Ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources

Abstract

The invention belongs to the technical field of communication and radio navigation positioning, and provides a ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources, which is used for improving navigation positioning precision and reliability and providing support for development of intelligent technologies and development of disaster early warning and life rescue technologies. The method comprises the following steps of: firstly, configuring a signal transmitting base station of a 5G system, and continuously broadcasting navigation positioning messages in a frequency band of 4800MHz-4900MHz by the signal transmitting base station; then configuring a terminal receiver, receiving the navigation positioning message and extracting related content to obtain navigation message content; and finally, resolving a positioning result according to the telegraph text contents of the plurality of base stations. According to the invention, part of existing equipment resources and spectrum resources of 5G communication equipment are configured as pseudo satellite signal emission sources, and wired high-precision time service synchronization is realized through optical cable resources laid between base stations, so that the system performance is improved, the workload of system construction is reduced, and high-precision ground positioning is easier to realize.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of communication and radio navigation positioning, and particularly provides a ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources, aiming to improve navigation positioning accuracy and reliability, and provide support for the development of intelligent technology and the development of disaster warning and life rescue technology. BACKGROUND

[0002] GNSS (Global Navigation Satellite System) technology is the most widely used navigation positioning technology at present. This technology is based on satellite transmission of positioning signals containing navigation messages. The ground receiver receives positioning signals from multiple satellites, obtains the current orbit position of the satellite through the navigation messages contained in the positioning signals, estimates the distance between the receiver and the satellite, takes the satellite as the center of the sphere and the estimated distance as the radius to make a spherical surface, and calculates the position of the receiver through the intersection points of multiple spherical surfaces. However, in the process of satellite navigation positioning, the signal needs to penetrate the atmosphere, the propagation path is long, and various interference factors including the ionosphere in the path increase many uncertain factors for the estimation of signal propagation delay. At the same time, the long propagation path also seriously affects the signal propagation quality, and the actual positioning accuracy and reliability are seriously affected by various signal interference factors.

[0003] In view of the above problems, the pseudo-satellite technology is proposed. This technology uses the core idea of radio and intersection positioning, takes the base station as the transmission source of the positioning signal by erecting the ground base station, effectively improves the signal transmission quality and the certainty of the time delay, and thus achieves higher positioning accuracy and system reliability. However, the existing ground navigation positioning based on pseudo-satellite technology still has many problems: 1) the current pseudo-satellite technology on the market needs to erect independent positioning base stations on the ground, and the construction cost is relatively high. For the scene that needs to realize wide-area positioning, the amount of engineering is too large, and the feasibility is not high; 2) the current pseudo-satellite positioning technology adopts wireless time synchronization, and the time synchronization accuracy is poor, which cannot meet the requirements of realizing higher-precision ground positioning; 3) considering the application scene, the positioning accuracy of the current positioning technology cannot meet the requirements of wide-area all-weather monitoring for disaster monitoring. The current precise monitoring of disasters usually adopts RTK technology, which has a small positioning coverage range, and the reference station is usually erected temporarily and does not have the characteristics of wide-area all-weather monitoring. SUMMARY

[0004] The purpose of the present application is to provide a ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources, in order to improve the navigation positioning accuracy and reliability, and provide support for the development of intelligent technology and the development of disaster warning and life rescue technology.

[0005] To achieve the above object, the technical scheme adopted by the present application is:

[0006] A ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources, characterized in that it comprises the following steps:

[0007] Step 1, configure the signal transmitting base station of the 5G system, including: optical interface module, system control and monitoring module, clock synchronization module, weather monitoring module, electric text generation module, digital baseband modulation module, digital-to-analog conversion module, analog modulation module, radio frequency conditioning module and transmitting antenna module, so that the transmitting base station continuously broadcasts navigation positioning messages in the frequency band of 4800MHz-4900MHz;

[0008] Step 2, configure the terminal receiver, including: receiving antenna module, radio frequency signal conditioning module, analog-to-digital conversion module, electric text acquisition module and electric text analysis module, the terminal receiver receives the navigation positioning message and extracts the information to obtain the content of the navigation electric text;

[0009] Step 3, the terminal receiver calculates the positioning result according to the navigation electric text of multiple signal transmitting base stations or satellites received at the same time.

