CN100371731C - GPS and pseudo-satellite combined positioning method - Google Patents
GPS and pseudo-satellite combined positioning method Download PDFInfo
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Abstract
The present invention discloses a GPS and a pseudo-satellite combination positioning method. The method has the steps: 1, ranging the position of a pseudo-satellite; 2, collecting and recording a GPS signal and a pseudo-satellite signal; 3, extracting a pseudo range of a valid satellite and measuring the carrier phase position; 4, restoring an observed value signal; 5, estimating a tropospheric error; 6, operating a single difference; 7, operating a double difference; 8, generating error equation coefficient matrixes A and B; 9, operating a floating value by a generating method equation matrix; 10, estimating a multipath error of the pseudo-satellite; 11, regenerating the error equation coefficient matrixes; 12, operating the floating value by regenerating method equation matrix; 13, searching FARA and fixing fuzzy degree; 14, operating coordinates. Because the GPS and the pseudo-satellite combination positioning method are used, the present invention has the advantages that the quantity of the positioned visual satellites is increased, and the geometrical distribution configuration of the satellites is improved. Positioning accuracy is high, particularly the accuracy at the elevation aspect, and simultaneously, the integral reliability of a system is reinforced.
Description
1. Field of the invention
The invention relates to a positioning method, in particular to a GPS and pseudolite combined positioning method which is suitable for precise positioning of targets in urban environment, valley areas, mining areas and the like.
2. Background of the invention
Global Positioning Systems (GPS) have been widely used for the positioning of open-air targets and for precision surveying engineering. However, the GPS receiver receives satellite signals from over twenty thousand kilometers of high altitude, and the signals reach the ground only slightly, so that the GPS signals are easily interfered. Furthermore, the positioning accuracy and reliability of GPS depend greatly on both the number of visible GPS satellites and the spatial distribution of the satellites. When the tracked visible GPS satellites are few in number and the geometric figures of the satellites are not well distributed, the positioning accuracy of the GPS is greatly reduced. For 'urban canyons' in urban high-rise compact areas and reservoirs, power stations and mining areas in deep-mountain canyons, the GPS receiver antenna is shielded, so that the number of received GPS satellites is reduced, the GPS positioning accuracy is reduced, and the navigation positioning requirement cannot be met. In addition, the GPS signal cannot be directly used for navigation and positioning indoors, underground, tunnels and underwater at present. Thus, a single GPS positioning system has drawbacks.
3. Summary of the invention
The invention aims to overcome the defects in the prior art and provides a GPS and pseudolite combined positioning method.
The basic principle of the invention is as follows:
pseudolites, also known as ground GPS satellites, emit signals similar to GPS signals from a specific ground location to enhance GPS position finding, and use a navigation message format substantially identical to GPS. Because the pseudo satellite transmits signals similar to the GPS and works on the frequency of the GPS, the GPS receiver of the user can simultaneously receive the GPS signals and the pseudo satellite signals without additionally arranging another set of pseudo satellite receiving equipment. The existing defects of GPS positioning can be made up by adopting a 'pseudo satellite' arranged on the ground to enhance a GPS system. By using the combined GPS and pseudolite techniques, a user GPS receiver can acquire a plurality of additional pseudolites, thus increasing the number of visible satellites positioned by the user and improving the satellite geometric distribution configuration. In addition, pseudolites provide additional pseudorange and carrier-phase observations to facilitate resolution of GPS ambiguities, which may improve positioning accuracy. The geometry of the satellite constellation is improved by a reasonable selection of the positions of the pseudolites. In pure GPS measurements, satellites at lower elevation angles are usually discarded to avoid introducing severe multipath interference and ionospheric and tropospheric delay errors. The introduction of pseudolites can make up for this weakness, which can significantly improve the solution of whole-cycle ambiguity and the positioning accuracy, especially in elevation. At the same time, the additional pseudolite pseudoranges also enhance the overall reliability of the system.
1. The GPS signals and pseudolite signals are continuously acquired simultaneously with a GPS receiver and the acquired data is transmitted by the receiver to a data acquisition system.
