室内外无缝导航信号覆盖连续性完整性分析

发布时间：2018-11-11 12:20

【摘要】：近年来，随着GPS系统和辅助系统的完善以及相关的定位和制造技术的发展，GPS不仅在军事、专业测量和授时等领域有着不可替代的作用，在民用领域也日益重要。民用的GPS芯片被嵌入到手机和汽车等各种载体，给用户提供实时的位置信息。为了提高导航定位的可用性，保证在街道、树林和室内等有遮挡的场景也能实现实时精确定位，室内外导航无缝链接的连续性完整性研究日益成为热点。本文针对一般的车载和手持应用，通过对室内外导航信号研究，主要工作如下：（1）建立了基于扩展卡尔曼滤波器的矢量跟踪的系统模型，推导了模型参数的解析表达式。在导航信号阻塞一段时间后再次恢复时，为了对跟踪环路进行新的初始化，接收机必须重新进入捕获阶段，而捕获需要花费大量时间，无法提供持续的定位服务，针对上述不足，为进一步提高恶劣环境下用户接收机的导航性能，本文提出了基于扩展卡尔曼滤波的矢量跟踪技术，该技术不要外部的辅助信息，通过软件算法深入挖掘和充分利用不同卫星信号之间的相关信息，将信号跟踪和定位导航解算合并在一起，提高了接收机每个通道跟踪卫星信号的能力，，使矢量跟踪与传统跟踪方法相比，具有可以跟踪更微弱的卫星信号，桥接被瞬时遮挡的卫星信号以及忍受用户的高动态等优势。（2）提出了基于二次散射模型的基站—卫星混合定位算法。为了保证导航信号的覆盖的完整性，本文研究定位卫星少于4颗时，如何利用地面无线设备（基站，WIFI，CELL-ID等）辅助完成定位。基于对地面无线信号传输特征和几何精度因子（GDOP）的分析，本文提出了一种全新的卫星－基站混合定位方法。该方法考虑非直达波（NLOS）的影响，将散射体作为虚拟基站，建模分析NLOS导致的定位误差，并基于GDOP分析，选择最优的基站-卫星定位组合，抑制多径误差，改善定位精度因子(DOP)。本文对算法的数学分析和仿真表明,相比于传统的混合定位，该方法具有更高的定位精度和鲁棒性。
[Abstract]:In recent years, with the improvement of GPS system and auxiliary system, as well as the development of related positioning and manufacturing technology, GPS not only plays an irreplaceable role in military, professional measurement and timing, but also plays an increasingly important role in civilian field. Civilian GPS chips are embedded in various carriers such as mobile phones and automobiles to provide real-time location information to users. In order to improve the usability of navigation and to ensure the accurate location in the street, forest and indoor scenes, the research on the continuity integrity of seamless links between indoor and outdoor navigation has become a hot topic day by day. The main work of this paper is as follows: (1) the system model of vector tracking based on extended Kalman filter is established. The analytical expressions of model parameters are derived. In order to initialize the tracking loop, the receiver must re-enter the acquisition stage when the navigation signal is blocked for a period of time, and the acquisition takes a lot of time and cannot provide a continuous positioning service. In order to further improve the navigation performance of user receivers in harsh environments, a vector tracking technique based on extended Kalman filter is proposed in this paper, which does not require external auxiliary information. The software algorithm is used to deeply mine and make full use of the relevant information between different satellite signals, and the signal tracking and positioning navigation solutions are combined together, which improves the ability of each channel of the receiver to track the satellite signal. Compared with the traditional tracking methods, vector tracking has the advantages of tracking weaker satellite signals, bridging the instantaneous occluded satellite signals, and tolerating the high dynamic of users. (2) A hybrid base-satellite location algorithm based on secondary scattering model is proposed. In order to ensure the integrity of navigation signal coverage, this paper studies how to use terrestrial wireless devices (base station, WIFI,CELL-ID, etc.) to complete positioning when there are fewer than 4 satellites. Based on the analysis of ground radio signal transmission characteristics and geometric precision factor (GDOP), a new method of satellite-base station hybrid location is proposed. Considering the influence of non-direct wave (NLOS), the scatterer is used as a virtual base station to model and analyze the positioning error caused by NLOS. Based on the GDOP analysis, the optimal base-satellite positioning combination is selected to suppress the multipath error. Improving location Precision Factor (DOP). The mathematical analysis and simulation of the algorithm show that this method has higher accuracy and robustness than the traditional hybrid localization method.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P228.4;TN929.5

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