30 results about "Pseudolite" patented technology

The invention relates to a space-ground integrated Beidou high-precision positioning method applied to urban canyons, and belongs to the technical field of navigation positioning. The method comprises the following steps: deploying a pseudo satellite base station, calibrating coordinates of the base station through carrier phase difference, and monitoring the number of Beidou visible satellites; a master pseudo-satellite is determined, timestamps and ephemeris data are broadcasted to slave pseudo-satellites through Beidou short messages, and the slave pseudo-satellites are combined with bidirectional ranging data to correct a local clock to realize high-precision synchronization; receiving Beidou and pseudo-satellite signals by a user terminal, screening effective observation values through a shielding judgment mechanism, substituting the effective observation values into a non-difference observation equation in combination with pseudo-satellite reference difference data, and resolving a fusion result through an elastic coupling mode; and finally, multi-path interference is identified by using pseudo-satellite double antennas, and historical data is called to construct an error model to correct a fusion result. The space-ground integrated positioning of Beidou and pseudo satellites in an urban canyon scene is realized, the centimeter-level positioning precision is stably output, and the high-precision positioning requirements of urban traffic, surveying and mapping and the like are met.

The invention relates to a Beidou pseudolite signal simulation generation method, which comprises the following steps of: setting a pseudolite private frequency band so as to avoid same-frequency interference with a real Beidou satellite signal; high-precision clock synchronization is carried out to ensure that the pseudolite and the Beidou atomic clock are highly synchronized; and the transmitting power is dynamically adjusted to adjust the transmitting power in real time, the near-far effect is inhibited, and the signal coverage range is optimized. Through collaborative optimization of frequency spectrum planning, clock synchronization and power regulation, the positioning availability is improved and the elevation precision is optimized in a complex environment, and a complete enhanced positioning solution is provided for a Beidou system in scenes such as automatic driving, tunnel navigation, mountains and canyons.

The application relates to a space-ground integrated Beidou high-precision positioning method applied to an urban canyon, and belongs to the technical field of navigation and positioning. The method comprises the following steps: deploying a pseudolite base station, calibrating the base station coordinates through carrier phase difference, and monitoring the number of visible Beidou satellites; determining a master pseudolite, broadcasting timestamp and ephemeris data to a slave pseudolite through a Beidou short message, and combining two-way ranging data to correct a local clock to realize high-precision synchronization; then a user terminal receives Beidou and pseudolite signals, screens effective observation values through a shielding discrimination mechanism, combines pseudolite reference differential data into a non-difference observation equation, and solves a fusion result through a loose-tight coupling mode; finally, the pseudolite double-antenna is used to identify multipath interference, historical data is called to construct an error model, and the fusion result is corrected. The space-ground integrated fusion positioning of Beidou and pseudolites in the urban canyon scene is realized, stable centimeter-level positioning precision is output, and the high-precision positioning demand of urban traffic and surveying and mapping is met.

The invention belongs to the technical field of pseudo satellite positioning, discloses an indoor pseudo satellite signal carrier-to-noise ratio positioning method based on a commercial smart phone, and solves the core problem through innovative design. The invention provides a positioning technology based on Bayesian reasoning alternating optimization dynamic estimation. According to an attenuation relationship between a carrier-to-noise ratio observation value and a distance base station, maximum posteriori estimation (MAP) is calculated through Bayesian reasoning, and an alternating estimation strategy is adopted to iteratively optimize an attenuation coefficient and a position until the attenuation coefficient and the position converge, so that the change of the attenuation coefficient is effectively dealt with, and the performance difference between smart phone devices is relieved; compared with a traditional weighted centroid method, the average positioning precision is improved by 30%. The technology provided by the invention is not only suitable for smart phones with different performances, but also can be used. The technology provides a universal solution for high-reliability positioning of the smart phone under the same-frequency interference condition.