[0010] Further, in the signal transmitting base station:

[0011] The optical interface module is used to complete the conversion and processing of optical signals in the wired communication network, and the system control instructions, clock synchronization information and communication text information in the optical signals are transmitted to the system control and monitoring module, the clock synchronization module and the electric text generation module, respectively; at the same time, the optical interface module outputs the system state monitoring information to the control center through the wired communication network;

[0012] The system control and monitoring module is used to monitor the working state of the system, and transmits the working state of the base station to the control center through the optical interface module; at the same time, the system control and monitoring module receives the control instructions from the control center to control and adjust the working state and mode of the base station;

[0013] The clock synchronization module is used to complete the clock synchronization of the local reference time of the base station and the system reference clock; the module receives the clock synchronization signal, obtains the error between the current base station local clock and the system synchronization clock according to the received synchronization signal, and generates related clock information and transmits it to the electric text generation module;

[0014] The weather monitoring module is used to monitor the Kelvin temperature, atmospheric relative humidity and atmospheric pressure at the location of the base station, and generate weather information and transmit it to the electric text generation module;

[0015] The electric text generation module is used for generating navigation electric text according to corresponding format frame by frame by taking base station number and area information, base station coordinates, weather information, synchronous clock information, base station integrity state and communication content, and adding frame number, frame synchronization code and data check;

[0016] The digital baseband modulation module is used for baseband modulation of the navigation electric text to generate digital baseband signal;

[0017] The digital-to-analog conversion module is used for converting the digital baseband signal into analog signal to generate analog baseband signal;

[0018] The analog modulation module is used for modulating the analog baseband signal into radio frequency signal and then outputting;

[0019] The radio frequency conditioning module is used for filtering and power amplifying the radio frequency signal generated after analog baseband modulation and transmitting to the transmitting antenna module;

[0020] The transmitting antenna module is used for radio frequency transmitting the radio frequency signal.

[0021] Further, in the terminal receiver:

[0022] The receiving antenna module is used for receiving the navigation positioning message and sending it into the radio frequency signal conditioning module;

[0023] The radio frequency signal conditioning module is used for filtering and amplifying the navigation positioning message and performing down-conversion processing to convert the radio frequency signal into intermediate frequency signal or baseband signal;

[0024] The analog-to-digital conversion module is used for converting the analog intermediate frequency signal or analog baseband signal into digital intermediate frequency signal or digital baseband signal;

[0025] The electric text capture module is used for digital signal processing of the digital intermediate frequency signal or digital baseband signal, capturing and extracting electric text information in the signal to obtain electric text original binary data;

[0026] The electric text analysis module is used for error check and analysis of the original binary data to obtain electric text content.

[0027] Further, the positioning result is calculated by using a pseudo-range based positioning method, and the specific process is as follows:

[0028] Under the condition of GNSS non-block, an equation group is constructed:

[0029]

[0030] Wherein, [x,y,z] T is the vector coordinates of the receiver, [x (k) ,y (k) ,z (k) ]T is a position coordinate vector of the satellite or base station, k = 1, 2, …, K, K + 1, K + 2, …, K + M, K is the number of satellites, and M is the number of base stations; is an error-corrected pseudo-range measurement between the receiver and the satellite, is an error-corrected pseudo-range measurement between the receiver and the base station, δt u is a receiver clock error;

[0031] In the GNSS denial condition, K = 0, and the equation set is constructed as follows:

[0032]

[0033] In the GNSS denial condition or the GNSS denial condition, the receiver coordinates and the receiver clock error are obtained by solving no less than four equations according to the corresponding equation set.

[0034] Further, the positioning result is calculated by using a carrier phase-based positioning method, and the specific process is as follows:

[0035] In the GNSS denial condition, the equation set is constructed as follows:

[0036]

[0037] wherein, [x, y, z] T is a vector coordinate of the receiver, px (k) , y (k) , and z (k) T is a position coordinate vector of the satellite or base station, k = 1, 2, …, K, K + 1, K + 2, …, K + M, K is the number of satellites, and M is the number of base stations; is a carrier phase of a navigation signal of the satellite, is a carrier phase of a navigation signal of the base station; is a wavelength of the corresponding satellite carrier, is a wavelength of the base station carrier, δt u is a receiver clock error, is a satellite clock error, is a base station clock error, I (k) is an ionospheric error correction value, T (k) is a tropospheric error correction value, N (k) is a phase measurement integer ambiguity;

[0038] In the GNSS denial condition, the equation set is constructed as follows:

[0039]

[0040] ​Under the condition of GNSS non-rejection or GNSS rejection, the coordinates of the receiver and the receiver clock difference are obtained by solving no less than four equations according to the corresponding equation group.

