Positioning resolving method and system of pseudo satellite receiver and related components thereof
阅读说明：本技术 一种伪卫星接收机的定位解算方法、系统及其相关组件 (Positioning resolving method and system of pseudo satellite receiver and related components thereof ) 是由 阎镜予 于 2021-07-06 设计创作，主要内容包括：本发明公开了一种伪卫星接收机的定位解算方法、系统及其相关组件。方法包括：获取每个伪卫星的原始伪距观测量的绝对值；根据绝对值进行排序并依序计算伪卫星的伪距互差；若伪距互差均小于第一预设阈值,接收机为室内模式,若伪距互差均大于第二预设阈值,接收机为室外模式；若存在伪距互差小于第一预设阈值和大于第二预设阈值的情况,接收机为混合模式,利用对应方法进行接收机定位解算得到室内外定位解算结果并进行融合。本发明基于接收机的伪距互差获取接收机工作模式,选择相应解算方法,混合模式则同时利用室内和室外定位解算方法进行定位解算,并对室内和室外定位结果加权后进行融合,具有可靠性和实用性,实现了接收机的室内外平稳切换。(The invention discloses a positioning calculation method and system of a pseudolite receiver and related components thereof. The method comprises the following steps: obtaining an absolute value of an original pseudo-range observed quantity of each pseudo-satellite; sorting according to the absolute values and calculating pseudo-range mutual differences of the pseudolites in sequence; if the pseudo-range mutual differences are all smaller than a first preset threshold value, the receiver is in an indoor mode, and if the pseudo-range mutual differences are all larger than a second preset threshold value, the receiver is in an outdoor mode; and if the pseudorange mutual difference is smaller than a first preset threshold and larger than a second preset threshold, the receiver is in a mixed mode, and the receiver is positioned and solved by using a corresponding method to obtain indoor and outdoor positioning calculation results and fuse the indoor and outdoor positioning calculation results. The invention obtains the working mode of the receiver based on the pseudo-range mutual difference of the receiver, selects a corresponding resolving method, and carries out positioning resolving by simultaneously utilizing an indoor positioning resolving method and an outdoor positioning resolving method in a mixed mode, and fuses the indoor positioning result and the outdoor positioning result after weighting, thereby having reliability and practicability and realizing the stable indoor and outdoor switching of the receiver.)
1. A method for resolving a position fix of a pseudolite receiver, comprising:
acquiring an original pseudo-range observed quantity of each pseudo-satellite, and performing positive processing on the original pseudo-range observed quantity of each pseudo-satellite to obtain an absolute value corresponding to the original pseudo-range observed quantity of each pseudo-satellite;
sorting according to absolute values corresponding to original pseudo-range observed quantities of each pseudo-satellite to obtain a sorting table, sequentially calculating pseudo-range mutual differences between pseudo-satellites with adjacent serial numbers according to the sorting table, and judging the working mode of the receiver according to the relation between the pseudo-range mutual differences and a first preset threshold and a second preset threshold;
if all the pseudo-range mutual differences are smaller than the first preset threshold value, the receiver is judged to be in an indoor mode, and the pseudo-satellite position is obtained by utilizing an indoor positioning resolving method and the receiver positioning resolving is carried out;
if all the pseudo-range mutual differences are larger than the second preset threshold value, the receiver is judged to be in an outdoor mode, and positioning calculation of the receiver is carried out by using an outdoor positioning calculation method;
if the conditions that at least one pseudorange mutual difference is smaller than the first preset threshold and at least one pseudorange mutual difference is larger than the second preset threshold exist at the same time, the receiver is judged to be a mixed mode, receiver positioning calculation is carried out by respectively utilizing an indoor positioning calculation method and an outdoor positioning calculation method to obtain an indoor positioning calculation result and an outdoor positioning calculation result, and the indoor positioning calculation result and the outdoor positioning calculation result are fused.