This invention proposes a pseudo-satellite base station layout optimization method suitable for urban lifeline monitoring, belonging to the field of deformation monitoring. The method determines the urban lifeline areas to be monitored based on existing city maps and analysis of relevant GNSS signal strength and positioning accuracy. It also analyzes system measurement errors in positioning scenarios to determine the constraints on base station layout, using GDOP (Geostationary Descent Point)... w Evaluation metrics were established, and a mathematical model of the base station geometric layout was built in the positioning area. The Monte Carlo algorithm was used to solve the mathematical optimization model with Cramérault lower bound (CRLB) constraints, thus initially determining the current optimal layout of base stations in the positioning area. These models were then used as superior individuals in a population, and an improved genetic algorithm was used to obtain the optimal base station layout. This invention makes the deployment of pseudo-satellite base stations in urban environments more flexible and accurate, improving base station signal coverage and quality, system positioning accuracy, and enhancing the efficiency of urban lifeline monitoring.

The invention discloses an indoor high-precision positioning method realized by backstepping after indoor Bluetooth beacon coarse positioning, which comprises the following steps: acquiring navigation auxiliary data sent by a Bluetooth beacon system, and calculating by using signal intensity data of a broadcast message received from the Bluetooth beacon system to obtain a summary coarse positioning position of a terminal; after the terminal and the Bluetooth beacon system finish time synchronization, calculating a terminal receiver clock error based on the navigation auxiliary data, and reversely calculating a virtual pseudo-range from the terminal to a satellite based on the navigation auxiliary data, the summary coarse positioning position and the terminal receiver clock error; and the terminal receives the position system information block from the network side, analyzes the position system information block to obtain RTK differential data, performs differential positioning calculation by using the virtual pseudo-range, the RTK differential data and the summary coarse positioning position, and outputs indoor positioning coordinates. According to the invention, the Bluetooth facility is used for relaying satellite data and constructing a virtual observation value, and low-cost extension of an outdoor RTK high-precision positioning algorithm to an indoor scene is realized on the premise that pseudo-satellite hardware is not needed.

A High Altitude Pseudo Satellite (HAPS) aircraft is disclosed for maintaining the span-wise shape of the wing and maintaining total bending and torsion loads. The aircraft including at least one aeroelastic span loaded fixed wing having an aspect ratio greater than 15 and wing loading less than 6 kg / m2, the wing having a plurality of spoilers distributed across the span of the wing and each spoiler being chordwise located adjacent the center of pressure of the wing. The HAPS aircraft further includes a control system for controlling the spoilers, and sensors which determine the amount of lift at points or regions along the wing span, the pitch and roll at points or regions along the wing span, the bending and torsional strain at points or regions along the wing span, or the absolute speed and roll and pitch angle of the wing.

The invention belongs to the technical field of tunnel positioning, and discloses a tunnel high-precision positioning system based on fusion of leaky coaxial cables and pseudo satellites, and the system comprises a conduction unit which generates BDS / GPS dual-system navigation signals; the main control clock unit is configured with a dual-mode clock taming module and generates a local carrier signal homologous with a main clock; the leaky coaxial cable is made of a radiation type low-smoke halogen-free flame-retardant polyolefin sheath material; the indoor and outdoor integrated positioning terminal realizes indoor and outdoor positioning by combining the signal transmission characteristics of the leaky coaxial cable; and the comprehensive management platform supports real-time trajectory tracking, electronic fence alarm and multi-dimensional data analysis, and provides real-time monitoring and safety management. According to the tunnel high-precision positioning system based on fusion of the leaky coaxial cables and the pseudo satellites, random errors caused by asymmetric paths in traditional Ethernet synchronization are overcome through the deterministic time delay characteristic of a physical transmission medium, and therefore the synchronization precision superior to that of a traditional industrial Ethernet is achieved.

This invention provides a method, system, and device for deformation monitoring at indoor monitoring points, applied in the field of communication technology. The method includes: receiving a monitoring station and a reference station respectively analyzing and processing preset BeiDou signals emitted by each pseudosatellite to obtain and transmit first target analytical parameters and second target analytical parameters; determining a double-difference observation equation based on the target analytical parameters among multiple pseudosatellites, the approximate coordinates of the monitoring station, and the calibration coordinates of the reference station; fixing the double-difference integer ambiguity of the double-difference observation equation for each epoch to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch; solving the double-difference observation equation based on the target double-difference ambiguity to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period; and determining the displacement of the target monitoring point based on the target monitoring coordinates. This invention achieves millimeter-level precision deformation monitoring of monitoring points in indoor or shaded environments.

