Indoor positioning system based on global positioning system signals and pseudolites with outdoor directional antennae

FIELD: physics, navigation.

SUBSTANCE: invention relates to indoor positioning systems. The present invention provides at least three directional GPS antennae (2) for picking up specific GPS signals conning from at least three GPS satellites (S), at least three radio-frequency GPS repeaters (3) for amplifying the GPS signals coming from the directional GPS antennae (2), at least three GPS antennae (6) for transmitting the GPS signals coming from the radio-frequency GPS repeaters (3) to indoors, at least one GPS receiver (7) for picking up the GPS signals coming from the GPS antennae (6) by its (7) antenna (8).

EFFECT: improved indoor coverage with GPS signals received outside.

13 cl, 1 tbl, 10 dwg

 

The technical field to which the invention relates

This invention relates to a system for determining the location in the location based on signals from the global positioning (GPS) designed to increase coverage areas external GPS signals.

Prior art

Global positioning (GPS) is a navigation system that provides accurate and reliable positioning, navigation, and service time, freely available to the civilian population. The GPS system provides information about the location and exact time anyone who has a GPS receiver. The GPS provides location and provides information about the time at any moment and anywhere in the world.

The GPS system consists of 24 working GPS satellites, making two revolutions per day around the Earth at an altitude of about 20200 km, control and monitoring stations on the network side, and GPS receivers on the user side. The GPS satellites transmit radio frequency signals at a frequency of 1575.42 MHz from space and GPS receivers accept these RF signals and convert with decreasing frequency in the intermediate frequency (if) to perform correlation and further processing in the frequency band. The reception is IKI GPS perform correlation converted to a lower frequency signal with a locally generated reference signal and measure the so-called pseudorange between the GPS satellite and the GPS receiver. Pseudodominant represents the actual distance between GPS satellite and the GPS receiver, if the GPS receiver is synchronized with GPS time. However, initially there is a deviation of the clock of the GPS receiver from the GPS time and the deviation of the clock affects the measurement of the pseudorange. After receiving pseudorange for at least four GPS satellites by the GPS receiver provides location itself and the GPS time.

The GPS receivers improve the quality of everyday life by providing affordable tool for precise routing and navigation outdoors. In addition, there are some application areas, the location the location where the GPS can be very useful. Fireman trying to put out the fire in the building, or the patient is trying to find his way in the hospital, or people waiting for the release after the earthquake, are some typical examples of applications indoors.

GPS signals come from a distance of 20200 km and the levels of these signals are sufficient only to ensure that the GPS receiver has performed the detection and estimation of pseudorange and sent messages for GPS signals with an open sky. However, due to additional losses (which account for approximately 20-30 dB) conventional GPS receiver can not is t to detect GPS signals in the building, the tunnel, mine and under construction garbage.

One way to increase levels of GPS signals in indoor spaces is to use active RF GPS repeaters. Active GPS repeater receives the GPS signal outdoors GPS antenna and after filtering and amplification repeater GPS pereizuchit the GPS signal is another GPS antenna to the places where the GPS signal is too low for the location. To determine the location in the location you want to place numerous repeaters GPS: requires at least three repeater to identify location in two dimensions and four relay for three dimensions. However, you must be very careful when amplifying multiple GPS signals. Receiving numerous GPS signals for multiple antennas and then the re-radiation of the same GPS signals from different antennas is the cause of the interference signals. This reduces the coverage of GPS signals, but also increases the error in determining the location. For exceptions related interference problems repeaters and antennas should be designed so that specific GPS signal could be only one relay. The repeater can take many different GPS signals; however, other repeaters should not be taking is to be the GPS signal, received another repeater. In other words, a set of GPS signals received by the repeaters need to be mutually exclusive. For example, relay 1: satellites 2, 4, and 5 GPS, repeater 2: satellites 3, 6 and 9 GPS repeater 3: 15, 16 and 17, and so on

Another point, which is very critical in determining the location in space, is to use GPS algorithms to calculate the position based on the measured pseudorange. When using conventional GPS receiver together with the non-modified algorithms computed location is erroneous. When building active radio transmitters to increase coverage of GPS signals indoors and the use of a conventional GPS receiver to calculate its location due to the propagation of high frequency waves from the GPS satellite to the GPS receiver is not in line of sight of the calculated location may be inaccurate locations with a large error. Example location in two dimensions can be seen in Fig.3, where M1, M2 and M3 represent the location of GPS satellites; and N1, N2 and N3 represent the location of the RF GPS repeaters. "A" is the actual location of the GPS receiver. If there is no deviation of the clock of the GPS receiver at point a and the values of the belt delay RF GPS repeaters calibrated, conventional algorithms GPS is finding the intersection of line 1, line 2 and line 3 and extracted location only within the triangular region D even in the absence of measurement error of the pseudorange. Therefore, for precise location indoors modify the algorithms to determine the location.

