CN104090281A - High-precision global positioning system (GPS)/ Beidou navigation system (BDS) shipboard receiving system - Google Patents

Abstract

The invention relates to a high-precision global positioning system (GPS)/ Beidou navigation system (BDS) shipboard receiving system which comprises a radio station module, a BDS/ GPS dual-mode positioning module, an automatic identification system (AIS) receiving module, an orientating module and a power management module, wherein the radio station module is used for generating pseudorange differential signals; the BDS/ GPS dual-mode positioning module is used for positioning according to the pseudorange differential signals in a BDS mode and/ or a GPS mode, and generating observation data; the AIS receiving module is used for receiving the position information of surrounding ships and providing the position information of the surrounding ships for the positioning module; the orientating module is used for making difference according to the observation data of the positioning module and the observation data of the orientating module, and calculating the posture of a base line formed by two antennae of a carrier; the power management module is used for carrying out conversion between an external power supply and an internal power supply and providing electric power for all the modules. The high-precision GPS/ BDS shipboard receiving system adopts a BDS/ GPS dual-core, double-star and four-frequency global navigation satellite system (GNSS) module, thus being capable of realizing single-BDS positioning or single-GPS positioning and joint positioning; after the single set of device is used, high-precision positioning can be realized, and an azimuth angle and a pitch angle or a roll angle can be measured.

Description

High-precision GPS/BDS boat-carrying receiving system

Technical field

The present invention relates to a kind of AIS terminal system for ship, relate in particular to a kind of AIS terminal system for ship based on Beidou satellite navigation and gps satellite navigation.

Background technology

The birth of AIS (ship automatic identification system) has made up the deficiency of radar to ship tracking; it ensure navigation safety and protect the marine environment aspect the effect brought into play be subject to the approval of navigation circle; this system has been the navigating equipment of another advanced person since marine radar application; as communication and Safe Avoidance of collision means between a kind of ship and ship, ship and bank; support has developed radar and Ship Traffic Service (VTS), has promoted the marine security of the lives and property and navigation safety.At present, AIS system is a kind of collision avoidance system that marine mobile VHF wave band adopts TDMA exchange of skills data, this system is receiving and transmitting signal on marine VHF87B/88B channel at two frequencies of 161.975MHz and 162.025MHz, and the data such as synthetic global position system GPS, gyro compass and autopilot, radar, electronic chart, and on display, show on demand accommodation, the information such as dynamic.

Current existing its positioning system of AIS locating terminal mainly adopts GPS-RBN location technology and Big Dipper location technology, and its station-keeping mode is single-frequency, and precision is about 10 meters-5 meters.

The satellite positioning tech that AIS is used is the earliest mainly the GPS of the U.S., the GPSZhi Wei U.S. of the U.S. (especially US military) provides hi-Fix, other countries user is only provided to the positioning service of low precision, and the U.S. can close this service (particularly in wartime) at any time.

Meanwhile, Beidou satellite navigation system reaches its maturity, and can provide high-quality location, navigation and time service service to global user.Open service is to the whole world, to provide free location, test the speed and time service service, but its positioning precision only has 10 meters, rate accuracy 0.2 meter per second, 10 nanoseconds of time service precision.

How to make AIS ship-borne equipment adopt big-dipper satellite and the gps satellite that China launches voluntarily accurately to locate together, and complete and other ships and and terrestrial base station between communication become the current problem that solves of needing.

Summary of the invention

Big-dipper satellite and gps satellite that the present invention is intended to how to make AIS ship-borne equipment adopt China to launch voluntarily are accurately located together.

The invention provides a kind of high-precision GPS/BDS boat-carrying receiving system, comprising: radio station module, it forms pseudo range difference signal; BDS/GPS bimodulus locating module, it positions with BDS and/or GPS pattern according to pseudo range difference signal, and generates observation data; AIS receiver module, it receives vessel position information around, and described vessel position information is around provided to described locating module; Orientation module, its observation data according to the observation data of described locating module and described orientation module is made difference, calculate the attitude of the baseline of two antennas formation of carrier, and power management module, it carries out external power source changing and providing electric power into above-mentioned each module to internal electric source.

In some embodiment, the pseudorange correction that broadcast at module each module bank base station station in described radio station, described receiving system according to described in the pseudorange correction receiving and the pseudorange that described receiving system self measurement reaches proofread and correct, obtain described pseudo range difference signal.

