CN101614808B - Track test system - Google Patents
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- CN101614808B CN101614808B CN2009100891325A CN200910089132A CN101614808B CN 101614808 B CN101614808 B CN 101614808B CN 2009100891325 A CN2009100891325 A CN 2009100891325A CN 200910089132 A CN200910089132 A CN 200910089132A CN 101614808 B CN101614808 B CN 101614808B
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Abstract
A track test system comprises a plurality of mobile stations, a fixed reference station and at least a mobile reference station; wherein, each reference station comprises a GNSS receiver, control modules, interactive radio stations and main radio stations; the GNSS receiver is used for receiving GNSS signals and generating GNSS differential corrections; each control module is used for transmitting the data interacted between the main radio station and the interactive radio station in the reference station; the interactive radio station in the mobile reference station is used for sending the GNSS differential corrections generated by the reference station to the interactive radio station in the fixed reference station; the main radio station in the fixed reference station is used for sending the GNSS differential corrections generated by the mobile reference station and by the reference station to the mobile stations together; each mobile station is used for selecting one GNSS differential correction generated by the reference station from the received GNSS differential corrections according to the predetermined selection strategy, obtaining the GNSS position information of the mobile station according to the GNSS differential correction and returning the GNSS position information to the selected reference station. The system can expand the range of motion of the moving targets and ensure the real time of data.
Description
Technical field
The present invention relates to the satnav field, relate in particular to a kind of track test system.
Background technology
Track test system is the system that positions to moving target that is based upon on GNSS (Global Navigation Satellite System, the GLONASS) basis.Usually, at a reference point fixed station being set with fixed form is base station, on moving target, is provided with one and movably stands as movement station, and said moving target comprises aerial target and terrain object; Base station produces GNSS differential correcting number through receiving the GNSS satellite-signal, and sends to movement station; Movement station can obtain this mobile station location and velocity information according to the GNSS satellite-signal of this GNSS differential correcting number and reception, and movement station sends to base station to position and velocity information; Base station receives the positional information that movement station returns, and can also further obtain its course information and velocity information, to accomplish the flight path test to movement station.
But when the moving target range of operation was big, movement station may exceed the coverage of base station, and movement station can't obtain GNSS differential correcting number from base station this moment, also can't positional information be returned to base station; At this moment, can be employed in base station and set up iron tower, the mode that strengthens emissive power improves the coverage of base station, but with high costs, and increase is limited in scope.
In present track test system, movement station of every increase just need be arranged a control station at base station in addition, and the control station antenna is too many, can exist to set up difficulty, interference problem and be difficult to resolve defective such as determine.
Summary of the invention
The technical matters that the present invention will solve provides a kind of track test system, can increase the moving target range of movement, guarantee the real-time of data, and cost is relatively low.
In order to address the above problem, the invention provides a kind of track test system, comprise base station and several movement stations;
Said base station comprises fixed reference station and at least one removable base station;
Each base station comprises respectively and is used to the GNSS receiver, control module and the radio station that receive the global navigation satellite system GNSS signal and produce GNSS differential correcting number; Said radio station comprises a mutual radio station and a control station at least;
The said control module of each base station is used for transmitting mutual data between control station and the mutual radio station of this base station;
The GNSS difference number that the mutual radio station of said removable base station produces this base station sends to the mutual radio station at said fixed reference station;
The control station at said fixed reference station is used for obtaining from the mutual radio station of this base station the GNSS differential correcting number of said removable base station generation, and said removable base station GNSS differential correcting number that produces and the GNSS differential correcting number that this base station produces are sent to said movement station together;
Each said movement station is used for obtaining the GNSS positional information of this movement station according to this GNSS differential correcting number, and returning to selected base station at the GNSS difference number of the GNSS differential correcting number that receives according to a base station generation of preset selection policy selection.
Further, each said movement station comprises a user radio station;
The control station of said removable base station is used for the GNSS differential correcting number that this base station produces is sent to the user radio station of each movement station in this base station coverage; And the GNSS positional information returned of the user radio station that receives each movement station, and send to the mutual radio station of this base station through the control module in this base station.
Further, said at least one removable base station comprises the first removable base station and the second removable base station;
It is different that the used timeslice of data is sent in the mutual radio station of each removable base station; The mutual radio station of each base station all continues to receive data;
The said control module of each removable base station also is used for controlling the mutual radio station of this base station and sends data at the some of each second or certain several timeslice;
The mutual radio station of the said second removable base station is used for the GNSS positional information of each movement station of the GNSS difference number of this base station generation and the reception of this base station control station is sent to the mutual radio station of the said first removable base station;
The mutual radio station of the said first removable base station is used for the movement station GNSS positional information of the GNSS difference number of the movement station GNSS positional information of the GNSS differential correcting number of the said second removable base station generation, the said second removable base station reception, the generation of this base station and the reception of this base station control station is sent to together the mutual radio station at said fixed reference station.
