A combined positioning and error correction method based on Beidou / 5G

Abstract

The present invention discloses a combined positioning and error correction method based on Beidou / 5G, belonging to the field of Beidou positioning. The method includes determining the Beidou satellite positioning position of the user receiver, determining the satellite ground station closest to the user receiver, determining the three 5G base stations closest to the user, determining the distance between each 5G base station and the satellite ground station, determining the comprehensive signal transmission duration between the 5G base station and the satellite ground station, determining the comprehensive signal transmission duration between the 5G base station and the user receiver, determining the signal transmission time deviation, and correcting the distance between the 5G base station and the user receiver. It can accurately locate the position of the user receiver, and can dynamically correct the signal propagation speed according to the temperature and humidity information of the air, so as to play a synergistic role in the positioning correction of the user, enable the positioning information correction of the user to be more accurate, and thus obtain more accurate position information of the user.

Description

Technical Field

[0001] The present invention relates to Beidou positioning, and particularly to a combined positioning and error correction method based on Beidou / 5G. Background Art

[0002] During the process of Beidou navigation and positioning, due to the height of tens of thousands of kilometers between Beidou satellites and the ground, the signal will be affected by weather and the ionosphere during propagation. Therefore, there will be an error of several meters to more than ten meters. Due to the high transmission and low latency of 5G, it is used in Beidou satellite positioning to cooperate with Beidou satellites for positioning to reduce the error of Beidou navigation and positioning. However, since the user receiver is equipped with a quartz clock, while 5G base stations usually use NTP for timekeeping and the time is more accurate, there is a certain time deviation between the user receiver equipped with a quartz clock and the 5G base station. As a result, when positioning is carried out by cooperating with Beidou satellites through 5G base stations, there will still be a certain error in positioning, leading to a situation of positioning deviation when positioning by cooperating with 5G base stations. Especially in locations where satellite signals are weak (such as tunnels, dense forests, etc.), when mainly relying on 5G base stations for positioning, the positioning deviation will be more obvious. Summary of the Invention

[0003] Object of the Invention: The object of the present invention is to provide a combined positioning and error correction method based on Beidou / 5G to solve the problem of positioning deviation during the combined positioning of Beidou / 5G.

[0004] Technical Solution: A combined positioning and error correction method based on Beidou / 5G includes the following steps:

[0005] S1. First, obtain the Beidou positioning position information of the user receiver according to the Beidou four-star positioning technology;

[0006] S2. Determine the satellite ground station closest to the user receiver according to the position information of the user receiver and the Beidou satellites participating in the positioning;

[0007] S3. At the same time, determine the three 5G base stations closest to the user receiver according to the position information of the user receiver;

[0008] S4. Obtain the distance between each 5G base station and the satellite ground station according to the determined satellite ground station closest to the user receiver and the determined three 5G base stations closest to the user receiver;

[0009] S5. Obtain the comprehensive time duration of signal transmission between the 5G base station and the satellite ground station according to the satellite ground station closest to the user receiver determined in step S2 and the three 5G base stations closest to the user determined in step S3;

[0010] S6. Meanwhile, based on the three 5G base stations closest to the user receiver determined in step S3, obtain the comprehensive duration of signal transmission between the 5G base stations and the user receiver;

[0011] S7. Then, based on the comprehensive duration of signal transmission between the 5G base station and the satellite ground station and the comprehensive duration of signal transmission between the 5G base station and the user receiver obtained in steps S4 and S5 respectively, obtain the signal transmission time deviation;

[0012] S8. Obtain the positioning deviation based on the signal transmission time deviation, and correct the distances between the user receiver and each 5G base station with the obtained positioning deviation, so as to obtain the accurate position of the user.

[0013] Preferably, in step S2, when determining the ground station closest to the user, select any two satellites from the Beidou satellites participating in the positioning, and denote them as satellite 1 and satellite 2 respectively. At the same time, determine the distances between satellite 1 and satellite 2 and the satellite ground station, denoted as a and c respectively. At the same time, determine the distances between satellite 1 and satellite 2 and the user, denoted as b and d respectively. Since the positions of satellite 1 and satellite 2 are determined, the distance between satellite 1 and satellite 2 is denoted as e; according to the above parameters, the included angle ∠1 between the line connecting satellite 1 and satellite 2 and the line connecting satellite 2 and the user can be obtained as:

[0014] 、

[0015] At the same time, the included angle ∠2 between the line connecting satellite 1 and satellite 2 and the line connecting satellite 2 and the ground station can be obtained as:

[0016] 、

[0017] Thus, the included angle ∠3 between the line connecting satellite 2 and the ground station and the line connecting satellite 2 and the user can be obtained as:

[0018] 、

[0019] Therefore, the distance x between the satellite ground station and the user receiver can be obtained as:

[0020] 、

[0021] Then, find the minimum x, which is the satellite ground station closest to the user receiver.