[0041] Based on the above technical solution, the present application has the following advantages:

[0042] The present application provides a ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources, which uses part of the existing device resources and spectrum resources of 5G communication equipment, configures 5G base stations as pseudo-satellite signal sources, and continuously broadcasts navigation positioning messages in the frequency band of 4800MHz-4900MHz, thereby realizing ground navigation positioning.

[0043] Compared with satellite navigation positioning methods, the micro-satellite technology has higher signal transmission quality and time delay estimation accuracy because the navigation signal source is located on the ground, the signal propagation path is short, and there are fewer unstable factors affecting signal quality and time delay fluctuations. Moreover, for areas such as valleys where satellite signals are difficult to penetrate and the visibility of navigation satellites is low, the present application can cover signals in such areas and provide positioning services, thereby providing feasibility for realizing positioning services in such areas and providing services such as disaster monitoring and life rescue.

[0044] In view of the problems of large engineering quantity of completely erecting independent base stations and insufficient time synchronization accuracy of wireless time synchronization technology in current pseudo-satellite technology, the present application uses part of the existing device resources and spectrum resources of 5G communication equipment, configures 5G base stations as pseudo-satellite signal sources, and realizes high-precision wired time synchronization of the system through optical cable resources laid between base stations, thereby improving the performance of the system, reducing the workload of system construction, and making high-precision ground positioning more easily realized. At the same time, the optical synchronization network has higher synchronization accuracy and reliability than the radio synchronization commonly used in current pseudo-satellite technology. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 The system framework diagram of the ground navigation based on 5G idle spectrum resources and 5G base station resources in the present application.

[0046] Figure 2 The signal transmission model diagram of the ground navigation based on 5G idle spectrum resources and 5G base station resources in the present application.

[0047] Figure 3 The system framework diagram of the signal transmission base station of the 5G system in the present application.

[0048] Figure 4 The system framework diagram of the terminal receiver in the present application.

[0049] Figure 5A flowchart of a ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources in the application is shown. DETAILED DESCRIPTION

[0050] To make the object, technical solutions and advantages of the application clearer, the application is further described in detail below with reference to the drawings and examples.

[0051] The application provides a ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources, which uses a signal transmitting base station of a 5G system to continuously broadcast navigation positioning messages in a frequency band of 4800MHz-4900MHz through matching design, and the navigation messages broadcast by the base station contain the ground position of the base station, the time point of message broadcasting, the calibration correction parameters of system error and integrity monitoring parameters, etc. A user terminal receiver receives positioning signals from multiple base stations, estimates the propagation time of the message signals in space through the signal transmission time point information in the message, and estimates the distance between the receiver and the base station in combination with various correction parameters, and finally calculates the position of the receiver on the ground through the principle of trajectory intersection. Under the non-rejection condition of the GNSS system, the user receiver can receive positioning signals from GNSS satellites at the same time, and the position of the receiver on the ground is calculated through the joint solution of the pseudoranges between the receiver and the satellites and the receiver and the base station, which plays a role in improving the positioning accuracy. Under the rejection condition of GNSS, the receiver only receives positioning signals from the base station to calculate the pseudorange between the base station and the receiver and independently solve the position of the receiver, which provides the possibility of providing ground wide-area positioning services under the rejection condition of GNSS.

[0052] As shown in the ground navigation system, Figure 1 When the signal coverage quality of individual 5G base stations cannot meet the system requirements, a small number of auxiliary base stations can be erected to meet the power coverage requirements of the signals. The system realizes navigation positioning based on time information, and the time reference between base stations must be strictly synchronized. The application proposes a clock synchronization method based on the transmission optical cable between 5G base stations. The transmission optical cable calibrates the propagation time delay of the synchronization signal in the optical cable and the clock synchronization error between base stations through the differential correction method of multimode optical signals, so as to realize the strict synchronization of the clocks between stations. Compared with wireless time synchronization technology, the precision of the wired clock synchronization based on the transmission optical cable between 5G base stations in the application is significantly improved.

