CN107248891B - Direction and gesture measuring device for mobile communication antenna pointing monitoring - Google Patents
Direction and gesture measuring device for mobile communication antenna pointing monitoring Download PDFInfo
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- CN107248891B CN107248891B CN201710441924.9A CN201710441924A CN107248891B CN 107248891 B CN107248891 B CN 107248891B CN 201710441924 A CN201710441924 A CN 201710441924A CN 107248891 B CN107248891 B CN 107248891B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a direction-finding and gesture-measuring device for mobile communication antenna pointing monitoring, comprising: the system comprises two antenna units for receiving satellite navigation signals, a satellite navigation signal and carrier phase receiving and measuring module, a carrier phase interferometry department understanding and calculating module, an inertial sensing and measuring module capable of measuring attitude angles and an external interface module. The inertial sensing measurement module of measurable attitude angle includes: the gyroscope comprises a gyroscope body, an acceleration sensing chip, a gravity sensing chip and a magnetometer. The external interface module comprises an output interface and an input interface. The invention has the following advantages: 1. the system has simple structure, fewer devices and low price. The equipment cost is low, and the performance and the measurement accuracy are improved through algorithm programs and software. 2. The equipment has high precision, can realize the angle and magnitude direction finding and gesture measuring precision and has reliable operation. 3. The real-time direction and gesture detection can be realized, so that the real-time monitoring and adjustment of the pointing direction of the communication antenna can be realized.
Description
Technical Field
The invention relates to a direction-finding and gesture-measuring device for monitoring the pointing direction of a mobile communication antenna, and belongs to the technical field of measurement of the pointing direction of a communication antenna of a mobile communication base station.
Background
Mobile communication antennas are widely used today, and base station communication antennas are mounted on iron towers or on small iron frames at the top of buildings. Since the pointing angle at the time of antenna installation is related to the coverage of the communication, the pointing angle of the antenna installation is required, but the allowed angle error deviates from the required pointing angle by 1 deg. -5 deg.. Particularly, mobile communication is advancing to 4G and 5G, the requirement on the pointing angle of a communication antenna of a base station is increased, and remote monitoring and adjustment on the pointing angle of the communication antenna on an iron tower are more needed.
In order to achieve the purpose, the direction of the communication antenna of the base station is changed by remote control, the coverage range of the communication antenna is changed, and the reasonable direction and proper direction distribution of the communication antenna on the iron tower of the base station are required to be adjusted, so that the channel allocation effect of mobile communication is improved, and the user experience is improved. For this reason, a telecommunication operator puts forward a requirement for installing an antenna direction-finding and attitude-finding device on a base station communication antenna.
The mobile communication antenna provides direction-finding requirements, and various schemes of the direction-finding device are provided, and the scheme of the magnetic direction-finding device is provided; a scheme for indicating a direction using sunlight and a GNSS based pointing device scheme. The magnetic pointing device has a simple structure and is quite low in cost, but the magnetic pointing device is easily influenced by a ferrous medium, and the antenna and the iron tower are actually provided with more ferrous medium materials, so that the direction-finding precision can be influenced; the scheme of the light indication direction is simpler in principle, the method is original, and the use requirements are difficult to ensure in cloudy days and rainy days because sunlight is influenced by weather. Therefore, the carrier phase interferometry scheme based on GNSS is the most suitable, the method has high precision, and the requirement of pointing of a communication antenna can be completely met, but the expensive direction-finding and gesture-measuring device is difficult to meet the requirement of low cost of a mobile communication operator because the equipment used for carrier phase measurement is expensive and the algorithm is complex.
The patent with the publication number of CN204256185U discloses an electromagnetic characteristic receiving direction-finding system, which comprises a signal receiving system, wherein the signal receiving system is electrically connected with an electromagnetic signal operation recognition instrument and a clutter signal collector, the clutter signal collector is electrically connected with a clutter signal server, and the clutter signal server is electrically connected with the electromagnetic signal operation recognition instrument; the electromagnetic signal operation recognition instrument is electrically connected with the clutter signal server, the clutter signal server is electrically connected with the signal source direction finder, meanwhile, the electromagnetic signal operation recognition instrument is electrically connected with the display, and the display is electrically connected with the waveform mutation interpretation instrument.
