Indoor satellite navigation signal positioning simulation method and system

Abstract

The invention discloses an indoor satellite navigation signal positioning simulation method and system, and the method comprises the steps: screening out the frequency and bandwidth suitable for a satellite navigation signal according to the frequency of a signal transmitted by a mobile communication room subsystem; then, a proper satellite navigation signal antenna point location is selected from indoor distribution antennas, so that the problem of navigation signal pollution caused by direct combination of a satellite pilot signal and an indoor distribution signal is avoided. Meanwhile, through ray tracing simulation and in combination with a multi-target optimization algorithm, a construction scheme of indoor satellite navigation signal antenna point locations is selected from a plurality of indoor distribution antenna points, wherein the total cost is lowest, the signal intensity coverage meets the requirement, and the indoor satellite navigation signal antenna point locations meet the scattered deployment and interlayer dislocation principle; the problem that investment is wasted when a traditional indoor satellite system is independently built is solved, the implementation progress is fast, and the coverage effect is good.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning technology, and in particular to an indoor satellite navigation signal positioning simulation method and system. Background Art

[0002] The Global Navigation Satellite System (GNSS) is a navigation and positioning system that can provide users with all-weather, all-day, high-precision positioning, navigation and timing services at any location on the Earth's surface or in near-Earth space.

[0003] However, the satellite positioning signal has low power and large indoor attenuation, which cannot meet the indoor positioning needs. Existing indoor positioning technologies mostly use technologies such as WiFi, UWB, and Bluetooth for comprehensive indoor positioning, but these technical solutions all require the construction of a corresponding transmission system, replacement of terminals, or updating of terminal algorithms.

[0004] With the rapid development of mobile 4G and 5G communications, the indoor distributed system of mobile communications has formed a very complete communication network. If the satellite positioning signal can be combined with the indoor distributed system of mobile communications, the current problem of inaccurate indoor positioning can be solved without the need to build an additional transmission system, replace the terminal, or update the terminal algorithm.

[0005] However, since the principle of satellite positioning is that concentric circles centered on multiple satellites intersect, the intersection is the location of the device, and the indoor signals emitted by multiple antenna points of the same combiner in 4G and 5G mobile communication systems are completely consistent, it causes signal pollution and inaccurate positioning when satellite navigation is transmitted in the mobile communication indoor system. Therefore, when satellite signals are transmitted indoors, appropriate signal transmission and receiving points should be selected to avoid signal pollution when satellite navigation is transmitted in the mobile communication indoor system. The simulation method can be used to quickly select and establish points, improve design planning efficiency, and reduce trial and error costs.

[0006] However, the current positioning simulation method for indoor satellite navigation signals only considers the transmission of indoor satellite signals, and does not consider the existing indoor distribution of mobile communications or the newly built indoor distribution in the same room as the indoor satellite signals, which still has the problems of wasted investment and slow construction cycle. Summary of the invention

[0007] The present invention aims to provide an indoor satellite navigation signal positioning simulation method and system, aiming to solve the problems of investment waste and slow construction period when satellite navigation signals are transmitted using indoor mobile communication room subsystems.

[0008] To achieve the above object, the present invention adopts the following technical solutions: The indoor satellite navigation signal positioning simulation method of the present invention comprises the following steps: S1, obtaining information about the building and the constructed mobile communication room subsystem; the building information includes the internal structure of the building, partition material, and partition loss; the mobile communication room subsystem information includes indoor points, combiner positions, BBU, RRU positions, feeder models, feeder transmission bandwidth, signal frequency, bandwidth, standard, and power of feeder transmission; S2, select the appropriate satellite navigation signal frequency and bandwidth; S3, constructing a three-dimensional model of the building; the three-dimensional model of the building includes the internal structure of the building, partitions, partition materials, partition losses, and a certain height from the ground, with each square meter being divided into one area; S4, select pseudo-satellite points from the mobile communication room subsystem, perform ray tracing simulation, and determine the construction plan of indoor satellite navigation signal antenna points through a multi-objective algorithm; S5, calculating the satellite navigation signal near-end input power and pseudo-satellite ephemeris information according to the selected indoor satellite navigation signal antenna point position and line loss.

[0009] Furthermore, step S2 is specifically as follows: S2.1, preliminarily calculate the idle frequency based on the signal frequency, bandwidth, standard, power and feeder bandwidth in the mobile communication room subsystem, combined with the supported frequency band of the mobile communication room subsystem cable, the frequencies that have been combined and need to be combined in the room subsystem, and the wireless frequencies around the room subsystem; S2.2, based on the standard frequency and power of each signal transmitted in the mobile communication room subsystem, calculate the third-order and fifth-order intermodulation frequencies and bandwidths produced by each signal, and further determine the idle frequency and occupied frequency; S2.3, select a frequency from the idle frequencies, the upper and lower limits of which are at a certain interval from the occupied signal frequency, as the frequency of the indoor satellite navigation signal.