[0053] The signal transmission mode in the ground navigation process is as shown in Figure 2As shown, it comprises: a wireless communication network and a wired communication network, wherein the wireless communication network is used to realize the transmission of navigation positioning signals and positioning communication message signals, the base station end broadcasts the navigation positioning signals and communication message signals after a series of processing, the receiver end receives the signals and extracts the relevant content to obtain the position solution of the receiver and the positioning communication message transmitted thereto, and the signal frequency is between 4800MHz and 4900MHz; the wired communication network is an optical fiber network, which is used to realize the transmission of clock synchronization and system control signals between base stations; in addition, the wireless communication network also has the function of self-position calibration of the base station, and the calibration of the coordinates of the base station is realized by the transmission of the wireless calibration signal combined with the wired communication network.

[0054] Based on the above technical scheme, the present application provides a specific embodiment comprising the following steps:

[0055] Step 1, configure the signal transmitting base station of the 5G system to continuously broadcast the navigation positioning message in the frequency band of 4800MHz-4900MHz;

[0056] Further, the signal transmitting base station is as shown in Figure 3 It comprises: an optical interface module, a system control and monitoring module, a clock synchronization module, a weather monitoring module, a text generation module, a digital baseband modulation module, a digital-to-analog conversion module, an analog modulation module, a radio frequency conditioning module and a transmitting antenna module; wherein:

[0057] The optical interface module is used to realize the conversion and processing of optical signals in the wired communication network of the system, and the system control instructions, clock synchronization information and communication text information in the optical signals are transmitted to the system control and monitoring module, the clock synchronization module and the text generation module respectively, at the same time, the module is also responsible for outputting the system state monitoring information to the control center through the optical network;

[0058] The system control and monitoring module is used to monitor the working state of the system, and transmit the working state of the base station to the control center through the inter-station communication network, at the same time, the module receives the control instructions from the control center to control and adjust the working state and mode of the base station;

[0059] The clock synchronization module is used to ensure that the local reference time of the base station is strictly synchronized with the reference clock of the system, the module receives the clock synchronization signal from the optical cable of the inter-station communication network, obtains the error between the local clock of the current base station and the system synchronization clock according to the received synchronization signal, and generates related clock information to the text generation module;

[0060] The weather monitoring module is used to eliminate the system error caused by the signal propagation time delay caused by the weather factors, the module is used to monitor the Kelvin temperature, atmospheric relative humidity and atmospheric pressure at the position of the base station, and the related data is transmitted to the text generation module;

[0061] The electric text generation module is used for generating the navigation electric text according to the corresponding format, by framing the base station number and area information, base station coordinates, weather information, synchronous clock, base station integrity status and communication content from the user, adding frame number, frame synchronization code and data check and other necessary contents;

[0062] The digital baseband modulation module is used for baseband modulation of the navigation electric text to generate a digital baseband signal. In this part, a pseudo-random code is needed to be generated for code division multiplexing of the system channel. The code rate needs to be higher than the bit rate of the navigation electric text, and the code period needs to be an integer multiple of the bit period of the navigation electric text. After the pseudo-random code is generated, it needs to be XOR processed with the navigation electric text code to generate the digital baseband signal.

[0063] The digital-to-analog conversion module is used for converting the digital baseband signal into an analog signal and entering the analog baseband modulation process.

[0064] The analog modulation module is used for modulating the generated analog baseband signal into a radio frequency signal and outputting. In this process, the converted analog baseband signal needs to be multiplied with the local oscillation signal of the system to generate a radio frequency signal.

[0065] The radio frequency conditioning module is used for filtering, power amplification and a series of conditioning work of the radio frequency signal generated after the analog baseband modulation, to ensure that the transmission quality and transmission intensity of the signal meet the requirements.

[0066] The transmitting antenna module is used for transmitting the radio frequency signal modulated by the conditioning module.

[0067] Step 2, configure the terminal receiver to receive the navigation positioning message and extract the related content to obtain the navigation electric text content.

[0068] The terminal receiver, as shown in Figure 4 , includes a receiving antenna module, a radio frequency signal conditioning module, a digital-to-analog conversion module, an electric text capture module and an electric text analysis module. Wherein:

[0069] The receiving antenna module is used for receiving the navigation positioning message and sending it to the radio frequency signal conditioning module.

[0070] The radio frequency signal conditioning module is used for filtering and amplifying the radio frequency signal received by the antenna, and performing down-conversion processing of the signal to convert the radio frequency signal into an intermediate frequency signal or a baseband signal to meet the needs of digital-to-analog conversion.