In the patent application U.S. No. US 2006208946 block repeater GPS, designed for transmitting signals to the room contains a directional receiving antenna for receiving GPS signals from one or more GPS satellites from a pre-selected area of the sky, a transmitting antenna for transmitting the received GPS signals and radio frequency amplifying means to increase the levels of the received GPS signals before transmission in a closed room. One or more such blocks repeaters GPS is used for playback of signals from the GPS constellation in a building or underground, to create the coverage of GPS signals under these conditions. There is no mention of the algorithms in this application. After relaying the GPS signals for more algorithms to determine the location in the premises shall be used to calculate the location of the GPS receiver. If the algorithms determine the location are not modified, the calculated location may not be exact.

In patent documents ante China No. CN1776447 equipment to cover the GPS signal includes a source of a GPS signal, antenna, filter, amplifier and RF coverage areas. For input signal from signal source GPS installed outdoor antenna is connected to series-connected filter, amplifier and RF coverage areas. When the GPS signal is required, according to the invention is the amplification of the GPS signal for cover. Nothing said about algorithms in this application. After relaying the GPS signals should be applied algorithms determine the location in the room. If the algorithms determine the location are not modified, the calculated location may not be exact.

In patent document Korea # KR 20080060502 system for measurements in location using GPS with repeater switching includes a GPS satellite, a base GPS antenna, GPS with repeater switching, transmitting the GPS antenna, located on the premises of the GPS receiver and the measurement server. The reference GPS antenna receives satellite GPS distance information. Repeater GPS switched regulates the time of switching the GPS. In addition, the repeater GPS switched amplifies the GPS signal. Transmitting the GPS antenna is connected with the relay GPS switched and installed on the wall or ceiling to transmit a GPS signal to the GPS repeater. Located in room GPS measures the signal transmitted from the repeater GPS switched through the transmitting GPS antenna, and calculates the distance between the transmitting antenna GPS and located in the premises of the GPS receiver. Measuring server estimates the location located in the premises of the GPS receiver by using the measuring algorithm to the value measured in transmitting the GPS antenna and the GPS repeater switched. This invention provides no information about directional antennas.

In the patent application U.S. No. US 2003066345 the system includes a set of transmission units, located throughout the service area. Each transmitting unit repeatedly transmits a signal including location information relating to the location associated with the transmitting unit. The receiving unit receives the signal transmitted from the transmitting unit, and determines the location of the receiving unit based on the received indications. Transmitting the blocks placed to provide uniform coverage of the service area, resulting in positioning indoors and in urban areas where GPS is not functioning properly. In the patent application U.S. No. US 2003066345 disclosed system and method for automatic positioning using radio frequency guidance. Onpremises when finding a location using radio frequency signals. In this invention there is no information on GPS systems.

Were carried out important research work on finding a location in the room and there are experimental systems for determining location using different radio technologies. In some of these radio frequency technology, uses radio frequency infrastructure, recently installed in buildings, and for some of these systems to find the location uses existing radio infrastructure. For example, ultra-wideband microwave system use [1] for basic systems determine the location and some of these ways to find the location based on the newly installed equipment, are summarized in [2]. These systems use their own hardware for positioning and, therefore, to obtain high-precision locations. However, the placement of these systems is complex and costly. There are examples of RF systems for determining location using existing infrastructure, such as wireless local area network [3], Bluetooth [4], RFID [5] or the global system for mobile communication [6]. Because all of this is the system deployed mainly for the purpose of communication, the greater part of their inherent disadvantages in terms of location accuracy or coverage. Finally, there are systems where the GPS signal is relayed to the room with the use of antennas and amplifiers described in the patent application [7]. In this application the described method, which consists in the reception of GPS signals from areas of the firmament, and after amplification in the re-radiation of signals in the room. The disadvantage of this method is an indirect passage of radio frequency signals from the GPS satellite to radio relay and then from the radio frequency repeater to radio GPS receiver. In this application there is no information regarding the algorithms that are used in the GPS receiver.

Summary of invention

The objective of the invention is to create a system for identifying the location in the building, which increased the floor space of the GPS signals taken outdoors.

A further object of the invention is to create a system of positioning in the room, which has the same accuracy as the accuracy of the positioning system GPS outdoors.