Patent publication CN102016623a discloses a method of determining whether a target is located in a region of interest of a direction finder, comprising: (a) Predefining the region of interest as a specific threshold difference of the R value and the N value; (b) At least two antennas are arranged on the direction finder and are arranged in a ship board shape; (c) Generating an in-phase reference pattern using at least one antenna and establishing wireless communication between the direction finder and the target; (d) Attenuating wireless communication signals between the direction finder and the target until wireless communication is lost; recording an attenuation value as an R value, the attenuation value corresponding to a loss of wireless communication; (e) Generating an out-of-phase N-value pattern using at least two antennas and reestablishing wireless communication between the direction finder and the target; (f) Attenuating wireless communication signals between the direction finder and the target until wireless communication is lost; recording an attenuation value as an N value, the attenuation value corresponding to a loss of wireless communication; (g) And determining that the difference value of R-N is higher or lower than a threshold value difference, wherein the difference value of R-N is higher than the threshold value and represents that the target is positioned in the region of interest, and the difference value of R-N is lower than the threshold value and represents that the target is positioned outside the region of interest.
The publication CN101652942a discloses a determination of the direction to a remote object that transmits signals omnidirectionally. The invention includes a handheld directional antenna and an omni-directional antenna at a user location, and a handheld circuit coupled to the antennas to determine the field strengths of signals received by the two antennas from a remote object. The signals received at the antennas during the scan of the observation field are compared and the possible direction of the remote object relative to the user's position is selected from the data scan. The device further includes a digital compass that generates a compass heading corresponding to each direction in which the directional antenna is pointed. The circuit uses compass headings to store field strength data and averages the field strength data over a plurality of compass headings according to a predetermined protocol.
In summary, the current direction-finding and attitude-measuring device for realizing GNSS high-precision carrier phase measurement has high measurement precision, the angle-measuring resolution of the direction-finding and attitude-measuring device with the baseline length of about 2 meters can reach the magnitude of 0.01 degrees, and the baseline measurement precision can reach the magnitude of millimeters. However, a high-precision carrier phase measurement chip and a high-precision carrier phase measurement module are required, but the high-precision carrier phase measurement chip and the high-precision carrier phase measurement module cannot meet the requirement of a telecom operator for controlling certain cost. For this reason, in order to change this state, to meet the requirements of telecommunication operators, new direction-finding and attitude-finding devices must be developed.
Disclosure of Invention
The invention aims to provide a direction-finding and gesture-measuring device for mobile communication antenna pointing monitoring, which can overcome the technical problems. The antenna direction-finding and gesture-measuring device provided by the invention can meet the requirements of direction-finding and gesture-measuring precision in performance and is low in cost and price. The technical scheme of the invention is as follows: the invention can meet the control requirement of the antenna industrial parameters of the communication of the mobile communication base station without adopting a Chip for high-precision measurement of the carrier phase of a global navigation satellite System (GNSS: global Navigation Satellite System) and a classical algorithm software System, so that the invention adopts a low-cost common pseudo-range measurement Chip for satellite navigation, wherein the low-cost common pseudo-range measurement Chip for satellite navigation comprises a System on a Chip (SoC), and the invention reforms the low-cost common pseudo-range measurement Chip for satellite navigation to realize the high-precision carrier phase coherent measurement requirement.
The invention relates to a measuring device based on the measuring direction and the gesture of a global satellite navigation system (GNSS, global Navigation Satellite System) carrier signal phase coherent measuring method which is developed according to the requirements of China telecom, mobile and Unicom operators on base station antenna direction finding and gesture measuring. Meanwhile, the invention realizes the integrated coupling matching design between the antenna and the receiving chip, and also adopts the enhanced denoising algorithm software, thereby reducing link noise and improving the carrier phase measurement precision of the chip and the module. The module adopts a low-cost common pseudo-range measuring chip and plays roles of an algorithm and software to meet the requirement of low cost, and the purpose is to enable the adopted low-cost common pseudo-range measuring chip for satellite navigation to improve the measuring performance and meet the performance requirements of the high-performance accurate measuring chip and the module. The invention adopts the design scheme of the extremely short base line, the length of the extremely short base line is shorter than 1 meter, and even shorter than 1 wavelength, thereby simplifying the solution of the ambiguity and enabling the structure of the direction finding and gesture measuring device to be extremely compact and practical.