In some embodiment, using vessel position, speed, course as observed reading, next moment position of forecast boats and ships.

In some embodiment, before forecast, first vessel position is carried out to Detection of Gross Errors, excluding gross error location point, chooses not containing forecasting the epoch of rough error.

In some embodiment, using velocity information as positional information, whether contain the foundation of rough error.

In some embodiment, when calculate current epoch vessel position and described AIS receiver module survey difference between current vessel position while being greater than predetermined value, think that observed reading exists rough error.

In some embodiment, also comprise motherboard, its each module to described boat-carrying receiving system provides power supply and various signaling interface.

In some embodiment, also comprise external data interface module, it can connecting electronic chart display device or sensor.

According to receiving system of the present invention, adopt BDS/GPS double-core double star four GNSS modules frequently, can single BDS or single GPS location, also can co-located, single complete equipment can be realized hi-Fix, position angle and the angle of pitch or roll angle is measured thus.In addition, according to receiving system of the present invention, also comprise that radio station receives, thus can be in coastal waters or the inland river pseudorange correction that utilizes bank base station station to broadcast, thus reach degree of precision.

Below in conjunction with accompanying drawing, the description of purport of the present invention is described, to know other aspects of the present invention and advantage by example.

Accompanying drawing explanation

By reference to the accompanying drawings, by detailed description below, can more clearly understand above-mentioned and other feature and advantage of the present invention, wherein:

Fig. 1 be according to the embodiment of the present invention according to the structural representation of high-precision GPS/BDS boat-carrying receiving system of the present invention;

Fig. 2 shows triliteral definition;

Fig. 3 shows No. 59 sub-message 1-BDS of message pseudorange and corrects;

Fig. 4 shows DELTA PRC and RRC;

Fig. 5 shows forecast position and absolute fix difference;

Fig. 6 shows three kinds of window residual errors;

Fig. 7 shows the difference of calculated value and observed reading;

Fig. 8 shows the difference of the rear predicted value of excluding gross error point and measured value;

Fig. 9 shows quadratic polynomial matching residual error;

Figure 10-Figure 15 shows three-dimensional localization error; And

Figure 16 shows orientation accuracy.

Embodiment

Referring to the accompanying drawing of the specific embodiment of the invention, below the present invention will be described in more detail.Yet the present invention can be with many multi-form realizations, and should not be construed as the restriction of the embodiment being subject in this proposition.On the contrary, it is abundant and complete open in order to reach proposing these embodiment, and makes those skilled in the art understand scope of the present invention completely.

Description describes embodiments of the invention in detail.

As shown in Figure 1, according to high-precision GPS/BDS boat-carrying receiving system of the present invention, comprising: radio station module, it forms pseudo range difference signal; BDS/GPS bimodulus locating module, it positions with BDS and/or GPS pattern according to pseudo range difference signal, and generates observation data; AIS receiver module, it receives vessel position information around, and described vessel position information is around provided to described locating module; Orientation module, its observation data according to the observation data of described locating module and described orientation module is made difference, calculate the attitude of the baseline of two antennas formation of carrier, and power management module, it carries out external power source changing and providing electric power into above-mentioned each module to internal electric source.

The pseudorange correction that broadcast at module each module bank base station station in described radio station, described receiving system according to described in the pseudorange correction receiving and the pseudorange that described receiving system self measurement reaches proofread and correct, obtain described pseudo range difference signal.

In one embodiment, using vessel position, speed, course as observed reading, next moment position of forecast boats and ships.Before forecast, first vessel position is carried out to Detection of Gross Errors, excluding gross error location point, chooses not containing forecasting the epoch of rough error.Using velocity information as positional information, whether contain the foundation of rough error.When calculate current epoch vessel position and described AIS receiver module survey difference between current vessel position while being greater than predetermined value, think that observed reading exists rough error.

In the present embodiment, adopt BDS/GPS double-core double star four GNSS modules frequently, can single BDS or single GPS location, also can co-located.Single complete equipment can realize hi-Fix, position angle and the angle of pitch or roll angle is measured.High dynamic data output, data updating rate is supported 1Hz, 2Hz, 5Hz.Built-in 2000 volts of photoelectricity isolation, effectively carries out over-current over-voltage protection, Lightning proof to receiver.Diode-built-in function of power protection, can connect instead by anti-power positive cathode.Support automatic difference, difference scheme is supported RTCM2.X, RTCM3.X and CMR.Two power interfaces, two serial ports, meet the use of more demands.Internal reservoir is 100M, can arrange and automatically record raw data.The split type receiver of high flexible, Antenna Design, can be applied to various attitude measurement systems.Can provide static state or dynamic platform accurate course, pitch attitude angle in real time.

