Pseudo satellite positioning method, system and device and storage medium

Abstract

The invention relates to a pseudo satellite positioning method, system and device and a storage medium. The method is applied to a pseudo-satellite base station, and the pseudo-satellite base station sends a pseudo-satellite navigation signal through a signal transmitting device. The method comprises the following steps: generating pseudo satellite navigation data corresponding to a signal transmitting device based on coordinates of the signal transmitting device; wherein the signal transmitting device comprises at least two signal transmitters, and the directions of the signal transmitters are different; wherein the wave beam type transmitted by the signal transmitter is a non-omnidirectional wave beam; and based on the pseudo-satellite navigation data, driving a signal transmitting device to transmit a pseudo-satellite navigation signal, so that the receiver determines positioning information of the receiver according to the received pseudo-satellite navigation signal. The method provided by the embodiment of the invention can improve the precision of pseudo satellite positioning in the closed space.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of satellite navigation positioning, and more particularly, to a pseudolite positioning method, system, device and storage medium. BACKGROUND

[0002] With the development of satellite navigation positioning technology, positioning in an outdoor environment mostly relies on a global satellite navigation system (such as GPS, Beidou). The system receives signals broadcast by multiple navigation satellites through a user receiver at the same time, and realizes positioning by using the three-sphere intersection principle. However, in a closed space such as a tunnel or an underground railway, satellite signals are severely attenuated or even completely invalid, which leads to the inability to achieve effective positioning. To address this problem, a positioning technology based on a leaky cable can be used in related technologies. The technology uses a leaky cable laid along the top of the closed space to radiate wireless signals, simulates satellite signals, and provides positioning basis for terminals in the closed space. However, the leaky cable scheme has the problem of low positioning accuracy due to long pseudo-range, which cannot guarantee the accuracy of positioning information. SUMMARY

[0003] The present disclosure provides a pseudolite positioning method, system, device and storage medium. The method of the present disclosure can improve the accuracy of pseudolite positioning in a closed space.

[0004] According to a first aspect of the present disclosure, a pseudolite positioning method is provided, applied to a pseudolite base station, the pseudolite base station sending a pseudolite navigation signal through a signal emitting device; the method comprises: generating pseudolite navigation data corresponding to the signal emitting device based on the coordinates of the signal emitting device; wherein the signal emitting device comprises at least two signal emitters, each signal emitter having a different orientation; wherein the signal emitters emit non-omnidirectional beams; driving the signal emitting device to emit the pseudolite navigation signal based on the pseudolite navigation data, so that a receiver determines positioning information of the receiver according to the received pseudolite navigation signal.

[0005] Optionally, generating the pseudolite navigation data corresponding to the signal emitting device based on the coordinates of the signal emitting device comprises: determining the optional satellites corresponding to each signal emitting device based on the coordinates of the signal emitting device; wherein the optional satellites are at least part of the positioning satellites that can be simulated by the pseudolite base station according to ephemeris; determining the pseudorange difference between each optional satellite and the receiver based on the observed pseudorange and the theoretical pseudorange of each optional satellite to the receiver; wherein the observed pseudorange of the optional satellite to the receiver is the sum of the pseudorange of the optional satellite to the signal emitting device and the pseudorange of the signal emitting device to the receiver, and the theoretical pseudorange of the optional satellite to the receiver is the pseudorange of the optional satellite directly to the receiver; If the pseudo-range difference of at least four selectable satellites is less than the preset pseudo-range difference threshold, at least part of the selectable satellites are selected as the first target satellites from the selectable satellite set in the order of the pseudo-range difference from small to large, wherein the selectable satellite set is a set composed of the selectable satellites with the pseudo-range difference less than the preset pseudo-range difference threshold. Based on the first target satellites and the real ephemeris, pseudo-satellite navigation data corresponding to the signal transmitting device is generated.

[0006] Optionally, if the pseudo-range difference of at least four selectable satellites is not less than the preset pseudo-range difference threshold, the method further comprises: Based on the coordinates of the signal transmitting device and the number of missing satellites, a virtual satellite corresponding to the number of missing satellites is generated, wherein the number of missing satellites is the difference between the preset target satellite number and the number of selectable satellites with the pseudo-range difference less than the preset pseudo-range difference threshold. The virtual satellite and the selectable satellite with the pseudo-range difference less than the preset pseudo-range difference threshold are taken as the second target satellites, and based on the second target satellites, a virtual ephemeris is generated. Based on the second target satellites and the virtual ephemeris, pseudo-satellite navigation data corresponding to the signal transmitting device is generated.