In order to achieve the above purpose, the invention uses GNSS signals, adopts a carrier phase interferometry method of high-precision satellite navigation signals, not only has a very wide applicable coverage area, but also obtains direction-finding angle data which are absolute angle values relative to the north direction, is intuitive and convenient to use, and unlike an angle value which is measured by an inertial device and is relatively changed, the angle value is not an absolute angle value relative to the north direction, and relative errors can generate error accumulation along with time to influence the use effect, and are inconvenient to use. The pitch angle measurement of the invention can adopt a sensing measurement module of a gravity sensing chip and an acceleration sensing chip, and can also adopt a GNSS direction finding scheme, but the direction of a base line is required to be changed, and the angle is 90 degrees with the base line of the direction finding.
The invention relates to a direction-finding and gesture-measuring device for mobile communication antenna pointing monitoring, which comprises: the system comprises two antenna units for receiving satellite navigation signals, a satellite navigation signal and carrier phase receiving and measuring module, a carrier phase interferometry department understanding and calculating module, an inertial sensing and measuring module for measuring attitude angles and an external interface module. The inertial sensing measurement module for measuring attitude angle comprises: the gyroscope comprises a gyroscope body, an acceleration sensing chip, a gravity sensing chip and a magnetometer. The external interface module comprises an output interface and an input interface. The antenna unit, the satellite navigation signal and carrier phase receiving measurement module, the carrier phase interferometry position understanding module and the output interface are connected in sequence; and the inertial sensing measurement module for measuring the attitude angle is connected with the carrier phase interferometry department understanding module.
The two antenna units for receiving satellite navigation signals are arranged at intervals, and the distance between the centers of the phases of the two antenna units for receiving satellite navigation signals is called a base line.
The carrier phase interferometry department understanding and calculating module of the device adopts the existing low-cost common pseudo-range measuring chip for satellite navigation; in order to enable the carrier phase interferometry department understanding module to change the measurement range, increase the measurement function, and can realize the high-precision carrier phase correlation measurement requirement, the generalized prolongation refined approximation algorithm software, the generalized prolongation filtering and the enhanced denoising algorithm software for improving the frequency-locked loop, the time-delay locked loop and the carrier phase-locked loop are added into a low-cost common pseudo-range measurement chip for satellite navigation, the generalized prolongation refined approximation algorithm software of the carrier phase-locked loop can improve the searching and tracking of the correlation measurement optimal points of the loop, and the generalized prolongation filtering and the enhanced denoising algorithm software has the filtering and denoising capabilities.
The two antenna units for receiving satellite navigation signals, the satellite navigation signal and carrier phase receiving measurement module and the carrier phase interferometry position understanding module are arranged on the same chassis and are additionally provided with an outer cover so as to protect the two antenna units for receiving satellite navigation signals. The material of the outer cover is selected to have a small attenuation to electromagnetic waves. The side of the chassis is provided with an input interface and an output interface which are used for inputting control instructions and a power supply, outputting data of direction finding and gesture measuring and projection components of a base line length and the base line length to form an independent whole machine unit, the independent whole machine unit can be arranged above the whole mobile antenna device externally, the arranging mode is suitable for carrying out additional installation on the original installed whole mobile communication antenna device, and a new communication antenna device directly installs the device in the whole communication antenna device internally, so that an outer cover required by the device is omitted, and the communication antenna device and the device directly form complete whole machine device.
