阅读说明：本技术 一种同源阵列伪卫星系统 (Homologous array pseudolite system ) 是由 易卿武 张衡 黄璐 程建强 蔚保国 李雅宁 梁晓虎 祝瑞辉 贾浩男 李爽 于 2020-11-26 设计创作，主要内容包括：本发明提出一种同源阵列伪卫星系统,包括时频控制模块、伪卫星基站和伪卫星天线；本发明通过利用时频基准1PPS控制下的多组延迟码控制伪卫星每一时刻的覆盖范围,保证同一时刻的多址干扰最小,同时通过天线定向和极化设置,尽可能减少接收机的多径影响,保证室内环境下伪卫星信号接收的稳定性。(The invention provides a homologous array pseudolite system, which comprises a time-frequency control module, a pseudolite base station and a pseudolite antenna, wherein the time-frequency control module is used for controlling the pseudolite base station to be in a time-frequency mode; the invention controls the coverage range of the pseudolite at each moment by utilizing a plurality of groups of delay codes under the control of time-frequency reference 1PPS, ensures the minimum multiple access interference at the same moment, simultaneously reduces the multipath influence of a receiver as far as possible by antenna orientation and polarization setting, and ensures the stability of pseudolite signal receiving in indoor environment.)

1. A homologous array pseudolite system is characterized by comprising a time-frequency control module, a pseudolite base station and a pseudolite antenna;

the time frequency control module generates a standard clock synchronous with a satellite and 1PPS (pulse per second) through the time service of an external time service receiver and outputs the clock and the 1PPS to a pseudo-satellite base station; generating n groups of delay codes which are orthogonal to each other according to the number n of the channels of the pseudo satellite, wherein each group of delay codes has a plurality of delay values, outputting the delay codes to the pseudo satellite antenna, and controlling the rotation times of the pseudo satellite antenna rotating for one circle in 1 second;

the pseudo satellite base station generates a plurality of pseudo satellite signals according to the clock output by the time-frequency control module and the 1PPS and outputs the signals to the pseudo satellite antenna;

the pseudolite antenna is fixedly rotated under the control of the delay code, and a pseudolite signal is sent out.

2. The isoarray pseudolite system of claim 1,

the time-frequency control module comprises a time service receiver, a clock discipline module, a delay code generator and a delayer; the time service receiver realizes the synchronization of the local and the satellite by receiving the signals of the satellite on the sky, and outputs the synchronized 1PPS to the clock taming module; the clock taming module marks a local clock in real time under the control of the 1PPS, so that the frequency of the local clock is consistent with that of the satellite clock, and the 1PPS output by the clock after calibration is output to the delay code generator; the delay code generator generates delay codes which are orthogonal pairwise between channels under the control of 1PPS, and the delayer generates control signals under the control of the delay codes and outputs the control signals to the pseudo satellite antenna.

3. The isoarray pseudolite system of claim 1,

the pseudolite comprises three steps of constraint, wherein the first step is directional constraint, the second step is right-hand circular polarization constraint, and the third step is rotation with 1 second as a period; the pseudo satellite antenna adopts a right-handed directional helical antenna, an indoor space is divided into n equal parts by utilizing the rotation characteristic of the antenna with the period of 1 second, and local coverage of signals is realized through rotation.

Technical Field

The invention has wide application range and relates to the field of positioning of indoor, tunnel, airport and other sheltered environments requiring ground enhancement. In particular to the application of pseudolite positioning technology in indoor complex environment.

Background

At present, the demand of indoor positioning is more urgent, and people hope to know the position of the people in large shopping malls, public places, long high-speed tunnels and the like and quickly reach the destination.

Satellite navigation systems represented by the Beidou and the GPS are increasingly widely applied and become essential functions of smart phones, vehicle-mounted navigators and the like. However, due to the current complex indoor environment, indoor multipath signals caused by indoor walls, glass and the like are complex, so that the receiver cannot be effectively ensured to continuously and stably track the pseudo satellite signals.

For the foregoing reasons, there is a need for a new design of a homologous array pseudolite system that minimizes the multipath signals and the recognition capability of the receiver multipath signals.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: on the basis of the existing indoor pseudo satellite, new improved designs are carried out, and the continuous tracking capability of a receiver on the pseudo satellite signal is improved as much as possible.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a homologous array pseudolite system comprises a time-frequency control module, a pseudolite base station and a pseudolite antenna;

the time frequency control module generates a standard clock synchronous with a satellite and 1PPS (pulse per second) through the time service of an external time service receiver and outputs the clock and the 1PPS to a pseudo-satellite base station; generating n groups of delay codes which are orthogonal to each other according to the number n of the channels of the pseudo satellite, wherein each group of delay codes has a plurality of delay values, outputting the delay codes to the pseudo satellite antenna, and controlling the rotation times of the pseudo satellite antenna rotating for one circle in 1 second;

the pseudo satellite base station generates a plurality of pseudo satellite signals according to the clock output by the time-frequency control module and the 1PPS and outputs the signals to the pseudo satellite antenna;

the pseudolite antenna is fixedly rotated under the control of the delay code, and a pseudolite signal is sent out.