[0007] Optionally, the method comprises: The beam coverage range of each signal transmitter in the signal transmitting device and the beam coverage range of the adjacent signal transmitter at least include a partially overlapping area.

[0008] According to a second aspect of the present disclosure, a pseudo-satellite positioning system is provided, comprising a pseudo-satellite base station and a receiver; wherein: The pseudo-satellite base station is configured to generate pseudo-satellite navigation data corresponding to the signal transmitting device based on the coordinates of the signal transmitting device, wherein the signal transmitting device comprises at least two signal transmitters, each signal transmitter has a different orientation, and the signal transmitters emit non-omnidirectional beams; based on the pseudo-satellite navigation data, the signal transmitting device is driven to emit pseudo-satellite navigation signals, so that the receiver determines the positioning information of the receiver according to the received pseudo-satellite navigation signals; The receiver is configured to determine the positioning information of the receiver according to the received pseudo-satellite navigation signals.

[0009] Optionally, the pseudo-satellite base station is further configured to determine, based on the coordinates of the signal emitting devices, optional satellites corresponding to each of the signal emitting devices, wherein the optional satellites are at least part of the positioning satellites that can be simulated by the pseudo-satellite base station according to ephemeris; determine, based on an observed pseudo-range and a theoretical pseudo-range of each of the optional satellites to the receiver, a pseudo-range difference of each of the optional satellites to the receiver, wherein the observed pseudo-range of the optional satellite to the receiver is a sum of a pseudo-range of the optional satellite to the signal emitting device and a pseudo-range of the signal emitting device to the receiver, and the theoretical pseudo-range of the optional satellite to the receiver is a pseudo-range of the optional satellite directly to the receiver; if the pseudo-range difference of at least four of the optional satellites is less than a preset pseudo-range difference threshold, select at least part of the optional satellites as first target satellites in an order from small to large of the pseudo-range difference from the set of candidate satellites, wherein the set of candidate satellites is a set composed of the optional satellites with the pseudo-range difference less than the preset pseudo-range difference threshold; and generate pseudo-satellite navigation data corresponding to the signal emitting devices based on the first target satellites and real ephemeris.

[0010] Optionally, the pseudo-satellite base station is further configured to, if the pseudo-range difference of at least four of the optional satellites is not less than the preset pseudo-range difference threshold, generate a virtual satellite corresponding to a satellite missing number based on the coordinates of the signal emitting devices and the satellite missing number, wherein the satellite missing number is a difference between a preset target satellite number and a number of the optional satellites with the pseudo-range difference less than the preset pseudo-range difference threshold; take the virtual satellite and the optional satellites with the pseudo-range difference less than the preset pseudo-range difference threshold as second target satellites, and generate a virtual ephemeris based on the second target satellites; and generate the pseudo-satellite navigation data corresponding to the signal emitting devices based on the second target satellites and the virtual ephemeris.

[0011] Optionally, a beam coverage range of each of the signal emitters in the signal emitting device and a beam coverage range of an adjacent signal emitter at least include a partially overlapping area.

[0012] According to a third aspect of the present disclosure, a pseudo-satellite positioning device is provided, comprising: at least one processor; and a memory in communication connection with the at least one processor; The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any one of the methods of the first aspect.

[0013] According to a fourth aspect of the present disclosure, a non-transitory computer readable storage medium is provided, and the non-transitory computer readable storage medium stores computer instructions for causing a computer to perform any one of the methods of the first aspect.

[0014] The embodiments of this disclosure can obtain a wider signal coverage by transmitting non-omnidirectional pseudo-satellite navigation signals toward at least two different signal transmitters. Furthermore, the selection of simulated satellites is based on the coordinates of the signal transmitters, which shortens the difference between the observed pseudorange of the simulated satellite and the theoretical pseudorange of the receiver, thereby improving the positioning accuracy in enclosed spaces.

[0015] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0017] Figure 1 This is a schematic architecture diagram of a positioning system provided in an embodiment of this disclosure.

[0018] Figure 2 This is a flowchart illustrating a pseudo-satellite positioning method provided in an embodiment of this disclosure.

[0019] Figure 3 This is a flowchart illustrating a pseudo-satellite navigation data generation method provided in an embodiment of this disclosure.

[0020] Figure 4 This is a schematic diagram of the structure of a pseudo-satellite positioning system provided in an embodiment of this disclosure.