[0022] Preferably, in steps S3 and S4, when determining the distance between the 5G base station and the user receiver and the distance between the 5G base station and the satellite ground station, it can be obtained by multiplying the time difference Δt between the signal sending time and the signal receiving time by the propagation speed v of the signal in the air.

[0023] Preferably, when obtaining the signal transmission time deviation, first obtain the distance D between each 5G base station and the satellite ground station, and then the comprehensive duration T1 of signal transmission between the 5G base station and the satellite ground station can be obtained:

[0024] 、

[0025] Then obtain the distance L between each 5G base station and the user receiver, so that the comprehensive duration T2 of signal transmission between the 5G base station and the user receiver can be obtained:

[0026] 、

[0027] Finally, the obtained signal transmission time deviation ΔT = T1 - T2; where S is the number of 5G base stations, D i is the distance between each 5G base station i and the satellite ground station, and L i is the distance between each 5G base station i and the user receiver, and v is the propagation speed of the signal in the air.

[0028] Preferably, in step S8, when correcting the distance between the user receiver and each 5G base station, obtain the original distance between each 5G base station and the user receiver, and then correct the distance between each 5G base station and the user by using the obtained time deviation ΔT and the propagation speed v of the signal in the air, specifically:

[0029] 、

[0030] where CL is the corrected distance, and L i is the distance between each 5G base station i and the user receiver.

[0031] Preferably, the propagation speed v of the signal in the air is dynamically determined according to the humidity and temperature in the air. First, the temperature and humidity at multiple points in the air are monitored in real time by a temperature and humidity monitoring system set at multiple points in the area, and then the average temperature and humidity information of the current air is calculated based on the temperature and humidity at multiple points to represent the temperature and humidity of the current air, and the propagation speed of the signal in the air is calculated by the following formula:

[0032] 、

[0033] where c is the speed of light, P is the atmospheric pressure, T is the Kelvin temperature, e is the water vapor pressure, RH is the relative humidity, and t is the Celsius temperature.

[0034] Preferably, during the signal transmission process, the Kalman filtering algorithm is used to suppress the noise in the signal so that during the positioning correction process, the position can be more accurately located.

[0035] Beneficial effects: In this application, the position of the user receiver is first determined by Beidou satellites, and then the satellite ground station closest to the user receiver is found based on the position of the user receiver. At the same time, the three 5G base stations closest to the user receiver are found. The comprehensive signal transmission duration between the satellite ground station and the 5G base station can be obtained through the distance between the satellite ground station and the 5G base station, and the comprehensive signal transmission duration between the 5G base station and the user can also be obtained. Since both the satellite ground station and the 5G base station are the closest to the user, the signal loss is the lowest during the signal transmission process. At the same time, since the underlying layer of both the satellite ground station and the 5G base station uses a satellite atomic clock for timekeeping, the time is more synchronized. At this time, through the comprehensive signal transmission duration between the satellite ground station and the 5G base station and the comprehensive signal transmission duration between the 5G base station and the user, the time deviation of the signal transmission between the 5G base station and the user receiver can be obtained. According to the time deviation and the speed of the signal propagation in the air, the correction distance can be obtained. Moreover, during the process of correcting the positioning information, the influence of air humidity and temperature on the signal propagation in the air is further considered, so as to dynamically correct the signal propagation speed according to the temperature and humidity information of the air, which can play a synergistic role in correcting the user's positioning and make the correction of the user's positioning information more accurate, thus enabling more accurate position information of the user to be obtained. Brief Description of the Drawings

[0036] Figure 1 is a schematic flowchart of the method of the present invention;

[0037] Figure 2 is a schematic diagram of determining the satellite ground station closest to the user receiver of the present invention.

[0038] Figure 3 is a schematic diagram of the distribution of the satellite ground station, 5G base station and user receiver of the present invention. Detailed Embodiment

[0039] To make the technical solution of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments. Embodiment

[0040] As Figure 1 shown, this embodiment discloses a combined positioning and error correction method through Beidou and 5G, which specifically includes:

[0041] First, determine the position information of the user receiver on the earth through Beidou four-star positioning technology.

