR20190143736A (ko) * 2018-06-21 2019-12-31 에스케이텔레콤 주식회사 위치 측정 방식 선택 장치 및 방법

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