Further, first address is adopted in the mutual radio station at the mutual radio station of said first, second removable base station and fixed reference station; Second address is adopted in control station and user radio station in the said fixed reference station; Three-address is adopted in control station and user radio station in the said first removable base station; The four-address is adopted in control station and user radio station in the said second removable base station;
The control station attribute is M in each base station, and user radio station attribute is R; The mutual radio station attribute of the said first removable base station is M, and the mutual radio station attribute at the second removable base station and fixed reference station is R;
Each radio station only can with the radio station of same base station, or data interaction is carried out in the radio station that possesses identical address; And under the identical prerequisite in address, attribute is that the radio station of M can only receive that attribute is the data that send in the radio station of R, and the data that send in the radio station of attribute to be the radio station of R can only receive attribute is M.
Further, said at least one removable base station also comprises:
The 3rd removable base station, the control station of wherein said the 3rd removable base station are used for the GNSS differential correcting number that this base station produces is sent to the user radio station of each movement station in this base station coverage; And the GNSS positional information returned of the user radio station that receives each movement station, and send to the mutual radio station of this base station through the control module in this base station;
The said four-address is adopted in the mutual radio station of said the 3rd removable base station, and attribute is R; The 5th address is adopted in control station and user radio station in the said the 3rd removable base station, and the control station attribute is M, and user radio station attribute is R;
The mutual radio station of said the 3rd removable base station is used for the GNSS mobile station location information of the GNSS difference number of this base station generation and reception is sent to the mutual radio station of the said second removable base station;
The mutual radio station of the said second removable base station also is used for the GNSS mobile station location information of the GNSS differential correcting number of the said the 3rd removable base station generation and reception is sent to the mutual radio station of the said first removable base station;
The mutual radio station of the said first removable base station also is used for the movement station GNSS positional information of the GNSS differential correcting number of the said the 3rd removable base station generation and reception is sent to the mutual radio station at said fixed reference station;
Control station in the said fixed reference station also is used for the GNSS differential correcting number that the said the 3rd removable base station produces is sent to the user radio station of each movement station in the coverage of this fixed reference station, and the sign of in the GNSS differential correcting number that the said the 3rd removable base station produces, carrying the 3rd removable base station.
Further, all or part of said base station uses the corresponding two or more users of control station radio station; When the corresponding two or more users of control station radio station, adopt time-sharing format to carry out data interaction between pairing each the user radio station of this control station and this control station.
Further; Control station in the said fixed reference station is to empty control station; The GNSS differential correcting number that each removable base station that transmission is received produces, the GNSS differential correcting number that reaches the generation of this base station give each interior aerial movement station of this fixed reference station coverage, the sign of in each GNSS differential correcting number, carrying corresponding base station respectively; And receive the GNSS positional information that each aerial movement station returns;
Said fixed reference station also comprises at least one control station over the ground, is used for the GNSS differential correcting number that this base station produces is sent to each the ground movement station in the coverage of this fixed reference station; And receive the GNSS positional information that each ground movement station returns.
Further, the said control module of each base station also is used to adopt 1pps signal that the GNSS receiver of this base station received as synchronizing signal, and per second carries out once time synchronization;
The said GNSS receiver of each base station also is used to produce the variable ratio frequency changer signal; The length of said timeslice is T times of said variable ratio frequency changer signal period length, and T is a positive integer;
The said control module of each removable base station is used for indicating the mutual radio station of this base station to be meant at the some of each second or certain several timeslices transmission data:
The said control module of each removable base station is preserved preset time sheet information, and this timeslice information is used for indicating the mutual radio station of this base station to adopt N timeslice of per second to send data; N is one more than or equal to 1 and be less than or equal to the integer of the total number of timeslice in the per second, sends the number of the used timeslice of data according to the mutual radio station of this base station per second, mutually one or more values should be arranged;
When the GNSS receiver of the said control module of each removable base station on this base station receives said 1pps signal; Begin variable ratio frequency changer signal-count that the GNSS receiver is produced, when count value is T * N, indicate the mutual radio station of this base station to send data.
Further, said variable ratio frequency changer signal period length is 5ms, and timeslice length is 20ms.