The time frequency control module comprises a time service receiver, a clock discipline module, a delay code generator and a delayer; the time service receiver realizes the synchronization of the local and the satellite by receiving the signals of the satellite on the sky, and outputs the synchronized 1PPS to the clock taming module; the clock taming module marks a local clock in real time under the control of the 1PPS, so that the frequency of the local clock is consistent with that of the satellite clock, and the 1PPS output by the clock after calibration is output to the delay code generator; the delay code generator generates delay codes which are orthogonal pairwise between channels under the control of 1PPS, and the delay device is controlled to generate control signals to be output to the pseudo satellite antenna;

the pseudo satellite comprises three steps of constraint, wherein the first step is directional constraint, the second step is right-hand circular polarization constraint, and the third step is rotation with 1 second as a period; the pseudo satellite antenna adopts a right-handed directional helical antenna, an indoor space is divided into n equal parts by utilizing the rotation characteristic of the antenna with the period of 1 second, and local coverage of signals is realized through rotation.

The technology of the invention has the following advantages:

according to the pseudolite system, the coverage area of indoor signals is divided into n parts by utilizing the directional antenna and the 1 PPS-based pairwise orthogonal delay code design, so that the multi-address interference among multiple signals can be effectively avoided, meanwhile, because each signal only covers one part of the indoor area, the reflection of indoor walls, glass and the like is avoided as much as possible, and meanwhile, the right-hand circular polarization constraint is carried out on the signals, so that the influence of multipath signals is reduced as much as possible.

Drawings

FIG. 1 is a schematic diagram of the design of a homogeneous array pseudolite system of the present invention;

fig. 2 is a directional antenna coverage diagram of the present invention.

Detailed Description

The invention is further explained below with reference to the drawings.

As shown in fig. 1, a homogeneous array pseudolite system includes a time-frequency control module, a pseudolite base station, and a pseudolite antenna;

the time frequency control module generates a standard clock synchronous with a satellite and 1PPS (pulse per second) through the time service of an external time service receiver and outputs the clock and the 1PPS to a pseudo-satellite base station; generating n groups of delay codes which are orthogonal to each other according to the number n of the channels of the pseudo satellite, wherein each group of delay codes has 6-10 delay values, outputting the delay codes to the pseudo satellite antenna, and controlling the rotation times of the pseudo satellite antenna rotating for one circle in 1 second;

the pseudo satellite base station generates a plurality of pseudo satellite signals according to the clock output by the time-frequency control module and the 1PPS and outputs the signals to the pseudo satellite antenna;

the pseudolite antenna is fixedly rotated under the control of the delay code, and a pseudolite signal is sent out. The pseudolite antenna is fixedly rotated, so that signals transmitted by the pseudolite antenna do not cover the same area at the same time. The problem of multiple access interference in the presence of multiple pseudolite signals is reduced.

The time frequency control module comprises a time service receiver, a clock discipline module, a delay code generator and a delayer; the time service receiver realizes the synchronization of the local and the satellite by receiving the signals of the satellite on the sky, and outputs the synchronized 1PPS to the clock taming module; the clock taming module marks a local clock in real time under the control of the 1PPS, so that the frequency of the local clock is consistent with that of the satellite clock, and the 1PPS output by the clock after calibration is output to the delay code generator; the delay code generator is controlled by 1PPS, and the delayer generates a control signal under the control of the delay code and outputs the control signal to the pseudo satellite antenna.

The pseudolite comprises three steps of constraint, wherein the first step is directional constraint, the second step is right-hand circular polarization constraint, and the third step is rotation with 1 second as a period; the pseudo satellite antenna adopts a right-handed directional helical antenna, an indoor space is divided into n equal parts by utilizing the rotation characteristic of the antenna with the period of 1 second, and local coverage of signals is realized through rotation. The three-step arrangement not only restricts the indoor coverage of the pseudolite signal, reduces the influence of multipath on the receiver caused by the reflection of the signal on the indoor wall and the like, restricts the reception of 1-time reflection of the signal through polarization restriction, but also facilitates the receiver to distinguish direct signals from multipath signals by changing the multipath signals in the indoor environment from static state to dynamic state, and reduces the influence through a multipath suppression algorithm.

As shown in FIG. 2, the directional diagram of the pseudolite antenna is constrained to be 360 degrees horizontally, and the vertical direction is the directional included angle;

the above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and it should be understood that all changes and modifications that come within the technical scope of the present invention are intended to be included therein.