CN102739301A - Global navigation satellite wide area augmentation system embedded in cellular network - Google Patents

Abstract

The present invention relates to a global navigation satellite wide area augmentation system embedded in a cellular network, comprising a cellular base station (4), a satellite positioning receiver (8) arranged at a fixed position near a cellular base station (4), a core network (10) of a cellular system, a positioning augmentation server (11) of a cellular network, and a mobile terminal (12), wherein the cellular base station (4), the satellite positioning receiver (8) arranged at a fixed position near a cellular base station, and the mobile terminal (12) form the cellular network (5), the core network (10) of the cellular system is respectively connected with the cellular base station and the positioning augmentation server (11) of the cellular network, the computer of the cellular network base station (4) is provided with a data collection and management software module (14), the positioning augmentation server (11) of the cellular network is equipped with a central wide area augmentation system server software (13), and the mobile terminal (12) is equipped with the wide area augmentation system client terminal software (15). The global navigation satellite wide area augmentation system embedded in a cellular network is low in cost and accurate in positioning.

Description

A kind of global navigational satellite WAAS that is embedded in the cellular network

Technical field

The present invention is a kind of global navigational satellite WAAS that is embedded in the cellular network, belongs to the renovation technique of the global navigational satellite WAAS that is embedded in the cellular network.

Background technology

Global Navigation Satellite System (GNSS) has been widely used in the each side of its life by the people all over the world.The annual mobile phone of having sold tens million of personal navigation equipment (PND) and having possessed the global navigation satellite function.GLONASS also is widely used in industry, agricultural, military affairs, building, communications and transportation and Secure Application.The global positioning system (GPS) that present topmost operational system is the U.S. (Fig. 1).The Galileo in Europe, the Big Dipper II of Muscovite GNOLASS and China also in the near future can with the navigation system of gps system competition.The GNSS system is made up of 20 to 30 medium earth-orbiting satellites 1, and each satellite is its different pseudo-random noise of broadcasting and its ephemeris under its atomic clock control accurately.Subscriber equipment 2 (GNSS receiver) decoding pseudo noise also obtains the time that satellite-signal is sent to customer location.When the signal that the satellite more than 4 is arranged was followed the tracks of, user's three-dimensional position and user clock skew just can resolve out.The GNSS system also can be for communication network the correct time signal is provided synchronously.In fact, the GNSS system just is being widely used in the synchronous of modern cellular network.

Though global positioning system provides huge facility for people, it also has its restriction.Most users only have been equipped with cheap single-frequency L1 frequency range receiver.They are merely about 10 meters in certainty of measurement under the best situation.Most of errors are because ionosphere delay evaluated error (7.1 meters), the clocking error of satellite (1.1 meters) and with respect to its satellite position error (0.8 meter) of broadcast ephemeris.In order to improve accuracy, the U.S. has developed satellite-based enhanced system (SBAS).Under the situation that does not increase the user device hardware complexity, the SBAS system can improve about 10 meters to 2 meters GPS positioning accuracy.The SBAS system is made up of several geostationary satellites, is used for the broadcast GPS satellite clock, ephemeris, and the control information of position and speed and ionosphere delay, the ground reference station, master control system and uplink relay are to the information of geo-synchronous orbit satellite.Unfortunately, this system is very expensive.The area that it is contained all over the world is limited.SBAS is only in the North America (WAAS) at present, European Union (EGNOS) and Japan (MSAS) operation.SBAS does not cover the major part that comprises China, the vast area in Russia and Africa.