[0042] Second, as Figure 2As shown in the figure, then select any two Beidou satellites participating in positioning, and denote them as satellite 1 and satellite 2 respectively. At the same time, determine the distances between satellite 1 and satellite 2 and the satellite ground station, denoted as a and c respectively. At the same time, determine the distances between satellite 1 and satellite 2 and the user, denoted as b and d respectively. Since the positions of satellite 1 and satellite 2 are determined, the distance between satellite 1 and satellite 2 is denoted as e. According to the above parameters, the included angle ∠1 between the line connecting satellite 1 and satellite 2 and the line connecting satellite 2 and the user can be obtained as follows:

[0043] 、

[0044] The included angle ∠2 between the line connecting satellite 1 and satellite 2 and the line connecting satellite 2 and the ground station is:

[0045] 、

[0046] Thus, the included angle ∠3 between the line connecting satellite 2 and the ground station and the line connecting satellite 2 and the user can be obtained as follows:

[0047] 、

[0048] Furthermore, the distance x between the satellite ground station and the user receiver can be obtained as follows:

[0049] 、

[0050] Then, according to the value of x, find the satellite ground station closest to the user receiver (i.e., the x value is the smallest).

[0051] III. At the same time, the user receiver sends signals to the surrounding 5G base stations respectively. In order to reduce the influence of signal noise, the Kalman filtering algorithm is used to suppress the noise in the signals. Then, the distance between the user receiver and each surrounding 5G base station is obtained through the time difference Δt between the signal sending time and the signal receiving time and the propagation speed v of the signal in the air, and the three 5G base stations with the smallest distance from the user receiver are selected, as Figure 3 shown.

[0052] IV. Then, the satellite ground station sends signals to the three 5G base stations with the smallest distance from the user receiver respectively. In order to reduce the influence of signal noise, the Kalman filtering algorithm is used to suppress the noise in the signals, and the distance between the satellite ground station and each 5G base station is obtained through the time difference Δt between the signal sending time and the signal receiving time and the propagation speed v of the signal in the air, as Figure 3 shown.

[0053] V. Calculate the comprehensive duration T1 of signal transmission between the 5G base station and the satellite ground station according to the distances between the satellite ground station and each 5G base station obtained in IV:

[0054] and

[0055] where S is the number of 5G base stations, and D i is the distance between each 5G base station i and the satellite ground station.

[0056] VI. Meanwhile, calculate the comprehensive duration T2 of signal transmission between the user receiver and each 5G base station according to the distances obtained in III:

[0057] and

[0058] where L i is the distance between each 5G base station i and the user receiver.

[0059] VII. According to the signal transmission durations T1 and T2 obtained in V and VI respectively, the time deviation ΔT of signal transmission can be obtained: ΔT = T1 - T2.

[0060] VIII. Correct the distances between each 5G base station and the user receiver through the obtained time deviation ΔT and the propagation speed v of the signal in the air. The corrected distance CL is:

[0061] and

[0062] Finally, receive the longitude and latitude information, so that the precise location of the user can be obtained.

[0063] In this embodiment, the propagation speed v of the signal in the air is dynamically determined according to the humidity and temperature in the air. A temperature and humidity monitoring system is deployed at four points in the area where the user is located to monitor the temperature and humidity information in the air in real time. The average temperature at point 1 within the target time period is 18°C, the average temperature at point 2 within the target time period is 20°C, the average temperature at point 3 within the target time period is 19°C, and the average temperature at point 4 within the target time period is 23°C. Meanwhile, the average relative humidity at point 1 within the target time period is 62%, the average relative humidity at point 2 within the target time period is 59%, the average relative humidity at point 3 within the target time period is 60%, and the average relative humidity at point 4 within the target time period is 59%. Thus, the temperature t of the area where the user receiver is located can be obtained as t = (18 + 20 + 19 + 23) / 4 = 20°C, and the relative humidity RH = (62 + 59 + 60 + 59) / 4 = 60%. Then, calculate the propagation speed of the signal in the air through the following formula:

[0064] and

[0065] Among them, c is the speed of light, P is the atmospheric pressure. Since the influence of atmospheric pressure on the propagation speed of electromagnetic waves is extremely small, P is set to the standard atmospheric pressure of 1013.25 hPa, T is the Kelvin temperature, T = 273.15 + t, and e is the water vapor pressure. Substituting the above parameters into the above formula, we can get e ≈ 14.02 hPa.

[0066] Finally, the propagation speed v of the signal in the air can be obtained as v ≈ 2.99799×10 8 m / s.

