一种信标辅助的北斗伪卫星CPD定位方法

张衡; 蔚保国; 潘树国

doi:10.19665/j.issn1001-2400.20230409

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一种信标辅助的北斗伪卫星CPD定位方法

信息与通信工程 | 更新时间：2024-06-03

- 一种信标辅助的北斗伪卫星CPD定位方法
- Beacon-aided CPD indoor positioning method for the BeiDou pseudo-satellite
- 西安电子科技大学学报 2024年51卷第2期页码：107-115
- 作者机构：
  
  1. 东南大学仪器科学与工程学院,江苏南京 210096
  2. 中国电子科技集团公司第五十四研究所,河北石家庄 050081
  3. 卫星导航系统与装备技术国家重点实验室,河北石家庄 050081
- 作者简介：
  
  [ "张衡(1988—),男,工程师,E-mail:[email protected]; " ]
  [ "蔚保国(1966—),男,研究员,E-mail:[email protected]" ]
  潘树国(1981—),男,教授,E-mail:[email protected]
- 基金信息：
  
  国家重点研发计划(2021YFB3900800);国家重点研发计划(2021YFB3900801);国家重点研发计划(2021YFB3900802);河北省重点研发计划(20310901D)
- DOI：10.19665/j.issn1001-2400.20230409
  中图分类号： TN96
- 纸质出版日期：2024-4-20，
  
  网络出版日期：2024-1-12，
  
  收稿日期：2023-2-4，
扫描看全文
张衡, 蔚保国, 潘树国. 一种信标辅助的北斗伪卫星CPD定位方法[J]. 西安电子科技大学学报, 2024,51(2):107-115.

Heng ZHANG, Baoguo YU, Shuguo PAN. Beacon-aided CPD indoor positioning method for the BeiDou pseudo-satellite[J]. Journal of Xidian University, 2024,51(2):107-115.
张衡, 蔚保国, 潘树国. 一种信标辅助的北斗伪卫星CPD定位方法[J]. 西安电子科技大学学报, 2024,51(2):107-115. DOI： 10.19665/j.issn1001-2400.20230409.

Heng ZHANG, Baoguo YU, Shuguo PAN. Beacon-aided CPD indoor positioning method for the BeiDou pseudo-satellite[J]. Journal of Xidian University, 2024,51(2):107-115. DOI： 10.19665/j.issn1001-2400.20230409.

摘要

针对北斗伪卫星信号引入室内并在小尺度空间下提供高精度定位的难题

如何在顾及网络建设成本的基础上提升小尺度空间的定位时效性和定位精度是未来室内定位技术中需要解决的重要一环。此处充分结合室内环境下小尺度空间的空间特征

提出一种室内节点信标辅助的北斗伪卫星载波相位差定位方法。该方法首先将传统的大范围指纹构建问题转化为指纹节点的方式

在指纹图谱的基础上提出室内节点信标的概念

通过信标节点实现小尺度空间与周围空间的连接

并对以载噪比和载波相位为基础的信标特征谱构建与处理进行了分析;然后以室内节点信标为基础给出了基于载波相位差的位置估计过程

最后结合粒子群寻优算法提出一种顾及行人特征的位置与速度空间约束下的位置搜索算法。在真实环境下的试验结果表明

通过室内节点信标的辅助在室内环境可以实现动态定位精度优于30 cm、暂停态下的定位精度优于25 cm的定位效果。正常步速运动下算法与惯性导航定位精度相当

同时相比于惯性导航方式具有更宽松的运动姿态条件。在小尺度空间下算法具有更优的适用性。

Abstract

In order to solve the problem of high-precision positioning of the BeiDou pseudo-satellite signal in indoor small-scale space

how to save the cost of network construction on the basis of small-scale space to improve the timeliness and positioning accuracy of indoor positioning technology is an important link in the future.In this paper

a method of BeiDou pseudo-satellite carrier phase difference(CPD) localization assisted by indoor node beacons is proposed

which fully combines the characteristics of small-scale space in indoor environment.First

the problem of large-scale fingerprint construction is transformed into a fingerprint beacon

and the concept of indoor node beacon is proposed.The connection between small-scale space and surrounding space is realized by beacon nodes

and the construction and processing of the beacon characteristic spectrum based on the carrier-to-noise ratio(CN0) and carrier phase are analyzed.Then

based on the indoor node beacon

the process of position estimation based on CPD is presented.Finally

a location search algorithm considering the constraints of pedestrian location and velocity space is proposed based on particle swarm optimization(PSO).Experimental results in real environment show that the dynamic positioning accuracy of 30cm and the positioning accuracy of 25cm in a suspended state can be achieved by the indoor node beacon.Compared with inertial navigation

it has a more relaxed attitude condition and is suitable for high-precision positioning processing in small-scale space.The proposed algorithm has a better applicability in small-scale space.

关键词

北斗伪卫星小尺度空间载波相位室内节点信标高精度定位

Keywords

BeiDou pseudo-satellitesmall-scale spacecarrier phaseindoor node beaconhigh-precision positioning

references

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ZHUANG H, PAN S. LSOS:An FG Position Method Based on Group Phase Ranging Ambiguity Estimation of BeiDou Pseudolite[J]. Remote Sensing. 2023, 15(7):1924.

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