In some big city of zone as being full of by skyscraper, perhaps indoor, gps signal can both be blocked by the rural area of trees and branches and leaves covering.Independently GPS equipment possibly can't obtain the position that enough gps satellite signals calculate the user.Under these conditions, people can utilize network assistance GPS (A-GPS) technology (United States Patent (USP) 6625458).When not having gps signal to receive, the information location that the A-GPS receiver provides with cellular base station.When a little less than the gps signal, the receiver with A-GPS function can obtain ephemeris and year calendar through a general cellular network.A-GPS also can be from thick frequency of cellular network acquisition and the collection of sign indicating number delayed data with the help gps signal.The realization example that the GPSOne of Qualcomm comes to this.It is by A-GPS terminal 3, (the normally built-in gps receiver of cell phone); One can provide GPS supplementary such as satellite ephemeris and when gps signal is too weak, and the cellular network 4 from the year calendar of central location-server 6 to A-GPS receivers that can't decode is formed.A-GPS can have higher availability than gps system independently.But it can not improve the GPS locating accuracy.Under the system that does not strengthen SBAS, A-GPS is under optimum condition, and precision is 10 meters.In the U.S., European Union and Japan, SBAS is effectively, GPS and A-GPS receive function and obtain better precision.If receiver can obtain the SBAS signal or obtain SBAS information from cellular network 4 from geostationary WAAS satellite, precision can reach 2 meters.Because the A-GPS system is not a difference enhanced system, it does not need cellular basestation to be equipped with the GPS receiver.All A-GPS supplementarys are the information that has no further modification or corrigendum from GPS or the acquisition of SBAS satellite.Any satellite clock correction, orbit error, ionosphere and tropospheric error are not calculated by this system.

A method that improves the GPS positioning accuracy is to use a special CORS network (CORS).It normally based on the fixing differential signal that provides of the reference station in geographical position of a cover, revises ionospheric time-delay, satellite clock and orbit error, tropospheric delay error.Give an example; The virtual reference station of Trimble technology (VRS) is by 3 or more is used for the high accuracy reference station of instrumented satellite signal and is used between reference station and user; Central server and user, and the private high network composition that transmits signal between the central server software.Reference station calculates update information and is delivered to final user through express network.Usually reference station is measured pseudorange and carrier phase simultaneously, and positioning software then is based on Real-time and Dynamic (RTK) technology.These systems can reach the surprising precision of Centimeter Level.But the communication network of system has mainly adopted proprietary standard, rather than open cellular network standards, like present 2G, and 2.5G, 3G and 4G network: GSM, CDMA, WCDMA, CDMA2000, TD-SDMA or LTE.Compare with cellular network, number of users that proprietary network can be supported and area coverage are all much smaller.It can not the support voice conversation.The access of video, data and Internet of Things is also obviously not all right.The CORS system also needs special use, the corrigendum that expensive receiver is decoded and realized locating at present.Owing to these reasons, the construction of system and maintenance are extremely expensive, and can only cover the fraction field in the world.

One of important use of hi-Fix is a monitoring structural health conditions.The relative motion monitoring accuracy of Centimeter Level can be provided based on the gps system of Real-time and Dynamic (RTK) technology.Therefore, it is the health monitoring mode of popular large scale structure such as skyscraper and bridge.So far, the monitoring system of this type all is to realize with the RTK latticed form of special use.If a plurality of multi-functional transducers are arranged, like strain transducer, wind-force and humidity and pressure sensor also can provide many facilities to the structural health measurement.Piezoelectric sender can bring out the mechanical oscillation of structure, obtains the mechanical change that its response comes analytical structure through piezoelectric transducer.Combine with the output of transducer, supervisory control system can be more effective.Current system all is the part that isolates, the corresponding structure of each system, and the middle position monitoring through a networking to connect the output of all the sensors of different structure should be best selection.

Summary of the invention

The objective of the invention is to consider the problems referred to above and provide a kind of cost low, accurate positioning be embedded in the global navigational satellite WAAS in the cellular network.The present invention is reasonable in design, and is convenient and practical.

Technical scheme of the present invention is: the global navigational satellite WAAS that is embedded in the cellular network of the present invention; Include cellular basestation, be installed in satellite positioning receiver, the core network of cellular system, the location enhanced services device of cellular network, the portable terminal of near the fixed position cellular basestation; Cellular basestation is formed cellular network with satellite positioning receiver that is installed near the fixed position of cellular basestation and portable terminal; The core network of cellular system is connected with the location enhanced services device of cellular basestation and cellular network respectively; And the computer of the cellular basestation of cellular network is provided with the data collection and administration software module; Central WAAS server software is housed on the location enhanced services device of cellular network, the WAAS client software is housed on the portable terminal.