Brief description of drawings

System location indoors, designed for solving problems of the present invention, shown with navodaya drawings, on which:

Fig.1 is a schematic view of the positioning indoors;

Fig.2 is a schematic view of the RF GPS repeater with directional antennas GPS antenna and GPS;

Fig.3 is an illustration of the signal outside the line of sight, for example a two-dimensional GPS system used indoors;

Fig.4 is a schematic view of a directional antenna GPS;

Fig.5 is a graphic representation of the measured return loss GPS antenna, obtained by simulation return loss of the directional GPS antenna and measured return loss of the directional GPS antenna depending on the frequency;

Fig.6 is a graphical representation obtained by simulation and measured diagrams of the radiation pattern of the GPS antenna and a directional GPS antenna, respectively;

Fig.7 is a graphic representation of the measured diagram of the radiation pattern of the directional antenna GPS in the plane φ=0° and φ=90°;

Fig.8 is a graphical representation of the method of calculating the location of the GPS receiver;

Fig.9 is a graphical representation of the distribution for the GPS receiver in the plane "distance is the number of events; and

Fig.10 is a graphic representation of the calculated location of the GPS receiver and the actual location of the GPS receiver in the plane "distance - the number of attempts".

The list of items

1System location indoors
2, 2A, 2b, 2cDirectional antenna GPS
3, 3a, 3b, 3cRadio repeater GPS
4Band-pass filter
5Low noise amplifier
6, 6a, 6b, 6cThe GPS antenna
7The GPS receiver
8The antenna of the GPS receiver
100A method of calculating location
S, S1, S2, S3, S4, S5, S6, S7, S8GPS satellites
TThe transmission line
BBuilding
PThe base plate
CTapered floating reflector
R1,R2,R3The distance from the GPS satellite to RA is eachstate repeater GPS
R4,R5,R6The distance from the radio repeater GPS to the GPS receiver
M1, M2, M3The location of the satellite GPS
N1, N2, N3The location of the radio-frequency GPS receiver

Detailed description of the invention

In Fig.1, the system (1) determine the location in the room contains at least three directional antennas (2A, 2b, and 2C) global positioning (GPS) to accept a specific GPS signals coming from at least three satellites (S1, S4 and S7), GPS, at least three radio frequency relay (3a, 3b, and 3C) GPS for enhanced GPS signals coming from directional antennas (2a, 2b, and 2C) GPS, at least three antennas (6a, 6b and 6C) GPS for transmitting GPS signals coming from the RF relay (3a, 3b, and 3C) GPS location, at least one receiver (7) GPS to receive his (7) antenna (8) of the GPS signals coming from the antennas (6a, 6b and 6C) GPS, and the method (100) calculate your location to calculate the GPS time and find the location in two dimensions.

If there are three radio relay (3) GPS, you may be able to determine the location in two dimensions and may be available, the time the GPS I.

If there are four RF relay (3) GPS, you may be able to determine the location in three dimensions and may be available, the GPS time.

According Fig.2, each RF repeater (3) GPS includes a band-pass filter (4) to reduce noise, a low noise amplifier (5) to enhance the GPS signal and the line (T) of the transmission for transmitting GPS signals from a directional antenna (2) GPS antenna (6) GPS. Furthermore, there is a line (T) transfer between directional antennas (2) GPS and radio frequency repeaters (3) between GPS and radio frequency repeaters (3) GPS and directional antennas (2) GPS.

Directional antennas (2) GPS radiate greater power in predetermined angular directions, which can improve characteristics during transmission, reception and reduce interference from unwanted sources. In system (1) location indoor directional antenna (2a, 2b, and 2C) GPS are located outside the building (In), tunnel ruins. When using antennas (6a, 6b and 6C) GPS outdoors instead of directional antennas (2a, 2b, and 2C) GPS single GPS signal is received by multiple antennas (6a, 6b and 6C) GPS. Therefore, when these signals GPS pereklokayutsia in the building (In), they interfere with each other inside the building (In). Therefore, in accordance with this attenuated GPS signals covering the premises, POSCO is ECU when the interference of GPS signals gradually decrease and are formed deep dips pattern inside the building (In). Due to this interference also increases the error in finding the location of the receiver (7) GPS. In system (1) determine the location in the premises of the signal from one satellite (S) GPS accepted only one directional antenna (2) GPS. For example, as shown in Fig.1, directional antenna (2A) GPS receives the GPS signal from only one satellite (S1) GPS, while the other directional antenna (2b) GPS receives the GPS signal from another satellite (S4) GPS and another directional antenna (2C) GPS receives the GPS signal from only one satellite (S7) GPS that are determined by the configuration of their diagrams of radiation. Directional antennas (2) GPS receive signals from all satellites (S) GPS, which are within the direction of the main lobe of the radiation pattern. The directivity of these antennas (2a, 2b, and 2C) can be chosen from the conditions of the regulation of the levels of cross-GPS signals.