The present disclosure discloses a vehicle-mounted satellite, inertial navigation, and pseudolite fusion positioning system and method, comprising: a pseudolite navigation positioning system for obtaining pseudolite data of a vehicle; a satellite navigation positioning system for obtaining GNSS satellite data of the vehicle; an inertial sensor for obtaining inertial navigation data of the vehicle; a fusion positioning module for positioning the scene where the vehicle is located according to the GNSS satellite data of the vehicle; when the vehicle is in an open scene, obtaining the positioning information of the vehicle through the GNSS satellite data and the inertial navigation data of the vehicle; when the vehicle is in a completely shielded area, obtaining the positioning information of the vehicle through the pseudolite data and the inertial navigation data of the vehicle; when the vehicle is in a semi-shielded area, obtaining the positioning information of the vehicle through the GNSS satellite data, the pseudolite data, and the inertial navigation data of the vehicle. Continuous and accurate positioning of the vehicle is realized.

The application discloses a pseudolite navigation message management method, system, device and storage medium. The method comprises the following steps: obtaining a navigation message request of a pseudolite positioning system based on a preset communication protocol; generating a first navigation message according to a navigation message type in the navigation message request; and sending the first navigation message to a running control system in the pseudolite positioning system based on the preset communication protocol, so that the running control system sends the first navigation message to a terminal for positioning. In this way, the required navigation message is flexibly configured for the terminal of the pseudolite positioning system according to the navigation message type requested by the pseudolite positioning system. Meanwhile, the first navigation message is sent to the running control system in the pseudolite positioning system based on the preset communication protocol, and the terminal obtains the first navigation message from the running control system, that is, the terminal obtains the first navigation message through a network transmission mode. This mode shortens the time for the terminal to capture the first navigation message, and thus accelerates the initial positioning of the terminal.

A method for avionic positioning includes computing a position estimate of the aircraft based at least in part on data corresponding to a signal from each of a plurality of global navigation satellites and data corresponding to a signal from each of at least one pseudolite. A clock of a computing device for computing the position estimate is synchronized to time of the global navigation satellites, and the clock has a timing error less than one microsecond per twenty-four hours.

The invention relates to an indoor pseudo satellite positioning method based on carrier phase multipath error modeling. The method comprises the following steps: acquiring pseudo satellite observation data; a carrier phase observation value is calculated, systematic errors are eliminated, integer ambiguity is fixed, and carrier phase multipath errors are deduced; mapping the actual space layout of the pseudo-satellite into a two-dimensional grid structure, extracting a carrier phase residual error and a carrier-to-noise ratio, and constructing a dual-channel input tensor; constructing and training a spatial topology convolutional neural network model, and generating carrier phase multipath error prediction by taking a dual-channel input tensor as an input feature; a double-thread unscented Kalman filtering positioning framework is designed, correction of a carrier phase observation value and real-time calculation of a two-dimensional position of a user are carried out in sequence through two threads, accurate positioning in an indoor scene is achieved, the multipath effect of an indoor pseudo satellite system is relieved, and indoor positioning accuracy is improved.

The invention relates to a high-precision clock control method for a pseudo-satellite emission source. The high-precision clock control method for the pseudo-satellite emission source comprises the following steps: acquiring a high-precision clock source; time taming; and executing a time synchronization compensation algorithm. According to the pseudo satellite emission source high-precision clock control method, a high-precision GNSS clock source is combined with a taming constant-temperature crystal oscillator, and a time synchronization compensation algorithm is introduced for combined control, so that a pseudo satellite emission source high-precision clock is provided. After the clock control method is adopted, the clock precision of the pseudo satellite emission source reaches the nanosecond level, the positioning error is reduced to the decimeter level from the original several meters, and the requirement for high-precision positioning is met. Meanwhile, the system can still keep stable clock output under the condition that certain interference exists in GNSS signals, and continuity and reliability of positioning are guaranteed.

The application relates to a pseudo-satellite ephemeris parameter design method based on Kalman filtering. The method comprises the following steps: a pseudo-satellite transmitter acquires a real-time position of the pseudo-satellite, a pre-set cruise standard route, and a standard cruise speed and a standard position of the pseudo-satellite on the cruise standard route, calculates a difference value between the real-time position at a signal transmission moment and the standard position, obtains a first difference value, performs Kalman filtering on the first difference value, fits to obtain ephemeris parameters, and broadcasts the ephemeris parameters to a user receiver through a pseudo-satellite signal; the user receiver receives the pseudo-satellite signal, obtains Kalman gain according to a maneuvering frequency of a pseudo-satellite motion model, obtains a second difference value according to the Kalman gain and the first difference value, and obtains a predicted position of the pseudo-satellite at a signal receiving moment according to the second difference value, the standard position and the standard cruise speed. The method can accurately represent the real-time position of the pseudo-satellite in the case that there is a difference between the real-time position of the pseudo-satellite and the standard cruise route.