The portable terminal that above-mentioned Standard User uses is meant the car navigation device of mobile phone or integrated GNSS receiver module and above-mentioned said cellular network communication module.

The portable terminal that above-mentioned Standard User uses is the high-speed communication module that can carry out the GNSS receiver module of carrier phase measurement and be used for cellular network.

Be provided with the enhanced system data exchange service device that to set up the WAAS information path between the user of above-mentioned central wide area location enhanced services device and different cellular networks.

Also be provided with sensor network between above-mentioned portable terminal and the cellular network, sensor network is connected with the communication interface of cellular network through the Zigbee hub.

The sensor network comprises the transducer of band Zigbee transceiver, and portable terminal forms one or more ZigBee networks through the transducer of band Zigbee transceiver, and is connected to cellular network with the ZigBee hinge of one or more monitoring structural health conditions.

The transducer of above-mentioned band Zigbee transceiver comprises strain transducer, piezoelectric transducer and PZT (piezoelectric transducer).

Above-mentioned cellular network is based on one of them general and open standard: GSM, CDMA, and WCDMA, CDMA2000, TD-SCDMA LTE also provides mobile phone, note and Internet connection; Above-mentioned satellite positioning receiver output initial data comprises pseudorange, Doppler frequency shift, carrier phase measurement and satellite ephemeris; Above-mentioned satellite positioning receiver receives the one or more satellite fix frequencies from one or more satellite fix constellations.

Above-mentioned data collection and administration software module operates on the computer of cellular basestation with the initial data in the record circular buffer; Above-mentioned WAAS server software is through the computer acquisition initial data of host cellular network from cellular basestation, and the ionosphere and the troposphere time-delay that solve on each space lattice are revised, and revise the clock correction and the orbit error of satellite; Above-mentioned WAAS server software is based on two difference algorithms of adjacent base station carrier phase measurement; Above-mentioned WAAS server software is based on the solution of carrier phase measurement integer ambiguity; Above-mentioned WAAS server software sends ionosphere delay through cellular network to portable terminal, tropospheric delay, satellite orbital error and clock correction update information.

Above-mentioned hi-Fix user's WAAS client software obtains ionosphere through mobile device and nearest base station and the troposphere time-delay is revised; Satellite orbit and clock skew and carrier phase measurement solve integer ambiguity, and obtain hi-Fix; Above-mentioned WAAS client software is through the ionosphere and the tropospheric delay of cellular network integration WAAS, and the update information of satellite orbital error and clock correction is in positioning calculation.

The present invention compared with prior art, the present invention utilizes the hardware of existing cellular network, is embedded on the general beehive network system.The present invention is under the situation that does not increase any hardware, and enhanced system is used existing satellite positioning receiver, and the computational resource of wireless and broadband communication network and central server is for the mobile subscriber provides positioning service.WAAS of the present invention, to cover billions of cellphone subscribers' large tracts of land, this system can also provide high-precision location (Centimeter Level) for paying customer and monitoring structural health conditions simultaneously.The present invention is a kind of low cost, accurate positioning be embedded in the global navigational satellite WAAS in the cellular network.

Description of drawings

Fig. 1 is a typical GLONASS: the GPS of USA system comprises gps satellite 1 and mobile subscriber 2;

Fig. 2 is a satellite fix auxiliary network (A-GPS) of being realized by Qualcomm, GPSOne.When satellite positioning signal was very weak, central secondary server 6 provided accurate satellite orbit and clock information through cellular network for A-GPS user.

Fig. 3 is the topological structure of a typical standard universal beehive network system.Satellite positioning receiver 8 by near fixed position base station 4 and it is formed, and satellite positioning receiver is that network 10 provides synchronously accurate with user 9.

Fig. 4 is the Embedded satellite fix enhanced system of a present invention framework.