In this invention, as shown in Fig. 4, use directional antennas (2) GPS with side tapered floating reflectors (C) to improve the directivity of the antenna (2). With regard to Fig.4, the antenna (6) GPS, which is placed on the support plate (P), is used in the construction of a directional antenna (2) GPS, and improve the directivity is achieved by the use of tapered floating reflector (S). In this invention preferably is, to directional antennas (2a, 2b, and 2C) GPS worked at a frequency of 1575.42 MHz with right-hand circular polarization (RHCP).

Side tapered floating reflectors (C) preferably made of metal and thus increase the directivity of the directional antennas (2) GPS. Tapered floating reflector (S) not in contact with the support plate (P). The reflection from metals to increase the gain of the antennas used in many antenna such as a parabolic antenna. Numerous waves arriving at the antenna, reflected off the metal surfaces in phase with the increase of the signal level at the antenna. The antenna (6) GPS use in the design of a directional antenna (2) GPS, and increase the directivity reach through the use of tapered floating reflector (S) around the antenna (6) GPS. Tapered floating reflector (S) are made and combine with the antenna (6) GPS and then measure the performance of the directional antenna (2) GPS.

Obtained by simulation and measured return loss of the directional antenna (2) GPS together with the measured return loss of the antenna (6) GPS in this invention can be seen in Fig.5. As can be seen from Fig.5, a tapered floating reflector (S) slightly modifies the input impedance. However, directional antenna (2) GPS still has a return loss of 12 dB at a frequency of 1575.42 MHz.

When working radio is frequency relay (3) GPS receives signals from GPS directional antenna (2) GPS, located outside the building (In), and pereizuchit these GPS signals in a confined space or enclosed space. When the GPS signal is received from a directional antenna (2) GPS, the GPS signal is first filtered by a bandpass filter (4), then it is amplified by low noise amplifier (5) and finally again filtered bandpass filter (4) and then perekluchaetsya in the building (In) the radio frequency repeater (3) GPS. After amplifying the GPS signal is transmitted via an antenna (6) GPS receiver (7) GPS. A typical radio frequency repeater (3) GPS antenna (2, 6) shown in Fig.2. In this invention for RF repeaters (3a, 3b, and 3C) GPS requires only a source of DC power.

Antenna (6) GPS receives the GPS signal from the radio frequency repeater (3) GPS and transmits the GPS signal to the receiver (7) GPS. Each antenna (6) GPS well aligned at a frequency related directional antenna (2) GPS and has a right-circular polarization.

Obtained by simulation and the measured pattern of radiation of the antenna (6) GPS and directional antenna (2) GPS in this invention can be seen in Fig.6. At the level of 3 dB width of the main lobe of the directional antenna (2) GPS is 60°. The gain is increased when the angular width of the main lobe decreases. Reducing the angular width of the main lobe in the presence of con the ical floating reflector (S) can easily be seen in Fig.6. The measured axial ratio of the directional antenna (2) GPS of 1 dB, indicates that, as shown in Fig.7, a directional antenna (2) GPS is circularly polarized at the GPS frequency. Obtained by modeling the gain directional antenna (2) GPS is 10 dB, and the measured maximum gain of the whole system (the antenna (6) GPS and tapered floating reflector (C)) is 9 dB. Obtained by modeling the antenna gain (6) GPS is 4 dB. Tapered floating reflector (S) attached to the antenna (6) GPS additional gain of 5 dB.

The receiver (7) GPS takes his (7) antenna (8) GPS signals coming from the antenna (6) GPS, and calculates the location. In this invention it is preferable that the receiver (7) GPS worked at a frequency of 1575.42 MHz. In addition, in this invention the receiver (7) GPS implements a new method (100) calculate your location.

The method of calculating the location is to receive a particular GPS signal from a given direction and gain of the GPS signal only from the RF relay (3) GPS connected to a directional antenna, (2) GPS. In the case of positioning in two dimensions this should be repeated on at least three different GPS signals for three different RF repeaters (3) GPS. This attenuated samples the EMA of someinterface GPS signals.

To calculate the location of the receiver (7) GPS pseudorange (distance plus the deviation of the clock, plus time delay) is measured at the location of the receiver (7) GPS. However, when GPS signals coming from the satellite (S) GPS, they follow the radio frequency path: satellite (S1 or S4 or S7) GPS RF relay (3A, or 3b, or 3C) GPS and radio frequency relay (3A, or 3b, or 3C) GPS receiver (7) GPS, which, as shown in Fig.1, is not in a straight line. Because the wireless path is not a straight line and also includes delays of radio frequency repeater (3) GPS low-noise amplifier (5), bandpass filter (4), lines (T) transmit antennas and (2, 6), the receiver (7) GPS calculates using the unadjusted measurements of pseudorange his (7) the location of the error. It is assumed that all hardware delays in the radio frequency repeater (3) GPS-side directional antenna (2) GPS antenna (6) GPS, a bandpass filter (4), a low noise amplifier (5) and lines (T) of the transmission can be measured in advance by using the circuit analyzer and calibrated based on the measured pseudorange. In this case, if the receiver (7) GPS is used unmodified algorithm for calculating the location, he (7) looks for a solution of the following system (Y) equations for determining positioning the I in two dimensions:

R1+R4+Δtc=PR1,

R2+R5+Δtc=PR2,(Y)

R3+R6+Δt∗c=PR3,

whereR1,R2,R3 represent the distance between the satellite (S1 or S4 or S7) GPS and radio relay (3A, or 3b, or 3C) GPS andR4,R5 andR6 represent the distance between the radio-frequency relays (3A, 3b, and 3C) and GPS receiver (7) GPS, shown in Fig.1. "with" is the speed of light, and Δtis the deviation of the clock of the receiver (7) GPS real time GPS andPR1,PR2,PR3 is the measured pseudorange satellites (S1, S4 and S7) GPS, respectively. Assuming that these pseudorange not include hardware delays of radio frequency repeaters (2) GPS, radio frequency repeaters (2) GPS calibrated, and errors that occur due to the deviation of the clock of the satellites (S) GPS, the deviation of the clock of the receiver (7) GPS, instrumental delays of the satellite (S) GPS ionospheric effect and tropospheric effects and the Earth's rotation, are removed from the equations (Y) in finding solutions to the receiver (7) GPS, but the location is calculated with an error because the path of the GPS signal from the satellites (S) GPS to receiver (7) GPS is not a straight line.

Instead, it is the invention proposed to solve the following system of (Z) equations, in order to weaken the influence of the indirect line RF path when calculating location:

R4+Δtc=PR1-R1,

R5+Δtc=PR2-R2,(Z)

R6+Δtc=PR3-R3.

Assuming that the right parts of the system (Z) of the equations are known, the left parts of the system (Z) equations to precisely correct the circumference of GPS ranges originating from locations of radio frequency relays (3a, 3b, and 3C) GPS. This system (Z) equations can be easily solved to find the intersection of the circles and get the exact location of the receiver (7) GPS. The right part of the system (Z) equations are known asPR1,PR2 andPR3 is the measured pseudorange, andR1,R2 andR3 can be easily calculated, because the location of radio frequency relays (3a, 3b, and 3C) GPS are known as satellite locations (S1, S4 and S7) GPS. For example,R1 can be calculated as the distance between the radio frequency repeater (3A) and GPS satellite (S1) GPS.

The method (100) calculate the location of the receiver (7) GPS includes:

- dimension (101) of the pseudorange for different satellites (S) GPS,

- adoption (102) decisions about pairs: radio frequency (RF) retruns the Torah (3) GPS satellites (S) GPS,

- finding (103) solutions for the approximate deviation of the clock of the receiver (7) GPS,

- receiving (104) locations of satellites (S) GPS,

- calculation (105) of the distances between the radio frequency repeaters (3) GPS satellites (S) GPS,

- modification (106) of the measured pseudorange,

- measurement (107) location location of the receiver (7) GPS, as well as deviations in the readings of clocks between the hours of satellites (S) and GPS receiver (7) GPS using the method of least squares or exact algorithms,

- check (108) the accuracy of the measured location in the location of the receiver (7) GPS,

- on stage (108) verify the accuracy of the measured location in the location of the receiver (7) GPS, if the measured location in the location of the receiver (7) GPS is not accurate, finding receiver (7) GPS space receiver (7) GPS and then calculating (104) location of satellites (S) GPS (in other words, the transition to step 103),

- on stage (108) verification of the accuracy of the measured location in the location of the receiver (7) GPS, if the measured location in the location of the receiver (7) GPS is accurate, the end (109) of the step of calculating the location shown in Fig.8.

The receiver (7) GPS measures (101) of the pseudorange for different satellites (S) GPS signals coming from the different RF repeaters 3) GPS. The receiver (7) GPS measures the pseudorange associated with distances ofR1+R4,R2+R5 andR3+R6. These pseudorange include the variance of the clock receiver (7) GPS satellites (S) from GPS real time GPS, the values of the time delays of radio frequency relays (3a, 3b, and 3C) GPS and undesirable effects, such as instrumental delay of satellites (S) GPS ionospheric effect, and tropospheric effects, and the Earth's rotation. Delta values of the clocks on the satellites (S) from GPS real time GPS can be easily determined by the receiver (7) GPS based messages GPS. After finding the values of the deviations of the clocks on the satellites (S) GPS receiver (7) GPS regulates the GPS time GPS satellites. The receiver (7) GPS includes a database of the locations and values of the time delays of radio frequency relays (3a, 3b, and 3C) GPS, which is due to band-pass filters (4), low noise amplifiers (5) and lines (T) transfer within the radio frequency repeaters (3a, 3b, and 3C) GPS. All values of the time delays of radio frequency relays (3a, 3b, and 3C) GPS and location of their (3a, 3b, and 3C) are measured in advance and stored in the database, which is contained in the receiver (7) GPS.