2. The method of claim 1, wherein the sequentially calculating pseudorange disparities between adjacent sequence numbers of pseudolites according to the ordered list comprises:
calculating a difference value between an absolute value of an original pseudo-range observed quantity of a pseudo-satellite with a current serial number and an absolute value of an original pseudo-range observed quantity of a pseudo-satellite with a next serial number, and taking the difference value as a pseudo-range mutual difference between the pseudo-satellite with the current serial number and the pseudo-satellite with the next serial number;
and traversing all the pseudolites in the sorting table to obtain the pseudo-range mutual difference between all the adjacent pseudolites in the sorting table.
3. The pseudolite receiver positioning calculation method of claim 1, wherein the fusing the indoor positioning calculation and the outdoor positioning calculation comprises:
calculating the number of indoor pseudolites and the number of outdoor pseudolites;
respectively calculating the signal-to-noise ratio and the accuracy factor of the indoor pseudolite and the outdoor pseudolite, and calculating the positioning result weight of the indoor pseudolite and the positioning result weight of the outdoor pseudolite by combining the number of the indoor pseudolite and the number of the outdoor pseudolite;
and weighting the indoor positioning calculation result and the outdoor positioning calculation result by using the positioning result weight of the indoor pseudolite and the positioning result weight of the outdoor pseudolite to obtain a fusion positioning result.
4. The pseudolite receiver position solution method of claim 3, wherein the calculating the number of indoor pseudolites and the number of outdoor pseudolites comprises:
if the pseudo-range mutual difference is smaller than the first preset threshold value, judging that two pseudo-satellites corresponding to the pseudo-range mutual difference are indoor pseudo-satellites;
if the pseudo-range mutual difference is larger than the second preset threshold value, judging that two pseudolites corresponding to the pseudo-range mutual difference are outdoor pseudolites;
and respectively counting the number of indoor pseudolites and the number of outdoor pseudolites.
5. The positioning calculation method of the pseudolite receiver according to claim 3, wherein the weighting the indoor positioning calculation result and the outdoor positioning calculation result by using the positioning result weight of the indoor pseudolite and the positioning result weight of the outdoor satellite to obtain a fusion positioning result comprises:
the fusion localization result is calculated using the following formula:
wherein Pin is an indoor positioning calculation result, Pout is an outdoor positioning calculation result, Nin is the number of indoor pseudolites, Nout is the number of outdoor pseudolites, CN0in is an average carrier-to-noise ratio of the indoor pseudolites, CN0out is an average carrier-to-noise ratio of the outdoor pseudolites, DOPin is an indoor pseudolite accuracy factor, DOPout is an accuracy factor of the outdoor pseudolites, and α, β, and γ are weights of the number of the indoor and outdoor pseudolites, the carrier-to-noise ratio, and the accuracy factor in a fusion positioning result, respectively.
6. The pseudolite receiver position solution method of claim 5, wherein the number of indoor and outdoor pseudolites, the carrier-to-noise ratio, and the accuracy factor are weighted equally among the fused position results, wherein α -1/3, β -1/3, and γ -1/3.
7. A positioning solution system for a pseudolite receiver, comprising:
the normalizing processing unit is used for acquiring the original pseudo-range observed quantity of each pseudo-satellite and performing normalizing processing on the original pseudo-range observed quantity of each pseudo-satellite to obtain an absolute value corresponding to the original pseudo-range observed quantity of each pseudo-satellite;
the receiver working mode judging unit is used for sequencing according to the absolute value corresponding to the original pseudo-range observed quantity of each pseudo-satellite to obtain a sequencing table, sequentially calculating the pseudo-range mutual difference between pseudo-satellites with adjacent serial numbers according to the sequencing table, and judging the working mode of the receiver according to the relation between the pseudo-range mutual difference and a first preset threshold value and a second preset threshold value;
the indoor positioning resolving unit is used for judging that the receiver is in an indoor mode if all the pseudo-range mutual differences are smaller than the first preset threshold value, acquiring the pseudo-satellite position by using an indoor positioning resolving method and performing positioning resolving on the receiver;
the outdoor positioning resolving unit is used for judging that the receiver is in an outdoor mode if all the pseudo-range mutual differences are larger than the second preset threshold value, and performing positioning resolving on the receiver by using an outdoor positioning resolving method;
and the positioning settlement result fusion unit is used for judging that the receiver is in a mixed mode if the conditions that at least one pseudorange mutual difference is smaller than the first preset threshold and at least one pseudorange mutual difference is larger than the second preset threshold exist at the same time, performing receiver positioning calculation by respectively utilizing an indoor positioning calculation method and an outdoor positioning calculation method to obtain an indoor positioning calculation result and an outdoor positioning calculation result, and fusing the indoor positioning calculation result and the outdoor positioning calculation result.