The application provides a pseudolite anti-multipath method based on data preprocessing and result evaluation, and comprises the following steps: S1, performing signal evaluation preprocessing on the received intermediate frequency signal to obtain an intermediate frequency signal evaluation index; S2, performing quality evaluation on a tracking result to obtain a tracking quality evaluation index; and S3, modifying the acquisition tracking algorithm parameters through a comprehensive evaluation function according to the intermediate frequency signal evaluation index obtained in step S1 and the tracking quality evaluation index obtained in step S2; the application can intelligently adjust the algorithm parameters according to the positioning environment and the positioning effect, so that the positioning precision in the indoor complex multipath environment is improved.

This invention discloses a multi-level reliability evaluation method for BeiDou pseudosatellite indoor positioning systems, belonging to the field of pseudosatellite indoor positioning technology. This method can evaluate the reliability of indoor positioning systems in real time, solving the problem of unreliable positioning results caused by poor pseudosatellite data quality and external environmental interference, thus ensuring the reliability requirements of high-end applications based on indoor location services. The system includes a reliability evaluation model and a geographic prior information evaluation strategy, evaluating from both the data layer and the result layer, providing a relatively comprehensive reliability evaluation mechanism. Furthermore, the proposed method can dynamically evaluate the reliability of the location in real time, demonstrating considerable technical difficulty and innovation from both theoretical research and engineering application perspectives. Experimental results show that adding the reliability evaluation analysis method improves the average positioning accuracy by 74.6% and the reliability by 88.2%, verifying the effectiveness of the method described in this patent.

Here discloses an apparatus for evaluating the ground terminal antenna and simulating satellite orbital trajectory using at least one unmanned aerial vehicle configured to emulate satellite movement based on a pseudo satellite trajectory. Apparatus encompasses a base station for establishing telemetry with a ground terminal antenna and said at least one unmanned aerial vehicle on a flight path designed for a planned scenario of a satellite. The base station is configured to process the telemetry data and perform one or more measurements based on a set of operational angles and target direction of said at least one unmanned aerial vehicle on the flight in relation to providing the orbital trajectory simulation of the satellite with respect to the planned scenario. One or more measurements comprise an offset measurement based on the set of operational angles of the ground terminal antenna in relation to the target direction of said at least one unmanned aerial vehicle; and a tracking accuracy measurement based on the set of operational angles of the ground terminal antenna and target direction of said at least one unmanned aerial vehicle following the flight path for a time period.

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.

The embodiment of the invention discloses a satellite navigation simulation device and method, an electronic device, a medium and a program product, and relates to the technical field of satellite navigation, the satellite navigation simulation device comprises a Beidou receiver, a signal receiving unit, a signal processing unit and a signal transmitting unit; the Beidou receiver is used for generating a time synchronization signal based on the Beidou signal; the signal receiving unit is used for receiving the mixed satellite signal; the signal processing unit comprises a pseudo satellite constellation simulation module, a self-adaptive filtering module and a satellite navigation signal generation module; the adaptive filtering module is used for filtering the mixed satellite signal by taking the simulated satellite signal as a reference to obtain a real satellite signal; the pseudo satellite constellation simulation module is used for generating a simulation satellite signal based on the real satellite signal and the time synchronization signal; the satellite navigation signal generation module is used for generating a satellite navigation signal based on the simulated satellite signal; and the signal transmitting unit is used for transmitting satellite navigation signals.