In one embodiment, at present, the hardware of GPS/BDS receiving system can be embodied as, and comprises containing front panel, AIS dash receiver, radio station dash receiver, hi-Fix board and high-precision fixed to board, housing and rear panel.

The various duties of front panel indication receiver, power supply status, the location satellite number of board, the satellite number of directed board, radio signals indication; Are furnished with two GNSS radio frequency interfaces, a UHF interface, an AIS board radio frequency interface, two serial ports simultaneously.

Motherboard is responsible for providing power supply and various signaling interface to other board and parts.Motherboard adopts the TPS54360 power supply chip of Texas Instrument; this integrated chip MOSFET; support 1% leading reference precision; support wide input voltage and the industry maximum temperature range of 4.5V-60V; support 3.5A persistent current, 4.5A minimum peak inductor current limit value, and have the protection of turning back of overheated, overvoltage and frequency.

The differential corrections that location board (Ye Cheng main website) utilization receives carries out pseudo range difference location, realizes hi-Fix, is responsible for sending to directed board (also claiming slave station) observation data of main website simultaneously.Adopt BDS+GPS dual system five high Online Integer engine frequently, the double star of really realizing BDS+GPS resolves, adapt to more badly, more remote localizing environment, support GPS/BDS single system location-independent and the multisystem combined location of BDS+GPS, hardware size, interface, data command and import mainboard are compatible.The storage of 100MB internal storage data, can record raw data automatically.

The observation data of the main website that directed board (also claiming slave station) utilization receives, makes difference with the observation data of self, calculates the attitude angle (deflection and the angle of pitch) of the baseline of two antennas formation of carrier.

Dash receiver radio station, radio station dash receiver receives the differential corrections of bank base base station, then by serial ports, sends to main website.Radio station dash receiver is manufactured in strict accordance with technical grade product technological design, adopts superhet double conversion circuit and advanced frequency synthesis technique, has the outstanding advantages such as high reliability, high sensitivity, low error rate, anti-infection ability be strong.Adopt temperature-compensation circuit, reach ± 1.5ppm of frequency stability, operating ambient temperature range can reach-40 ℃-+85 ℃, and low in energy consumption, volume is little.

AIS dash receiver receives the AIS information that bank base is broadcast, and then information exchange is crossed to serial ports and sends to main website.

Communications protocol is divided into two parts: for the RTCM2.3 data protocol of pseudo range difference and the NMEA0183 data protocol of reporting for positioning result.At present, the content of these two kinds of data protocols based on GPS part is very ripe; Due to BDS district system and just built up Dec 27 in 2011, the world relevant with BDS and the data protocol of domestic standard are not perfect, do not have even completely, and therefore the present invention has designed these data protocols.

BDS related data agreement based on RTCM2.3

High-precision GPS/BDS Shipborne terminal will be realized high-precision locating and orienting, and wherein the realization of high-precision fixed bit function depends on the pseudorange correction that broadcast at bank base station station.Shipborne terminal receives after pseudorange correction, and the pseudorange that self is measured is proofreaied and correct, and obtains the higher pseudo range observed quantity of precision, and then improves positioning precision.In coastal waters and cruiseway, this mode can realize the positioning precision of 1 meter of left and right.In order to complete above-mentioned functions, we are by the related data message based on BDS of definition RTCM2.3 form.The report code section of RTCM2.3 data protocol is 0～63, and at present formal what use is 1～37,38～No. 63 not clear and definite implications of message, but RTCM organization prescribed, wherein No. 59 messages are " Proprietary Message ", can be used for experimental use.So we have expanded a series of correlator message, for broadcasting of BDS relevant information in No. 59 messages; In No. 59 messages, add a word simultaneously, be used for identifying the ID of producer, satellite system, the information such as son report code, can be different from other application like this.The benefit of expanding sub-message in No. 59 messages is, both without prejudice to the related protocol of RTCM2.3, can avoid again conflicting mutually with other broadcasting packet.