[0010] Furthermore, step S4 specifically includes: S4.1, for the built mobile communication indoor distributed system, according to the building layout, penetration loss and indoor distributed antenna point location, randomly select several antenna points as indoor satellite navigation signal antenna points; S4.2, merge and number the indoor satellite navigation signal antenna points and the indoor distribution antenna points, and assign the time and cost required to transform each mobile communication antenna into an indoor satellite navigation signal antenna; S4.3, perform ray tracing simulation on the selected indoor satellite navigation signal antenna points; calculate the mobile communication fitness, pseudo-satellite fitness, cost fitness, total progress fitness, each layer dispersion, and interlayer misalignment; S4.4, taking pseudo-satellite fitness, cost fitness, total progress fitness, layer misalignment, and each layer dispersion as optimization objectives, multi-objective optimization is performed through the NSGA-III algorithm to seek a construction plan for indoor satellite navigation signal antenna points with the lowest total cost, signal strength coverage that meets the requirements, and indoor satellite navigation signal antenna points that comply with the principles of dispersed deployment and layer misalignment.

[0011] Furthermore, the mobile communication adaptability is the ratio of antenna points in each area whose signal strength is not less than a preset power.

[0012] Furthermore, the pseudolite fitness is the ratio of at least four pseudolite signals having signal strength not less than a preset power in each area.

[0013] Furthermore, the cost adaptability is the total cost required to implement the mobile communication room subsystem and the indoor satellite navigation signal antenna; the total progress adaptability is the total time required to implement the mobile communication room subsystem and the indoor satellite navigation signal antenna.

[0014] Furthermore, the dispersion degree of each layer is ,in is the distance between points j and k on the ith floor, n is the total number of BDS points on the ith floor, and A is the building area on the ith floor.

[0015] Furthermore, the interlayer misalignment function is , is the average distance between BDS antenna points in the i-th layer, It is the average distance of BDS points after the BDS antenna points in the I+1th layer are merged into the Ith layer. The average distance of BDS points in the i-th layer is the average value of the shortest distance between any point and the surrounding points.

[0016] Furthermore, in step S4.1, for the newly built indoor distributed system, several indoor distributed antenna points are randomly generated, and several antenna points are selected from them as indoor satellite navigation signal antenna points; for a single-story building, at least 4 antenna points are selected as indoor satellite navigation signal antenna points.

[0017] An indoor satellite navigation signal positioning simulation system described in the present invention comprises a data acquisition module, a frequency screening module, a scheme design module and a pseudo-satellite ephemeris calculation module; The data acquisition module user obtains the building and the constructed mobile communication room subsystem information; the building information includes the internal structure of the building, partition material, and partition loss; the mobile communication room subsystem information includes indoor points, combiner location, BBU, RRU location, feeder model, feeder transmission bandwidth, feeder transmission signal frequency, bandwidth, standard, and power; The frequency screening module is used to calculate the third-order and fifth-order intermodulation frequencies and bandwidths produced by each signal, determine the idle frequency and occupied frequency, and select the appropriate satellite navigation signal frequency and bandwidth according to the signal frequency, bandwidth, standard, power and feeder bandwidth in the mobile communication room subsystem, combined with the supported frequency band of the mobile communication room subsystem cable, the frequencies that have been combined and need to be combined in the room subsystem, and the wireless frequencies around the room subsystem; The scheme design module is used to perform ray tracing simulation on the selected indoor satellite navigation signal antenna points; calculate the mobile communication fitness, pseudo-satellite fitness, cost fitness, total progress fitness, dispersion of each layer, and interlayer misalignment; perform multi-objective optimization through the NSGA-III algorithm to seek a construction scheme for indoor satellite navigation signal antenna points with the lowest total cost, signal strength coverage that meets the requirements, and indoor satellite navigation signal antenna points that meet the principles of dispersed deployment and interlayer misalignment; The pseudolite ephemeris calculation module is used to calculate the near-end machine input power and pseudolite ephemeris information.