The application relates to a Beidou indoor positioning system based on pseudo-satellite positioning information fusion correction, which comprises a positioning pseudo-satellite and an auxiliary positioning module arranged in an indoor environment, the positioning pseudo-satellite is used for receiving a Beidou satellite positioning signal to obtain first positioning coordinates; the auxiliary positioning module receives the Beidou satellite positioning signal to obtain its own coordinates, obtains the geometric spatial position coordinates of a positioning target through visual positioning, takes the own coordinates of the auxiliary positioning module as a reference, combines the geometric spatial position coordinates of the positioning target to obtain second positioning coordinates, and corrects the first positioning coordinates based on the second positioning coordinates to obtain target positioning coordinates. The application combines the positioning pseudo-satellite and the auxiliary positioning module to realize indoor target high-precision rapid positioning through video auxiliary positioning, solves the problem of indoor high-precision positioning of a power station house, carries out space-time fusion correction with outdoor Beidou positioning, obtains high-precision position parameters, and realizes the continuity of indoor and outdoor positioning results.

The embodiment of the application discloses an indoor positioning method, device, mobile terminal and storage medium, the method comprises: predicting the state of the mobile terminal at the target time based on acceleration and angular velocity, obtaining first state information; height estimation is carried out based on acceleration and first height, and second height is obtained; the first state information is corrected based on the first height, the second height and the pseudo-range observation value, and the second state information is obtained; indoor positioning is carried out based on the second state information and indoor map information. In this way, the accuracy and reliability of indoor positioning by the pseudolite are improved by fusing the multi-source data collected by the sensor system. Especially, the second height (fusion of the acceleration measured by the accelerometer and the first height measured by the barometer) can compensate for the adverse effects of the large vertical geometric dilution of precision of the pseudolite layout on height positioning, improve the accuracy of height estimation, and thus improve the accuracy of floor positioning.

This invention discloses a high-security ranging code design method based on a pseudosatellite system. It utilizes a Legendre polynomial sequence based on quadratic residue theory, incorporating truncation point parameters and phase difference parameters. A Weil code is generated through a shift-and-XOR operation. The generated Weil code sequence is then used to generate the primary ranging code sequence through cyclic truncation and splitting operations. A periodic code-changing scheme is introduced to further enhance the security of this code sequence. This invention improves the security performance of the ranging code without significantly affecting its correlation, making it more suitable for scenarios with high confidentiality and correlation requirements.

The application relates to a pseudo-satellite ephemeris parameter design method based on a motion model. The method comprises the following steps: a pseudo-satellite transmitter acquires real-time position, real-time cruise speed, real-time cruise acceleration, a cruise standard route, a standard cruise speed and a standard position of the pseudo-satellite on the cruise standard route, calculates a difference value between the real-time position at a signal transmission moment and the standard position, obtains a first difference value, fits ephemeris parameters according to a history speed and acceleration of the pseudo-satellite in real-time cruise before the signal transmission moment, and broadcasts the ephemeris parameters to a user receiver through a pseudo-satellite signal; the user receiver receives the pseudo-satellite signal, obtains a second difference value according to the first difference value, a difference speed and a difference acceleration; and a predicted position of the pseudo-satellite at a signal receiving moment is obtained according to the second difference value, the standard position and the standard cruise speed. The method can calculate the position of the pseudo-satellite while fully considering the motion of the pseudo-satellite.

The invention relates to a Beidou pseudo satellite signal simulation generation method and system and a storage medium. Comprising the following steps: generating a baseband signal; generating a spreading code; performing digital orthogonal up-conversion; performing radio frequency processing; and transmitting the planar array antenna. By introducing the Beidou pseudo satellite technology, the geometric configuration of satellite distribution is optimized, and the positioning precision is improved. After the Beidou pseudolite is introduced, in order to facilitate joint calculation with a real satellite signal, a high-precision taming crystal oscillator is selected to be combined with a time synchronization correction algorithm, nanosecond-level synchronization of pseudolite and BDS time is guaranteed, and the time synchronization problem is solved. And finally, in order to enable the receiver to normally and stably receive the Beidou pseudo-satellite signal and the navigation satellite signal which are produced in a simulation manner and suppress the near-far effect, the signal is fed back through the receiver, and the power parameter of the Beidou pseudo-satellite transmitting signal is dynamically adjusted. Through collaborative optimization of self-defined frequency bands, clock synchronization and power regulation, the positioning availability is improved to 95% from 68% in a complex environment, and the elevation precision is optimized by 65%.