[0021] Figure 5 This is a schematic diagram of the structure of a pseudo-satellite positioning device provided in an embodiment of this disclosure. Detailed Implementation

[0022] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0023] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0024] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0025] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0027] Figure 1 A schematic architecture diagram of a positioning system applicable to embodiments of this disclosure is shown, such as... Figure 1 As shown, the positioning system includes a satellite 110, a pseudo-satellite base station 120, a signal transmitter 130, and a receiver 140. The signal transmitter 130 includes at least two signal transmitters 131. The pseudo-satellite base station 120 can be entirely installed in a closed environment, or its main body can be installed in a closed environment, with its receiving antenna for receiving signals from satellite 110 located in an open environment. Both the signal transmitter 130 and the receiver 140 are located in closed environments, such as tunnels or mines.

[0028] In the embodiments of this disclosure, a novel positioning system can be provided, in which the pseudo-satellite base station 120 can simulate a satellite to generate pseudo-satellite navigation data and transmit the corresponding pseudo-satellite navigation signal through the signal transmitting device 130; the receiver 140 can receive and use the pseudo-satellite navigation signal for positioning, thereby enhancing the positioning accuracy of the receiver in complex environments.

[0029] Among them: Pseudo-satellite base station 120: It can be used to expand the coverage of satellite beams and provide additional satellite signal processing capabilities. This pseudo-satellite base station can also be called a pseudo-base station, ground base station, etc. This pseudo-satellite base station can be used to simulate satellite signals to suit closed environments such as tunnels and mines where there are no GNSS (Global Navigation Satellite System) signals.

[0030] The pseudo-satellite base station 120 can determine the satellite to be simulated based on the coordinates of the signal transmitting device 130 and the coverage range (or angle) of the beam emitted by the signal transmitting device 130, and generate corresponding pseudo-satellite navigation data. This pseudo-satellite navigation data can be used by the signal transmitting device 130 to transmit pseudo-satellite navigation signals. The pseudo-satellite navigation data may include information such as the coordinates and clock deviation of the signal transmitting device.

[0031] Receiver 140 can be a mobile device, a fixed device, or a professional receiving device, and can be used to receive satellite signals and perform positioning based on satellite signals.

[0032] In some examples, receiver 140 can also determine the coordinates and pseudorange of the satellite simulated by pseudosatellite base station 120 based on pseudosatellite navigation signals, and determine its own position based on this information.

[0033] This disclosure provides a pseudo-satellite positioning method based on an improved configuration of a signal transmitter, applied to a pseudo-satellite base station. The pseudo-satellite base station transmits pseudo-satellite navigation signals through a signal transmitter, such as... Figure 2 As shown, the method includes: Step S210: Based on the coordinates of the signal transmitting device, generate pseudo-satellite navigation data corresponding to the signal transmitting device; wherein the signal transmitting device contains at least two signal transmitters, each with a different orientation; wherein the beam type emitted by the signal transmitter is a non-omnidirectional beam.

[0034] The embodiments disclosed herein are applied to scenarios in enclosed environments or where satellite signals cannot be directly received. The embodiments disclosed herein will be explained below using a tunnel scenario as an example.

[0035] In the example, because it is difficult to deploy a comprehensive positioning system such as a leaky cable in a tunnel, and the maintenance is also difficult, multiple signal transmitting devices are installed in the tunnel.

[0036] In some examples, the signal transmitting device includes at least two signal transmitters. For example, the signal transmitting device includes two signal transmitters, which are oriented at a certain angle toward the left and right sides of the signal transmitting device setting point. The signal transmitters emit non-omnidirectional beams. In the example, the characteristics of this type of beam are utilized, such as setting at least two signal transmitters at each signal transmitting device setting point on the side wall inside the tunnel, so that the coverage angle of the pseudo-satellite navigation signal can cover 180 degrees. Since the signal transmitting device is set on the side wall, the pseudo-satellite navigation signal can cover the entire angle.

[0037] For example, if a signal transmitting device contains two signal transmitters, and both transmitters have a horizontal beam angle of 90 degrees, then the beam coverage areas of the two transmitters extend horizontally by 90 degrees with the left and right walls as one boundary. This ensures that pseudo-satellite navigation signals are covered 180 degrees horizontally.

[0038] In other examples, in a closed space with a regular shape (such as a cube), a signal transmitting device is set at the center of the space, and multiple signal transmitters are used to emit non-omnidirectional beams in all directions to cover 360 degrees. For example, four signal transmitters are used, each with a horizontal beam angle of 90 degrees, and each of the four signal transmitters faces the four directions of east, south, west and north, so that the pseudo-satellite navigation signal emitted by the signal transmitting device can cover 360 degrees.