[0071] The digital-to-analog conversion module is used for converting the analog intermediate frequency or baseband signal into a digital intermediate frequency or baseband signal to facilitate the digital signal processing work in the electric text capture module.

[0072] The electric text capturing module is used for digital signal processing of digital intermediate frequency or baseband signals, capturing and extracting electric text information therein; after the module, pseudo-random codes modulated on the signals are removed, and original binary data of the electric text are obtained;

[0073] The electric text analyzing module is used for error checking and analyzing of the original binary data output by the electric text capturing module, so as to obtain electric text content;

[0074] Step 3, the terminal receiver calculates the positioning result according to the electric text content of the plurality of base stations;

[0075] The calculation process of the positioning result includes two kinds, specifically, a pseudo-range-based positioning method and a carrier phase-based positioning method; wherein,

[0076] The specific process of the pseudo-range-based positioning method is as follows:

[0077] For the navigation signal of the satellite, the terminal receiver calculates the corrected pseudo-range between itself and the satellite as:

[0078]

[0079] The corrected pseudo-range observation equation is expressed as:

[0080]

[0081] Wherein, n = 1, 2, …, K, K is the number of GNSS satellites received by the receiver, n is the temporary number of the satellite in the calculation process, is the original pseudo-range measurement value, is the pseudo-range measurement value between the receiver and the satellite after error correction, is the satellite clock error correction value, I (n) is the ionospheric error correction value, T (n) is the tropospheric error correction value; r (n) is the geometric distance from the receiver to the satellite, δt u is the receiver clock error, is the unknown noise measurement value;

[0082] For the navigation signal of the base station, the signal no longer passes through the ionosphere, so I (n) is ignored; the terminal receiver calculates the corrected pseudo-range between itself and the base station as:

[0083]

[0084] The corrected pseudo-range observation equation is expressed as:

[0085]

[0086] Wherein, n=K+1, K+2, …, K+M, M is the number of ground positioning base stations receiving signals, n is the temporary number of base stations in the calculation process, is the original base station pseudorange measurement value, is the pseudorange measurement value between the receiver and the base station after error correction, is the positioning base station clock error correction value, T (n) is the tropospheric error correction value; r (n) is the geometric distance from the receiver to the base station, δt u is the receiver clock error, is the unknown noise measurement value;

[0087] For the geometric distance from the receiver to the satellite or base station, it can be expressed as:

[0088]

[0089] Wherein, x=[x, y, z] T is the unknown receiver vector coordinate, x (n) =[x (n) , y (n) , z (n) ] T is the position coordinate vector of the satellite or base station;

[0090] The unknown noise measurement value is ignored, and under the GNSS non-denial condition, the positioning core principle of the system can be expressed by the following equation set:

[0091]

[0092] Wherein, K is an integer greater than or equal to 1, and the value of K+M is greater than or equal to 4; the first K equations correspond to the measurement values of the visible satellites, and the last M equations correspond to the measurement values of the visible base stations, and the pseudorange after error correction and are measured by the receiver;

[0093] The unknown coordinates (x, y, z) of the receiver and the receiver clock error δt u can be solved by no less than 4 equations, so as to realize the positioning enhancement function under the GNSS non-denial condition;

[0094] Under the GNSS denial condition, the positioning core principle of the system can be expressed by the following equation set:

[0095]

[0096] At this time, the number of visible satellites K is 0, and the number of visible base stations M needs to satisfy greater than or equal to 4, each equation in the above equation set corresponds to a measurement value of a visible base station, and the pseudo-range after the correction error The unknown coordinates (x, y, z) of the receiver and the clock error δt of the receiver can be solved through no less than 4 equations measured by the receiver u , so as to realize the ground positioning function under the GNSS denial condition;

[0097] When facing a higher positioning accuracy application scenario, a carrier phase-based positioning method can be used, and the specific process is as follows:

[0098] For satellite navigation signals, the terminal receiver locks the carrier phase of the navigation signal from the satellite, and the following observation equation can be obtained after considering the satellite clock error, atmospheric time delay and other factors:

[0099]