8. The pseudolite receiver positioning calculation system of claim 7 wherein the receiver operating mode determination unit comprises:
the original pseudo-range observed quantity difference value calculating unit is used for calculating the difference value between the absolute value of the original pseudo-range observed quantity of the pseudo-satellite with the current serial number and the absolute value of the original pseudo-range observed quantity of the pseudo-satellite with the next serial number, and the difference value is used as the pseudo-range mutual difference between the pseudo-satellite with the current serial number and the pseudo-satellite with the next serial number;
and the adjacent pseudolite pseudo-range mutual difference calculation unit is used for traversing all the pseudolites in the sequencing table and acquiring the pseudo-range mutual difference between all the adjacent pseudolites in the sequencing table.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements a method of positioning solution for a pseudolite receiver according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out the method of positioning solution of a pseudolite receiver according to any one of claims 1 to 7.
Technical Field
The invention relates to the technical field of indoor navigation, in particular to a positioning calculation method and system of a pseudolite receiver and related components of the pseudolite receiver.
Background
The satellite navigation system can provide all-weather high-precision position navigation service for users in the earth surface or near-earth space, and the current main GNSS systems comprise GPS, GLONASS, Beidou and Galileo. In an indoor environment, signals of a satellite navigation system are seriously attenuated after being shielded by buildings and indoor spaces, the positioning precision is seriously reduced or even unavailable, and a positioning system based on a pseudo satellite is a high-precision indoor positioning mode with universality in indoor spaces such as workshops, tunnels, parking lots and the like.
The position of the pseudolite is kept fixed in the geodetic coordinate system, the position of the real satellite is defined by ephemeris, the pseudolite changes along with time in the geodetic coordinate system, and a receiver needs to solve the position of the pseudolite by adopting different methods in indoor and outdoor working modes under the condition that the format of a satellite navigation message is not changed or the definitions of indoor and outdoor satellite messages are inconsistent. At present, no method for smoothly switching modes of a receiver exists.
Disclosure of Invention
The embodiment of the invention provides a positioning calculation method and system of a pseudolite receiver and related components thereof, aiming at solving the problem that the indoor and outdoor mode switching of the receiver is unstable in the prior art.
In a first aspect, an embodiment of the present invention provides a positioning solution method for a pseudolite receiver, including:
acquiring an original pseudo-range observed quantity of each pseudo-satellite, and performing positive processing on the original pseudo-range observed quantity of each pseudo-satellite to obtain an absolute value corresponding to the original pseudo-range observed quantity of each pseudo-satellite;
sorting according to absolute values corresponding to original pseudo-range observed quantities of each pseudo-satellite to obtain a sorting table, sequentially calculating pseudo-range mutual differences between pseudo-satellites with adjacent serial numbers according to the sorting table, and judging the working mode of the receiver according to the relation between the pseudo-range mutual differences and a first preset threshold and a second preset threshold;
if all the pseudo-range mutual differences are smaller than the first preset threshold value, the receiver is judged to be in an indoor mode, and the pseudo-satellite position is obtained by utilizing an indoor positioning resolving method and the receiver positioning resolving is carried out;
if all the pseudo-range mutual differences are larger than the second preset threshold value, the receiver is judged to be in an outdoor mode, and positioning calculation of the receiver is carried out by using an outdoor positioning calculation method;
and if the conditions that at least one pseudorange mutual difference is smaller than the first preset threshold and at least one pseudorange mutual difference is larger than the second preset threshold exist at the same time, judging that the receiver is in a mixed mode, performing receiver positioning calculation by respectively using an indoor positioning calculation method and an outdoor positioning calculation method to obtain an indoor positioning calculation result and an outdoor positioning calculation result, and fusing the indoor positioning calculation result and the outdoor positioning calculation result.
