CN105425259A - Indoor positioning method based on inverse GNSS node - Google Patents
Indoor positioning method based on inverse GNSS node Download PDFInfo
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- CN105425259A CN105425259A CN201510777157.XA CN201510777157A CN105425259A CN 105425259 A CN105425259 A CN 105425259A CN 201510777157 A CN201510777157 A CN 201510777157A CN 105425259 A CN105425259 A CN 105425259A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
An indoor positioning method based on an inverse GNSS node relates to a seamless positioning technology. Indoor nodes are used to emit a reversely-deduced GNSS signal to defraud a GNSS receiver so as to enable the GNSS receiver to get a preset positioning result. The method comprises the following steps: indoor nodes are arranged on the ceiling or floor inside a building, and a signal is radiated upward or downward to make the coverage area an area of which the radius is r; the location information L of a person when the person passes by the coverage area is obtained by means of surveying and mapping; a GNSS signal which should be received by a receiver at the location L is deduced reversely according to the location information L and the current location of a satellite in the sky; the reversely-deduced GNSS signal is emitted and updated in real time; the receiver can keep the positioning service through three-ball intersection solving; and when a user passes above or under a node and the node signal is consistent with a real GNSS signal, a monitoring receiver held by the user can be positioned at the location. The method of the invention is used for indoor positioning.
Description
Technical field
The present invention relates to a kind of indoor orientation method based on inverse GNSS node, relate to seamless location technology.
Background technology
It is different indoor and outdoor location technologies joined together by handoff algorithms that current seamless location mainly contains two kinds of means one; Two be realize a kind of can the new definition system of Bao Da city internal and external environment.The latter is limited to the difference of indoor and outdoor channel conditions and precision is not high, and the former needs user to possess the receiver of multiple system, and is difficult to realize real seamless connection.As the combination of the two, occur that IMES system is the various positioning means using GNSS signal in indoor environment of representative in recent years.But their each tool shortcoming.IMES system needs to change gps navigation message, in fact can not apply when users' equipment does not change; The system of locating at indoor employing TOA is limited to indoor shielding environment, and positioning precision is limited; LOCATA system, in order to avoid producing interference to outdoor GNSS system signal, is had to move 2.4GHz open frequency range, thus is lost the advantage of unified signal standard, deviated from its original intention.
Summary of the invention
The object of this invention is to provide a kind of indoor orientation method based on inverse GNSS node, utilizing indoor node to cheat GNSS receiver by launching the anti-GNSS signal got that pushes away, making it obtain the positioning result preset.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
Based on an indoor orientation method for inverse GNSS node, the implementation procedure of described method is as follows:
Step one: indoor node is arranged on ceiling in buildings or floor, radiation signal downward or upward, make overlay area be radius to be the region of r, the positioning precision that the determination of r is expected by positioning system is determined, and its numerical value is tolerable positioning error under applied environment;
Step 2: draw the positional information L that personnel are residing through this overlay area by mapping means;
Step 3: release according to the position of positional information L and current sky overhead satellites is counter: if do not have buildings to block, the receiver being now positioned at L position receives GNSS signal;
Step 4: the anti-GNSS signal released is launched, and refreshes in real time;
Step 5: be distributed in buildings multiple indoor nodes everywhere, at any time under this point or on monitoring receiver pseudo-GNSS signal is provided, because this signal and true GNSS signal are as good as, so receiver can keep positioning service by the three balls mode of resolving that crosses; When user passes through below certain node or top, node signal is consistent with true GNSS signal, and the monitoring receiver that user holds can complete location herein;
When receiver leave below node or top time, can be user-provided location service by inertial navigation reckoning mode.
Under described monitoring receiver is laid in the open environments such as buildings top, the aerial GNSS signal in real-time reception sky, and the satellite position calculated, Atmospheric corrections information are passed to server, push away for the counter of signal;
The real-time GNSS constellation information that described server provides according to monitoring receiver, and the positional information calculation corresponding to each node goes out to meet the pseudorange of the aerial GNSS situation in sky, and corresponding for generation inverse GNSS signal is passed to each node.
Each indoor node is independently signal source or produce the antenna launched along separate routes after signal for main control server, and the signal intensity of each indoor node is identical with GNSS signal, is 127dBm; The virtual signal of the aerial visible satellite in all current skies is comprised in the information that each node is broadcast.