[0039] In some examples, the pseudosatellite base station stores the coordinates of each signal transmitting device. These coordinates can be in the ECEF coordinate system (Earth-Centered Earth-Fixed), which can be mapped to global coordinate systems such as WGS-84 for use by the pseudosatellite base station and receiver. They can also be mapped to other general coordinate systems used in positioning and navigation, and this disclosure does not limit this. Based on the coordinates of the signal transmitting devices, the pseudosatellite base station generates pseudosatellite navigation data corresponding to the signal transmitting devices. This pseudosatellite navigation data includes information such as ranging codes, navigation messages, carrier signals, and modulation methods contained in the pseudosatellite navigation signals.

[0040] In the example, the position of the simulated satellite in the pseudo-satellite navigation data is determined based on the coordinates of the signal transmitting device and the assumed receiver coordinates within the coverage area of ​​each signal transmitter beam. The assumed receiver can be located on the ground in a plane perpendicular to the ground where the angle bisector of the horizontal beam angle of the signal transmitter is located and at a preset horizontal distance from the signal transmitter. This disclosure does not limit the way the assumed receiver coordinates are set.

[0041] In some examples of this disclosure, such as Figure 3 As shown, a method for generating pseudo-satellite navigation data is provided, specifically including the following steps S310~S340: Step S310: Based on the coordinates of the signal transmitting device, determine the selectable satellites corresponding to each signal transmitting device; wherein, the selectable satellites are at least some of the positioning satellites that can be simulated by the pseudo-satellite base station according to the ephemeris.

[0042] Step S320: Based on the observed pseudorange and theoretical pseudorange of each selectable satellite to the receiver, determine the pseudorange difference of each selectable satellite to the receiver; wherein, the observed pseudorange of the selectable satellite to the receiver is the sum of the pseudorange of the selectable satellite to the signal transmitting device and the pseudorange of the signal transmitting device to the receiver, and the theoretical pseudorange of the selectable satellite to the receiver is the pseudorange directly from the selectable satellite to the receiver.

[0043] Step S330: If there are at least four optional satellites whose pseudorange difference is less than a preset pseudorange difference threshold, then select at least a portion of the optional satellites from the candidate satellite set in order of increasing pseudorange difference as the first target satellite, wherein the candidate satellite set is a set of optional satellites whose pseudorange difference is less than the preset pseudorange difference threshold.

[0044] Step S340: Based on the first target satellite and the real ephemeris, generate pseudo-satellite navigation data corresponding to the signal transmitting device.

[0045] In some examples, a coordinate pseudo-satellite base station based on a single signal transmitter determines multiple selectable satellites located within a certain range above the signal transmitter from among the simulated positioning satellites according to the current ephemeris. This range can be preset based on the spatial relationship between the historical target satellite and the corresponding signal transmitter. This range can be a coordinate range or an angle range.

[0046] In the example, the observed pseudorange from each selectable satellite to the receiver is calculated by calculating the pseudorange from the selectable satellite to the signal transmitter and the pseudorange from the signal transmitter to the receiver, and the sum of the two pseudoranges is taken as the observed pseudorange from the selectable satellite to the receiver. The theoretical pseudorange from the selectable satellite to the receiver is calculated as the direct distance between the selectable satellite and the receiver. The pseudorange difference for each selectable satellite to the receiver can be the difference between the observed pseudorange and the theoretical pseudorange. Since the observed pseudorange from the satellite to the receiver is the total length of the broken line formed by the satellite, the signal transmitter, and the receiver, the theoretical pseudorange from the satellite to the receiver must be less than or equal to the total length of this broken line. In other words, the smaller the pseudorange difference, the closer the positioning effect obtained by the receiver through the signal transmitter is to the positioning effect of the receiver directly receiving the satellite signal.

[0047] In this example, the available satellites are filtered based on the pseudorange difference to the receiver for each satellite. Specifically, a preset pseudorange difference threshold is set. When a satellite exists whose pseudorange difference to the receiver is less than this threshold, it is determined that a real satellite can be used as the primary satellite simulated by the signal transmitter, i.e., the target satellite. To achieve ideal positioning results, information from at least four positioning satellites is generally required simultaneously. Therefore, at least a portion of the available satellites are selected from the candidate satellite set in ascending order of pseudorange difference as the first target satellite. The candidate satellite set consists of available satellites with pseudorange differences less than the preset pseudorange difference threshold. Then, based on the coordinates, number, and other information of the first target satellite and the actual ephemeris, pseudo-satellite navigation data corresponding to the signal transmitter is generated.

[0048] The number of at least some of the selectable satellites selected from the set of candidate satellites can be an integer greater than or equal to 4, and this disclosure does not limit this.