GPS satellites use expensive high precision atomic clocks (rubidium or cesium clocks) that can achieve very high precision. However, within the pseudolite transmitter, due to cost constraints, it is common to use an inexpensive crystal clock as a time reference. It is not synchronized with the GPS clock. The consequence is that when the pseudolite is powered up and begins to operate, the magnitude of the pseudolite observation cannot be predicted at all, and may be very large or very small, and may be positive or negative. This has an effect on all receivers, i.e. the moment, which must be dealt with in the data acquisition system.
2. Data pre-processing
Data preprocessing is an important step to ensure the quality of the solution. The most important work is cycle slip detection and repair. Cycle slip can be as long as several minutes or more, and can also occur between two adjacent epochs. Of course, regardless of the type of cycle slip, the fractional part of the observations is not affected by the cycle slip and remains correct as long as tracking of the satellite signal is restored. However, the whole number of cycles is not continuous with the whole number of cycles before the occurrence of the cycle slip because the whole number of cycles is lost in the accumulated count of the whole cycles during the signal interruption period, and this affects that the following whole number of cycles have the same deviation of the whole constant, which means that the observed value has a rough difference. In the data preprocessing stage before adjustment, the position of the cycle slip is diagnosed and found, and the whole number of unconnected cycles in the observed value after the cycle slip occurs is corrected. In order to detect the cycle slip, the previous several correct continuous observed values are used for fitting and extrapolating the observed value of the next epoch, if the whole cycle number of the epoch is different from the whole cycle number of the actual observed value, the cycle slip exists in the epoch, and the whole cycle number in the observed value of the epoch and the subsequent epoch is corrected according to the obtained difference of the whole cycle number.
3. Measurement error characterization and method for eliminating or reducing errors
Atmospheric delay errors that affect GPS positioning accuracy include ionospheric delay and tropospheric delay. Because GPS signals travel through high altitude, ionospheric delay errors are much larger than tropospheric. But for terrestrial pseudolite positioning we consider tropospheric delay errors and ionospheric delay errors much smaller than pseudolite positioning errors. Tropospheric delays in pseudolite positioning are strongly affected by regional weather conditions. Conventional GPS tropospheric refraction models do not compensate well for pseudolite positioning errors. Therefore, in practical applications, we adopt an adaptive tropospheric delay estimation algorithm based on single difference, and the estimation value of the delay is tighter.
One important aspect that affects the accuracy of pseudolite positioning is the pseudolite's clock bias. Within the pseudolite transmitter, due to cost constraints, it is common to use an inexpensive crystal clock as a time reference, and therefore it is not synchronized with the GPS clock, and this effect must be removed to allow proper resolution. By using a double difference equation, most of the effects of this error can be effectively eliminated.
Multipath is another significant problem affecting pseudolite positioning accuracy and is also difficult to solve. The method effectively utilizes the rule that the multipath effect is similar to a constant in the pseudolite static observation, adopts a double-difference residual error extraction method to estimate the multipath value after double differences, and reestablishes the equation solution of the method to eliminate the influence of the multipath after replacing the original error equation.
4. Integrated processing of GPS observation data and pseudolite observation data
The measurement accuracy of the carrier phase difference itself can reach 0.5-2.0 mm, but the GPS measurement is performed under the influence of various error sources, so it is thought to try to eliminate or reduce the influence of the GPS measurement error. Some system errors in the GPS measurement can be directly corrected through some correction models, and corresponding additional parameters can be introduced to be solved in adjustment, but too many additional parameters influence the reliability of a positioning solution, and some errors are difficult to be simulated by a mathematical model. The influence of errors on the observed values is carefully analyzed, and by utilizing the correlation of the errors between the observed values or the correlation between the positioning results, the influence of the errors can be eliminated or greatly weakened through difference calculation, and although residual errors exist, the influence is greatly reduced.
In the relative positioning, the difference observation quantity can be divided into three forms, namely single difference, double difference and triple difference. The difference calculation has the function of eliminating various errors, although the ambiguity of the whole circle can be eliminated when the three differences are calculated, and a plurality of benefits are brought to the positioning and the combination. However, the data after the difference is solved has a correlation problem, and correlated noise is superposed, thereby affecting the accuracy of the system. The difference also causes the significant figures to decrease rapidly and the calculation error to increase, thus affecting the accuracy of the final result. Therefore, the method adopts a double difference equation solution.