In a second aspect, an embodiment of the present invention provides a positioning solution system for a pseudolite receiver, including:
the normalizing processing unit is used for acquiring the original pseudo-range observed quantity of each pseudo satellite and performing normalizing processing on the original pseudo-range observed quantity of each pseudo satellite to obtain an absolute value corresponding to the original pseudo-range observed quantity of each pseudo satellite;
the receiver working mode judging unit is used for sequencing according to the absolute value corresponding to the original pseudo-range observed quantity of each pseudo-satellite to obtain a sequencing table, sequentially calculating the pseudo-range mutual difference between pseudo-satellites with adjacent serial numbers according to the sequencing table, and judging the working mode of the receiver according to the relation between the pseudo-range mutual difference and a first preset threshold value and a second preset threshold value;
the indoor positioning resolving unit is used for judging that the receiver is in an indoor mode if all the pseudo-range mutual differences are smaller than the first preset threshold value, acquiring the pseudo-satellite position by using an indoor positioning resolving method and performing positioning resolving on the receiver;
the outdoor positioning resolving unit is used for judging that the receiver is in an outdoor mode if all the pseudo-range mutual differences are larger than the second preset threshold value, and performing positioning resolving on the receiver by using an outdoor positioning resolving method;
and the positioning settlement result fusion unit is used for judging that the receiver is in a mixed mode if the conditions that at least one pseudorange mutual difference is smaller than the first preset threshold and at least one pseudorange mutual difference is larger than the second preset threshold exist at the same time, performing receiver positioning calculation by respectively utilizing an indoor positioning calculation method and an outdoor positioning calculation method to obtain an indoor positioning calculation result and an outdoor positioning calculation result, and fusing the indoor positioning calculation result and the outdoor positioning calculation result.
In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the positioning solution method for the pseudolite receiver according to the first aspect when executing the computer program.
In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the positioning calculation method for a pseudolite receiver according to the first aspect.
The embodiment of the invention provides a positioning calculation method and a positioning calculation system of a pseudolite receiver and related components of the pseudolite receiver, wherein the method comprises the following steps: acquiring an original pseudo-range observed quantity of each pseudo-satellite, and performing positive processing on the original pseudo-range observed quantity of each pseudo-satellite to obtain an absolute value corresponding to the original pseudo-range observed quantity of each pseudo-satellite; sorting according to absolute values corresponding to original pseudo-range observed quantities of each pseudo-satellite to obtain a sorting table, sequentially calculating pseudo-range mutual differences between pseudo-satellites with adjacent serial numbers according to the sorting table, and judging the working mode of the receiver according to the relation between the pseudo-range mutual differences and a first preset threshold and a second preset threshold; if all the pseudo-range mutual differences are smaller than the first preset threshold value, the receiver is judged to be in an indoor mode, the pseudo-satellite position is obtained by utilizing an indoor positioning calculation method, and positioning calculation of the receiver is carried out; if all the pseudo-range mutual differences are larger than the second preset threshold value, the receiver is judged to be in an outdoor mode, and positioning calculation of the receiver is carried out by using an outdoor positioning calculation method; and if the conditions that at least one pseudorange mutual difference is smaller than the first preset threshold and at least one pseudorange mutual difference is larger than the second preset threshold exist at the same time, judging that the receiver is in a mixed mode, performing receiver positioning calculation by respectively utilizing an indoor positioning calculation method and an outdoor positioning calculation method to obtain an indoor positioning calculation result and an outdoor positioning calculation result, and fusing the indoor positioning calculation result and the outdoor positioning calculation result. The working mode of the receiver is judged based on the pseudo-range mutual difference of the receiver, the corresponding resolving method is selected according to the working mode, the positioning results are resolved respectively according to the indoor positioning resolving method and the outdoor positioning resolving method in the mixed mode, the indoor positioning result and the outdoor positioning result are weighted and then fused, the reliability and the practicability are high, and the indoor and outdoor stable switching of the pseudo-satellite user receiver is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a positioning solution method for a pseudolite receiver according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a positioning solution system for a pseudolite receiver according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic flowchart illustrating a positioning solution method of a pseudolite receiver according to an embodiment of the present invention, where the method includes steps S101 to S105.
