Tunnel positioning device based on global satellite positioning and navigation system

Abstract

The present invention provides a tunnel positioning device based on the global satellite positioning and navigation system, characterized in that: it includes a GNSS receiver connected to GNSS satellites, the GNSS receiver is connected to a GNSS forwarding controller through a GNSS simulator, and the GNSS forwarding controller is connected in series with a number of GNSS repeaters in the tunnel through optical fibers. The GNSS receiver receives satellite signals, the GNSS simulator simulates and generates satellite positioning data of the positions of each GNSS repeater, and sends it to each GNSS repeater through the GNSS controller. The GNSS repeaters in the tunnel convert it into standard GNSS satellite signals, and the trains and the GNSS receivers of the positioning terminals receive the simulated satellite signals to achieve the positioning of trains and personnel in the tunnel. The present invention realizes the positioning of trains and handheld terminals in the tunnel relying on Beidou and GPS satellites by simulating satellite positioning signals, without the need to modify the existing satellite positioning terminals of vehicles and personnel, providing an effective means for the full coverage positioning of the railway GNSS satellite positioning system.

Description

Technical Field

[0001] The present invention relates to the field of tunnel positioning systems, and specifically to a tunnel positioning device based on the global satellite positioning and navigation system. Background Art

[0002] The global satellite positioning and navigation system GNSS (including Beidou of China, GPS of the United States, GLONASS of Russia, etc.) has been widely used in the railway and rail transit industries. Next-generation train control based on GNSS satellite positioning, location-based train dispatching and command systems, and railway construction and maintenance systems all require the support of satellite positioning. Since satellite positioning signals cannot be received in tunnels and indoor station areas, current conventional indoor positioning technologies such as Bluetooth, WiFi, UWB, etc. and GNSS satellite positioning technologies are relatively independent. Existing satellite positioning (Beidou, GPS) terminals cannot directly perform indoor positioning in tunnels, which has become a constraint on the promotion and application of Beidou in railways and rail transit. Summary of the Invention

[0003] In order to solve the problems of the prior art, the present invention provides a tunnel positioning device based on the global satellite positioning and navigation system. By simulating satellite positioning signals, it realizes satellite positioning of trains and handheld terminals in tunnels relying on Beidou and GPS satellites, without the need to modify the existing satellite positioning terminals of vehicles and personnel, providing an effective means for the full-domain coverage positioning of the railway GNSS satellite positioning system.

[0004] The present invention includes a GNSS receiver connected to GNSS satellites. The GNSS receiver is connected to a GNSS forwarding controller through a GNSS simulator. The GNSS forwarding controller is connected in series with a number of GNSS repeaters in the tunnel through optical fibers. The GNSS receiver receives the signals of the satellites, obtains precise positioning and positioning data information. The GNSS simulator generates satellite positioning data of the positions of each GNSS repeater according to the information provided by the receiver, and issues it to each GNSS repeater through the GNSS controller. The GNSS repeaters in the tunnel receive their own satellite positioning data and convert it into standard GNSS satellite signals. The GNSS receivers of trains and positioning terminals receive the simulated satellite signals emitted by the repeaters, realizing the positioning of trains and personnel in the tunnel.

[0005] To improve the positioning accuracy of trains in tunnels, each of the GNSS transponders is connected to a ranging device such as a radar. The radar and other ranging devices measure the distance between the train and the GNSS transponder. Based on the fixed coordinates of the GNSS transponder and the fixed railway route, the real-time coordinates of the train are calculated. The transponder sends the actual coordinate data of the train to the GNSS simulator, and the simulator calculates the GNSS satellite positioning correction data, which is then sent to the GNSS transponders in the tunnel. At this time, the train receives the real-time corrected satellite positioning signal, achieving accurate positioning of the train in the tunnel, and the positioning accuracy can be controlled within 10 meters.

[0006] For further improvement, the output frequency of the GNSS transponder is BD2 - BI 1561.098 MHz; GPS - L1 1575.42 MHz; the signal accuracy is pseudorange: ±0.1 m, speed: ±0.01 m / s; the signal quality is spurious ≤ -40 dB; harmonics < -60 dB; phase noise: < -75 dBc; and the number of channels is 8.

[0007] The beneficial effects of the present invention are as follows:

[0008] 1. Realize the coverage of Beidou BDS and GPS signals and terminal positioning in the tunnel.

[0009] 2. The BDS / GPS signals in the tunnel are synchronized with those outside the tunnel, realizing seamless switching and positioning after vehicles and personnel enter the tunnel.

[0010] 3. The GNSS transponders in the tunnel provide simulated satellite positioning signals for the area within their coverage according to their installation positions.

[0011] 4. The transponder can simultaneously provide two frequency points of BDS - B1 and GPS - L1, and each frequency point can provide more than 6 simulated satellite signals.

[0012] 5. According to the distance of the object detected by the radar, the positioning signal of the transponder is changed in real time, so that the positioning data of the vehicle or personnel is consistent with the actual position data of the object, and the error is controlled within 10 meters.

[0013] 6. The coverage range of each transponder is independently controlled, and multiple terminals can be tracked and positioned simultaneously.