The invention has the beneficial effects as follows: because every correction index can accurate Calculation in nodal information, the indexs such as atmospheric parameter accurately instead can push away and eliminate, and orbit perturbation does not exist, so user through node, positioning precision should be suitable with DGNSS, reaches meter level.The cumulative errors that internodal reckoning process is brought is determined by corresponding dead reckoning system, and take on and again pass through certain node, cumulative errors is cleared.
Because indoor node institute photos and sending messages is that the navigation message information such as the ephemeris received according to monitoring receiver generate, therefore the navigation message information such as the ephemeris of indoor and outdoor signal are completely the same, therefore do not need the reception re-starting navigation information during the change of monitoring receiver occurrence scene, changed by pseudorange and just can complete location, the fast seamless connection of speed.Common commercial GNSS receiver can be made just to obtain indoor positioning ability without transformation.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the physical unit realizing the inventive method.
Embodiment
Embodiment one: as shown in Figure 1, the implementation procedure of the indoor orientation method based on inverse GNSS node described in present embodiment is as follows:
Step one: indoor node is arranged on ceiling in buildings or floor, radiation signal downward or upward, make overlay area be radius to be the region of r, the positioning precision that the determination of r is expected by positioning system is determined, and its numerical value is tolerable positioning error under applied environment;
For guarantee personnel through time position fix, node can be arranged in the positions such as doorframe, crouching position or seat;
Step 2: draw the positional information L that personnel are residing through this overlay area by mapping means;
Step 3: according to positional information L, and the position of current sky overhead satellites is counter releases: if do not have buildings to block, now, the receiver being positioned at L position receives GNSS signal;
Counter to push away required specific algorithm identical with the algorithm used during traditional manufacture GNSS simulator, do not do superfluous stating.
Step 4: the anti-GNSS signal released is launched, and refreshes in real time;
Step 5: be distributed in buildings multiple indoor nodes everywhere, at any time under this point or on monitoring receiver pseudo-GNSS signal is provided, because this signal and true GNSS signal are as good as, so receiver can keep positioning service by the three balls mode of resolving that crosses; When user passes through below certain node or top, node signal is consistent with true GNSS signal, and the monitoring receiver that user holds can complete location herein, keeps positioning service; The three balls mode of resolving that crosses is traditional resolve mode based on three ball crossing location principles, is present technology category.
When receiver leave below node or top time, can be user-provided location service by inertial navigation reckoning mode.
Described indoor node: be a low cost GNSS signal source, is distributed on ceiling in buildings or floor, radiation signal downward or upward.Each node can be independently signal source, also can be the antenna launched along separate routes after main control server produces signal.Use the good oriented antenna of directive property, low emissive power, to guarantee to only have very little areas accept to respective nodes signal, and on the height that people is hand-held, signal intensity is identical with normal GNSS signal, is 127dBm.
Described receiver: receiver does not need to do any change, what also volume production GNSS receiver that is commercial and equipment can be seamless at present is applied in this system.
Described monitoring receiver: be a common GNSS receiver, under being laid in the open environments such as buildings top, its zone of action very can be large.The aerial GNSS signal in real-time reception sky, and the satellite position that will calculate, the information such as Atmospheric corrections pass to server, push away for the counter of signal.
Server: the real-time GNSS constellation information provided according to monitoring receiver, and the positional information that each node provides.Calculate the pseudorange meeting the aerial GNSS situation in sky completely.Produce corresponding inverse GNSS signal to each node.
Receipts machine can complete location herein; When receiver leaves (or top) below node, can be user-provided location service by reckoning modes such as inertial navigations; Because indoor node institute photos and sending messages is that the navigation message information such as the ephemeris received according to monitoring receiver generate, therefore the navigation message information such as the ephemeris of indoor and outdoor signal are completely the same, therefore do not need the reception re-starting navigation information during the change of receiver occurrence scene, just location can be completed, the fast seamless connection of speed by means of only pseudorange change.
Embodiment two: as shown in Figure 1, under monitoring receiver described in present embodiment is laid in the open environments such as buildings top, the aerial GNSS signal in real-time reception sky, and the satellite position calculated, Atmospheric corrections information are passed to server, push away for the counter of signal.
