| Time and Location are the foundations of human survival and development.GNSS is currently the best choice for positioning in open outdoor scenes,but in GNSS denial environments such as urban canyons,tunnels,and indoors,positioning capabilities are severely hindered,so inertial navigation,visual navigation,Wi-Fi,and cellular mobile network,Bluetooth,Ultra-Wideband,RFID(Radio Frequency Identification)and other technologies have been proposed.But these methods are more or less flawed.Shown in cellular positioning is that accuracy is the key to hindering the application of cellular positioning technology.With the continuous iteration of cellular communication systems,cellular positioning technology has also made considerable progress.In 5G,dense base station networks,high-frequency and high-bandwidth signals,large-scale antenna arrays and beamforming technology,as well as communication standards for positioning capabilities These new features make 5G a viable solution for highprecision positioning in GNSS denial environments.However,current research on 5G positioning mainly focuses on the discussion of feasibility and the analysis of positioning capabilities,and lacks consideration of the observation environment.The aim of this article is to explore 5G positioning capabilities in complex environments,analyze 5G positioning performance influencing factors,and optimize positioning performance in complex environments when the number of observable 5G base stations is insufficient.This paper first investigates the 5G implementation process and positioning observations in the 3GPP standard,and established a 5G positioning model on this basis.After that,based on open source channel simulation software,a 5G positioning simulation that meets the characteristics of 5G signals was realized and the factors affecting 5G positioning accuracy are analyzed through formula derivation and simulation experiments.Formula analysis and simulation experiment consistently show that fusion of multi-antenna angle measurement capabilities for TOA/AOD-based 5G positioning has obvious advantages in positioning accuracy and positioning capabilities.In order to further improve the 5G positioning capabilities in complex environments,inertial sensors and 5G positioning were merged to build a 5G/SINS integrated navigation model.On the basis of 5G positioning simulation,inertial simulation and fusing algorithm were added to achieve 5G/SINS loose and tight integrated navigation simulation,and the observation conditions was simulated by setting whether the number of observable base stations is sufficient or not.The performance of 5G positioning,5G/SINS loose Integrated Navigation,5G/SINS tight Integrated Navigation based on TOA,AOD,TOA/AOD for the two scenarios was analyzed experimentally.The experimental results show that under the same observation environment,the 5G/SINS tight combination based on TOA/AOD has the best positioning performance.The research work in this article provides an important reference for a better understanding of 5G positioning and the positioning performance of 5G/SINS integrated navigation in a complex environment. |
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