Code division multiple access (CDMA) wireless positioning method suitable for ultra-tight global positioning system (GPS)/strap-down inertial navigation system (SINS) integration
An ultra-tight combination, wireless positioning technology, used in positioning, radio wave measurement systems, measuring devices, etc., to achieve high-precision three-dimensional positioning, improve positioning accuracy, and solve the effects of poor positioning accuracy
Inactive Publication Date: 2013-04-03
SOUTHEAST UNIV
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[0007] The technical problem of the present invention is: to overcome the deficiencies of the prior art, to provide a new CDMA wireless positioning method suitable for GPS / SINS ultra-tight combination, this method overcomes the traditional CDMA positioning method which can only perform coarse-precision two-dimensional positioning , and has a strong dependence on the environment, which makes up for the defect that GPS signal blind spots in the urban environment lead to a decrease in positioning accuracy. Higher and more accurate positioning services
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[0031] Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:
[0032] Such as figure 1 As shown, the present invention is based on the software GPS receiver / strapdown inertia super-tight working mode, improves the traditional CDMA wireless positioning algorithm, makes full use of limited navigation data to realize high-precision, high-reliability seamless positioning, and the specific steps are as follows:
[0033] (1) Receive the CDMA network pilot signal and select the positioning method according to the number of working base stations
[0034] If the number of effective working base stations is less than 5, it is a signal blind area of CDMA three-dimensional positioning, and the positioning data of the GPS / SINS ultra-tight combination system is directly used as the final positioning data; if the number of effective working base stations is greater than 5, CDMA wireless positioning is performed.
[0035] (2) Measure TOA ...
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The invention discloses a code division multiple access (CDMA) wireless positioning method suitable for ultra-tight global positioning system (GPS) / strap-down inertial navigation system (SINS) integration. The method comprises the following steps of: receiving a CDMA network pilot signal by using a CDMA signal transmission unit; measuring time for the propagation of the signal from all base stations to a mobile station, selecting a serving base station according to time of arrival (TOA), and calculating differences between the time for the propagation of the signal from the serving base station and the other base stations to the mobile station; performing resolution by using a time difference of arrival (TDOA) data resolution unit to generate a fuzzy solution of current location information of the mobile station; erasing the fuzzy resolution according to the location information, generated by the resolution at the last moment, of the mobile station; performing data fusion in a filter by utilizing the current location information resolved and generated by Kalman filtering and the current location information resolved and generated by CDMA wireless positioning, and generating positioning data; outputting positioning information which is the positioning data. The novel CDMA wireless positioning method provided by the invention is wider in application range and higher in positioning accuracy.
Description
technical field [0001] The present invention is suitable for ground and low-altitude navigation and positioning technology fields such as urban traffic, in order to meet the navigation and positioning requirements of high reliability, high survivability and large positioning coverage, and to study its relationship with GPS / SINS on the basis of CDMA cellular network wireless positioning The fusion method of the ultra-tight integrated navigation system realizes high-precision CDMA three-dimensional seamless positioning. Background technique [0002] Both GPS and SINS are currently one of the most widely used navigation systems. GPS / SINS integrated navigation system is usually divided into three types at present, namely loose combination mode, tight combination mode and super tight combination mode. Among them, the ultra-tight combination mode has the deepest degree of information fusion. In addition to completing the work of loose combination and tight combination, SINS measu...
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IPC IPC(8): G01S5/02
Inventor陈熙源虞婧徐元黄涛
OwnerSOUTHEAST UNIV