[0049] In some examples, the pseudo-satellite navigation data received by different signal transmitters may come from different satellite systems. For example, the signal transmitting device contains two signal transmitters, and the pseudo-satellite navigation data of the two signal transmitters comes from the GPS (Global Positioning System) system and the BDS (Beidou Navigation Satellite System) system, respectively.

[0050] This embodiment calculates the pseudorange difference between the observed pseudorange and the theoretical pseudorange from the selectable satellites to the receiver. Based on the pseudorange difference, the selectable satellites are screened to obtain a number of selectable satellites whose pseudorange differences are less than a preset pseudorange difference threshold and whose values ​​are selected in ascending order. This allows the receiver to obtain positioning data with smaller errors, thereby improving the positioning accuracy of the receiver.

[0051] In some examples, if there are no at least four optional satellites with pseudorange differences less than a preset pseudorange difference threshold, then virtual satellites corresponding to the number of missing satellites are generated based on the coordinates of the signal transmitting device and the number of missing satellites; wherein, the number of missing satellites is the difference between the preset target satellite number and the number of optional satellites with pseudorange differences less than the preset pseudorange difference threshold. The virtual satellite and the selectable satellite whose pseudo-range difference is less than the preset pseudo-range difference threshold are used as the second target satellite, and a virtual ephemeris is generated based on the second target satellite. Based on the second target satellite and the virtual ephemeris, pseudo-satellite navigation data corresponding to the signal transmitting device is generated.

[0052] In some examples, the preset number of target satellites is an integer greater than or equal to 4. The following description uses a preset number of target satellites of 4 as an example. This disclosure does not limit the specific value of the preset number of target satellites.

[0053] In the example, if, after filtering the positioning satellites that the pseudo-range difference threshold can simulate based on the preset pseudo-range difference threshold, at least four selectable satellites are not found (meaning the number of selectable satellites meeting the filtering criteria is less than the four required for positioning), in order to ensure that the receiver can obtain positioning services normally, the pseudo-satellite base station can calculate the coordinates of the virtual satellites based on the coordinates of the signal transmitting device using a preset virtual satellite coordinate algorithm. This fills in the missing number of selectable satellites that meet the condition that the pseudo-range difference is less than the preset pseudo-range difference threshold, ensuring that after supplementing the virtual satellites, there are four satellites available for receiver positioning. For example, if there are three selectable satellites with pseudo-range differences less than the preset pseudo-range difference threshold, the pseudo-satellite base station calculates the coordinates of four virtual satellites based on the coordinates of the signal transmitting device using the preset virtual satellite coordinate algorithm, and selects any one of these virtual satellites along with the three selectable satellites whose pseudo-range differences are less than the preset pseudo-range difference threshold as the second target satellite.

[0054] Meanwhile, in order for the receiver to correctly identify the virtual satellite, the virtual satellite will use the number of the real satellite, and it will not be the same as the real satellite in the second target satellite.

[0055] Since virtual satellites are idealized satellites calculated based on the coordinates of the signal transmitting device, they are not applicable to real ephemeris data. To enable the receiver to perform positioning calculations correctly, the pseudo-satellite base station generates a virtual ephemeris based on the position of the second target satellite. This virtual ephemeris assigns a virtual orbit to each second target satellite. For real satellites within the second target satellite group, the corresponding virtual orbit in the virtual ephemeris can be their original real orbit. Finally, pseudo-satellite navigation data is generated based on the second target satellites and the virtual ephemeris, which is then used by the signal transmitting device to transmit pseudo-satellite navigation signals.

[0056] Pseudo-satellite positioning using simulated virtual satellite coordinates has a smaller positioning error compared to the leaky cable scheme used in existing tunnel scenarios. This is mainly because the receiver expects to observe the distance between the simulated satellite and the receiver in the pseudo-satellite navigation signal. In the leaky cable scheme, the signal propagation path can be considered as the sum of the pseudorange from the target satellite to the transmitter port at the tunnel entrance, the length of the coaxial leaky cable above the receiver from the transmitter port, and the distance between the receiver and the leaky cable above. In the embodiments of this disclosure, the signal propagation path can be considered as the pseudorange from the target satellite to the signal transmitter and the distance from the signal transmitter to the receiver. The pseudorange measured from the signal is always greater than the expected distance between the satellite and the receiver. Since the propagation path of the leaky cable scheme includes the portion of the signal transmitted in the leaky cable, the pseudorange measured by the leaky cable scheme deviates significantly from the expected distance compared to the pseudorange measured in the disclosed embodiments. Therefore, the positioning method of this disclosure can select the optimal positioning satellite for signal simulation while reducing the pseudorange difference between the observed pseudorange and the theoretical pseudorange, thereby improving the positioning accuracy.

