一种利用载波相位差值的伪卫星定位方法

徐亚明; 孙福余; 张鹏; 王金岭

doi:10.13203/j.whugis20170033

一种利用载波相位差值的伪卫星定位方法

徐亚明^{1, 2,},
孙福余¹,
张鹏^{1, 2, ,},
王金岭³

1.
武汉大学测绘学院, 湖北武汉, 430079
2.
精密工程与工业测量国家测绘地理信息局重点实验室, 湖北武汉, 430079
3.
新南威尔士大学土木和环境工程学院, 澳大利亚, 悉尼

基金项目:

国家自然科学基金 41374011

国家自然科学基金 41474005

湖北省自然科学基金 2014CFB717

详细信息

作者简介:
徐亚明, 博士, 教授, 主要从事精密工程测量和工业测量等领域的研究。ymxu@sgg.whu.edu.cn

通讯作者:
张鹏, 博士, 讲师。pzhang@sgg.whu.edu.cn

中图分类号: P228
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出版历程
- 收稿日期: 2017-10-08
- 发布日期: 2018-10-04

A Pseudolite Positioning Approach Utilizing Carrier Phase Difference

XU Yaming^{1, 2,},
SUN Fuyu¹,
ZHANG Peng^{1, 2, ,},
WANG Jinling³

1.
School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
2.
Key Laboratory of Precise Engineering and Industry Surveying, NASG, Wuhan 430079, China
3.
School of Civil and Environmental Engineering, University of New South Wales(UNSW), Sydney, Australia

Funds:

The National Natural Science Foundation of China 41374011

The National Natural Science Foundation of China 41474005

the Natural Science Foundation of Hubei Province 2014CFB717

More Information

Author Bio:
XU Yaming, PhD, professor, specializes in the theories and methods of precise engineering surveying, industrial measurement. E-mail: ymxu@sgg.whu.edu.cn

Corresponding author:
ZHANG Peng, PhD, lecturer. E-mail: pzhang@sgg.whu.edu.cn

摘要

摘要: 针对卫星定位技术无法应用于室内环境的情况，提出了一种新颖的利用载波相位差值的伪卫星定位方法，该方法能够实现亚米级的定位精度，而且无需基准站的支持，无需伪卫星之间的时钟同步，也不需要求解整周模糊度。构建了伪卫星定位的系统模型，并阐述了利用载波相位差值进行定位的基本原理。首先将双天线接收机输出的两组载波相位测量值进行单次差分操作，消除共有误差带来的影响，然后通过非线性最小二乘方法迭代解算出双天线连线中点的空间位置。仿真结果和基于双通道软件接收机的实测数据均证明了该方法的可行性，能够作为现有室内定位技术的有效补充。
- 室内定位 /
- 伪卫星 /
- 载波相位 /
- 双天线 /
- 软件接收机
Abstract: GNSS receiver could not be used in indoor environments. This paper proposes a novel pseudolite positioning approach utilizing carrier phase difference measurements, which can achieve sub-meter accuracy without the support of a base station, and without the need of synchronization between pseudolites. In addition, in the proposed approach, the integer ambiguity resolution is unnecessary as well. This research builds up system model for pseudolite positioning and proposes basic principle for this positioning method utilizing carrier phase difference measurements. First, two sets of carrier phase measurements output from a dual-antenna receiver are differentiated in order to cancel out the common errors. Then a non-linear least square adjustment method is used to solve spatial coordinates of center point of the dual-antenna iteratively. Simulation results and experiment outputs from a dual-antenna software receiver verified the feasibility of this approach. This pseudolite positioning approach can be regarded as an effective complement of existing indoor positioning techniques.
- indoor positioning /
- pseudolite /
- carrier phase /
- dual-antenna /
- software receiver

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图 1 伪卫星和双天线的几何关系

Figure 1. Geometric Relations Between Pseudolite and Dual-Antenna

下载: 全尺寸图片幻灯片

图 2 天线方位角取不同值时的定位结果

Figure 2. Positioning Results when Antenna Azimuth Takes Different Values

下载: 全尺寸图片幻灯片

图 3 伪卫星天线布置

Figure 3. Distribution of Pseudolite Antennas

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图 4 4个测试点的定位结果

Figure 4. Positioning Results for Four Test Points

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表 1 5颗伪卫星的三维坐标

Table 1 Three-dimensional Coordinates of Five Pseudolites

伪卫星号	伪卫星三维坐标/m
伪卫星号	x	y	z
1	2.506	-3.186	3.204
2	0.064	2.033	2.952
3	5.124	1.930	3.128
4	-2.358	-0.438	2.991
5	-3.444	-2.871	3.255

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表 2 天线方位角取不同值时的定位结果统计

Table 2 Statistical Positioning Results when Antenna Azimuth Takes Different Values

测试点号	θ=0°				θ=45°				θ=90°
测试点号	x/m	y/m	z/m	θ/(°)	x/m	y/m	z/m	θ/(°)	x/m	y/m	z/m	θ/(°)
1	0.13	0.33	0.34	1.85	0.75	0.60	0.91	4.89	0.31	0.08	1.58	1.23
6	0.12	0.34	0.39	1.87	0.12	0.34	0.39	1.87	0.30	0.07	1.56	1.08
11	0.11	0.25	0.34	1.44	0.29	0.26	0.79	1.24	0.30	0.07	1.53	1.50
16	0.11	0.59	0.36	2.37	0.11	0.59	0.36	2.37	0.41	0.10	1.62	1.34

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表 3 4个测试点的定位结果统计

Table 3 Statistical Positioning Results for Four Test Points

测试点颜色	平均误差		最大误差
测试点颜色	x/m	y/m	x/m	y/m
红	0.15	0.29	0.34	1.16
蓝	0.21	0.35	0.47	1.48
绿	0.11	0.20	0.33	1.02
青	0.23	0.22	1.33	0.39

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