[0067] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A combined positioning and error correction method based on Beidou / 5G, characterized in that, It includes the following steps: S1. First, obtain the Beidou positioning position information of the user receiver according to the Beidou four-star positioning technology; S2. Determine the satellite ground station closest to the user receiver according to the position information of the user receiver and the Beidou satellites participating in the positioning; S3. At the same time, determine the three 5G base stations closest to the user receiver according to the position information of the user receiver; S4. Obtain the distance between each 5G base station and the satellite ground station according to the determined satellite ground station closest to the user receiver and the three 5G base stations closest to the user receiver; S5. Obtain the comprehensive signal transmission duration between the 5G base station and the satellite ground station according to the satellite ground station closest to the user receiver determined in step S2 and the three 5G base stations closest to the user determined in step S3; S6. At the same time, obtain the comprehensive signal transmission duration between the 5G base station and the user receiver according to the three 5G base stations closest to the user receiver determined in step S3; S7. Then, obtain the signal transmission time deviation according to the comprehensive signal transmission duration between the 5G base station and the satellite ground station and the comprehensive signal transmission duration between the 5G base station and the user receiver obtained in step S5 and step S6 respectively; S8. Obtain the positioning deviation according to the signal transmission time deviation, and correct the distance between the user receiver and each 5G base station with the obtained positioning deviation, so as to obtain the accurate position of the user.

2. The joint positioning and error correction method based on Beidou / 5G according to claim 1, wherein In step S2, when determining the ground station closest to the user, select any two satellites from the Beidou satellites participating in the positioning, and denote them as satellite 1 and satellite 2 respectively. At the same time, determine the distances between satellite 1 and satellite 2 and the satellite ground station, and denote them as a and c respectively. At the same time, determine the distances between satellite 1 and satellite 2 and the user, and denote them as b and d respectively. Since the positions of satellite 1 and satellite 2 are determined, the distance between satellite 1 and satellite 2 is denoted as e; According to the above parameters, the included angle ∠1 between the line connecting satellite 1 and satellite 2 and the line connecting satellite 2 and the user is: 、 At the same time, the included angle ∠2 between the line connecting satellite 1 and satellite 2 and the line connecting satellite 2 and the ground station is obtained as: 、 Thus, the included angle ∠3 between the line connecting satellite 2 and the ground station and the line connecting satellite 2 and the user is obtained as: 、 Therefore, the distance x between the satellite ground station and the user receiver is: 、 Then, find the minimum x, which is the satellite ground station closest to the user receiver.

3. The joint positioning and error correction method based on Beidou / 5G according to claim 1, wherein In steps S3 and S4, when determining the distance between the 5G base station and the user receiver and the distance between the 5G base station and the satellite ground station, it can be obtained by multiplying the time difference Δt between the signal sending time and the signal receiving time by the propagation speed v of the signal in the air.

4. The joint positioning and error correction method based on Beidou / 5G according to claim 3, characterized in that, When obtaining the signal transmission time deviation, first obtain the distance D between each 5G base station and the satellite ground station, and then obtain the comprehensive signal transmission duration T1 between the 5G base station and the satellite ground station: 、 Then obtain the distance L between each 5G base station and the user receiver, so as to obtain the comprehensive signal transmission duration T2 between the 5G base station and the user receiver: 、 Finally, the obtained signal transmission time deviation ΔT = T1 - T2; where S is the number of 5G base stations, D i is the distance between each 5G base station i and the satellite ground station, L i is the distance between each 5G base station i and the user receiver, and v is the propagation speed of the signal in the air.

5. The joint positioning and error correction method based on Beidou / 5G according to claim 4, wherein In step S8, when correcting the distance between the user receiver and each 5G base station, the original distance between each 5G base station and the user receiver is obtained, and then the distance between each 5G base station and the user is corrected by using the obtained time deviation ΔT and the propagation speed v of the signal in the air. Specifically: 、 Among them, CL is the corrected distance, and L i is the distance between each 5G base station i and the user receiver.

6. The joint positioning and error correction method based on Beidou / 5G according to claim 5, characterized in that, The propagation speed v of the signal in the air is dynamically determined according to the humidity and temperature in the air. First, the temperature and humidity at multiple points in the air are monitored in real time by a temperature and humidity monitoring system set at multiple points in the area, and then the average temperature and humidity information of the current air is calculated based on the temperature and humidity at multiple points to represent the temperature and humidity of the current air, and the propagation speed of the signal in the air is calculated by the following formula: 、 Where c is the speed of light, P is the atmospheric pressure, T is the Kelvin temperature, e is the water vapor pressure, RH is the relative humidity, and t is the Celsius temperature.

7. The joint positioning and error correction method based on Beidou / 5G according to claim 1, wherein, During the signal transmission process, the Kalman filtering algorithm is used to suppress the noise in the signal so that the position can be more accurately located during the positioning correction process.

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