[0057] In this embodiment, when the number of real satellites meeting the requirement of pseudo-range difference being less than a preset pseudo-range difference threshold is insufficient, virtual satellites are used to supplement the number. Then, pseudo-satellite navigation data is generated based on the virtual satellites and real satellites. This solves the problem of how to perform pseudo-satellite positioning when no positioning satellites that meet the preset conditions are found or a sufficient number of such satellites are not found, thereby improving the accuracy of pseudo-satellite positioning.

[0058] In some examples, the beam coverage of each signal transmitter in the signal transmitting device overlaps at least partially with the beam coverage of the adjacent signal transmitter.

[0059] In the example, on the one hand, to make the pseudo-satellite navigation signal coverage as comprehensive as possible, and on the other hand, to make the positioning information obtained by positioning calculation from more than one pseudo-satellite navigation signal more accurate, each signal transmitter in the signal transmitting device can be set up so that the beam coverage of adjacent signal transmitters partially overlaps. When the receiver is located in the overlapping area, the obtained positioning information is more accurate.

[0060] In some examples, by designing the area requiring more precise positioning during the signal transmitter setup phase as an overlapping area of ​​the horizontal coverage of at least two signal transmitter beams, the receiver can acquire more navigation information within that area, further improving positioning accuracy through information from more positioning satellites. Areas requiring more precise positioning can include potentially hazardous areas, infrequently used uninhabited areas, and critical inspection areas, among others.

[0061] The embodiments disclosed herein achieve beam overlap of the beams of at least two signal transmitters in areas requiring more precise positioning, thereby meeting the positioning accuracy requirements of certain high-interest areas in practical applications and further improving the positioning accuracy of the receiver within a specified area.

[0062] Step S220: Based on pseudo-satellite navigation data, drive the signal transmitting device to transmit pseudo-satellite navigation signals so that the receiver can determine its positioning information based on the received pseudo-satellite navigation signals.

[0063] In some examples, based on at least some of the data contained in the pseudo-satellite navigation data, such as carrier frequency, modulation method, code type, code rate, code length, pseudo-satellite coordinates, time information, equipment delay, polarization method, multiplexing method, and satellite navigation message, the signal transmitting device is driven to transmit pseudo-satellite navigation signals. The receiver can calculate its own positioning information based on the received pseudo-satellite navigation signals using a preset calculation formula.

[0064] The pseudo-satellite positioning method provided in this disclosure can obtain a wider signal coverage range by transmitting non-omnidirectional pseudo-satellite navigation signals toward at least two different signal transmitters. The simulated satellite is determined by the coordinates of the signal transmitter and the position of the receiver, which shortens the difference between the observed pseudorange and the theoretical pseudorange from the simulated satellite to the receiver, thereby improving the positioning accuracy in a closed space.

[0065] Figure 4 An embodiment of the present disclosure provides a pseudo-satellite positioning system 400, such as... Figure 4 As shown, the pseudo-satellite positioning system 400 includes a pseudo-satellite base station 120 and a receiver 140; wherein: The pseudo-satellite base station 120 is used to generate pseudo-satellite navigation data corresponding to the signal transmitting device based on the coordinates of the signal transmitting device; wherein the signal transmitting device includes at least two signal transmitters, each with a different orientation; wherein the beam type emitted by the signal transmitter is a non-omnidirectional beam; based on the pseudo-satellite navigation data, the signal transmitting device is driven to emit pseudo-satellite navigation signals, so that the receiver 140 determines the positioning information of the receiver 140 according to the received pseudo-satellite navigation signals; Receiver 140 is used to determine the positioning information of receiver 140 based on the received pseudo-satellite navigation signal.

[0066] In some examples, the pseudo-satellite base station 120 is also used to determine the selectable satellites corresponding to each signal transmitting device based on the coordinates of the signal transmitting device; wherein the selectable satellites are at least a portion of the positioning satellites that the pseudo-satellite base station 120 can simulate according to the ephemeris; based on the observed pseudorange and theoretical pseudorange of each selectable satellite to the receiver 140, the pseudorange difference between each selectable satellite and the receiver 140 is determined; wherein the observed pseudorange between the selectable satellite and the receiver 140 is the sum of the pseudorange between the selectable satellite and the signal transmitting device and the pseudorange between the signal transmitting device and the receiver 140, and the theoretical pseudorange between the selectable satellite and the receiver is the pseudorange directly between the selectable satellite and the receiver 140; if there are at least four selectable satellites whose pseudorange differences are less than a preset pseudorange difference threshold, then at least a portion of the selectable satellites are selected from the candidate satellite set in ascending order based on the pseudorange differences as the first target satellites, wherein the candidate satellite set is a set of selectable satellites whose pseudorange differences are less than the preset pseudorange difference threshold; and pseudo-satellite navigation data corresponding to the signal transmitting device is generated based on the first target satellite and the real ephemeris.