Further, each base station sign of in the GNSS differential correcting number that this base station produces, carrying this base station;
Said movement station is meant according to one of the preset selection policy selection GNSS difference number that base station produced in the GNSS differential correcting number that receives:
Said movement station is preserved the sign of each base station, according to base station of preset selection policy selection, in the GNSS differential correcting number that receives, finds the GNSS differential correcting number of the sign that carries selected base station;
Said selection strategy comprise following any:
The base station that this movement station of chosen distance is nearest;
Select this movement station to begin from power on always at mutual base station;
For the highest base station of this movement station priority.
Technical scheme of the present invention adopts the fixed reference station to add the scheme of removable base station; Movement station can be according to base station of preset selection policy selection; And the radio station ID of main website in its radio station is made as the control station ID of this base station; The roaming of movement station be can realize like this, thereby moving target range of movement, expanding monitoring distance increased; In the prioritization scheme of the present invention a plurality of removable base stations are set, each removable base station sends data with time division way, can shorten the time delay of data transmission, makes data transmission more timely; And each removable base station all can direct and movement station communication.Another prioritization scheme of the present invention proposes its M/R attribute is set in each radio station; Under the identical prerequisite in address; Attribute is that the radio station of M can receive that a plurality of attributes are the data of the radio station transmission of R; And the data that send in the radio station of attribute to be the radio station of R can only receive attribute is M have improved the reliability of data transmit-receive between the base station.Another prioritization scheme of the present invention is that to adopt a control station at base station be the scheme of a plurality of movement stations services, has reduced movement station more for a long time, and the control station of base station sets up the problem of difficulty, phase mutual interference.
Description of drawings
Fig. 1 is the synoptic diagram of track test system in the embodiment of the invention one.
Embodiment
To combine accompanying drawing and embodiment that technical scheme of the present invention is explained in more detail below.
Embodiment one, and a kind of track test system comprises: base station and several movement stations; Movement station comprises aerial target and terrain object, like aircraft and vehicle.
Said base station comprises fixed reference station and at least one removable base station;
Each base station comprises respectively and is used to the GNSS receiver, control module and the radio station that receive the global navigation satellite system GNSS signal and produce GNSS differential correcting number; Said radio station comprises the mutual radio station of at least one control station and at least one lasting reception;
The control module of each base station is used for transmitting mutual data between control station and the mutual radio station of this base station.
The mutual radio station of said removable base station is used for the GNSS difference number that this base station produces is sent to the mutual radio station at said fixed reference station;
The control station at said fixed reference station is used for obtaining from the mutual radio station of this base station the GNSS differential correcting number that said removable base station produces, and sends to said movement station together with GNSS differential correcting number that this base station produces;
Each said movement station is used for obtaining the GNSS positional information of this movement station according to this GNSS differential correcting number, and returning to selected base station at the GNSS difference number of the GNSS differential correcting number that receives according to a base station generation of preset selection policy selection.
In the present embodiment, said control module can but be not limited to embedded computer.
A kind of embodiment of present embodiment is as shown in Figure 1, and said at least one removable base station comprises the first removable base station and the second removable base station; In the practical application, can be according to the distance of monitoring and the attribute (ground or aerial target) of target, the quantity of the removable base station of flexible configuration can have one or more removable base stations.
The mode that mutual radio station in each removable base station adopts timesharing to send; The said control module of each removable base station is used for controlling the mutual radio station of this base station and sends data at the some of per second or certain several timeslice; It is different that the used timeslice of data is sent in the mutual radio station of removable each base station.
In this embodiment; The mutual radio station of said first, second removable base station and the mutual radio station at fixed reference station are first group of M-R; Adopt first address; The mutual radio station attribute of the said first removable base station is M, and the mutual radio station attribute at the second removable base station and fixed reference station is R.
In the present embodiment, each movement station all can comprise a user radio station;
Control station in the said fixed reference station and user radio station are second group of M-R, adopt second address; Control station in the said first removable base station and user radio station are the 3rd group of M-R, adopt three-address; Control station in the said second removable base station and user radio station are the 4th group of M-R, adopt the four-address; The control station attribute of each base station is M, and user radio station attribute is R.
Wherein, except the data interaction between control station in the same base station and the mutual radio station, just can carry out data interaction when only possessing identical address between the different radio station; And under the identical prerequisite in address, attribute is that the radio station of M can receive that a plurality of attributes are the data that send in the radio station of R, and the data that send in the radio station of attribute to be the radio station of R can only receive attribute is M.Data interaction between the control station of each base station and the mutual radio station, can be carried out in base station inside though control station is different with mutual address, radio station by the control module control of this base station alternately.
