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Indoor pseudo-satellite differential relative positioning method

A relative positioning and pseudolite technology, applied in the field of indoor pseudolite positioning, can solve the problems of user receiver positioning accuracy error, normal demand, and the inability of differential relative positioning method to be applied indoors.

Inactive Publication Date: 2015-04-08
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

In the process of indoor positioning, there is no influence of ionospheric delay and tropospheric delay on the positioning accuracy, but because the distance between the indoor pseudolite and the user receiver is much smaller than the distance between the outdoor satellite and the user receiver, the pseudolite’s The clock difference and the clock difference of the user's receiver will bring a very large error to the positioning accuracy, resulting in indoor pseudolite positioning accuracy far from meeting people's normal needs
The outdoor traditional differential relative positioning method can reduce the impact of satellite clock error and user receiver clock error on positioning accuracy, but due to the particularity of the indoor environment, the traditional differential relative positioning method cannot be applied indoors

Method used

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  • Indoor pseudo-satellite differential relative positioning method
  • Indoor pseudo-satellite differential relative positioning method
  • Indoor pseudo-satellite differential relative positioning method

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] The following are the specific steps:

[0042] (1) Establish the local coordinate system o-xyz in the world coordinate system O-XYZ with the base station receiver as the coordinate origin, then the R coordinate of the base station receiver position is R=(0,0,0). Number the pseudolites, which are 1 to n (n≥4), and the number is represented by i, and accurately measure the position of each pseudolite, and record its coordinates as The superscript "i" is the number of the pseudolite, and the subscript "s" stands for the pseudolite.

[0043] (2) Utilize the single-point positioning algorithm to calculate the rough position M of the user receiver, and record its coordinates as M=(x u,f ,y u,f ,z u,f ), the subscripts "u, f" represent the rough coordinates of the user receiver.

[0044] (3) Calculate the vector from the position R of the base stati...

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Abstract

The invention provides an indoor pseudo-satellite differential relative positioning method. A local coordinate system is established in a world coordinate system by using a base station receiver as the origin of coordinates, and the actual position of a user is calculated through formula calculation. The indoor pseudo-satellite differential relative positioning method has the advantages that iterative operation is not required, the risk of engineering implementation is reduced, the indoor pseudo-satellite differential relative positioning method is a feasible practical technology, and is a new differential relative positioning method applicable to indoor pseudo-satellite positioning, the influence of the clock difference between a pseudo-satellite and a user receiver on positioning accuracy in the indoor pseudo-satellite positioning process is effectively eliminated, and positioning accuracy of indoor pseudo-satellite positioning is greatly improved. In addition, compared with an existing conventional differential relative positioning method, the indoor pseudo-satellite differential relative positioning method has the advantages that the calculated amount is not greatly increased, and engineering implementation is easy.

Description

technical field [0001] The invention relates to the field of satellite positioning, especially the positioning of indoor pseudo-satellites. Background technique [0002] With the development of the global satellite navigation system, people have more and more demands for indoor positioning, and the requirements for the accuracy of indoor positioning are also getting higher and higher. However, due to the complexity of its environment, few or no GNSS signals can directly enter the room. The use of pseudolites can provide effective GNSS satellite signals for indoor environments, making indoor high-precision positioning possible. In the process of indoor positioning, there is no influence of ionospheric delay and tropospheric delay on the positioning accuracy, but because the distance between the indoor pseudolite and the user receiver is much smaller than the distance between the outdoor satellite and the user receiver, the pseudolite’s The clock difference and the clock dif...

Claims

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Application Information

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IPC IPC(8): G01S19/51G01S19/41
CPCG01S19/41G01S19/51
Inventor 刘洋洋廉保旺赵宏伟
Owner NORTHWESTERN POLYTECHNICAL UNIV
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