[0067] In some examples, the pseudo-satellite base station 120 is also used to generate virtual satellites corresponding to the number of missing satellites based on the coordinates of the signal transmitting device and the number of missing satellites if there are no at least four optional satellites with pseudo-range differences less than a preset pseudo-range difference threshold. The number of missing satellites is the difference between the preset target satellite number and the number of optional satellites with pseudo-range differences less than the preset pseudo-range difference threshold. The virtual satellites and the optional satellites with pseudo-range differences less than the preset pseudo-range difference threshold are used as second target satellites, and virtual ephemeris is generated based on the second target satellites. Pseudo-satellite navigation data corresponding to the signal transmitting device is generated based on the second target satellites and the virtual ephemeris.

[0068] In some examples, the beam coverage of each signal transmitter in the signal transmitting device overlaps at least partially with the beam coverage of the adjacent signal transmitter.

[0069] It should be noted that the functions implemented by the receiver and the pseudo-satellite base station can be referred to the description in the foregoing embodiments of this disclosure, and will not be repeated here.

[0070] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the above method embodiments.

[0071] Figure 5 This is a schematic diagram of the structure of a pseudo-satellite positioning device provided in an embodiment of this disclosure. The tunnel positioning device can be... Figure 1The receiver or pseudo-satellite base station shown can also be any electronic device. For example... Figure 5 As shown, the pseudo-satellite positioning device 500 may include a memory 510 and a processor 520. The memory 510 may be used to store computer instructions, and the processor 520 may be used to retrieve computer instructions from the memory 510 to execute all or part of the steps of any method in the foregoing embodiments of this disclosure. It should be noted that the processor 520 may include one or more processors to execute instructions, and the memory 510 may also include one or more memories to store computer instructions. In some embodiments, the processor 520 may be used to control the overall operation of the tunnel positioning device 500. For example, the processor 520 may execute instructions to implement all or part of the steps of the methods in any of the foregoing embodiments of this disclosure, thereby enabling one or more operations such as voice communication, data communication, database operation, display control, component control, and multimedia processing. The aforementioned components may be internal components of the tunnel positioning device itself, or external components connected to the tunnel positioning device wirelessly or wiredly. For example, the components may include sensors, cameras, headphones, input / output devices, etc. The aforementioned multimedia may include one or more of voice, images, video, and text. In some embodiments, the memory 510 may include one or more memories, and the contents stored in different memories may be the same or different. The memory 510 can be configured to store various types of data to support the operation of the pseudosatellite positioning device 500. Examples of such data include instructions for any application or method operating on the pseudosatellite positioning device 500, contact data, phonebook data, messages, pictures, videos, etc. The memory 510 can be implemented by any type of temporary or non-temporary storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0072] This disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods in the foregoing embodiments of this disclosure.

[0073] The various embodiments in this disclosure are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and apparatus embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0074] The foregoing has described specific embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0075] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0076] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0077] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0078] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0079] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0080] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0081] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0082] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation in a combination of software and hardware are equivalent.

[0083] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A pseudolite positioning method, characterized by, The application is applied to a pseudo-satellite base station which sends pseudo-satellite navigation signals through a signal emitting device; the method comprises: Based on the coordinates of the signal emitting device, pseudo-satellite navigation data corresponding to the signal emitting device is generated; wherein the signal emitting device contains at least two signal emitters, each signal emitter has a different orientation; wherein the signal emitters emit non-omnidirectional beams; Based on the pseudo-satellite navigation data, the signal emitting device emits pseudo-satellite navigation signals, so that the receiver determines the positioning information of the receiver according to the received pseudo-satellite navigation signals.