[0018] The advantage of the present invention is that it selects suitable satellite navigation signal frequencies and bandwidths according to the signal frequencies transmitted by the mobile communication indoor distributed system. Then, suitable satellite navigation signal antenna points are selected from the indoor distributed antennas to avoid the navigation signal pollution problem caused by the satellite pilot signal directly combining with the indoor distributed signal. At the same time, through ray tracing simulation, combined with a multi-objective optimization algorithm, a construction plan for indoor satellite navigation signal antenna points with the lowest total cost, signal strength coverage that meets the requirements, and indoor satellite navigation signal antenna points that meet the principles of dispersed deployment and interlayer dislocation is selected from a large number of indoor distributed antenna points, thereby solving the problem of wasteful investment in the construction of a traditional indoor satellite system, while achieving fast implementation progress and good coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a schematic flow chart of the method of the present invention. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The indoor satellite navigation signal positioning simulation method of the present invention is as follows: Figure 1 As shown, the following steps are included: S1, obtain the subsystem information of the building and the constructed mobile communication room; the building information includes the internal structure of the building, partition material, and partition loss; the subsystem information of the mobile communication room includes indoor points, combiner positions, BBU, RRU positions, feeder models, feeder transmission bandwidth, feeder transmission signal frequency, bandwidth, standard, and power.

[0022] S2, select the appropriate satellite navigation signal frequency and bandwidth. The selected frequency will be used as the frequency shift frequency for indoor transmission of satellite navigation signals. The specific operations are: S2.1. Preliminary calculation of idle frequencies is performed based on the signal frequency, bandwidth, standard, power and feeder bandwidth in the mobile communication room distribution system, combined with the supported frequency bands of the mobile communication room distribution system cables, the frequencies that have been combined in the room distribution system and those that need to be combined in the future, and the wireless frequencies around the room distribution system.

[0023] S2.2, based on the standard frequency and power of each signal transmitted in the mobile communication room subsystem, calculate the third-order and fifth-order intermodulation frequencies and bandwidths produced by each signal, and further determine the idle frequency and occupied frequency.

[0024] S2.3, select a frequency from the idle frequencies, the upper and lower limits of which are separated by a certain interval from the occupied signal frequency, as the frequency of the indoor satellite navigation signal. The preferred frequency interval is at least 10 MHz; the preferred selected frequency bandwidth is consistent with the existing satellite navigation bandwidth.

[0025] S3, constructing a three-dimensional model of the building; the three-dimensional model of the building includes the internal structure of the building, partitions, partition materials, partition losses, and is divided into one area per square meter at a certain height from the ground, preferably 1.5 meters above the ground.

[0026] S4, select pseudo-satellite points from the mobile communication room subsystem, perform ray tracing simulation, and determine the construction plan of indoor satellite navigation signal antenna points through a multi-objective algorithm.

[0027] S4.1. For the built mobile communication indoor distributed system, according to the building layout, penetration loss and indoor distributed antenna point position, randomly select several antenna points as indoor satellite navigation signal antenna points. Generally, at least 2 points should be selected. For the newly built indoor distributed system, randomly generate several mobile communication points and select several antenna points from them as pseudo satellite points. Generally, at least 2 points should be selected. For a building with only one floor, at least 4 points should be selected.

[0028] S4.2, combine and number the indoor satellite navigation signal antenna points and the indoor distribution antenna points, and assign the time and cost required to transform each mobile communication antenna into an indoor satellite navigation signal antenna.

[0029] S4.3, perform ray tracing simulation on the selected indoor satellite navigation signal antenna points; calculate the mobile communication fitness, pseudo-satellite fitness, cost fitness, total progress fitness, each layer dispersion, and interlayer misalignment.

[0030] The mobile communication adaptability is the proportion of antenna points in each area whose signal strength is not less than the preset power. Generally, there should be at least one antenna point with a signal strength not less than -105dBm.

[0031] The pseudo-satellite fitness is the ratio of at least four pseudo-satellite signals in each area whose signal strength is not less than the preset power. In general, the preset power is -130dBm The cost fitness is the total cost required to implement the mobile communication room subsystem and the indoor satellite navigation signal antenna; the total progress fitness is the total time required to implement the mobile communication room subsystem and the indoor satellite navigation signal antenna.

[0032] The dispersion of each layer is ,in is the distance between points j and k on the ith floor, n is the total number of BDS points on the ith floor, and A is the building area on the ith floor.

[0033] The interlayer misalignment function is: , is the average distance between BDS antenna points in the i-th layer, It is the average distance of BDS points after the BDS antenna points in the I+1th layer are merged into the Ith layer. The average distance of BDS points in the i-th layer is the average value of the shortest distance between any point and the surrounding points.