To the 3rd word definition of No. 59 message of RTCM 2.3 as shown in Figure 2:

1st～8 are defined as: special-purpose identification code;

9th～14 are defined as: son report code, valid value range: 0～63;

15th～18 are defined as: GNSS system type sign, and corresponding relation is as shown in the table:

Table 1:GNSS system type sign

GNSS systematic name	Sign
		BDS	0
GPS	1
		GLONASS	2
WAAS	3
		GALILEO	4
QZSS	5
		IRNSS	6
EGNOS	7
		MASA	8
GAGAN	9

The 19th is defined as synchronous mark, and effective value is 0 and 1, wherein:

0: within the current epoch of message transmissions, no longer include GNSS observation data and exist.That is to say that this message is the current the last item message that transmits epoch.

1: within the current epoch of message transmissions, the observation data that next message comprises other GNSS.

20th～24 are defined as reservation position.

25th～30 are defined as triliteral parity check bit.

Existing descriptor type of message 1-difference BDS correction.

At present, the specifying information of No. 1, sub-message ID (Sub-message ID) is defined as: the B1 frequency pseudo range difference correction of BDS.The data message specific definition of this sub-message as shown in Figure 3.Fig. 3 shows No. 59 sub-message 1-BDS of message pseudorange and corrects.

The information of every satellite is 40 bits, compares with No. 1 message of GPS pseudorange correction, and " SATELLITE ID " increased by 1 bit, becomes 6 bits; " ISSUE OF DATA " reduced by a bit, becomes 7 bits.Other guide is constant.

Sub-type of message 1-DELTA difference BDS pseudorange correction is now described.

Fig. 4 shows DELTA PRC and RRC.The variable quantity that pseudorange and pseudorange rate of change correction produce when satellite ephemeris upgrades broadcast in this text.When base station, receive a new ephemeris time, may use immediately new ephemeris to carry out the calculating of pseudorange correction; But mobile station receiver is probably also at the ephemeris computation satellite position that uses " old ", at this moment, different with the ephemeris that movement station is used due to base station, will produce extra positioning error.In order to compensate the variation of asynchronous the brought pseudorange correction of ephemeris use that ephemeris upgrades or other reasons causes, with this message, broadcast the variable quantity of the pseudorange correction obtaining based on two parts of different ephemeris.

The variable quantity of pseudorange correction is: the pseudorange correction of the pseudorange correction that " old " satellite ephemeris calculates and the calculating of " newly " satellite ephemeris poor:

DELTA PRC＝PRC(Old IOD)–PRC(New IOD)

The variable quantity of pseudorange rate of change correction is: the pseudorange correction rate of change of the pseudorange correction rate of change that " old " satellite ephemeris calculates and the calculating of " newly " satellite ephemeris poor:

DELTA RRC＝RRC(Old IOD)–RRC(New IOD)

In actual use, when mobile station receiver monitors the variation of IOD, at this moment, if mobile station receiver does not have the ephemeris of corresponding " newly ", the pseudorange correction just sending with base station and pseudorange correction variable quantity recover to use the pseudorange correction in " old " ephemeris situation.

In above formula:

T: the use of pseudorange correction constantly;

T1: the moment of sub-message 1;

T2: the moment of sub-message 2.

Sub-message 9-part BDS satellite difference correction is now described.

The message format of this text and sub-message 1 are similar, different, and this text does not send the correction of all visible satellites, but send the information of 3 satellites at every turn, divide and several times the correction of all visible satellites have been broadcast.Per minute text comprises at most the content of 5 words.The benefit of doing is like this that data delay can be slightly less than sub-message 1, can adapt to lower data transmission rate simultaneously.But, guarantee that the clock of base station has higher degree of stability, to guarantee that each group correction comprises close receiver clock correction, otherwise, will bring extra positioning error.

Now describe in detail according to the location positioning of high-precision GPS/BDS boat-carrying receiving system of the present invention.