Fig. 5 is the topological structure of embedded WAAS of the present invention and host cellular network system.

Fig. 6 is that the present invention embeds enhanced system and serves a plurality of satellite fix constellations of a plurality of cellular networks (A17 and B18) (gps satellite 1 is example with Galilean satellite 16).What dotted line was represented is radio communication, and the representative of arrow piece is broadband network.

Fig. 7 is the health monitoring systems of hi-Fix service of the present invention for the basis.This system comprises one or more portable terminals 12, and strain transducer and Zigbee terminal equipment 23 are positioned at the Zigbee hub of portable terminal 12 or base station 4 (be not included in this figure).

Among the figure:

1, position location satellite; 2, mobile-satellite navigation neceiver independently; 3, network assistance satellite fix (A-GPS) receiver; 4, cellular basestation; 5, cellular network; 6, GPS global positioning system secondary server; 7, can download the Internet of satellite supplementary; 8, near the satellite positioning receiver of the fixed position the cellular basestation; 9, mobile subscriber; 10, the core network of cellular system; 11, the location enhanced services device of cellular network; 12, portable terminal; 13, central WAAS server software; 14, be positioned at the data acquisition software of base station computer; 15, WAAS client software; 16, Galilean satellite; 17, the core network of honeycomb A; 18, the core network of honeycomb B; 19, system's enhancement service device of honeycomb A; 20, the location enhanced services device of honeycomb B; 21, enhanced system data exchange service device; 22, the structure that needs monitoring; 23, the transducer of band Zigbee transceiver; 24, with the Zigbee hub of cellular communication interface.

Embodiment

Embodiment:

Structural representation of the present invention is as shown in Figure 4, and the present invention is towards embedded difference WAAS and the real-time dynamic system of GLONASS at beehive network system.The hardware of the modern communication beehive network system that utilization of the present invention has been set up and the advantage of Internet resources, difference WAAS of the present invention need not increase any hardware to the cellular network main frame.Therefore, it can reduce system cost greatly.And it can provide the precision of standard for vast mobile subscriber and be that those advanced level users selected in the cellular network coverage provide hi-Fix.The present invention utilizes modern ubiquitous, always readily available covering cellular network, and the present invention can not need build the expensive dedicated reference station and geostationary satellite is set up WAAS and real-time dynamic positioning system.

Modern cellular network is as shown in Figure 3, needs time synchronized strict between the cellular basestation.For example WCDMA disposes 3G network standard the most widely, and for the interference in non-bob calling and the minimizing network, the synchronous error between the base station is less than 2.5e-06 second.Unique feasible solution is to dispose satellite positioning receiver 8 at each cellular basestation 4 at present, is used to provide time synchronized.This system has three major parts: satellite positioning receiver provides the base station time synchronized, the location enhanced services device 11 of cellular network; The core network 10 that connects cellular basestation 4 and location enhanced services device 11.

Fig. 5 is the system topological of the embedded WAAS of the present invention and its honeycomb mainframe network system.Enhanced system of the present invention need not additional hardware for cellular network.It utilizes the required hardware resource of its all mainframe network: 1) portable terminal 12 provides high-speed radio to be connected to base station 4.2) DVB 8 of dense distribution is fixed on the base station 4 (Node B) of network and serves as CORS (CORS).3) connect the express network of cellular basestation 4 to the location enhanced services device 11 of core network 10 and cellular network.4) the location enhanced services device 11 of cellular network.In the disabled area of satellite-based augmentation system SBAS (China, Russia, South America, Oceania and African country), system of the present invention is particularly useful.It can provide the positioning service of pin-point accuracy with minimum cost.In addition, system of the present invention can also provide the hi-Fix service.Such high accuracy service is very expensive and only available in very little area at present.

Use the hardware resource of beehive network system, the present invention only just can set up a WAAS for GNSS through increasing software.In addition, system of the present invention also can be used as a CORS (CORS) networking, and need not additional hardware, is high accuracy user service.System is divided into several software sections; Add cellular network to; Set up a WAAS, as shown in Figure 5: the data acquisition software module 14 of a. on cellular basestation 4 computers, the WAAS server software 13 that b. moves on location enhanced services device 11; C. operate in the WAAS server software 15 on the portable terminal 12, be used to provide the error correction of local satellite positioning surveys.

