一种信标辅助的北斗伪卫星CPD定位方法

doi:10.19665/j.issn1001-2400.20230409

Abstract

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.

Key words: BeiDou pseudo-satellite, small-scale space, carrier phase, indoor node beacon, high-precision positioning

CLC Number:

TN96

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

Figures/Tables 12

参考点	X位置	Y位置	Z位置	特征数据集
$N d 1 r e f$	x₁	y₁	z₁	$R R a w R s s 1 1 R R a w R s s 1 2 … R v R a w R s s 1$
$N d 2 r e f$	x₂	y₂	z₂	$R R a w R s s 2 1 R R a w R s s 2 2 … R v R a w R s s 2$
︙	︙	︙	︙	︙
$N d N r e f$	x_N	y_N	z_N	$R R a w R s s N 1 R 2 R a w R s s N … R v R a w R s s N$

References 15

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序号	人体活动分类	速度经验值
1	散步	1~5
2	快走	5~8
3	慢跑	8~10
4	快跑	>10

名称	P1	T1	T2	P2	P3	T3
X/m	538 272.078	538 271.88	538 267.61	538 261.912	538 262.32	538 268.489
Y/m	4 212 819.80	4 212 822.169	4 212 821.75	4 212 820.74	4 212 818.537	4 212 819.656

名称	位置点86		位置点78		位置点84
名称	X	Y	X	Y	X	Y
中值	538 272.57	4 212 820	538 273.24	4 212 820.11	538 273.08	4 212 819.43
RMSE	0.073	0.08	0.080 4	0.090 6	0.121	0.078

Beacon-aided CPD indoor positioning method for the BeiDou pseudo-satellite

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References 15

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