S101, obtaining an original pseudo-range observed quantity of each pseudo-satellite, and performing positive processing on the original pseudo-range observed quantity of each pseudo-satellite to obtain an absolute value corresponding to the original pseudo-range observed quantity of each pseudo-satellite;
s102, sequencing according to absolute values corresponding to original pseudo-range observed quantities of all pseudo-satellites to obtain a sequencing table, sequentially calculating pseudo-range mutual differences between pseudo-satellites with adjacent serial numbers according to the sequencing table, and judging the working mode of the receiver according to the relation between the pseudo-range mutual differences and a first preset threshold and a second preset threshold;
s103, if all the pseudo-range mutual differences are smaller than the first preset threshold value, the receiver is judged to be in an indoor mode, the pseudo-satellite position is obtained by utilizing an indoor positioning resolving method, and positioning resolving of the receiver is carried out;
s104, if all the pseudo-range mutual differences are larger than the second preset threshold value, judging that the receiver is in an outdoor mode, and performing receiver positioning calculation by using an outdoor positioning calculation method;
s105, if the conditions that at least one pseudorange mutual difference is smaller than the first preset threshold and at least one pseudorange mutual difference is larger than the second preset threshold exist at the same time, the receiver is judged to be in a mixed mode, receiver positioning calculation is carried out by respectively utilizing an indoor positioning calculation method and an outdoor positioning calculation method to obtain an indoor positioning calculation result and an outdoor positioning calculation result, and the indoor positioning calculation result and the outdoor positioning calculation result are fused.
In this embodiment, the receiver obtains the original pseudo-range observed quantity of each pseudolite at a fixed time interval, performs normalization processing to obtain an absolute value of the original pseudo-range observed quantity, sorts the original pseudo-range observed quantity of each pseudolite from small to large according to the absolute value of the original pseudo-range observed quantity of each pseudolite to obtain a sorting table, and sequentially calculates the pseudo-range mutual difference between the pseudolites with adjacent serial numbers according to the sequence of the pseudolites in the sorting table; if all the pseudo-range mutual differences are smaller than a first preset threshold value, the receiver is in an indoor mode, and the pseudo-satellite position is obtained by using a corresponding indoor positioning resolving method and the receiver positioning resolving is carried out; if all the pseudo-range mutual differences are larger than a second preset threshold value, the receiver is in an outdoor mode, and positioning calculation of the receiver is carried out according to a corresponding outdoor positioning calculation method; if the pseudorange mutual difference is smaller than a first preset threshold and the pseudorange mutual difference is larger than a second preset threshold, the receiver is in a mixed mode, positioning calculation of the receiver is carried out in a mode of combining an indoor positioning calculation method and an outdoor positioning calculation method, and indoor positioning calculation results obtained by the indoor positioning calculation method and outdoor positioning calculation results obtained by the outdoor positioning calculation method are fused.