[0014] 7. Adjacent transponders should use different satellite signals to prevent multipath interference.

[0015] 8. Automatic calibration function. When positioning data deviation occurs due to line and device aging, etc., the error information is uploaded to the simulator through the monitoring station in the tunnel for automatic correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] The structure of the present invention is as Figure 1 shown, and it includes a GNSS receiver connected to GNSS satellites. The GNSS receiver is connected to a GNSS forwarding controller through a GNSS simulator. The GNSS forwarding controller is connected in series with several GNSS transponders in the tunnel through optical fibers. The GNSS receiver receives the signals of the satellites to obtain precise positioning and positioning data information. The GNSS simulator generates satellite positioning data at the positions of each GNSS transponder according to the information provided by the receiver, and issues it to each GNSS transponder through the GNSS controller. The GNSS transponders in the tunnel receive their own satellite positioning data and convert it into standard GNSS satellite signals. The train and the positioning terminal GNSS receiver receive the simulated satellite signals transmitted by the transponders, so as to realize the positioning of the train and personnel in the tunnel.

[0019] To improve the positioning accuracy of the train in the tunnel, each of the GNSS transponders is connected with a ranging device such as a radar. The ranging device such as a radar measures the distance from the train to the GNSS transponder. According to the fixed coordinates of the GNSS transponder and the fixed railway route, the real-time coordinates of the train are calculated. The transponder sends the actual coordinate data of the train to the GNSS simulator, and the simulator calculates the GNSS satellite positioning correction data and issues it to the GNSS transponders in the tunnel. At this time, the train receives the real-time corrected satellite positioning signal, realizing the accurate positioning of the train in the tunnel, and the positioning accuracy can be controlled within 10 meters.

[0020] For further improvement, the output frequency of the GNSS transponder is BD2 - BI 1561.098 MHz; GPS - L1 1575.42 MHz; the signal accuracy is pseudorange: ±0.1 m, speed: ±0.01 m / s; the signal quality is spurious ≤ -40 dB; harmonic < -60 dB; phase noise: < -75 dBc; the number of channels is 8.

[0021] The technical key points of the present invention are as follows:

[0022] 1. A group of GNSS transponders are adopted in the tunnel to restore the satellite positioning signal again, ensuring that the train and personnel can be positioned through the GNSS positioning receiver in the tunnel;

[0023] 2. The GNSS simulator can generate multiple simulated GNSS satellite positioning data information according to the positions of the transponders, and the corresponding GNSS transponders restore it into standard satellite positioning signals;

[0024] 3. The GNSS controller forwards the data generated by the GNSS simulator to each repeater in the tunnel through optical fibers, and at the same time transmits the data requested by the repeater to the GNSS simulator, and controls and manages the repeater;

[0025] 4. A ranging device such as a radar is bound to the repeater to accurately measure the position coordinates of vehicles and personnel, continuously transmit the coordinate information to the GNSS simulator for recalculation, and the GNSS repeater transmits continuously updated satellite positioning signals to achieve the accurate positioning of vehicles and personnel;

[0026] 5. The GNSS monitoring station in the tunnel corrects the satellite positioning signals provided by the repeater to ensure the accuracy and security of the positioning signals.

[0027] The specific application ways of the present invention are numerous. The above description is only the preferred implementation mode of the present invention. It should be pointed out that for those of ordinary skill in the art of this technology, several improvements can be made without departing from the principle of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A tunnel positioning device based on a global satellite positioning and navigation system, characterized in that: It includes a GNSS receiver connected to GNSS satellites. The GNSS receiver is connected to a GNSS forwarding controller through a GNSS simulator. The GNSS forwarding controller is connected in series with several GNSS repeaters in the tunnel through optical fibers. The GNSS receiver receives the signals of the satellites to obtain precise positioning and positioning data information. The GNSS simulator generates satellite positioning data at the positions of the GNSS repeaters according to the information provided by the receiver and sends it to each GNSS repeater through the GNSS controller. The GNSS repeaters in the tunnel receive their own satellite positioning data and convert it into standard GNSS satellite signals. The trains and the GNSS receivers of the positioning terminals receive the simulated satellite signals transmitted by the repeaters to achieve the positioning of the trains and personnel in the tunnel. Each of the GNSS repeaters is connected to a ranging device such as a radar. The radar ranging device measures the distance between the train and the GNSS repeater. According to the fixed coordinates of the GNSS repeater and the fixed railway route, the real-time coordinates of the train are calculated. The repeater sends the actual coordinate data of the train to the GNSS simulator, and the simulator calculates the GNSS satellite positioning correction data and sends it to the GNSS repeaters in the tunnel. The train receives the real-time corrected satellite positioning signal to achieve accurate positioning of the train in the tunnel.

2. The tunnel positioning device based on the global satellite positioning and navigation system according to claim 1, characterized in that: The output frequency of the GNSS repeater is BD2 - B1 1561.098 MHz; GPS - L1 1575.42 MHz; the signal accuracy is pseudorange: ±0.1 m, speed: ±0.01 m / s; the signal quality is spurious ≤ -40 dB; harmonic < -60 dB; phase noise: < -75 dBc; the number of channels is 8.

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