For receiver (7) GPS is known from the database the location of radio frequency relays (3a, 3b, and 3C) GPS and also known Lu the new position of satellites (S) GPS in geocentric earth coordinate system of the GPS messages. One RF repeater (3) GPS can receive GPS signals from different satellites (S) GPS. For example, as shown in Fig.1, the wireless repeater (3A) GPS can receive the GPS signal from two satellites (S1 and S2) GPS, while the other radio frequency repeater (3b) GPS can receive GPS signals from three satellites (S3, S4, and S5) GPS and another radio frequency repeater (3C) GPS can receive the GPS signal with the other three satellites (S6, S7 and S8) GPS. The receiver (7) GPS makes a decision about which GPS signals and with any radio frequency repeaters (3) GPS come, based on the angular information from the radio frequency repeaters (3a, 3b, and 3C) GPS and GPS signals. In accordance with these data receiver (7) GPS receives (102) decision on steam: radio frequency repeaters (3) GPS satellites (S) GPS.

The receiver (7) GPS finds a solution for the approximate deviation of the clock of the receiver (7) GPS by finding his (7) the approximate location using measurements of unmodified pseudorange. First, the receiver (7) GPS finds (7) the approximate location using measured and unmodified pseudorange. The receiver (7) GPS finds (7) the approximate GPS time by providing yourself (7) the possibility of obtaining the binding location to the measured and unmodified pseudorange and get the OTK is onania the clock from this approximate GPS time.

After finding solutions to the approximate deviation of the clock of the receiver (7), the GPS receiver receives (104) location of satellites (S) GPS. The receiver (7) receives GPS satellite locations (S) GPS in accordance with the approximate time the GPS receiver (7). The exact time GPS should know in order to know the exact location of the satellites (S) GPS, but errors when GPS time does not generate a big mistake satellite locations (S) GPS. For example, a temporary error 1 µs entails the measurement error of the target location (7) GPS, corresponding to a distance of 300 m, but it entails the measurement error locations of satellites (S) GPS, corresponding to a distance of 2.9 mm (2∗π∗2000 km at 12 h, 2.9 km at 1, 2.9 m at 1 MS and 2.9 mm at 1 µs). After receiving the best locations of satellites (S) GPS location receiver (7) GPS and the deviation of the clock can be estimated more accurately by the receiver (7) GPS iterative method.

The receiver (7) GPS calculates (105) the distance between the radio frequency repeaters (3) GPS satellites (S) GPS, by correlation of the code of satellites (S) GPS locally generated c code GPS.

When the path of the GPS signal (from the satellite (S) GPS to radio frequency repeater (3) GPS and then from RF relay (3) GPS to receiver (7) GPS), the receiver (7) GPS modifies (106) measured pseudomale the tee by subtracting the distance between the radio frequency repeaters (3) GPS satellites (S) GPS and adverse effects on pseudoallele, such as the variance of the clock receiver (7) GPS satellites (S) GPS, the values of the time delays of radio frequency relays (3a, 3b, and 3C) GPS and undesirable effects, such as instrumental delay of satellites (S) GPS ionospheric effect and tropospheric effects and the Earth's rotation, from the measured pseudorange, which is represented in the system (Z) equations.

R4+Δtc=PR1-R1,

R5+Δtc=PR2-R2,(Z)

R6+Δtc=PR3-R3.

Delta values of the clocks on the satellites (S) from GPS real time GPS can be easily determined based on the messages of the GPS receiver (7) GPS. After finding the values of the deviations of the clocks on the satellites (S) GPS receiver (7) GPS regulates the GPS time GPS satellites. Modified pseudomallei is pseudodominant between the radio frequency repeater (3) and GPS receiver (7) GPS for three different satellites (S) GPS.

The receiver (7) GPS measures (107) location in the room itself (7), and the deviation of the clock by using the method of least squares or exact algorithms. The system (Z) of equations can be solved in exact form or by obtaining the intersection of three circles or the intersection of two hiperb the L. If there are three radio relay (3) GPS pseudorange measurement three times coming from the radio frequency repeaters (3) GPS receiver (7) GPS uses the regular methods of least squares or exact algorithms such as triangulation on the basis of differences in arrival times), to find the location in the premises of the receiver (7) GPS, as well as deviations of the clock. The time and location of the receiver (7) GPS are calculated with the same accuracy as the receiver (7) GPS outdoors. The difference in arrival times is used, if the components of the system (the satellite (S) and GPS receiver (7) GPS) uses one and the same time, but the deviation in the readings of clocks between the satellite (S) and GPS receiver (7) GPS is inevitable. By subtracting the equations (Z) from each other, the deviation of the clock can be eliminated and the equations of the arrival time differences. When you subtract the equations of arrival times obtained equations of arrival time differences.