Specifically, the receiver sorts N original pseudo-range observations (L1(t), L2(t) … ln (t)) obtained at time t according to absolute values of the original pseudo-range observations to obtain a sorting table, then determines a working mode of the receiver, and sets the first preset threshold as LTin and the second preset threshold as LTout, where LTin is 1us and LTout is 1 ms; calculating pseudo-range mutual differences between adjacent pseudo-satellites in the sequencing table in sequence, when all the pseudo-range mutual differences are smaller than LTin, enabling the receiver to be in an indoor mode, obtaining the positions of the pseudo-satellites according to an indoor positioning calculation method, and performing positioning calculation on the receiver by using the positions of the pseudo-satellites; when all the pseudo-range mutual differences are smaller than LTout, the receiver is in an outdoor mode, and positioning calculation of the receiver is carried out according to an outdoor positioning calculation method; when the pseudorange mutual difference is smaller than LTin and the pseudorange mutual difference is larger than LTout, the receiver is in a hybrid mode, positioning calculation of the receiver is carried out in a mode of combining an indoor positioning calculation method and an outdoor positioning calculation method, an indoor positioning calculation result Pin and an outdoor positioning calculation result Pou are obtained, and the indoor positioning calculation result Pin and the outdoor positioning calculation result Pou are fused.
The resolving process of the indoor positioning resolving method is as follows: and resolving the position of the pseudo satellite according to the pseudo satellite telegraph format pair, and resolving the position of the receiver by utilizing the minimum multiplication estimation based on the pseudo satellite position and the original pseudo range (original pseudo range is original pseudo range observed quantity). The resolving process of the outdoor positioning resolving method is as follows: and defining and analyzing a satellite telegraph text according to the satellite interface control file, acquiring ephemeris and clock parameters of the satellite, determining the position and clock error of the satellite, and resolving the position of the receiver by utilizing least square estimation based on the position of the satellite and the original pseudo range.
In one embodiment, the sequentially calculating the mutual pseudo-range difference between the pseudo-satellites with adjacent sequence numbers according to the sorting table includes:
calculating a difference value between an absolute value of an original pseudo-range observed quantity of a pseudo-satellite with a current serial number and an absolute value of an original pseudo-range observed quantity of a pseudo-satellite with a next serial number, and taking the difference value as a pseudo-range mutual difference between the pseudo-satellite with the current serial number and the pseudo-satellite with the next serial number;
and traversing all the pseudolites in the sorting table to obtain the pseudo-range mutual difference between all the adjacent pseudolites in the sorting table.
In this embodiment, the difference value of the absolute values of the original pseudo-range observations between adjacent pseudolites is calculated in sequence from the first sequence number in the order in the sorted list, and the difference value is used as the pseudo-range mutual difference between the adjacent pseudolites. Specifically, a first difference value of absolute values of original pseudo-range observed quantities between a first sequence number pseudolite and a second sequence number pseudolite is calculated, the first difference value is used as a pseudo-range mutual difference between the first sequence number pseudolite and the second sequence number pseudolite, a second difference value of absolute values of the original pseudo-range observed quantities between the second sequence number pseudolite and a third sequence number pseudolite is calculated, the second difference value is used as a pseudo-range mutual difference between the second sequence number pseudolite and the third sequence number pseudolite, and calculation is sequentially performed according to a sequence table until the pseudo-range mutual difference between an N-1 th sequence number and an N th sequence number is obtained through calculation.
In an embodiment, the fusing the indoor positioning solution and the outdoor positioning solution includes:
calculating the number of indoor pseudolites and the number of outdoor pseudolites;
respectively calculating the signal-to-noise ratio and the accuracy factor of the indoor pseudo satellite and the outdoor pseudo satellite, and calculating the positioning result weight of the indoor pseudo satellite and the positioning result weight of the outdoor pseudo satellite by combining the number of the indoor pseudo satellite and the number of the outdoor pseudo satellites;
and weighting the indoor positioning calculation result and the outdoor positioning calculation result by using the positioning result weight of the indoor pseudolite and the positioning result weight of the outdoor pseudolite to obtain a fusion positioning result.