The device adopts the base line with the length shorter than 1 meter or shorter than 1 wavelength, is favorable for simplifying the solution of the ambiguity, and ensures that the structure of the device can also adapt to the structural size requirement of an antenna unit, thereby ensuring that the structure of the device is more compact and practical, has the characteristics of higher precision, low cost, good performance and strong adaptability, can meet the application requirement of the mobile communication base station for controlling the antenna industrial parameters, and can also be suitable for the application requirement of measuring the attitude angle and the antenna installation position. The device of the invention can be applied to other fields besides being applied to the communication antenna as the device for controlling the industrial parameters of the communication antenna of the mobile communication base station: for example, the astronomical telescope is used for capturing the pointing angle of an astronomical telescope, measuring the heading angle of a ship, guiding the heading, and monitoring the safety of an iron tower, the device has the additional advantage that the output angle value is an absolute angle indication value relative to the north, and the absolute angle indication value does not generate accumulated errors, which is the advantage which is not possessed by the traditional inertial sensing device for sensing the direction. The device is also applicable to other application environments requiring angle measurement. However, the device has a technical difficulty in overcoming the influence of multipath signals. Therefore, the device can lighten the influence of the multipath signals on the solution by adopting a generalized optimization solving algorithm. The device adopts the subject crossing concept and various intelligent algorithms to enhance the direction finding and gesture measuring functions and the effects thereof, and has the following advantages:
1. the system has simple structure, fewer devices and low price. The equipment cost is low, and the performance and the measurement accuracy are improved through algorithm programs and software.
2. The equipment has high precision, can realize the angle and magnitude direction finding and gesture measuring precision and has reliable operation.
3. The real-time direction and gesture detection can be realized, so that the real-time monitoring and adjustment of the pointing direction of the communication antenna can be realized.
Drawings
Fig. 1 is a schematic structural diagram of an antenna unit and baseline composition scheme of the device of the present invention;
wherein, fig. 1a is a schematic structural diagram of a scheme composed of two antenna units and a base line of the device of the invention;
fig. 1b is a schematic diagram of the three antenna elements and two base line composition scheme of the device of the present invention;
fig. 1c is a schematic diagram of the structure of a four antenna element and two baseline composition scheme of the device of the present invention;
FIG. 2 is a schematic diagram of the apparatus of the present invention;
fig. 3 is a schematic view of the structure of the device according to the present invention.
The figure shows: 1-an antenna unit; 2-satellite navigation signals and carrier phase receiving and measuring modules; 3-an inertial sensing measurement module for measuring attitude angles; 4-an understanding module at the carrier phase interferometry site; 5-an output interface; 6-input interface.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 3, the apparatus of the present invention includes: the system comprises an antenna unit 1, a satellite navigation signal and carrier phase receiving and measuring module 2, an inertial sensing and measuring module 3 for measuring attitude angles, a carrier phase interferometry department understanding module 4, an output interface 5 and an input interface 6. The system comprises an antenna unit 1, a satellite navigation signal and carrier phase receiving and measuring module 2 and an inertial sensing and measuring module 3 for measuring attitude angles; when the carrier phase interferometry department understanding module 4, the output interface 5 and the input interface 6 are arranged in the mobile communication antenna housing, a bottom plate for installing the components is added at the upper end part of an antenna assembly arranged in the mobile communication antenna housing, and a protective cover is not required to be added; however, when the component is to be mounted outside the mobile communication radome, it is mounted on the upper end of the mobile communication radome, and the component needs to be mounted on a chassis and also needs to be protected by a cover.
The antenna unit 1, the satellite navigation signal and carrier phase receiving measurement module 2, the carrier phase interferometry department understanding module 4 and the output interface 5 are connected in sequence; the inertial sensing measurement module 3 for measuring the attitude angle is connected with the carrier phase interferometry department understanding module 4.
The inertial sensing measurement module 3 for measuring attitude angle is an inertial sensing measurement device, and comprises: the gyroscope comprises a gyroscope body, an acceleration sensing chip, a gravity sensing chip and a magnetometer.
The antenna unit 1 is required to have a relatively good signal-to-noise ratio and signal gain, so an active antenna unit is adopted; passive antenna elements can also be employed. In the prior art, a high-precision carrier phase measuring chip is adopted as a receiving and measuring chip for receiving satellite navigation signals, and the low-cost common pseudo-range measuring chip for satellite navigation is adopted, so that only partial algorithms and software are added into the low-cost common pseudo-range measuring chip for satellite navigation to improve the functions and performances of a frequency locking ring, a time delay locking ring and a carrier phase locking ring, and the high-precision measuring capability of the chip and a module is improved; in order to improve the signal-to-noise ratio of the signals, an integrated coupling design between an antenna and a receiving and measuring chip is adopted, and a software enhanced denoising method is used for removing noise; the elevation angle measurement adopts an inertial sensing measurement module 3 for measuring the attitude angle, and the inertial sensing measurement module 3 for measuring the attitude angle consists of an acceleration sensing chip, a gyroscope, a gravity sensing chip and a magnetometer, and can adopt a single-axis gravity accelerometer scheme when the mobile communication base station communication antenna is used.