Being provided with address and M-R attribute in the present embodiment is in order to improve reliability of data transmission; During practical application, do not get rid of and adopt traditional data radio station to carry out communication as mutual radio station, can not be provided with address and M-R attribute this moment.
In the present embodiment, because the 1pps signal of GNSS receiver is pulse in a second, so the said control module in each base station adopts 1pps signal that the GNSS receiver of this base station received as synchronizing signal, carries out once time synchronization in 1 second; Said GNSS receiver also produces VARF (variable ratio frequency changer) signal simultaneously; Its cycle is 5ms in the present embodiment; Thereby the said control module of each removable base station can be used the starting point and the length of each timeslice of VARF signal identification; Data are sent in mutual radio station to control this base station in the some of each second or certain several timeslice, it is different to make the mutual radio station of each removable base station send the used timeslice of data.
During practical application, the length of timeslice can be as required or test confirm, if adopt VARF signal identification timeslice, then the length of timeslice should be VARF signal period length T doubly, wherein T is a positive integer; In addition, also can adopt VARF signal signal in addition that the starting point and the length of timeslice are identified.
In the present embodiment, the mutual radio station that the said control module of each removable base station is used for controlling this base station is sent data in the some of each second or certain several timeslice and is meant:
The said control module of each removable base station is preserved preset time sheet information, and this timeslice information is used for indicating the mutual radio station of this base station to adopt N timeslice of per second to send data; N is one more than or equal to 1 and be less than or equal to the integer of the total number of timeslice in the per second, sends the number of the used timeslice of data according to the mutual radio station of this base station per second, and one or more values are arranged; If mutual radio station per second only sends data in a timeslice, then N has only a value, if mutual radio station per second sends data in a plurality of timeslices, then N has a plurality of values; Only in the 6th timeslice, send data such as mutual radio station per second, then N=6; If mutual radio station per second sends data in the 1st, 9 timeslice, then N=1 and 9.
When the GNSS receiver of the said control module of each removable base station on this base station receives said 1pps signal; Begin variable ratio frequency changer signal-count that the GNSS receiver is produced, when count value is T * N, control the mutual radio station of this base station and send data.
Such as timeslice length in the present embodiment is 20ms; Be 4 times (being T=4) of VARF signal period length, this base station of said timeslice information indication sends data and uses the 6th timeslice, then when the GNSS receiver on this base station receives said 1pps signal; Begin the VARF signal-count in the GNSS receiver; When count value was 4 * 6=24, the starting point of the 6th timeslice that show that time is up was controlled the mutual radio station of this base station and is sent data.Timeslice information can be preset in the control module, and can make amendment.
During practical application; Also can when receiving said 1pps signal, pick up counting; Calculate with time value and to have arrived which timeslice; Second timeslice such as being defined in per second sent, and timeslice length is 20ms, and then booster station finishing from 20ms to 39ms after each GNSS receiver is received the GNSS signal pulse sent in this time period; It is simpler to use the VARF signal to implement, and also can directly be set in the control module when receiving said 1pps signal, indicates the mutual radio station transmission data of this base station when which VARF signal occurs.
Said preset time sheet information can directly indicate at this base station which timeslice to send data in; Also can be divided into two parts, a part is the attribute information of this base station, and being used to indicate the attribute of this base station is fixed reference station or removable base station, if be removable base station then further be indicated as being which removable base station; Another part is an attribute and the corresponding relation of the timeslice that is adopted; Control module is confirmed the attribute of this base station earlier according to said attribute information like this; Can confirm that according to affiliated corresponding relation this base station sends the timeslice that data adopted then, and control module further can also be confirmed address and the M/R attribute that this base station adopts according to said attribute information; When a base station changes purposes, only need to change attribute information wherein like this, and need not be more more change of address, M/R attribute and the timeslice that adopted.
In the said second removable base station:
Said GNSS receiver is used to receive the GNSS signal of GNSS satellite transmission and produces the 2nd GNSS differential correcting number;
Said control station is used for said the 2nd GNSS differential correcting number is sent to the user radio station of each movement station in the second removable base station coverage; And the GNSS positional information returned of the user radio station that receives each movement station, and send to mutual radio station through control module C2;
Said mutual radio station is used for the control according to the control module C2 of this base station; In the some of per second or certain several timeslice with said the 2nd GNSS difference number, and this removable base station in the GNSS positional information returned of each movement station of receiving of control station send to the mutual radio station of the said first removable base station, the sign of in said the 2nd GNSS difference number, carrying the second removable base station;
Wherein, Stipulate that said mutual radio station sends at the some of per second or certain several timeslice; Second timeslice such as being defined in per second sent, and then mutual radio station finishing from 20ms to 39ms after each GNSS receiver is received the GNSS signal pulse sent in this time period.