The pass of speed of the ship in metres per second information v, directional information A and positional information x, y is:

$v=\sqrt{{\left(\frac{\∂x}{\∂t}\right)}^2+{\left(\frac{\∂y}{\∂t}\right)}^2},\tan \left(A\right)=\frac{\∂y}{\∂x}---\left(1\right)$

Set up higher order polynomial model:

$\left\{\begin{array}{c}x=a_1{t}^n+a_2{t}^{n-1}+...+a_n\\ y=b_1{t}^n+b_2{t}^{n-1}+...b_n\\ v=\sqrt{{({\mathrm{na}}_1{t}^{n-1}+...a_{n-1})}^2+{({\mathrm{nb}}_1{t}^{n-1}+...+b_{n-1})}^2}\\ \frac{{\mathrm{nb}}_1{t}^{n-1}+...+b_{n-1}}{{\mathrm{na}}_1{t}^{n-1}+...+a_{n-1}}=\tan \left(A\right)\end{array}\right.---\left(2\right)$

In formula, a _i, b _ifor multinomial coefficient.After linearization, draw normal equation:

${\left[\begin{array}{c}{B}_1\\ B_2\\ \·\\ \·\\ \·\\ B_n\end{array}\right]}^{T}P\left[\begin{array}{c}{B}_1\\ B_2\\ .\\ .\\ .\\ B_n\end{array}\right]\·\mathrm{\δx}={\left[\begin{array}{c}{B}_1\\ B_2\\ .\\ .\\ .\\ B_n\end{array}\right]}^{T}P\left[\begin{array}{c}{l}_1\\ l_2\\ .\\ .\\ .\\ l_n\end{array}\right]---\left(3\right)$

In formula (3), B _nbe the n matrix of coefficients of epoch, P is observed reading power, and δ x is parameter to be asked.In resolving, set up calculation window, determine that window interior epoch of number is m, when enter new epoch, the observed reading losing efficacy in scalping method equation epoch.If m+1 is when epoch, data entered window, normal equation becomes:

${\left[\begin{array}{c}{B}_{m+1}\\ B_2\\ .\\ .\\ .\\ B_m\end{array}\right]}^{T}P\left[\begin{array}{c}{B}_{m+1}\\ B_2\\ .\\ .\\ .\\ B_n\end{array}\right]\·\mathrm{\δx}={\left[\begin{array}{c}{B}_{m+1}\\ B_2\\ .\\ .\\ .\\ B_m\end{array}\right]}^{T}P\left[\begin{array}{c}{l}_{m+1}\\ l_2\\ .\\ .\\ .\\ l_m\end{array}\right]---\left(4\right)$

Only the corresponding coefficient losing efficacy epoch in current normal equation need be deducted, newly epoch, normal equation coefficient added.

In view of AIS data acquisition mostly is constant duration, in the short time, percentage speed variation is less, adopts quadratic polynomial method vessel position to be fitted to the function of time herein.Adopt 4 epoch, 10 epoch, 20 epoch to carry out quadratic polynomial matching as window the multidate information of 33 epoch of a certain motion ship.

Fig. 5 is the forecast position that simulates of three windows of ship and the difference of absolute fix.Can find out, there is certain saltus step in the difference of predicted value and measured value, increase window number epoch and can play certain smooth effect, but do not eliminate this phenomenon, as in the 29th epoch, the 33rd epoch, hop value still exists, and can also find the predicted value of different windows and measured value difference saltus step position consistency simultaneously.Therefore can think that saltus step is to cause because satellite position exists rough error.Fig. 6 is motion ship quadratic polynomial matching residual plot, can find out that forecast window number epoch is more, and position residual error is larger, and not the more values of forecasting of number epoch are better in this explanation.

In conjunction with upper joint analysis, the dynamic speed precision of information that AIS obtains is in 0.5m/s.Can whether contain using velocity information as positional information the foundation of rough error.Make X ' for by last epoch, vessel position information, velocity information, course information calculate current epoch vessel position, X is that GNSS receiver is surveyed current vessel position, if

X′-X>0.5Δt (5)

Think that observed reading exists rough error (Δ t is interval epoch).

Fig. 7 is the difference of above-mentioned ship calculated value and observed reading, can find to locate for the 5th, 9,19,29 epoch difference and meet formula (4), in full accord with the saltus step position that Fig. 8 and Fig. 9 draw.Therefore, can think and locate position saltus step occurs these four epoch, the determination methods of formula (5-2-5) is correctly feasible, and observed reading is replaced with to calculated value, eliminates rough error impact.

Utilize same dynamic data, the kinetic characteristic based on boats and ships, adopts the forecast windows of 4 epoch, using vessel position, speed, course as observed reading, and matching quadratic polynomial coefficient, next position constantly of forecast boats and ships; Before forecast, first vessel position is carried out to Detection of Gross Errors, excluding gross error location point, chooses not containing forecasting four epoch of rough error.