The satellite navigation signal receiving measurement and carrier phase interferometry module 2 and the inertial sensing measurement module 3 for measuring attitude angle output signals are transmitted to the carrier phase interferometry position understanding and calculating module 4, the antenna baseline and baseline attitude are calculated in the carrier phase interferometry position understanding and calculating module 4, the antenna pointing angle, namely the azimuth angle and the elevation angle, is calculated, and then the measured data are transmitted to the service data summarizing operation platform at the network side through the transmission network through the interface of the transmission network.
The device can obtain azimuth angle, pitch angle and roll angle, and the base station communication antenna only needs to measure and output the azimuth angle and the pitch angle. The two antenna units, the satellite navigation signal and carrier phase receiving measurement module 2 and the carrier phase interferometry department understanding module 4 are arranged on the same chassis. An outer cover is arranged on the chassis and is used for preventing wind, sand and rainwater. The device is covered in an outer cover, and the outer cover is made of materials with small attenuation to electromagnetic waves. The side of the chassis is provided with an input interface 6 and an output interface 5, the input interface 6 is used for inputting control instructions and a power supply, and the output interface 5 is used for outputting data of direction finding and attitude measurement and outputting a base line length and a coordinate projection component of the base line length.
The device can be placed at the top of the whole communication antenna and also can be built in the whole mobile communication antenna. This enables the antenna azimuth and roll angles to be measured. Measuring pitch angle can also employ GNSS direction finding schemes, but requires an increase in measurement baseline. The other scheme of the device is to add inertial sensing devices, such as gyroscopes, acceleration sensing chips, gravity sensing chips and magnetometers.
As shown in fig. 2, the principle of the antenna direction finder based on GNSS: l is a base line vector, and is different from a conventional direction finder in that satellite navigation signals are received by two or more antennas without directly going to the direction, phase comparisons are performed on the multipath signals to obtain phase differences, and the directions of base lines between the antennas are calculated by inverting the phase differences to indicate the directions.
The GPS baseline vector realizes precise measurement in a carrier phase difference mode, the GPS baseline fixedly connected to the carrier is tens of centimeters to several meters, and the phase difference almost eliminates all error sources existing in the spatial correlation. Taking a single baseline as an example: when the GPS satellite arrives at the two GPS antennas, the two GPS antennas can be regarded as parallel waves, and the phase difference of the two antennas is as follows:
wherein: e is a unit vector from a GPS antenna to a satellite, the position coordinate of the antenna is obtained by GPS pseudo-range positioning, the coordinate of the satellite is obtained by satellite ephemeris solution, and b= [ x y z ]] T For the coordinates of the unknown baseline vector in the earth coordinate system, T is denoted as transposed matrix, x, y, z are coordinate components, λ is carrier wavelength, and N is integer ambiguity.
If n satellites are observed at one time, n sets of baseline vector coordinates can be obtained, and the obtained observation equation set is as follows:
in the above-mentioned method, the step of,when two antenna units receive the same satellite navigation signal, the real measured value part of the two pseudo-range differences expressed by carrier phases is smaller than a carrier phase value of one circle; phi (phi) i When receiving the ith satellite navigation signal for the two antenna units, the real measured value part of the two pseudo-range differences expressed by carrier phase difference is smaller than a carrier phase value of one circle; and e is the position coordinates of the antenna unit, which are obtained by positioning after the pseudo-range value is obtained by measuring the received satellite navigation signals, and the coordinates of the satellite are obtained by satellite ephemeris solution. Simply referred to as the unit vector of the antenna to satellite direction, e i A unit vector expressed as the direction from the antenna to the ith satellite; lambda is the carrier wavelength; n is the whole cycle number of the carrier phase value of the real measured value part when two pseudo-range differences are expressed by carrier phases and the whole cycle number is also called whole cycle ambiguity when two antenna units receive a satellite navigation signal; n (N) i When the ith satellite navigation signal is received by two antenna units, and when the two pseudo-range differences are expressed by carrier phase differences, the whole cycle number of the carrier phase value of the real measured value part is also called whole cycle ambiguity.