A. the data acquisition software module 14

Data acquisition software module 14 is moved on the computer of cellular basestation 4.Its task is record and manages the initial data from satellite positioning receiver.Usually the satellite positioning receiver 8 at cellular basestation 4 not only can produce synchronizing signal.It also can measure pseudorange, Doppler frequency shift and the carrier phase of each visible position location satellite.For example, to the synchronous widely used satellite positioning receiver of WCDMA, U-BLOX LEA-4T can export pseudorange, Doppler frequency shift and carrier phase measurement.Hi-Fix needs carrier phase measurement.In addition, satellite positioning receiver is also exported the ephemeris of satellite, clock skew, ionosphere delay etc.Many satellite positioning receivers, for example LEA-4T can export initial data in the speed of 10Hz.From the original dateout of satellite fix, can fill up the limited memory space of cellular basestation 4 computers rapidly.But we only need the nearest measurement of local storage.This task can realize through using a buffer circle.Because the WAAS server software needs synchrodata to obtain hi-Fix in order to numerical analysis, buffering area need be guaranteed the record of the timestamp of satellite location data.The WAAS server obtains data from buffer circle, calculate the WAAS correction in real time, is transmitted to the user who needs.In addition, near the mobile subscriber cellular basestation also can obtain hi-Fix through the Real-time and Dynamic technology through cellular radio Communication in real time.

B. the WAAS server software 13

WAAS server software 13 moves on the location enhanced services device 11 of cellular network.Its purpose is to analyze initial data, extracts error component.Analytical method of the present invention is based on the difference WAAS: gather from different places and measure initial data.Initial data comprises that synchronous pseudo-distance, Doppler float frequently, carrier phase and satellite ephemeris.The WAAS server software solves the ionosphere of space lattice and delay time in the troposphere and satellite clock correction, satellite orbit are proofreaied and correct.

Suppose to be distributed on the area, the base station of N band satellite positioning receiver is arranged, i represents receiver (i=1..N), and each receiver can be seen M position location satellite.J represents position location satellite (j=1..M).Pseudo-distance, Doppler float frequently, the measurement equation of carrier phase can be:

${{\mathrm{\ρ}}_i}^j={r_i}^j+c(\mathrm{\δ}{t}_{u,i}-\mathrm{\δ}{t}^j)+I^k+T^K+{\mathrm{\ϵ}}_{\mathrm{\ρ},i,j,k}---\left(1\right)$

$\mathrm{\&Delta;}{f_i}^j=f_{L1}\left\{\frac{1+\mathrm{\&delta;}{\stackrel{\&CenterDot;}{t}}^{\mathrm{<figure-callout\; id="1"\; label="j"\; filenames="120111115606.png,120111115611.png"\; state="\{\{state\}\}">j</figure-callout>}}}{1+\mathrm{\&delta;}{\stackrel{\&CenterDot;}{t}}_{u,i}}\right[1-\frac{1}{c}({\stackrel{\&RightArrow;}{v}}^j-{\stackrel{\&RightArrow;}{u}}_i)\&CenterDot;{\stackrel{\&RightArrow;}{a}}_j^i]-1\}+{\mathrm{\&epsiv;}}_{f,i,j}---\left(2\right)$

${{\mathrm{\&phi;}}_i}^j=[{r_i}^j-I^k+T^k]/{\mathrm{\&lambda;}}_{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="120111115606.png,120111115611.png"\; state="\{\{state\}\}">L</figure-callout>}1}+f_{L1}(\mathrm{\&delta;}{t}_{u,i}-\mathrm{\&delta;}{t}^j)+{N_i}^j+{\mathrm{\&epsiv;}}_{\mathrm{\&phi;},i,j}---\left(3\right)$