The invention provides a pseudo-satellite base station time synchronization method based on pseudo-range carrier observation data, and the method comprises the steps: collecting the observation data through a conventional GNSS receiver in a real navigation satellite signal environment outside a tunnel and an environment in which each pseudo base station broadcasts a pseudo-satellite signal in the tunnel; then, receiver clock differences of different navigation signal sources corresponding to all observation time periods are obtained based on a receiver clock difference calculation method of a standard single-point positioning time service algorithm; calculating a step time difference value of a linear fitting value and an extrapolation value of the receiver clock error of each adjacent observation time period at the same moment based on an adjacent navigation signal source time difference determination method of a piecewise linear fitting and extrapolation method; the time difference values of the adjacent pseudo base stations in the tunnel are reduced to the time difference value relative to the real navigation satellite signal system time outside the tunnel in sequence, and the time difference value is used as the comprehensive time delay value of the corresponding pseudo base station to carry out time delay compensation correction in the pseudo satellite system; and completing time synchronization of pseudo satellite signals of each pseudo base station in the tunnel and real navigation satellite signals outside the tunnel.

The application discloses a tunnel cooperative fire extinguishing system and method based on degradation perception and cascade relay, and belongs to the field of unmanned aerial vehicle emergency rescue and multi-sensor fusion navigation. The tunnel cooperative fire extinguishing system comprises a portable ad hoc network pseudolite base station network, a cascade relay module, a cooperative fire extinguishing flight platform, a multi-modal perception module and an airborne degradation perception and cooperative computing platform. The tunnel cooperative fire extinguishing method comprises the following steps: base station deployment and coordinate system initialization; multi-modal data acquisition and degradation detection; cascade relay air drop based on signal gradient and degradation state; adaptive weight navigation based on degradation perception; end cooperative fire extinguishing; and end cooperative fire extinguishing. The application realizes reliable extension of navigation and communication and cooperative fire extinguishing of aircraft and missiles in a tunnel smoke and satellite signal-free environment, and has the characteristics of strong anti-degradation capability, unlimited link extension, low cost and high fire extinguishing efficiency.

The invention discloses an anti-mutual-interference positioning device in a tunnel, which relates to the technical field of satellite navigation and comprises a master control and signal generation unit, a digital-to-analog conversion and radio frequency front-end unit and a clock unit. The method comprises the following steps: receiving externally input time reference information through a main control and signal generation unit to generate a navigation message, and replacing dynamic information in the navigation message with a fixed geographic coordinate which is burnt or configured in advance and is related to a physical installation position of transmitting equipment to obtain a baseband message; a data stream corresponding to the baseband message and a specified PEN code are subjected to spread spectrum modulation operation, and a digital intermediate frequency signal is output; after digital-to-analog conversion and radio frequency link processing are carried out on the digital intermediate frequency signal through the digital-to-analog conversion and radio frequency front end unit, the digital intermediate frequency signal is transmitted; a time synchronization signal and a reference frequency are provided for the whole device through the clock unit, and the time sequence precision of a transmitted signal is ensured. The problem that positioning is difficult due to mutual interference between traditional pseudo satellites is solved.

The invention relates to an underground space pseudo-satellite double-frequency positioning system, and belongs to the technical field of pseudo-satellite positioning. The system comprises a double-frequency signal unit, a double-point cooperation unit, a clock calibration unit and a positioning calculation unit. The double-frequency signal unit generates and processes a double-frequency signal based on a satellite navigation system signal format, and generates a homologous double-frequency coded signal; the double-point cooperation unit carries out noise reduction anti-multipath processing, power adaptation and emission on the signal to generate a double-frequency radiation-dividing navigation signal; the clock calibration unit is combined with an external time reference to complete clock synchronization calibration and generate a clock synchronization navigation signal; and the positioning calculation unit performs pseudo-range extraction and calculation to generate an underground space positioning calculation signal. The system adapts to an underground space complex environment, and underground space positioning is achieved through cooperative work of all the units.

This application provides a pseudo-satellite positioning method, apparatus, device, and storage medium; wherein the method includes: determining constraint parameters of the positioning object based on the activity area of ​​the positioning object; wherein the constraint parameters include constraint parameters of position coordinates in at least one dimension; performing state estimation on the positioning object based at least on pseudo-satellite measurement values ​​observed at the current time and target positioning results at the previous time to obtain a first state estimation result; and correcting the first state estimation result according to the constraint parameters to obtain the target positioning result at the current time.