In this embodiment, the positioning result weight of the indoor pseudolite and the positioning result weight of the outdoor pseudolite are calculated according to the number, the signal-to-noise ratio and the accuracy factor of the indoor pseudolite and the outdoor pseudolite, and the indoor positioning calculation result and the outdoor positioning calculation result are weighted according to the positioning result weight of the indoor pseudolite and the positioning result weight of the outdoor pseudolite to obtain a fusion positioning result.
Specifically, the fusion positioning result is calculated by using the following formula:
wherein Pin is an indoor positioning calculation result, Pout is an outdoor positioning calculation result, Nin is the number of indoor pseudolites, Nout is the number of outdoor pseudolites, CN0in is an average carrier-to-noise ratio of the indoor pseudolites, CN0out is an average carrier-to-noise ratio of the outdoor pseudolites, DOPin is an indoor pseudolite accuracy factor, DOPout is an accuracy factor of the outdoor pseudolites, and α, β, and γ are weights of the number of the indoor and outdoor pseudolites, the carrier-to-noise ratio, and the accuracy factor in a fusion positioning result, respectively. In a specific application scenario, the number of the indoor and outdoor pseudolites, the carrier-to-noise ratio, and the accuracy factor are weighted equally in the fused positioning result, where α is 1/3, β is 1/3, and γ is 1/3.
In one embodiment, the calculating the number of indoor pseudolites and the number of outdoor pseudolites comprises:
if the pseudo-range mutual difference is smaller than the first preset threshold value, judging that two pseudo-satellites corresponding to the pseudo-range mutual difference are indoor pseudo-satellites;
if the pseudo-range mutual difference is larger than the second preset threshold value, judging that two pseudolites corresponding to the pseudo-range mutual difference are outdoor pseudolites;
and respectively counting the number of indoor pseudolites and the number of outdoor pseudolites.
In this embodiment, the number of corresponding pseudolites is obtained as the number of indoor pseudolites according to the number of pseudorange mutual differences smaller than the first threshold, and the number of corresponding pseudolites is obtained as the number of outdoor pseudolites according to the number of pseudorange mutual differences larger than the second threshold. And if the pseudo-range mutual difference between the current sequence number pseudolite and the previous sequence number pseudolite is smaller than a first preset threshold value, and the pseudo-range mutual difference between the current sequence number pseudolite and the next sequence number pseudolite is larger than a second preset threshold value, taking the previous sequence number pseudolite and the current sequence number pseudolite as indoor pseudolites and taking the next sequence number pseudolite as an outdoor pseudolite.
Referring to fig. 2, fig. 2 is a schematic block diagram of a positioning calculation system 200 of a pseudolite receiver according to an embodiment of the present invention, including:
a normalizing processing unit 201, configured to obtain an original pseudo-range observed quantity of each pseudolite, and perform a normalizing process on the original pseudo-range observed quantity of each pseudolite to obtain an absolute value corresponding to the original pseudo-range observed quantity of each pseudolite;
the receiver working mode judging unit 202 is configured to perform sorting according to an absolute value corresponding to an original pseudo-range observed quantity of each pseudolite to obtain a sorting table, sequentially calculate pseudo-range mutual differences between pseudolites of adjacent sequence numbers according to the sorting table, and judge a working mode of the receiver according to a relationship between the pseudo-range mutual differences and a first preset threshold and a second preset threshold;
an indoor positioning calculation unit 203, configured to determine that the receiver is in an indoor mode if all the pseudorange mutual differences are smaller than the first preset threshold, obtain a pseudolite position by using an indoor positioning calculation method, and perform receiver positioning calculation;
an outdoor positioning calculation unit 204, configured to determine that the receiver is in an outdoor mode if all the pseudorange mutual differences are greater than the second preset threshold, and perform receiver positioning calculation by using an outdoor positioning calculation method;
and a positioning settlement result fusion unit 205, configured to determine that the receiver is in a mixed mode if at least one pseudorange difference is smaller than the first preset threshold and at least one pseudorange difference is larger than the second preset threshold, perform receiver positioning calculation by using an indoor positioning calculation method and an outdoor positioning calculation method respectively to obtain an indoor positioning calculation result and an outdoor positioning calculation result, and fuse the indoor positioning calculation result and the outdoor positioning calculation result.