The receiver (7) GPS explores (108) the accuracy of the measured position in the premises of the receiver (7) GPS by comparing the decision to reject the clock, which it uses to find the location of the satellite (S) GPS and removal of unwanted effects, finding solutions for variances clock after the positioning. The receiver (7) GPS subtracts the value is their rejection of the clock phase (107) of the variance value of the clock phase (103). Then the receiver (7) GPS compares the absolute value of the difference between the value of the deviation of the clock phase (103) and the deviation of the clock phase (107) on the subject, it is less than 0.1 MS or not. If the absolute value is less than 0.1 MS, the receiver (7) GPS determines that measured their (7) the location is accurate. Otherwise, the receiver (7) GPS determines that measured their (7) the location is not exact.

If the measured location is accurate, the receiver (7) GPS stops executing (109) a calculation of the location.

If the measured location is not accurate, the receiver (7) GPS iterative finds (103) solution for the approximate variance of the clock by finding his (7) location.

One result of measurement of the results of the method (100) calculate the position given in Fig.9 and Fig.10. The receiver (7) GPS was located in the middle of the 60-metre corridor, where there was no GPS signal without frequency relay (2) GPS. When the RF repeater (2) GPS included, it was possible to calculate the location shown in Fig.9 and Fig.10. The average of 100 samples (10-second data) is 33 m, while the true location is at a distance of 33 metres from the RF relay (2) GPS. These and other measurements were performed in odnosi the same corridor and the following results were obtained, summarized in table 1.

As the table shows, the average error is less than 5 m for all locations in the corridor.

Table 1
Different locations in the room and location in the building, calculated using GPS
The distance from the radio frequency repeater (2) GPS (m)The number of samplesThe calculated location of the 100 sample average values (m)Error (m)
12100111
1210093
18100135
18100153
27100314
3310034 1

Although this invention relates to global positioning (GPS), the concept of increasing the signal level in the room can also be applied to the Galileo satellites, as well as to systems that use hybrid satellites of the GPS and Galileo.

Within the scope of this basic concept, you can develop different implementation with features of the invention, the system (1) determine the location in the location based on the GPS signal. The invention may not be limited to the examples described in this application; it is essentially corresponds to the claims.

References

1. The method (100) of the positioning indoors, based on the calculation time of a global system for location and directions to the location in two dimensions, in the global system (1) positioning (GPS) inside the building containing at least three directional antennas (2A, 2b, and 2C) GPS to receive certain GPS signals coming from at least three satellites (S1, S4 and S7), GPS, at least three radio frequency RF) relay (3A, 3b and 3C) GPS for enhanced GPS signals coming from directional antennas (2A, 2b, and 2C) GPS, at least three antennas (6A, 6b and 6C) GPS for transmitting GPS signals coming from the RF relay (3A, 3b, and 3C) GPS location, at least one receiver (7) GPS for receiving GPS signals coming from the antennas (6A, 6b and 6C) GPS, with its (7) antenna (8),
includes the following stages:
step (101) of the pseudorange measurement for different satellites (S) GPS
step (102) a decision about which GPS signals come from a RF relay (3) GPS, based on the angular information of directional antennas RF relays (3A, 3b, and 3C) GPS and GPS signals,
step (103) of the definition of the approximate deviation of the clock of the receiver (7) GPS by finding the approximate location of the GPS receiver using unmodified measuring the pseudorange,
step (104) to obtain the locations of the satellites (S) GPS
step (105) computing distances between RF repeaters (3) GPS location which is already stored in the database of the receiver (7) GPS and satellites (S) GPS, through the implementation of the correlation code of the GPS satellite with the locally generated code GPS
step (106) of the modification of the measured pseudorange by subtracting distances between RF repeaters (3) GPS satellites (S) GPS and adverse effects on the pseudorange, such as the values of the variance of hours of the receiver (7) GPS satellites (S) from GPS real time GPS, the values of the time delays of RF relays (3A, 3b, and 3C) GPS, and unwanted effects, such as instrumental delay of satellites (S) GPS ionospheric effect and tropospheric effects, and the rotation of the Earth, from the measured pseudorange,
step (107) measurement location inside of the receiver (7) GPS and deviations between the hours of satellites (S) and GPS receiver (7) GPS using the method of least squares or exact algorithms such as triangulation on the basis of differences in arrival times,
step (108) verify the accuracy of the measured location inside of the receiver (7) GPS by comparing the variance of hours on stage (103) with a value of deviation of hours on stage (107),
however, if at step (108) of the measured location inside of the receiver (7) GPS is not accurate, then you define a receiver (7) GPS space receiver (7) GPS and return to step (103), and
if at step (108) of the measured location inside of the receiver (7) GPS is accurate, method of determining the location of the ends.

