GPS 信号地面覆盖系统
Space System Finland presents an innovative NAVlndoor solution, which is a versatile system that extends the usage of satellite based positioning methods into environments where the GPS signal coverage is unsubstantial. NAVlndoor can be used both as a complement to GNSS or as a stand-alone system in environments where GNSS signals are not at all available.
芬兰空间系统公司发明了NAVIndoor 室内导航的解决方案, 这是一套扩展了卫星定位技术在不同场合应用的多用途系统. 尤其是针对那些GPS信号覆盖比较微弱的环境. NAVIndoor 既可以作为GNSS(全球卫星导航系统)的一种补充手段, 又可以作为一个完全独立的系统, 用来替代完全没有GNSS(全球卫星导航系统)信号覆盖的环境.
The NAVlndoor system is a synchronised pseudolite system, based on the GSG-L1 signal generators developed by SSF. As a standalone system NAVlndoor offers navigation accuracy comparable to single frequency positioning and with the advanced navigation algorithms found in the rover software the carrier ambiguities can be solved on-the-fly to provide a sub-decimetre accuracy in the most demanding environments.
NAVIndoor 系统是一套同步的伪卫星系统, 基于由芬兰空间系统公司开发的GSG-L1信号发生器.作为一套完全独立的系统, NAVIndoor 提供的导航精度相当于单频点定位系统, 它是基于漫游软件中的先进的导航算法, 即载波模糊性可以在航解决, 由此可以在苛刻的环境中提供了亚厘米级的定位精度,
The system comes with full documentation and installation instructions. Space Systems Finland is dedicated to supporting the customer in the set up process and can participate in customizations and customer development projects.
该系统交付给用户时, 提供完整的文件和安装说明, 芬兰空间系统公司致力于支持客户的系统搭建过程,并可为客户提供定制服务, 以及合作开发项目.
Overview 概述
Satellite navigation has the best coverage and accuracy, therefore it is becoming commonplace in many applications. However, signal is not available in all locations. However, accuracy is not sufficient in all locations and applications.NAVIndoor sets out to attack these problems
卫星导航具备最好的信号覆盖和精度, 所以在许多领域得到应用. 然而, 信号并不总是在所有场所都能存在的. 况且精度也不能满足各个场所和具体应用的. NAVIndoor 将能解决这些难题.
Features of the Developed System 未来发展中的系统
NAVIndoor infrastructure sets out to enhance current GNSS technology, extending it to indoor usage and environments previously considered as hostile for GNSS navigation.
NAVIndoor 地面信号覆盖系统可以增强现有的全球卫星定位系统, 使得该系统可以扩展到室内使用, 以及那些原来被认为不适合做全球卫星导航应用的环境.
Potential Applications 潜在的应用
Factory halls 工厂厂房
Warehouses 仓库
Logistics centers 物流中心
Harbours, Railway Stations 港口, 铁路
Exhibitions 展会中心
Cities 城市
Pseudolite System Overview 伪卫星系统概述
A set of pseudolites providing a navigation signal . The system is monitored by a reference receiver and a control station, providing a synchronised PL-system
一组伪卫星组成一个导航信号系统, 在一个GPS参考接收机的监控下, 由一个控制站控制, 形成一个同步的伪卫星系统.
Main Technical Achievements 主要技术成果
Developed pseudolites ready to be shipped in small series . Proved the usability of a synchronised pseudolite system . Showed that the system can be used in an difficult multipath environment, showing how it’s been possible to identify and isolate the multipath component
已经开发出来的伪卫星随时可以发运给用户. 已被验证用途的同步伪卫星系统. 该系统已被证明可用于多路径干扰厉害的环境中, 并可进一步识别和分理出多路径成分.
Developed Components 已开发的组件
Pseudolites 伪卫星
GNSS pseudo satellite 全球卫星导航伪卫星
Antenna 天线
with optimised field pattern ( 带优化的场强图)
Master control station 主控站
User interface for system control 系统控制的用户界面
Demonstration application 演示应用
Rover software using raw receiver measurements 使用原始接收机数据的飞行器软件
Pseudolites 伪卫星
GPS- L1(型号)
1575.42 MHz, 50 bit/s, BPSK modulated, Bandwidth 2 MHz, deviation +- 3 kHz频率,速率,调制,带宽,频偏
Configurable PRN (GPS Gold codes only, PRN 1-1023)可以设置的卫星号
Scalable signal strength可变信号强度, max -70 dBm
Configurable navigation message content 可配置的导航信息内容
Option to include different oscillators 可以选用不同的频率振荡器
Serial connection for control data input & output 串行电缆控制数据输入,输出
Option to use radio modem (internal or external via the serial connection)可用无线modem
Dimensions尺寸: 14 x 14 x 7 cm
Operation power工作电压: 6 VDC
Power consumption功耗: 500 mA
Antenna connection天线连接: SMA (SMA/BNC/TNC, upon request)
Antenna 天线
Helix 螺旋
Boom length螺杆长度: 321 mm
Boom diameter螺杆直径: 64 mm
Nr of turns绕圈数: 7
Turn spacing绕线间隔: 43 mm
Ground plane diameter底座平板直径: 250 mm
Impedance阻抗: 131.6 ohm
Master Control Station 主控站
SW runs on a standard PC (Linux) 软件运行在标准的PC (Linux)
Supported reference receivers: Fastrax iTrax03 支持的参考接收机
Synchronisation errors below 0.5 cm 同步误差低于 0.5 厘米
Supports radio modem and serial cable for communications with the pseudolites 支持无线调制解调器, 串行电缆和伪卫星相联.
Synchronisation and monitor process supported by user friendly GUI 通过友好的用户图形界面同步和监测整个过程
Rover Software 漫游软件
Software runs on a standard PC (Linux), providing a GUI for configuration and monitoring .
Supported receivers: Fastrax iTrax03 . Non-linear navigation solution algorithms, with multipath mitigation, RAIM FD and code/carrier algorithms for heavy mulitpath environments .Radio controlled car for demonstration purposes
该软件运行在一个标准的PC上(linux平台), 提供了可设置和监控的图形界面. 支持 Fastrax iTrax3 接收机. 内置非线性的导航解决算法, 带多路径平滑, RAIM(接收机自动完好监视) FD(故障检测) ,以及在严重多路径环境中的码/载波算法. 无线遥控车用作演示用途.
Experiments 实验
Outdoor 户外
Football field 足球场
Indoor 室内
Laboratory (10m2) 实验室(10平方米)
Basketball arena (1000m2) 篮球馆(1000 平方米)
Fair centre (3000m2) 市场 (3000平方米)
System 系统
5-6 pseudolites 5-6颗伪卫星
MCS: laptop 便携式电脑作为主控站
Reference receiver: CMC SuperStar II 参考接收机
Rover: CMC SuperStar II receiver, radio communication, radio controlled car and real-time solutions in laptop 在便携式电脑中实时解决方案
Forwarding solutions to external systems 将结果转送到外部系统
The GSG一L1 is a one channel, single-frequency (L1)GPS signal generator. The GSG一L1 is a cost-efficient solution for e.g.; Augmentating (D)GPS application by providing additional signals and integration. Building GPS navigation `bubbles‘ in covered areas, e.g. enabling indoor navigation as shown in NAVlndoor Production test purposes of GPS receivers. GPS receiver R&D purposes, e.g. optimizing tracking loops. One or more GSG一L1 can be controlled by a single host computer via the serial interface
protocol, or by using the provided set up software. The pseudolite is delivered with a documented serial interface protocol.
