Positioning calculation method and system of pseudo-satellite receiver and related components of positioning calculation method and system
A positioning solution and pseudolite technology, applied in the field of positioning solution method, system and related components of pseudolite receiver, can solve problems such as unstable switching between indoor and outdoor modes of receivers
Pending Publication Date: 2021-10-01
上海方位角数据科技有限公司
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[0004] The embodiment of the present invention provides a positioning solution method, system and related components of a pseudolite receiver, aiming to solve the problem of unstable switching between indoor and outdoor modes of the receiver in the prior art
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[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0024] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and / or collections thereof.
[0025] It should also be understood that the terminology used in th...
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The invention discloses a positioning calculation method and system of a pseudo-satellite receiver and related components of the positioning calculation method and system. The method comprises the following steps: an absolute value of an original pseudo-range observed quantity of each pseudo-satellite is obtained; sorting is performed according to the absolute values and calculating pseudo-range mutual differences of the pseudo satellites in sequence; if the pseudo-range differences are all smaller than a first preset threshold value, the receiver is in an indoor mode, and if the pseudo-range differences are all larger than a second preset threshold value, the receiver is in an outdoor mode; and if the pseudo-range mutual difference is smaller than the first preset threshold value and larger than the second preset threshold value, the receiver is in a mixed mode, and a corresponding method is utilized to carry out receiver positioning calculation to obtain indoor and outdoor positioning calculation results, and the indoor and outdoor positioning calculation results are fused. According to the invention, the working mode of the receiver is obtained based on the pseudo-range mutual difference of the receiver, the corresponding resolving method is selected, the indoor and outdoor positioning resolving methods are used for positioning resolving at the same time in the mixed mode, and the indoor and outdoor positioning results are fused after being weighted, so that the method has reliability and practicability, and the indoor and outdoor stable switching of the receiver is realized.
Description
technical field [0001] The present invention relates to the technical field of indoor navigation, in particular to a positioning solution method, system and related components of a pseudolite receiver. Background technique [0002] Satellite navigation systems can provide users with all-weather high-precision position navigation services in the surface or near-earth space. Currently, the main GNSS systems include GPS, GLONASS, Beidou and Galileo. In the indoor environment, the signal power of the satellite navigation system is seriously attenuated after being blocked by buildings and indoor spaces, and the positioning accuracy is severely reduced or even unavailable. In indoor spaces such as factories, tunnels and parking lots, the positioning system based on pseudolite is A universal high-precision indoor positioning method. [0003] The position of the pseudolite remains fixed in the geodetic coordinate system, while the position of the real satellite is defined by the ep...
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Login to View More IPC IPC(8): G01S19/11G01S19/37G01S19/42
CPCG01S19/115G01S19/37G01S19/42
Inventor 阎镜予
Owner 上海方位角数据科技有限公司