Fig. 8 is the difference of the rear predicted value of excluding gross error point and measured value, can find out that the difference of all epoch is all in 1m.Fig. 9 is quadratic polynomial matching residual error, and position residual error all, in 0.2m, compared with there being essential raising in Fig. 5 precision, has proved the rationality that rough error point is rejected.

For the further precision of this forecasting procedure of checking, the multidate information of 300 epoch of 30 ships to be forecast, result is as shown in table 2.

Table 2 multidate information forecast precision

Can find out, great majority forecasts, finds according to the analysis to speed of the ship in metres per second and direction with the difference of measured value in 1m, and a small amount of hop value is to cause due to boats and ships break-in or anchorage.

In order to verify location, the orientation accuracy of high-precision GPS/BDS receiver, done corresponding experiment.The pilot region covering in order to realize project, at distance moving station, 70km place has set up GPS/BDS base station, position accurately marks in advance, error is less than 10 centimetres, by network, outwards broadcasts pseudo range difference information, and movement station receives pseudorange correction by network, and compute location result, experiment works alone and tests with GPS and BDS respectively, records respectively the positioning result of 24 hours, and three-dimensional localization error is as shown in Figure 10-16.Figure 10 shows BDS pseudo range difference east orientation error, Figure 11 shows BDS pseudo range difference north orientation error, and Figure 12 shows BDS pseudo range difference vertical error, and Figure 13 shows pseudo range difference east orientation error, Figure 14 shows GPS pseudo range difference north orientation error, and Figure 15 shows GPS pseudo range difference vertical error.

Figure 16 shows orientation accuracy.

By statistics, the pseudo range difference precision that BDS works alone is as follows.

Table 3 precision statistics

By statistics, the pseudo range difference precision that GPS works alone is as follows.

Table 4 GPS pseudo range difference precision statistics

Above-mentioned experimental result shows, can realize the positioning precision of 1 meter of project Experimental Area inner plane (1 σ) with independent GPS and BDS.

According to receiving system of the present invention, adopt BDS/GPS double-core double star four GNSS modules frequently, can single BDS or single GPS location, also can co-located, single complete equipment can be realized hi-Fix, position angle and the angle of pitch or roll angle is measured thus.In addition, according to receiving system of the present invention, also comprise that radio station receives, thus can be in coastal waters or the inland river pseudorange correction that utilizes bank base station station to broadcast, thus reach degree of precision.

More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just can design according to the present invention make many modifications and variations without creative work.All technician in the art, all should be in the determined protection domain by claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.

Claims (8)

1. high-precision GPS/BDS boat-carrying receiving system, is characterized in that, comprising:

Radio station module, it forms pseudo range difference signal;

BDS/GPS bimodulus locating module, it positions with BDS and/or GPS pattern according to pseudo range difference signal, and generates observation data;

AIS receiver module, it receives vessel position information around, and described vessel position information is around provided to described locating module;

Orientation module, its observation data according to the observation data of described locating module and described orientation module is made difference, calculates the attitude of the baseline of two antennas formation of carrier, and

Power management module, it carries out external power source changing and providing electric power into above-mentioned each module to internal electric source.

2. boat-carrying receiving system as claimed in claim 1, it is characterized in that, the pseudorange correction that broadcast at module each module bank base station station in described radio station, the pseudorange correction receiving described in described receiving system basis and described receiving system self are measured the pseudorange reaching and are proofreaied and correct, and obtain described pseudo range difference signal.

3. boat-carrying receiving system as claimed in claim 2, is characterized in that, using vessel position, speed, course as observed reading, and next moment position of forecast boats and ships.

4. boat-carrying receiving system as claimed in claim 3, is characterized in that, before forecast, first vessel position is carried out to Detection of Gross Errors, and excluding gross error location point is chosen not containing forecasting the epoch of rough error.

5. boat-carrying receiving system as claimed in claim 4, is characterized in that, whether contains the foundation of rough error using velocity information as positional information.

6. boat-carrying receiving system as claimed in claim 5, is characterized in that, when calculate current epoch vessel position and described AIS receiver module survey difference between current vessel position while being greater than predetermined value, think that observed reading exists rough error.

7. boat-carrying receiving system as claimed in claim 1, is characterized in that, also comprises: motherboard, its each module to described boat-carrying receiving system provides power supply and various signaling interface.

8. boat-carrying receiving system as claimed in claim 1, is characterized in that, also comprises: external data interface module, it can connecting electronic chart display device or sensor.