[0100] Wherein, k = 1, 2, …, K, K is the number of satellites whose carrier phase is locked by the receiver, k is the temporary number of the satellite in the calculation process, is the carrier phase of the navigation signal corresponding to the satellite, is the wavelength of the carrier corresponding to the satellite, δt u is the clock error of the receiver, is the clock error of the corresponding satellite, r (k) is the geometric distance from the receiver to the satellite, I (k) is the ionospheric error correction value, T (k) is the tropospheric error correction value, N (k) is the integer ambiguity of the corresponding phase measurement value, is the unknown phase noise measurement value;

[0101] For base station navigation signals, the terminal receiver locks the carrier phase of the navigation signal from the base station, and the following observation equation can be obtained after considering the clock error and the tropospheric error:

[0102]

[0103] Wherein, k = K+1, K+2, …, K+M, M is the number of base stations whose carrier phase is locked by the receiver, k is the temporary number of the base station in the calculation process, is the carrier phase of the navigation signal corresponding to the base station, is the wavelength of the carrier corresponding to the base station, δt u is the clock error of the receiver, is the clock error of the corresponding base station, r (k) is the geometric distance from the receiver to the base station, T (k) is the tropospheric error correction value, N(k) is the integer ambiguity corresponding to the phase measurement value, is the unknown phase noise measurement value;

[0104] The geometric distance from the above receiver to the satellite or base station is expressed as:

[0105]

[0106] Where x = [x, y, z] T is the unknown receiver vector coordinate, x (k) =[x (k) ,y (k) ,z (k) ] T is the position coordinate vector of the satellite or base station;

[0107] Ignore unknown noisy measurements Under GNSS non-denial conditions, the core principle of carrier phase-based positioning can be expressed by the following set of equations:

[0108]

[0109] Where K is an integer greater than or equal to 1, and the value of K + M is greater than or equal to 4; the first K equations correspond to the measurements of visible satellites, and the last M equations correspond to the measurements of visible base stations; the unknown coordinates (x, y, z) of the receiver and the receiver clock error δt can be solved by no less than 4 equations. u , thereby achieving carrier phase positioning under GNSS non-denied conditions;

[0110] Under GNSS conditions, the principle of positioning based on carrier phase can be expressed as follows:

[0111]

[0112] Where M is the number of base stations to which the receiver is locked to the carrier phase. M needs to be greater than or equal to 4. Each equation in the above equation group corresponds to the phase observation result of a base station that is locked to the carrier phase. The unknown coordinates (x, y, z) of the receiver and the receiver clock error δt can be solved by no less than 4 equations. u ;

[0113] In summary, the ground navigation positioning method based on 5G idle spectrum resources and 5G base station resources in the present invention is as follows Figure 5 As shown in the figure, some existing equipment resources and spectrum resources of 5G communication equipment are configured as pseudo-satellite signal transmission sources, and the system's wired high-precision timing synchronization is achieved through the optical cable resources laid between base stations. While improving system performance, it reduces the workload of system construction and makes high-precision ground positioning easier to achieve.

[0114] The above description is only a specific implementation of the present application. Any feature disclosed in this specification, unless otherwise stated, can be replaced by other equally effective or equivalent features. Any feature disclosed in this specification, or any method or process disclosed in this specification, can be combined with any other disclosed feature or method or process, unless otherwise stated.

Claims

1. A ground navigation and positioning method based on 5G idle spectrum resources and 5G base station resources, characterized in that: The following steps are involved: Step 1: Configure the signal transmission base station of the 5G system, including: optical interface module, system control and monitoring module, clock synchronization module, weather monitoring module, message generation module, digital baseband modulation module, digital-to-analog conversion module, analog modulation module, radio frequency conditioning module and transmitting antenna module, so that the transmitting base station can continuously broadcast navigation and positioning messages in the frequency band of 4800MHz to 4900MHz; Step 2: Configure the terminal receiver, which includes: a receiving antenna module, a radio frequency signal conditioning module, an analog-to-digital conversion module, a message capture module, and a message parsing module. The terminal receiver receives the navigation positioning message and extracts information to obtain the content of the navigation message. Step 3: The terminal receiver calculates the positioning result based on the navigation messages received simultaneously from multiple signal transmitting base stations or satellites.