Wherein

$r_j^i=\sqrt{{(x^j-x_{u,i})}^2+{(y^j-y_{u,i})}^2+{(z^j-z_{u,i})}^2}$ Be respectively that receiver i measures and geometric distance x to the pseudo-distance of satellite j ^j, y ^j, z ^jBe 3 dimension coordinates of satellite j, x _{U, i}, y _{U, i}, z _{U, i}Be 3 dimension coordinates of receiver i, c is the light velocity in the vacuum, δ t _{U, i}With

Be that the clock correction that is connected on the receipts machine i on the base station 4 is floated δ t with frequency ^jWith The clock correction that is satellite j is floated I with frequency ^k, T ^kBe the time-delay on space lattice k of ionosphere and troposphere, k=1..0, ε are measure errors, are assumed to be the white gaussian noise, Δ f _i ^jBe that the Doppler who measures floats f frequently _L1, λ _L1The frequency of positioning satellite signal and wavelength,

Be satellite j and in the base station speed of the receiver i on 4 mountains, the speed of receiver is assumed to be 0, all positions and speed all define in the body-fixed coordinate system of the earth's core, Be observation unit's vector from receiver i to satellite j,

Be the carrier phase of the satellite j that measures of receiver i and the integer ambiguity that will find the solution.

The position of satellite, speed, clock correction and float the clock correction of receiver in addition frequently and float frequently, ionosphere, troposphere are prolonged and are used as unknown number when the value of different spaces lattice point, native system has M (3+3+1+1)+N (1+1)+individual unknown quantity of O (1).Pseudo-distance and Doppler float equation (the 1st and the 2nd equation) frequently provides 2MN equation.When the receiver number M on the base station was bigger, our equation number was big more a lot of than unknown number.All contain measured deviation because each measures equation, we adopt least square method to find the solution unknown quantity.Better way is to use Kalman filter.Because satellite position, speed are correlated with, we can use complicated physical mechanics modelling satellite orbit parameter, and the application card Thalmann filter is found the solution unknown quantity then.Satellite fix enhancement service device passes to the user who needs to ionosphere, troposphere, satellite orbit and clock correction through the mobile phone cellular network, reaches the purpose that wide area strengthens satellite fix.

High-precision location can be utilized carrier phase, reach like the processing of equation 3.(Real time Kinematic RTK) utilizes well-known method to real-time dynamic positioning, finds the solution integer ambiguity.Although MN equation 3 contains MN unknown integer ambiguity, their measure error is measured little two one magnitude than pseudo-distance.The carrier information that equation contains can reach than the high a lot of location of algnment accuracy.Usually the two differences of hi-Fix utilization are sent out disappear satellite and user's clock correction.Under short cardinal distance (distance of portable terminal 12 and cellular basestation 4 is smaller, in 10 kilometers) condition, the ionospheric time-delay of user and nearest fixed receiver 8 is the same.The carrier phase of two differences (DD) is measured equation and can be written as:

${\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}=r_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}/\mathrm{\&lambda;}+N_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}+{\mathrm{\&epsiv;}}_{\mathrm{\&phi;},\mathrm{ur}}^{\left(\mathrm{kl}\right)}$

Wherein

be carrier phase, geometric distance and integer ambiguity at satellite k and l, base station receiver r and user u's is two poor.Notice that this equation needs the synchronous portable terminal and the measurement data of base station receiver.If the position of cellular basestation 4 knows that we can be attached to the carrier phase equation of two differences in the measurement equation of pseudo-distance, utilize the Lambda method to find the solution integer ambiguity, bring the location of Centimeter Level for the user.

C. the WAAS client software 15

Similar with satellite-based augmentation system (SBAS), cellular network enhanced system of the present invention carries the ionosphere, troposphere time-delay, satellite orbit, the satellite clock that calculate to be adapted on the local portable terminal, improves their positioning accuracy.Common user terminal software 15 can only utilize the signal of satellite-based augmentation system (SBAS) to improve precision, and can not utilize differential signal to improve precision.Realize the difference location in order to let, the present invention has designed the correction sentence structure compatible with satellite-based augmentation system SBAS, and they comprise satellite orbit, clock correction and ionospheric correction.The engineer only need do small change to WAAS client software 15 just can accept the corrected signal that the location enhanced services device 11 of cellular network sends, and improves positioning accuracy.