In the said first removable base station:
Said GNSS receiver is used to receive the GNSS signal of GNSS satellite transmission and produces a GNSS differential correcting number;
Said control station is used for a said GNSS differential correcting number is sent to the user radio station of each movement station in the first removable base station coverage; And the GNSS positional information returned of the user radio station that receives each movement station, and send to mutual radio station through control module C1;
Said mutual radio station is used to receive the 2nd GNSS difference number that the said second removable base station sends and the GNSS positional information of each movement station; And according to the control of the control module C1 of this base station; The GNSS positional information that each movement station that the 2nd GNSS difference number that in the some of per second or certain several timeslice, will receive, GNSS positional information receive together with control station in a said GNSS difference number and this removable base station returns; Send to the mutual radio station at said fixed reference station, the sign of in a said GNSS difference number, carrying the first removable base station.
In the said fixed reference station:
Said GNSS receiver is used to receive the GNSS signal of GNSS satellite transmission and produces the 3rd GNSS differential correcting number;
Said mutual radio station is used to receive first, second GNSS difference number that the said first removable base station sends and the GNSS positional information of each movement station, and sends to control station through control module C0; Each movement station here comprises the movement station in first, second removable base station coverage;
Said control station is used for said first, second, third GNSS differential correcting number is sent to the user radio station of each movement station in the coverage of this fixed reference station, respectively corresponding sign of carrying first, second removable base station and fixed reference station in first, second, third GNSS differential correcting number; And the GNSS positional information returned of the user radio station that receives each movement station.
So, the fixed reference station can receive the GNSS difference number that each removable base station produces in real time, and the GNSS difference number that produces in conjunction with this fixed reference station sends to said movement station together; Movement station can be selected the GNSS differential correcting number of some base station generations according to the preset selection strategy in the GNSS differential correcting number that is received; Obtain the GNSS positional information of this movement station according to this GNSS differential correcting number, and return to selected base station through the user radio station; Preserved the sign of said fixed reference station and each removable base station in the movement station, which GNSS difference number movement station just can identify according to the said sign of carrying in the GNSS difference number belongs to according to the selected base station of said selection strategy.
Said preset selection strategy can be the nearest base station of this movement station of chosen distance, also can be to select this movement station to begin from power on always at mutual base station, and can also be for the highest base station of this movement station priority; During practical application, this selection strategy can define as required.
The fixed reference station can also receive the GNSS positional information of each movement station in each removable base station coverage in real time, therefore can monitor in real time the position of each movement station, and convenience is commanded each movement station and dispatched.
In the practical application; Movement station do not monitored or during behavior such as commander if need be at a place; Do not get rid of each removable base station and only send the GNSS difference number of this removable base station generation and the GNSS difference number that other received removable base station produces, and do not send the GNSS positional information that each movement station in this base station coverage returns.
In a kind of embodiment of present embodiment, said at least one removable base station can also comprise the 3rd removable base station; The said four-address is adopted in the mutual radio station of said the 3rd removable base station, belongs to said the 4th group of M-R, and attribute is R; Control station in the said the 3rd removable base station and user radio station are the 5th group of M-R, adopt the 5th address, and the control station attribute is M, and user radio station attribute is R.
In the said the 3rd removable base station:
Said GNSS receiver is used to receive the GNSS signal of GNSS satellite transmission and produces the 4th GNSS differential correcting number;
Said control station is used for said the 4th GNSS differential correcting number is sent to the user radio station of each movement station in the 3rd removable base station coverage; And the GNSS positional information returned of the user radio station that receives each movement station, and send to mutual radio station through control module C3;
Said mutual radio station is used for the control according to the control module C3 of this base station, and the GNSS positional information that each movement station that in the some of per second or certain several timeslice, control station in said the 4th GNSS difference number and this removable base station is received returns sends to the control station of the said second removable base station together; The sign of in said the 4th GNSS difference number, carrying the 3rd removable base station.
In this embodiment, in the said second removable base station:
Said control station also is used to receive the 4th GNSS difference number of the said the 3rd removable base station transmission and the GNSS positional information of each movement station, and sends to mutual radio station through control module C2;
Said the 4th GNSS difference number that said mutual radio station also is used for said control station is received, and the GNSS positional information of each movement station of receiving of the said the 3rd removable base station control station send to the said first removable base station together.
In the said first removable base station:
Said the 4th GNSS difference number that said mutual radio station also is used for said control station is received, and the GNSS positional information of each movement station of receiving of the said the 3rd removable base station control station send to said fixed reference station together.