In an embodiment, the receiver operation mode determining unit 202 includes:
the original pseudo-range observed quantity difference value calculating unit is used for calculating the difference value between the absolute value of the original pseudo-range observed quantity of the pseudo-satellite with the current serial number and the absolute value of the original pseudo-range observed quantity of the pseudo-satellite with the next serial number, and the difference value is used as the pseudo-range mutual difference between the pseudo-satellite with the current serial number and the pseudo-satellite with the next serial number;
and the adjacent pseudolite pseudo-range mutual difference calculation unit is used for traversing all the pseudolites in the sequencing table to obtain the pseudo-range mutual difference between all the adjacent pseudolites in the sequencing table.
In one embodiment, the positioning settlement result fusing unit 205 includes:
the indoor pseudo satellite number calculating unit is used for calculating the number of indoor pseudo satellites and the number of outdoor pseudo satellites;
the positioning result weight calculation unit is used for calculating the signal-to-noise ratio and the accuracy factor of the indoor pseudolite and the outdoor pseudolite respectively, and calculating the positioning result weight of the indoor pseudolite and the positioning result weight of the outdoor pseudolite by combining the number of the indoor pseudolite and the number of the outdoor pseudolite;
and the positioning calculation result weighting unit is used for weighting the indoor positioning calculation result and the outdoor positioning calculation result by utilizing the positioning result weight of the indoor pseudolite and the positioning result weight of the outdoor pseudolite to obtain a fusion positioning result.
In one embodiment, the indoor pseudolite count calculation unit comprises:
the indoor pseudolite number calculating unit is used for judging that the two pseudolites corresponding to the pseudo-range mutual difference are indoor pseudolites if the pseudo-range mutual difference is smaller than the first preset threshold;
the outdoor pseudolite number calculation unit is used for judging that the two pseudolites corresponding to the pseudo-range mutual difference are outdoor pseudolites if the pseudo-range mutual difference is larger than the second preset threshold;
the indoor pseudo satellite number counting unit is used for counting the number of indoor pseudo satellites and the number of outdoor pseudo satellites respectively.
In one embodiment, the positioning settlement result fusing unit 205 includes:
a formula calculation unit, configured to calculate a fusion positioning result using the following formula:
wherein Pin is an indoor positioning calculation result, Pout is an outdoor positioning calculation result, Nin is the number of indoor pseudolites, Nout is the number of outdoor pseudolites, CN0in is an average carrier-to-noise ratio of the indoor pseudolites, CN0out is an average carrier-to-noise ratio of the outdoor pseudolites, DOPin is an indoor pseudolite accuracy factor, DOPout is an accuracy factor of the outdoor pseudolites, and α, β, and γ are weights of the number of the indoor and outdoor pseudolites, the carrier-to-noise ratio, and the accuracy factor in a fusion positioning result, respectively.
In one embodiment, the formula calculation unit includes:
and a weight obtaining unit, wherein the weights of the number of the indoor and outdoor pseudolites, the carrier-to-noise ratio and the precision factor in the fusion positioning result are the same, wherein alpha is 1/3, beta is 1/3, and gamma is 1/3.
An embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the positioning calculation method for the pseudolite receiver as described above when executing the computer program.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the positioning calculation method for the pseudolite receiver as described above.
The embodiments in the specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the method disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall into the protection scope of the claims of the present invention.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.