To the high accuracy user, system of the present invention except ionosphere, troposphere time-delay, satellite orbit, satellite clock correction are provided, near the phase measurement of the base station also providing.High-precision client terminal software comprises the real-time dynamic positioning algorithm that resolves integer ambiguity.Such as, the present invention can utilize the Lambda algorithm, helps the positioning accuracy that portable terminal 12 reaches Centimeter Level.

From Fig. 4, can see the essential difference of system of the present invention and networking secondary navigation system: 1. enhanced system of the present invention has been utilized near the fixing satellite navigation receiver 8 that is distributed in the base station 4.Systematic collection of the present invention connects the raw measurement data that is distributed near the receiver 8 the different cellular basestations 4, deliver on the WAAS server software 13 of the present invention, and network assistance navigation system (A-GPS) not have the receiver of distribution and measuring system.2. system of the present invention WAAS server software 13 calculates ionosphere, troposphere time-delay, satellite orbit, satellite clock correction according to measurement data; Network assistance navigation system (A-GPS) is then obtained ionosphere, troposphere time-delay, satellite orbit, satellite clock information simply from the internet, be broadcast to the user (satellite-signal is more weak) who needs.It does not calculate the corrected signal of oneself.3. there are carrier phase measurement and processing capacity and structure in system of the present invention, and the network assistance navigation system then has no the function of handling carrier phase.This no wonder, because the purpose of network assistance navigation system is the availability of increase system, and the purpose of system of the present invention is to improve positioning accuracy.

WAAS of the present invention not only can be applied in the GPS of USA system, and it also can be applied to the GLONASS system of Russia, the Galileo system of European Union and the Big Dipper II system of China.In fact it can strengthen a plurality of satellite navigation systems simultaneously.For example, the present invention can strengthen Big Dipper II and gps system, reaches the location and more availability (accepting the possibility that difficulty is located down at signal) of the accuracy higher than single satellite navigation system.Satellite fix enhanced system of the present invention also can be a plurality of beehive network system services simultaneously.In a lot of cities, cellular basestation 4 is that a plurality of beehive network systems are shared simultaneously, with conserve space and structural cost.The satellite fix enhanced system of serving a plurality of beehive network systems simultaneously has the more cellular basestation 4 and wider space of crypto set.The distance of user and base station is also nearer.Can reach better positioning accuracy like this.We only need to install some enhanced system data exchange service devices 21 and transmit the satellite enhanced system information in different cellular network 17,18 systems, and are as shown in Figure 6.

Because wide area satellite navigation reinforcing system of the present invention reaches the level of Centimeter Level in can be on a large scale, it is applicable to the safety of a plurality of large corporations of monitoring.System of the present invention can detect the high-speed railway bridge system of China in real time.On several geographic strategic points, lay the cellular basestation 4 of portable terminal 12 and several known coordinates, the relative motion of bridge can be measured by system, and is in real time and the make decision fail safe of bridge of whole day gas, as shown in Figure 7.If the transducer of a plurality of other types is installed, such as strain gauge and accelerograph piezoelectric transducer and transducer, system can be more effective.These transducers can be used solar powered, connect with the zigbee wireless network.Zigbee hub 24 can be installed in portable terminal 12 of the present invention together, perhaps is installed on the cellular basestation 4, is connected with cellular network 5.The safety monitoring system center can receive the measurement of each transducer in real time like this, reaches the purpose of real-time monitoring large scale structure.