From the above, it can be seen that only the correct set of integer ambiguities N needs to be solved, the well-known integer ambiguity resolution algorithms are: a least squares ambiguity search algorithm (LSAST), an optimized Cholesky decomposition algorithm, an LAMBDA algorithm, a fast ambiguity search algorithm (FASF); among these search algorithms, the LAMBDA algorithm has better performance and a perfect theoretical system. The baseline vector L can be solved by selecting the integer ambiguity resolution algorithm. Converting the coordinates of the calculated baseline vector L to obtain the baseline vector L BFS Carrier coordinate system, L LLS The transformation matrix of the geographic coordinate system and the two base line vectors can be easily calculated.
In FIG. 2, b is the baseline vector, ρ 1 、ρ 2 The delta rho is the pseudo-range difference, and beta is the included angle between the incidence direction of the navigation signal and the baseline vector. The antenna elements 1 and 2 are two antenna elements, respectively.
As shown in fig. 1, according to different requirements, there are a plurality of combination schemes of the antenna unit 1 and the baseline configuration scheme of the device according to the present invention: there is a two antenna element one baseline scheme, see fig. 1a, a three antenna element two baseline scheme, see fig. 1b, or a four antenna element two baseline scheme, see fig. 1c. Wherein A1, A2, A3 and A4 refer to antenna units; l, L1, L2 refer to the baseline.
The above description is only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily come within the scope of the present invention as those skilled in the art can easily come within the scope of the present invention defined by the appended claims.
Claims (1)
1. A direction finding and attitude measuring device for mobile communication antenna pointing monitoring, comprising: the system comprises two antenna units for receiving satellite navigation signals, a satellite navigation signal and carrier phase receiving and measuring module, a carrier phase interferometry department understanding and calculating module, an inertial sensing and measuring module capable of measuring attitude angles and an external interface module; the external interface module comprises an output interface and an input interface; the antenna unit, the satellite navigation signal and carrier phase receiving measurement module, the carrier phase interferometry position understanding module and the output interface are connected in sequence; the inertial sensing measurement module for measuring the attitude angle is connected with the carrier phase interferometry department understanding module; the inertial sensing measurement module of measurable attitude angle includes: the gyroscope comprises a gyroscope body, an acceleration sensing chip, a gravity sensing chip and a magnetometer; the carrier phase interferometry position understanding module, the satellite navigation signal and the carrier phase receiving and measuring module of the device adopt low-cost common pseudo-range measuring chips for satellite navigation;
the generalized extension refinement approximation algorithm software, the generalized extension filtering and the enhanced denoising algorithm software for improving the frequency locking loop, the time delay locking loop and the carrier phase locking loop are added into the low-cost common pseudo-range measurement chip for satellite navigation; the distance between the phase centers of the two antenna units for receiving satellite navigation signals is called a baseline, and the baseline with the length shorter than 1 meter or shorter than 1 wavelength is adopted; the two antenna units, the satellite navigation signal and carrier phase receiving measurement module and the carrier phase interferometry position understanding module are arranged on the same chassis, and a housing is additionally arranged so as to protect the two antenna units for receiving the satellite navigation signal, and the material of the housing is a material with small attenuation to electromagnetic waves; the side of the chassis is provided with an input interface and an output interface.
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| CN108459297A (en) * | 2017-12-29 | 2018-08-28 | 北京日月九天科技有限公司 | A kind of northern instrument of precisely finger that can quickly find direct north |
| CN108226960A (en) * | 2017-12-29 | 2018-06-29 | 北京日月九天科技有限公司 | A kind of astronomical telescope that Global Navigation Satellite System direction-measuring function is configured |
| CN113099381A (en) * | 2021-04-06 | 2021-07-09 | 苏州迭慧智能科技有限公司 | Antenna industrial parameter intelligent sensor and multifunctional intelligent sensing network |
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