In the said fixed reference station:
In the GNSS positional information of each movement station that said mutual radio station is received, also comprise the GNSS positional information that each movement station in the said the 3rd removable base station coverage returns;
Said control station also is used for said the 4th GNSS differential correcting number is sent to the user radio station of each movement station in the coverage of this fixed reference station, and the sign of in said the 4th GNSS differential correcting number, carrying the 3rd removable base station.
In the practical application; Can not cause under the prerequisite that time delay do not satisfy the demands increasing data volume; Said removable base station can be more than three, and then except first, second removable base station, the mutual radio station of each removable base station and the control station of last removable base station adopt same address; And belong to same group of M-R, attribute is R; Also comprise the 4th removable base station such as hypothesis, then the mutual radio station of the 4th removable base station belongs to the 5th group of M-R, and attribute is that the control station of R and said the 3rd removable base station all adopts the 5th address.
If also have the 4th or more removable base station; Then this or these removable base station is all similar with the 3rd removable base station; Receive the GNSS signal of GNSS satellite transmission and produce GNSS differential correcting number through the GNSS receiver; By control station said GNSS differential correcting number is sent to the user radio station of each movement station in this removable base station coverage, and receive the GNSS positional information that the user radio station of each movement station is returned; Through the mutual radio station in this removable base station the GNSS positional information of GNSS difference number and each movement station is sent to the control station of previous removable base station, the sign of in GNSS difference number, carrying this removable base station then; If also there is back one removable base station, the GNSS difference number that a removable base station sent after then control station also was used to receive and the GNSS positional information of each movement station.Accordingly, these GNSS difference numbers and mobile station location information can be delivered in relays through removable base station one by one, up to arriving said fixed reference station, are concentrated by the fixed reference station to send.
In the present embodiment; The hardware of said fixed reference station, removable base station, movement station can be identical, and movement station can comprise that also the GNSS signal that is used for according to GNSS differential correcting number and reception produces GNSS receiver, the control module of this movement station GNSS positional information and the radio station that is used to receive GNSS differential correcting number and sends said GNSS positional information; Preserve configuration parameter in the said control module, being used to indicate our station is movement station or base station, and when our station was base station, being used to indicate our station was the fixed reference station, or which removable base station; Can also holding time sheet information.Relevant work is carried out according to configuration parameter in said GNSS receiver and radio station; In removable base station; The GNSS receiver produces GNSS differential correcting number; The GNSS positional information of the movement station that the radio station receives, GNSS differential correcting number and the GNSS positional information that other removable base station sends send these and said GNSS differential correcting number together; And in the movement station, the GNSS receiver then is to produce the GNSS positional information, and the radio station receives GNSS differential correcting number, sends said GNSS positional information.
In a kind of embodiment of present embodiment; Control station in the said fixed reference station is to empty control station; The GNSS differential correcting number that each base station that is received is produced (is said first, second GNSS differential correcting number; Also comprise the 4th GNSS differential correcting number when having the 3rd removable base station; By that analogy) and the GNSS differential correcting number (i.e. the 3rd GNSS differential correcting number) that produces of this base station send to the user radio station of each interior aerial movement station of this fixed reference station coverage (such as aircraft etc.), the sign of in each GNSS differential correcting number, carrying corresponding base station respectively; And the GNSS positional information returned of the user radio station that receives each aerial movement station.
Said fixed reference station also comprises at least one control station over the ground, is used for the GNSS differential correcting number that this base station produces is sent to the user radio station of each the ground movement station in this base station coverage; And the GNSS positional information returned of the user radio station that receives each ground movement station.
In this embodiment, will separate, can be directed against the GNSS differential correcting number that moving range is big, the aerial faster movement station of moving range conversion sends a plurality of base stations control station empty and over the ground; Then only send the GNSS differential correcting number at this fixed reference station for the ground movement station, can save transfer resource like this; Aerial movement station is the aerial target with mobile station apparatus, be generally aircraft etc., and the ground movement station has the terrain object of mobile station apparatus, is generally vehicle etc.
In the present embodiment, the corresponding two or more users of control station radio station can be used with all or part of base station in each removable base station in said fixed reference station; When the corresponding two or more users of control station radio station, adopt time-sharing format to carry out data interaction between pairing each the user radio station of this control station and this control station.
During practical application, do not get rid of still scheme one to one of user radio station and control station yet.
Certainly; The present invention also can have other various embodiments; Under the situation that does not deviate from spirit of the present invention and essence thereof; Those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of claim of the present invention.
