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Pseudo-satellite indoor positioning method based on fusion of pseudorange observation value and carrier-to-noise ratio

A pseudo-range observation and indoor positioning technology, applied in the field of precise positioning of pseudolite systems, to achieve the effect of weakening linearization error, improving accuracy and reliability, and improving positioning accuracy

Active Publication Date: 2019-06-28
SOUTHEAST UNIV
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a pseudolite indoor positioning method based on the fusion of pseudorange observations and carrier-to-noise ratio, which can have a better suppression effect on receiver sampling time asynchrony and multipath errors. It also has a good positioning effect in the case of poor geometric distribution, showing good anti-gross performance, suitable for deep indoor scenes

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  • Pseudo-satellite indoor positioning method based on fusion of pseudorange observation value and carrier-to-noise ratio
  • Pseudo-satellite indoor positioning method based on fusion of pseudorange observation value and carrier-to-noise ratio
  • Pseudo-satellite indoor positioning method based on fusion of pseudorange observation value and carrier-to-noise ratio

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Embodiment Construction

[0032] Such as figure 1 As shown, a pseudo-satellite indoor positioning method based on the fusion of pseudo-range observations and carrier-to-noise ratio, the specific steps are as follows:

[0033] Step (1), for the asynchronous pseudolite indoor positioning system, using the weighted centroid positioning algorithm, the position of the user receiver can be calculated by the following formula:

[0034]

[0035] In the formula, P pl,i is the coordinate vector of the i-th pseudolite; w i is the corresponding weight, which determines the positioning accuracy of the system.

[0036] In step (2), the weight value is obtained by calculating the pseudolite carrier-to-noise ratio value received by the receiver, and its expression is:

[0037]

[0038] In the formula, (C / N 0 ) i is the signal-to-noise ratio of the i-th pseudolite.

[0039] Step (3), fusing pseudorange and carrier-to-noise ratio observations, adding redundant observations, the asynchronous pseudolite indoor...

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Abstract

The invention discloses a pseudo-satellite indoor positioning method based on fusion of a pseudorange observation value and a carrier-to-noise ratio. The method comprises: step one, for an asynchronous pseudo-satellite indoor positioning system, giving a positioning equation based on a weighted centroid localization algorithm; step two, carrying out calculation by using a pseudo-satellite carrier-to-noise ratio value received by a receiver to obtain a weight value; step three, carrying out fusion of pseudorange and the carrier-to-noise ratio observation values, adding a redundant observation value, and carrying out observation value domain combination, thereby improving the accuracy and reliability of the positioning; and step four, carrying out positioning solution by using a unscented Kalman filter (UKF). According to the invention, phenomena of unsynchronization of sampling time of receivers and occurrence of multipath errors can be suppressed; a good positioning effect can be realized under the condition of poor pseudo-satellite geometric distribution; and the good anti-gross-error performance is realized. The pseudo-satellite indoor positioning method can be applied to the deep indoor scene.

Description

technical field [0001] The invention relates to the technical field of precise positioning of a pseudolite system, in particular to a pseudolite indoor positioning method in which pseudo-range observation values ​​and carrier-to-noise ratios are fused. Background technique [0002] As location-based services (Location Based Service, LBS) are more and more widely used in life and military affairs, people also put forward more requirements for the application scenarios of Global Navigation Satellite System (Global Navigation Satellite System, GNSS). GNSS can provide continuous and reliable high-precision position information in an open environment, but it cannot solve the "last mile" problem of navigation in an occluded environment. At present, indoor positioning technologies based on wireless signals mainly include Wi-Fi, Bluetooth and Ultra-Wide Bandwidth (UWB), etc., but WiFi and Bluetooth technologies usually can only achieve meter-level positioning accuracy, and the estab...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
Inventor 潘树国夏炎赵越王欣怡高旺
Owner SOUTHEAST UNIV
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