2. The method according to p. 1, characterized in that the variance of hours of satellites (S) from GPS real time GPS determined on the basis of messages GPS receiver (7) GPS on stage (101) measuring the pseudorange for different satellites (S) GPS and step (106) of the modification of the measured pseudorange.

3. The method according to p. 1, wherein at step (103) of the definition of the approximate deviation of the clock of the receiver (7) GPS is finding the approximate GPS time by enabling the receiver (7) GPS to get a location binding to the measured and unmodified pseudorange and obtaining variances hours from this approximate GPS time.

4. The method according to p. 1, wherein step (104) to obtain the locations of the satellites (S) GPS perform in accordance with the approximate time of the GPS receiver (7) GPS.

5. The method according to p. 1, wherein at step (106) of the modification of the measured pseudorange mentioned modification of the measured pseudorange by subtracting the distance between the radio frequency repeaters (3) GPS satellites (S) GPS and adverse effects on pseudoallele, such as the variance of hours of the receiver (7) GPS satellites (S) from GPS real time GPS, the values of the time delays of radio frequency relays (3A, 3b, and 3C) GPS and undesirable effects, such as instrumental delay of satellites (S) GPS ionospheric effect and tropospheric effects, and the Earth's rotation, from the measured pseudorange, is carried out in accordance with the system (Z) equations
R4+Δt*c=PR1-R1,
R5+Δt*c=PR2-R2 (Z)
R6+Δt*c=PR3-R3
where
R1, R2, R3 - distance between the satellite (S1 or S4 or S7) GPS and RF pet what anslation (3A, or 3b, or 3C) GPS
R4, R5 and R6 is the distance between the radio-frequency relays (3A, 3b, and 3C) and GPS receiver (7) GPS
C is the speed of light,
Δt is the clock skew of the receiver (7) GPS and
PR1, PR2, PR3 is the measured pseudorange satellites (S1, S4 and S7) GPS, respectively.

6. The method according to p. 5, characterized in that the solution of the system (Z) equations performed on the intersection of three circles on the stage (107) measurement location inside of the receiver (7) GPS, as well as deviations between the hours of satellites (S) and GPS receiver (7) GPS using the method of least squares or exact algorithms.

7. The method according to p. 5, characterized in that the solution of the system (Z) equations performed on the intersection of two hyperbola branches at step (107) measurement location inside of the receiver (7) GPS, as well as deviations between the hours of satellites (S) and GPS receiver (7) GPS using the method of least squares or exact algorithms.

8. The method according to p. 1, wherein step (108) verify the accuracy of the measured location inside of the receiver (7) GPS performed by comparing the variance of hours is used to find the location of the satellite (S) GPS and removal of unwanted effects, deviation of hours after the positioning.

9. The method according to p. 1, wherein step (108) test the accuracy izmerennogo the location inside of the receiver (7) GPS performed by comparing the absolute value of the difference between the value of the variance of hours on stage (103) and the value of the variance of hours on stage (107), in order to determine whether it is less than 0.1 MS or not.

10. The global system (1) determine the location inside the building containing at least three RF relay (3A, 3b, and 3C) GPS for enhanced GPS signals received from GPS satellites, at least three antennas (6A, 6b and 6C) GPS for transmitting GPS signals coming from the RF relay (3A, 3b, and 3C) GPS inside, and at least one receiver (7) GPS for receiving GPS signals coming from the antennas (6A, 6b and 6C) GPS, with the help of his (7) antenna (8), characterized in that it contains at least three directional antennas (2A, 2b, and 2C) GPS used in conjunction with side tapered floating reflectors (C) to enhance their orientations (2), for receiving certain of the GPS signals coming from at least three satellites (S1, S4 and S7) GPS.

11. The system (1) under item 10, wherein the RF relay (3) GPS includes a band-pass filter (4) to reduce noise, a low noise amplifier (5) to enhance the GPS signal and line (T) of the transmission for transmitting GPS signals from a directional antenna (2) GPS antenna (6) GPS.

12. The system (1) on p. 11, characterized in that the receiver (7) GPS includes a database of the locations and values of the time delays of RF relays (3A, 3b, and 3C) GPS, which is due to band-pass filters (4), low noise amplifiers (5) and lines (T) of the transmission is in RF relays (3A, 3b and 3C) GPS.

13. The system (1) under item 12, characterized in that the receiver (7) receives GPS location information RF relays (3A, 3b, and 3C) GPS from its database and retrieves information about the angular positions of satellites (S) GPS in geocentric earth coordinate system of the GPS messages.



 

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