Claims (10)

1. global navigational satellite WAAS that is embedded in the cellular network; It is characterized in that including cellular basestation (4), be installed in satellite positioning receiver (8), the core network (10) of cellular system, the location enhanced services device (11) of cellular network, the portable terminal (12) of near the fixed position cellular basestation (4); Cellular basestation (4) is formed cellular network (5) with satellite positioning receiver (8) that is installed near the fixed position of cellular basestation (4) and portable terminal (12); The core network of cellular system (10) is connected with the location enhanced services device (11) of cellular basestation (4) and cellular network respectively; And be equiped with data collection and administration software module (14) on the computer of the cellular basestation of cellular network (4); On the location enhanced services device (11) of cellular network central WAAS server software (13) is housed, WAAS client software (15) is housed on the portable terminal (12).

2. the global navigational satellite WAAS that is embedded in the cellular network according to claim 1 is characterized in that portable terminal (12) that above-mentioned Standard User uses is meant the car navigation device of mobile phone or integrated satellite fix receiver module and above-mentioned said cellular network communication module.

3. the global navigational satellite WAAS that is embedded in the cellular network according to claim 1; It is characterized in that the portable terminal (12) that above-mentioned Standard User uses is the high-speed communication module that can carry out the satellite television receiver module of carrier phase measurement and be used for cellular network.

4. the global navigational satellite WAAS that is embedded in the cellular network according to claim 1 is characterized in that being provided with the enhanced system data exchange service device (21) that can set up the WAAS information path between the user of above-mentioned centrally-located enhancement service device (11) and different cellular networks (5).

5. the global navigational satellite WAAS that is embedded in the cellular network according to claim 1; It is characterized in that also being provided with sensor network between above-mentioned portable terminal (12) and the cellular network (5), sensor network is connected with the communication interface of cellular network (5) through Zigbee hub (24).

6. the global navigational satellite WAAS that is embedded in the cellular network according to claim 5; It is characterized in that the sensor network comprises the transducer (23) of band Zigbee transceiver; Portable terminal (12) forms one or more ZigBee networks through the transducer (23) of band Zigbee transceiver, and is connected to cellular network (5) with the ZigBee hinge of one or more monitoring structural health conditions.

7. the global navigational satellite WAAS that is embedded in the cellular network according to claim 1 is characterized in that the transducer (23) of above-mentioned band Zigbee transceiver comprises strain transducer, piezoelectric transducer and PZT (piezoelectric transducer).

8. the global navigational satellite WAAS that is embedded in the cellular network according to claim 1; It is characterized in that above-mentioned cellular network (5) is based on one of them general and open standard: GSM; CDMA; WCDMA, CDMA2000, TD-SCDMA LTE also provides mobile phone, note and Internet connection; Above-mentioned satellite positioning receiver (8) output initial data comprises pseudorange, Doppler frequency shift, carrier phase measurement and satellite ephemeris; Above-mentioned satellite positioning receiver (8) receives the one or more satellite fix frequencies from one or more global positioning satellite constellations.

9. the global navigational satellite WAAS that is embedded in the cellular network according to claim 1 is characterized in that above-mentioned data collection and administration software module (14) operates on the computer of cellular basestation (4) with the initial data in the record circular buffer; Above-mentioned WAAS server software (13) is through the computer acquisition initial data of host cellular network from cellular basestation (4), and the ionosphere and the troposphere time-delay that solve on each space lattice are revised, and revise the clock correction and the orbit error of satellite; Above-mentioned WAAS server software (13) is based on two difference algorithms of adjacent base station carrier phase measurement; Above-mentioned WAAS server software (13) is based on the solution of carrier phase measurement integer ambiguity; Above-mentioned WAAS server software (13) sends ionosphere delay, tropospheric delay, satellite orbital error and clock correction update information through cellular network to portable terminal (12).

10. the global navigational satellite WAAS that is embedded in the cellular network according to claim 1; The WAAS client software (15) that it is characterized in that above-mentioned hi-Fix user obtains ionosphere and troposphere time-delay correction through mobile device and nearest base station; Satellite orbit and clock skew and carrier phase measurement solve integer ambiguity, and obtain hi-Fix; Above-mentioned WAAS client software (15) is through the ionosphere and the tropospheric delay of cellular network integration WAAS, and the update information of satellite orbital error and clock correction is in positioning calculation.

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