2. The method of claim 1, wherein, Based on the coordinates of the signal emitting device, pseudo-satellite navigation data corresponding to the signal emitting device is generated, comprising: Based on the coordinates of the signal emitting device, the selectable satellites corresponding to each signal emitting device are determined; wherein the selectable satellites are at least part of the positioning satellites that can be simulated by the pseudo-satellite base station according to ephemeris; Based on the observed pseudo-range and the theoretical pseudo-range of each selectable satellite to the receiver, the pseudo-range difference of each selectable satellite to the receiver is determined; wherein the observed pseudo-range of the selectable satellite to the receiver is the sum of the pseudo-range of the selectable satellite to the signal emitting device and the pseudo-range of the signal emitting device to the receiver, and the theoretical pseudo-range of the selectable satellite to the receiver is the pseudo-range of the selectable satellite directly to the receiver; If the pseudo-range difference of at least four selectable satellites is less than a preset pseudo-range difference threshold, at least part of the selectable satellites are selected as the first target satellites from the selectable satellite set in the order of the pseudo-range difference from small to large, wherein the selectable satellite set is a set composed of the selectable satellites whose pseudo-range difference is less than the preset pseudo-range difference threshold; Based on the first target satellites and the real ephemeris, pseudo-satellite navigation data corresponding to the signal emitting device is generated.

3. The method of claim 2, wherein, If there is no selectable satellite whose pseudo-range difference is less than the preset pseudo-range difference threshold, the method further comprises: Based on the coordinates of the signal emitting device and the number of missing satellites, a virtual satellite corresponding to the number of missing satellites is generated; wherein the number of missing satellites is the difference between the preset target satellite number and the number of selectable satellites whose pseudo-range difference is less than the preset pseudo-range difference threshold; The virtual satellite and the selectable satellite whose pseudo-range difference is less than the preset pseudo-range difference threshold are taken as the second target satellites, and virtual ephemeris is generated based on the second target satellites; Based on the second target satellites and the virtual ephemeris, pseudo-satellite navigation data corresponding to the signal emitting device is generated.

4. The method of claim 1, wherein, Comprising: The beam coverage range of each signal emitter in the signal emitting device and the beam coverage range of the adjacent signal emitter at least include a partially overlapping area.

5. A pseudolite positioning system, characterized by Comprising a pseudo-satellite base station and a receiver; wherein: The pseudo-satellite base station is used to generate pseudo-satellite navigation data corresponding to the signal emitting device based on the coordinates of the signal emitting device; wherein the signal emitting device contains at least two signal emitters, each signal emitter has a different orientation; wherein the signal emitters emit non-omnidirectional beams; based on the pseudo-satellite navigation data, the signal emitting device emits pseudo-satellite navigation signals, so that the receiver determines the positioning information of the receiver according to the received pseudo-satellite navigation signals; The receiver is configured to determine positioning information of the receiver based on the received pseudo-satellite navigation signals.

6. The system of claim 5, wherein, The pseudo-satellite base station is further configured to determine, based on the coordinates of the signal emitting device, an optional satellite corresponding to each signal emitting device, wherein the optional satellite is at least part of the positioning satellites that can be simulated by the pseudo-satellite base station according to ephemeris; determine, based on an observed pseudo-range and a theoretical pseudo-range of each optional satellite to the receiver, a pseudo-range difference of each optional satellite to the receiver, wherein the observed pseudo-range of the optional satellite to the receiver is the sum of the pseudo-range of the optional satellite to the signal emitting device and the pseudo-range of the signal emitting device to the receiver, and the theoretical pseudo-range of the optional satellite to the receiver is the pseudo-range of the optional satellite directly to the receiver; if the pseudo-range difference of at least four optional satellites is less than a preset pseudo-range difference threshold, select at least part of the optional satellites as first target satellites in ascending order of the pseudo-range difference from the set of optional satellites, wherein the set of optional satellites is a set composed of the optional satellites whose pseudo-range difference is less than the preset pseudo-range difference threshold; and generate pseudo-satellite navigation data corresponding to the signal emitting device based on the first target satellites and real ephemeris.

7. The system of claim 6, wherein, The pseudo-satellite base station is further configured to, if the pseudo-range difference of at least four optional satellites is not less than the preset pseudo-range difference threshold, generate a virtual satellite corresponding to the number of missing satellites based on the coordinates of the signal emitting device and the number of missing satellites, wherein the number of missing satellites is the difference between the preset target satellite number and the number of optional satellites whose pseudo-range difference is less than the preset pseudo-range difference threshold; take the virtual satellite and the optional satellites whose pseudo-range difference is less than the preset pseudo-range difference threshold as second target satellites, and generate a virtual ephemeris based on the second target satellites; and generate pseudo-satellite navigation data corresponding to the signal emitting device based on the second target satellites and the virtual ephemeris.

8. The system of claim 5, wherein, The beam coverage range of each signal emitter in the signal emitting device and the beam coverage range of an adjacent signal emitter at least include a partially overlapping area.

9. A pseudolite positioning device, characterized by Comprise: at least one processor; and a memory connected to the at least one processor in communication; The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

10. A non-transitory computer readable storage medium, characterized in that, The non-transitory computer readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1-4.

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