Claims (10)
1. a track test system comprises base station and several movement stations; It is characterized in that:
Said base station comprises fixed reference station and at least one removable base station;
Each base station comprises respectively and is used to the GNSS receiver, control module and the radio station that receive the global navigation satellite system GNSS signal and produce GNSS differential correcting number; Said radio station comprises a mutual radio station and a control station at least;
The said control module of each base station is used for transmitting mutual data between control station and the mutual radio station of this base station;
The mutual radio station of said removable base station is used for the GNSS difference number that this base station produces is sent to the mutual radio station at said fixed reference station;
The control station at said fixed reference station is used for obtaining from the mutual radio station of this base station the GNSS differential correcting number of said removable base station generation, and said removable base station GNSS differential correcting number that produces and the GNSS differential correcting number that this base station produces are sent to said movement station together;
Each said movement station is used for obtaining the GNSS positional information of this movement station according to this GNSS differential correcting number, and returning to selected base station at the GNSS difference number of the GNSS differential correcting number that receives according to a base station generation of preset selection policy selection;
Wherein said selection strategy comprise following any:
The base station that this movement station of chosen distance is nearest;
Select this movement station to begin from power on always at mutual base station;
For the highest base station of this movement station priority.
2. the system of claim 1 is characterized in that:
Each said movement station comprises a user radio station;
The control station of said removable base station is used for the GNSS differential correcting number that this base station produces is sent to the user radio station of each movement station in this base station coverage; And the GNSS positional information returned of the user radio station that receives each movement station, and send to the mutual radio station of this base station through the control module in this base station.
3. track test system as claimed in claim 2 is characterized in that: said at least one removable base station comprises the first removable base station and the second removable base station;
It is different that the used timeslice of data is sent in the mutual radio station of each removable base station; The mutual radio station of each base station all continues to receive data;
The said control module of each removable base station also is used for controlling the mutual radio station of this base station and sends data at the some of each second or certain several timeslice;
The mutual radio station of the said second removable base station is used for the GNSS positional information of each movement station of the GNSS difference number of this base station generation and the reception of this base station control station is sent to the mutual radio station of the said first removable base station;
The mutual radio station of the said first removable base station is used for the movement station GNSS positional information of the GNSS difference number of the movement station GNSS positional information of the GNSS differential correcting number of the said second removable base station generation, the said second removable base station reception, the generation of this base station and the reception of this base station control station is sent to together the mutual radio station at said fixed reference station.
4. system as claimed in claim 3 is characterized in that:
First address is adopted in the mutual radio station of said first, second removable base station and the mutual radio station at fixed reference station; Second address is adopted in control station and user radio station in the said fixed reference station; Three-address is adopted in control station and user radio station in the said first removable base station; The four-address is adopted in control station and user radio station in the said second removable base station;
The control station attribute is M in each base station, and user radio station attribute is R; The mutual radio station attribute of the said first removable base station is M, and the mutual radio station attribute at the second removable base station and fixed reference station is R; Each radio station only can with the radio station of same base station, or data interaction is carried out in the radio station that possesses identical address; And under the identical prerequisite in address, attribute is that the radio station of M can only receive that attribute is the data that send in the radio station of R, and the data that send in the radio station of attribute to be the radio station of R can only receive attribute is M.
5. system as claimed in claim 4 is characterized in that, said at least one removable base station also comprises:
The 3rd removable base station, the control station of wherein said the 3rd removable base station are used for the GNSS differential correcting number that this base station produces is sent to the user radio station of each movement station in this base station coverage; And the GNSS positional information returned of the user radio station that receives each movement station, and send to the mutual radio station of this base station through the control module in this base station;
The said four-address is adopted in the mutual radio station of said the 3rd removable base station, and attribute is R; The 5th address is adopted in control station and user radio station in the said the 3rd removable base station, and the control station attribute is M, and user radio station attribute is R;
The mutual radio station of said the 3rd removable base station is used for the GNSS mobile station location information of the GNSS difference number of this base station generation and reception is sent to the control station of the said second removable base station;
The mutual radio station of the said second removable base station also is used for the GNSS mobile station location information of the GNSS differential correcting number of the said the 3rd removable base station generation and reception is sent to the mutual radio station of the said first removable base station;
The mutual radio station of the said first removable base station also is used for the movement station GNSS positional information of the GNSS differential correcting number of the said the 3rd removable base station generation and reception is sent to the mutual radio station at said fixed reference station;
Control station in the said fixed reference station also is used for the GNSS differential correcting number that the said the 3rd removable base station produces is sent to the user radio station of each movement station in the coverage of this fixed reference station, and the sign of in the GNSS differential correcting number that the said the 3rd removable base station produces, carrying the 3rd removable base station.