2. The ground navigation and positioning method based on 5G idle spectrum resources and 5G base station resources according to claim 1 is characterized in that: In the signal transmitting base station: The optical interface module is used to convert and process optical signals in the wired communication network, transmitting system control instructions, clock synchronization information, and communication message information in the optical signals to the system control and monitoring module, clock synchronization module, and message generation module respectively. At the same time, the optical interface module outputs system status monitoring information to the control center via the wired communication network. The system control and monitoring module is used to monitor the working status of the system and transmit the working status of the base station to the control center through the optical interface module. At the same time, the system control and monitoring module receives control instructions from the control center to control and adjust the working status and mode of the base station. The clock synchronization module is used to complete the clock synchronization of the base station's local reference time and the system reference clock; The module receives the clock synchronization signal, obtains the error between the current base station local clock and the system synchronization clock according to the received synchronization signal, and generates relevant clock information and transmits it to the message generation module; The meteorological monitoring module is used to monitor the Kelvin temperature, relative humidity and atmospheric pressure at the location of the base station, and generate meteorological information to be transmitted to the message generation module; The message generation module is used to generate navigation messages by framing the base station number and regional information, base station coordinates, weather information, synchronization clock information, base station integrity status, and communication content according to the corresponding format, and adding the frame number, frame synchronization code, and data check; The digital baseband modulation module is used to perform baseband modulation on the navigation message to generate a digital baseband signal; The digital-to-analog conversion module is used to convert the digital baseband signal into an analog signal to generate an analog baseband signal; The analog modulation module is used to modulate the analog baseband signal into a radio frequency signal and then output it; The RF conditioning module is used to filter and amplify the RF signal generated after analog baseband modulation and transmit it to the transmitting antenna module; The transmitting antenna module is used to transmit radio frequency signals.

3. The ground navigation and positioning method based on 5G idle spectrum resources and 5G base station resources according to claim 1 is characterized in that: In the terminal receiver: The receiving antenna module is used to receive navigation and positioning messages and send them to the radio frequency signal conditioning module; The RF signal conditioning module is used to filter and amplify the navigation and positioning message, and perform down-conversion processing to convert the RF signal into an intermediate frequency signal or a baseband signal; The analog-to-digital conversion module is used to convert analog intermediate frequency signals or analog baseband signals into digital intermediate frequency signals or digital baseband signals; The message capture module is used to perform digital signal processing on the digital intermediate frequency signal or digital baseband signal, capture and extract the message information therein, and obtain the original binary data of the message; The message parsing module is used to perform error checking and parsing on the original binary data to obtain the message content.

4. The ground navigation and positioning method based on 5G idle spectrum resources and 5G base station resources according to claim 1 is characterized in that: The positioning result is solved by using a positioning method based on pseudorange, and the specific process is as follows: Under GNSS non-denial conditions, the equation group is constructed: Where [x,y,z] T is the vector coordinate of the receiver, [x (k) ,y (k) ,z (k) ] T is the position coordinate vector of the satellite or base station, k=1,2,…,K,K+1,K+2,…,K+M, where K is the number of satellites and M is the number of base stations; is the error-corrected pseudorange measurement between the receiver and the satellite, is the pseudo-range measurement value between the receiver and the base station after error correction, δt u is the receiver clock error; Under the GNSS condition, K=0, and the equation group is constructed: Under GNSS non-denied conditions or GNSS denied conditions, the coordinates and clock error of the receiver are obtained by solving no less than four equations according to the corresponding equation group.

5. The ground navigation and positioning method based on 5G idle spectrum resources and 5G base station resources according to claim 1 is characterized in that: The positioning result is solved by using a positioning method based on carrier phase, and the specific process is as follows: Under GNSS non-denial conditions, the equation group is constructed: Where [x,y,z] T is the vector coordinate of the receiver, [x (k) ,y (k) ,z (k) ] T is the position coordinate vector of the satellite or base station, k=1,2,…,K,K+1,K+2,…,K+M, where K is the number of satellites and M is the number of base stations; is the carrier phase of the satellite’s navigation signal, is the carrier phase of the navigation signal of the base station; is the wavelength of the corresponding satellite carrier, is the wavelength of the base station carrier, δt u is the receiver clock error, is the satellite clock error, is the base station clock error, I (k) is the ionospheric error correction value, T (k) is the tropospheric error correction value, N (k) is the integer ambiguity of the phase measurement; Under the GNSS condition, the equation group is constructed: Under GNSS non-denied conditions or GNSS denied conditions, the coordinates and clock error of the receiver are obtained by solving no less than four equations according to the corresponding equation group.

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