[0034] S4.4, taking pseudo-satellite fitness, cost fitness, total progress fitness, interlayer dislocation, and each layer dispersion as optimization targets, multi-objective optimization is performed through the NSGA-III algorithm to seek a construction plan for indoor satellite navigation signal antenna points with the lowest total cost, signal strength coverage that meets the requirements, and indoor satellite navigation signal antenna points that meet the principles of dispersed deployment and interlayer dislocation. For newly built indoor distributed systems, mobile communication fitness should also be considered. In the process of iterative optimization of simulation schemes, special attention should be paid to the selection of satellite signal antenna points, ensuring that each layer is not in the same position and the overall layout is dispersed to reduce signal interference and improve positioning accuracy.

[0035] S5, calculating the input power of the satellite navigation signal near-end machine and pseudo-satellite ephemeris information according to the selected indoor satellite navigation signal antenna point position and line loss.

[0036] An indoor satellite navigation signal positioning simulation system described in the present invention comprises a data acquisition module, a frequency screening module, a scheme design module and a pseudo-satellite ephemeris calculation module; The data acquisition module user obtains the building and the constructed mobile communication room subsystem information; the building information includes the internal structure of the building, partition material, and partition loss; the mobile communication room subsystem information includes indoor points, combiner location, BBU, RRU location, feeder model, feeder transmission bandwidth, feeder transmission signal frequency, bandwidth, standard, and power; The frequency screening module is used to calculate the third-order and fifth-order intermodulation frequencies and bandwidths produced by each signal, determine the idle frequency and occupied frequency, and select the appropriate satellite navigation signal frequency and bandwidth according to the signal frequency, bandwidth, standard, power and feeder bandwidth in the mobile communication room subsystem, combined with the supported frequency band of the mobile communication room subsystem cable, the frequencies that have been combined in the room subsystem and will be combined in the future, and the wireless frequencies existing around the room subsystem; The scheme design module is used to perform ray tracing simulation on the selected indoor satellite navigation signal antenna points; calculate the mobile communication fitness, pseudo-satellite fitness, cost fitness, total progress fitness, dispersion of each layer, and interlayer misalignment; perform multi-objective optimization through the NSGA-III algorithm to seek a construction scheme for indoor satellite navigation signal antenna points with the lowest total cost, signal strength coverage that meets the requirements, and indoor satellite navigation signal antenna points that meet the principles of dispersed deployment and interlayer misalignment; The pseudolite ephemeris calculation module is used to calculate the near-end machine input power and pseudolite ephemeris information.

[0037] The advantage of the present invention is that it selects suitable satellite navigation signal frequencies and bandwidths according to the signal frequencies transmitted by the mobile communication indoor distributed system. Then, suitable satellite navigation signal antenna points are selected from the indoor distributed antennas to avoid the navigation signal pollution problem caused by the satellite pilot signal directly combining with the indoor distributed signal. At the same time, through ray tracing simulation, combined with a multi-objective optimization algorithm, a construction plan for indoor satellite navigation signal antenna points with the lowest total cost, signal strength coverage that meets the requirements, and indoor satellite navigation signal antenna points that meet the principles of dispersed deployment and interlayer dislocation is selected from a large number of indoor distributed antenna points, thereby solving the problem of wasteful investment in the construction of a traditional indoor satellite system, while achieving fast implementation progress and good coverage.

Claims

1. A method for simulating indoor satellite navigation signal positioning, characterized in that: The following steps are involved: S1, obtaining information about the building and the constructed mobile communication room subsystem; the building information includes the internal structure of the building, partition material, and partition loss; the mobile communication room subsystem information includes indoor points, combiner positions, BBU, RRU positions, feeder models, feeder transmission bandwidth, signal frequency, bandwidth, standard, and power of feeder transmission; S2, select the appropriate satellite navigation signal frequency and bandwidth; S3, constructing a three-dimensional model of the building; the three-dimensional model of the building includes the internal structure of the building, partitions, partition materials, partition losses, and a certain height from the ground, with each square meter being divided into one area; S4, select pseudo-satellite points from the mobile communication room subsystem, perform ray tracing simulation, and determine the construction plan of indoor satellite navigation signal antenna points through a multi-objective algorithm; S5, calculating the satellite navigation signal near-end input power and pseudo-satellite ephemeris information according to the selected indoor satellite navigation signal antenna point position and line loss.

2. The indoor satellite navigation signal positioning simulation method according to claim 1, characterized in that: The specific steps of step S2 are: S2.1, preliminarily calculate the idle frequency based on the signal frequency, bandwidth, standard, power and feeder bandwidth in the mobile communication room subsystem, combined with the supported frequency band of the mobile communication room subsystem cable, the frequencies that have been combined and need to be combined in the room subsystem, and the wireless frequencies around the room subsystem; S2.2, based on the standard frequency and power of each signal transmitted in the mobile communication room subsystem, calculate the third-order and fifth-order intermodulation frequencies and bandwidths produced by each signal, and further determine the idle frequency and occupied frequency; S2.3, select a frequency from the idle frequencies, the upper and lower limits of which are at a certain interval from the occupied signal frequency, as the frequency of the indoor satellite navigation signal.