6. like each described system in the claim 3 to 5, it is characterized in that:
All or part of said base station uses the corresponding two or more users of control station radio station; When the corresponding two or more users of control station radio station, adopt time-sharing format to carry out data interaction between pairing each the user radio station of this control station and this control station.
7. like each described system in the claim 1 to 5, it is characterized in that:
Control station in the said fixed reference station is to empty control station; Send GNSS differential correcting number that each base station received produces, and the GNSS differential correcting number that produces of this base station give each the aerial movement station in the coverage of this fixed reference station, the sign of in each GNSS differential correcting number, carrying corresponding base station respectively; And receive the GNSS positional information that each aerial movement station returns;
Said fixed reference station also comprises at least one control station over the ground, is used for the GNSS differential correcting number that this base station produces is sent to each the ground movement station in the coverage of this fixed reference station; And receive the GNSS positional information that each ground movement station returns.
8. like each described system in the claim 3 to 5, it is characterized in that:
The said control module of each base station also is used to adopt 1pps signal that the GNSS receiver of this base station received as synchronizing signal, and per second carries out once time synchronization;
The said GNSS receiver of each base station also is used to produce the variable ratio frequency changer signal; The length of said timeslice is T times of said variable ratio frequency changer signal period length, and T is a positive integer;
The said control module of each removable base station is used for indicating the mutual radio station of this base station to be meant at the some of each second or certain several timeslices transmission data:
The said control module of each removable base station is preserved preset time sheet information, and this timeslice information is used for indicating the mutual radio station of this base station to adopt N timeslice of per second to send data; N is one more than or equal to 1 and be less than or equal to the integer of the total number of timeslice in the per second, sends the number of the used timeslice of data according to the mutual radio station of this base station per second, mutually one or more values should be arranged;
When the GNSS receiver of the said control module of each removable base station on this base station receives said 1pps signal; Begin variable ratio frequency changer signal-count that the GNSS receiver is produced, when count value is T * N, indicate the mutual radio station of this base station to send data.
9. system as claimed in claim 8 is characterized in that:
Said variable ratio frequency changer signal period length is 5ms, and timeslice length is 20ms.
10. like each described system in the claim 1 to 5, it is characterized in that:
Each base station carries this base station in the GNSS differential correcting number that this base station produces sign;
Said movement station is meant according to one of the preset selection policy selection GNSS difference number that base station produced in the GNSS differential correcting number that receives:
Said movement station is preserved the sign of each base station, according to base station of preset selection policy selection, in the GNSS differential correcting number that receives, finds the GNSS differential correcting number of the sign that carries selected base station.
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| CN2009100891325A CN101614808B (en) | 2009-07-30 | 2009-07-30 | Track test system |
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| CN2009100891325A CN101614808B (en) | 2009-07-30 | 2009-07-30 | Track test system |
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| CN101614808B true CN101614808B (en) | 2012-04-25 |
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| CN105319571A (en) * | 2014-06-04 | 2016-02-10 | 北京嘉兴网泰科技有限公司 | Global high-precision track measurement system |
| CN106052628A (en) * | 2015-04-15 | 2016-10-26 | 南京科博空间信息科技有限公司 | GNSS bridge deformation detection quick inquiry system and measuring method of same |
| CN105045280B (en) * | 2015-08-03 | 2019-01-01 | 中国农业大学 | A kind of self-propelled based on satellite system sprays machine navigation system and method |
| CN111142133B (en) * | 2018-11-02 | 2022-06-24 | 千寻位置网络有限公司 | Post-processing positioning method and system based on multiple continuously operating reference stations |
| CN110596470B (en) * | 2019-09-09 | 2021-01-05 | 西北工业大学 | Antenna testing method using unmanned aerial vehicle and differential GNSS positioning |
| CN111580140A (en) * | 2020-04-14 | 2020-08-25 | 广州南方卫星导航仪器有限公司 | Difference correction data broadcasting system, method, device and storage medium |
| CN115402953B (en) * | 2022-08-27 | 2023-10-27 | 深圳市神州云海智能科技有限公司 | Tower crane safety early warning method, device and system |
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Address after: 100094 Beijing city Haidian District Xian Feng Road No. 7 BDStar tower two Patentee after: Beijing BDStar Navigation Co., Ltd. Address before: 100085, A, building 10, building 9, Wah Wah Street, 3rd Street, Beijing, Haidian District Patentee before: Beijing BDStar Navigation Co., Ltd. |