The real-time GNSS constellation information that described server provides according to monitoring receiver, and the positional information calculation corresponding to each node goes out to meet the pseudorange of the aerial GNSS situation in sky, and corresponding for generation inverse GNSS signal is passed to each node.Other composition and annexation identical with embodiment one.
Embodiment three: as shown in Figure 1, present embodiment, each indoor node is independently signal source or produce the antenna launched along separate routes after signal for main control server.The signal intensity of each indoor node is identical with GNSS signal, is 127dBm; The virtual signal of the aerial visible satellite in all current skies is comprised in the information that each node is broadcast.Other composition and annexation identical with embodiment one or two.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (3)
1., based on an indoor orientation method for inverse GNSS node, it is characterized in that: the implementation procedure of described method is as follows:
Step one: indoor node is arranged on ceiling in buildings or floor, radiation signal downward or upward, make overlay area be radius to be the region of r, the positioning precision that the determination of r is expected by positioning system is determined, and its numerical value is tolerable positioning error under applied environment;
Step 2: draw the positional information L that personnel are residing through this overlay area by mapping means;
Step 3: release according to the position of positional information L and current sky overhead satellites is counter: if do not have buildings to block, the receiver being now positioned at L position receives GNSS signal;
Step 4: the anti-GNSS signal released is launched, and refreshes in real time;
Step 5: be distributed in buildings multiple indoor nodes everywhere, at any time under this point or on monitoring receiver pseudo-GNSS signal is provided, because this signal and true GNSS signal are as good as, so receiver can keep positioning service by the three balls mode of resolving that crosses; When user passes through below certain node or top, node signal is consistent with true GNSS signal, and the monitoring receiver that user holds can complete location herein;
When receiver leave below node or top time, can be user-provided location service by inertial navigation reckoning mode.
2. a kind of indoor orientation method based on inverse GNSS node according to claim 1, it is characterized in that: under described monitoring receiver is laid in the open environments such as buildings top, the aerial GNSS signal in real-time reception sky, and the satellite position calculated, Atmospheric corrections information are passed to server, push away for the counter of signal;
The real-time GNSS constellation information that described server provides according to monitoring receiver, and the positional information calculation corresponding to each node goes out to meet the pseudorange of the aerial GNSS situation in sky, and corresponding for generation inverse GNSS signal is passed to each node.
3. a kind of indoor orientation method based on inverse GNSS node according to claim 2, is characterized in that:
Each indoor node is independently signal source or produce the antenna launched along separate routes after signal for main control server, and the signal intensity of each indoor node is identical with GNSS signal, is 127dBm; The virtual signal of the aerial visible satellite in all current skies is comprised in the information that each node is broadcast.
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| JP2006177783A (en) * | 2004-12-22 | 2006-07-06 | Seiko Epson Corp | Positioning device, control method of positioning device, control program of positioning device, and recording medium readable by computer for recording control program of positioning device |
| CN101963668A (en) * | 2010-08-19 | 2011-02-02 | 北京华力创通科技股份有限公司 | Method for realizing real-time closed-loop synchronization control by simulating satellite navigation signal |
| CN102883393A (en) * | 2012-10-12 | 2013-01-16 | 哈尔滨工业大学 | Positioning method for indoor and outdoor environment seamless switching realized by global navigation satellite system (GNSS)-based fingerprint positioning technique |
| CN103675872A (en) * | 2013-12-13 | 2014-03-26 | 清华大学 | Locating system based on GNSS signal sources and locating method of locating system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006177783A (en) * | 2004-12-22 | 2006-07-06 | Seiko Epson Corp | Positioning device, control method of positioning device, control program of positioning device, and recording medium readable by computer for recording control program of positioning device |
| CN101963668A (en) * | 2010-08-19 | 2011-02-02 | 北京华力创通科技股份有限公司 | Method for realizing real-time closed-loop synchronization control by simulating satellite navigation signal |
| CN102883393A (en) * | 2012-10-12 | 2013-01-16 | 哈尔滨工业大学 | Positioning method for indoor and outdoor environment seamless switching realized by global navigation satellite system (GNSS)-based fingerprint positioning technique |
| CN103675872A (en) * | 2013-12-13 | 2014-03-26 | 清华大学 | Locating system based on GNSS signal sources and locating method of locating system |
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