3. The indoor satellite navigation signal positioning simulation method according to claim 1, characterized in that: Step S4 specifically includes: S4.1, for the built mobile communication indoor distributed system, according to the building layout, penetration loss and indoor distributed antenna point location, randomly select several antenna points as indoor satellite navigation signal antenna points; S4.2, merge and number the indoor satellite navigation signal antenna points and the indoor distribution antenna points, and assign the time and cost required to transform each mobile communication antenna into an indoor satellite navigation signal antenna; S4.3, perform ray tracing simulation on the selected indoor satellite navigation signal antenna points; calculate the mobile communication fitness, pseudo-satellite fitness, cost fitness, total progress fitness, each layer dispersion, and interlayer misalignment; S4.4, taking pseudo-satellite fitness, cost fitness, total progress fitness, layer misalignment, and each layer dispersion as optimization objectives, multi-objective optimization is performed through the NSGA-III algorithm to seek a construction plan for indoor satellite navigation signal antenna points with the lowest total cost, signal strength coverage that meets the requirements, and indoor satellite navigation signal antenna points that comply with the principles of dispersed deployment and layer misalignment.

4. The indoor satellite navigation signal positioning simulation method according to claim 3, characterized in that: The mobile communication adaptability is the ratio of antenna points with signal strength in each area that is not less than a preset power.

5. The indoor satellite navigation signal positioning simulation method according to claim 3, characterized in that: The pseudolite fitness is the ratio of at least four pseudolite signals having signal strength not less than a preset power in each area.

6. The indoor satellite navigation signal positioning simulation method according to claim 3, characterized in that: The cost fitness is the total cost required to implement the mobile communication room subsystem and the indoor satellite navigation signal antenna; the total progress fitness is the total time required to implement the mobile communication room subsystem and the indoor satellite navigation signal antenna.

7. The indoor satellite navigation signal positioning simulation method according to claim 3, characterized in that: The dispersion of each layer is ,in is the distance between points j and k on the ith floor, n is the total number of BDS points on the ith floor, and A is the building area on the ith floor.

8. The indoor satellite navigation signal positioning simulation method according to claim 3, characterized in that: The interlayer misalignment function is: , is the average distance between BDS antenna points in the i-th layer, It is the average distance of BDS points after the BDS antenna points in the I+1th layer are merged into the Ith layer. The average distance of BDS points in the i-th layer is the average value of the shortest distance between any point and the surrounding points.

9. The indoor satellite navigation signal positioning simulation method according to claim 3, characterized in that: In step S4.1, for the newly built indoor distributed system, several indoor distributed antenna points are randomly generated, and several antenna points are selected from them as indoor satellite navigation signal antenna points; for single-story buildings, at least 4 antenna points are selected as indoor satellite navigation signal antenna points.

10. An indoor satellite navigation signal positioning simulation system, characterized in that: It includes data acquisition module, frequency screening module, scheme design module and pseudo-satellite ephemeris calculation module; The data acquisition module user obtains the building and the constructed mobile communication room subsystem information; the building information includes the internal structure of the building, partition material, and partition loss; the mobile communication room subsystem information includes indoor points, combiner location, BBU, RRU location, feeder model, feeder transmission bandwidth, feeder transmission signal frequency, bandwidth, standard, and power; The frequency screening module is used to calculate the third-order and fifth-order intermodulation frequencies and bandwidths produced by each signal, determine the idle frequency and occupied frequency, and select the appropriate satellite navigation signal frequency and bandwidth according to the signal frequency, bandwidth, standard, power and feeder bandwidth in the mobile communication room subsystem, combined with the supported frequency band of the mobile communication room subsystem cable, the frequencies that have been combined and need to be combined in the room subsystem, and the wireless frequencies around the room subsystem; The scheme design module is used to perform ray tracing simulation on the selected indoor satellite navigation signal antenna points; calculate the mobile communication fitness, pseudo-satellite fitness, cost fitness, total progress fitness, each layer dispersion, and interlayer misalignment; Through the NSGA-III algorithm, multi-objective optimization is performed to find a construction plan for indoor satellite navigation signal antenna points with the lowest total cost, signal strength coverage that meets the requirements, and indoor satellite navigation signal antenna points that meet the principles of dispersed deployment and interlayer staggered location. The pseudolite ephemeris calculation module is used to calculate the near-end machine input power and pseudolite ephemeris information.

Images