When precise relative positioning is performed based on carrier phase observations, the determination of the whole-cycle unknowns is a key issue. It is extremely important to resolve whole-week unknowns accurately and quickly. The method adopts a fuzzy fast solution method (FARA), which searches a group of solution sets with the smallest sum of variance and likelihood whole-cycle number in a certain estimated solution space on the basis of a statistical theory and judges the significance of the solution sets superior to other solution sets.
5. And (4) position calculation.
The technical scheme of the invention comprises the following steps:
1. laying out pseudolite locations
In addition to the need to accurately measure and correct the position bias of pseudolites, pseudolite position selection and optimization is also important. If the pseudo satellite positioning error is not reasonably distributed, the single difference cannot weaken the position deviation of the pseudo satellite, but the influence of the error is multiplied. In a general same-side layout scheme, the single difference can effectively eliminate the influence of pseudo satellite position deviation. For the actual situation of a plurality of pseudolites to a plurality of receivers, grid type search is carried out on all possible spatial positions, and the optimal arrangement position of the pseudolites is obtained by applying an optimization theory.
From the least squares law, there are:
array of co-factors thereof
The selection criteria for the optimal position of the pseudolite is to minimize the maximum dilution of precision factor. The selection of the optimal position of the pseudolite is a lengthy recovery process, with hundreds of millions of DOP calculations being performed if a stereoscopic orthogonal grid scan is employed. This method is still computationally intensive. The method uses a rapid pseudolite optimal position searching method, and the algorithm is as follows:
(1) Firstly, the pseudolite and the user are placed at the same height, and the azimuth scanning is carried out near the observation station by adopting a pure HDOP criterion. I.e. the position OP at which HDOP is minimal, is the optimal placement position of the pseudolite on the horizontal plane.
Horizontal precision attenuation factor:
q ii are constituent elements of the matrix Q.
(2) Then, on the OHP plane, an azimuth scan on a vertical plane is performed near the user. Since the change in orientation in the vertical plane affects three components, weighted DOP is used for the determination. WDOP = (a × VDOP + b × HDOP)/(a + b), and the constants a and b are selected according to the positioning accuracy requirement in the vertical and horizontal directions in practical application, and are usually selected to be 1.
Horizontal precision attenuation factor:
q ii are constituent elements of the matrix Q.
(3) The position OQ at which WDOP is the smallest is the optimal pseudolite placement position in space. This location is within the framework of the GPS coordinate system. The position information can be directly substituted in the program calculation.
2. GPS signal and pseudolite signal acquisition and recording
The original information of the GPS signal and the pseudo satellite signal are both in binary format, and for the convenience of processing, the original code information of the GPS signal and the pseudo satellite signal is converted into the RENIX format. Because the pseudolite clock is not synchronized with the GPS clock, the observation value is too huge, and data conversion cannot be performed. The binary raw data for each epoch of the pseudolite signal is therefore first removed by a constant bias, which can be obtained from the initial epoch of observation. Only in this way, subsequent data processing can process and analyze both GPS data and pseudolite observations simultaneously.
3. Extracting pseudorange and carrier phase observations for valid satellites
Due to hardware of the pseudolite, common processing methods include a dual-frequency receiver + a single-frequency pseudolite or a single-frequency receiver + a single-frequency pseudolite, and the like, and required observed quantity information is extracted from original information of a GPS signal and a pseudolite signal. The original information of the GPS signal and the pseudo satellite signal is in a binary format, and the original code information of the GPS signal and the pseudo satellite signal is required to be converted into a RENIX format. The RENIX file has the international Union Standard and is an ASCII text file. According to the format definition of RENIX, the required ephemeris, pseudorange and carrier phase information can be conveniently read out at the corresponding storage location for subsequent calculation.
4. Observed value signal remediation
Due to signal interference from the pseudolite transmitter, transient epoch losses due to signal jamming are often prone to occur when the GPS and pseudolite are simultaneously observing. In the static case, the observed changes in carrier phase observations are smooth and predictable, but the typical cycle slip is difficult to observe directly. The method utilizes the characteristic that the high-order difference of two adjacent phase observed values is accidental error, and adopts a high-order curve fitting method for the convenience of computer processing. I.e. fitting an m-order polynomial according to the n phase observations, estimating the next observation according to the polynomial, and comparing with the measured value, thereby finding and correcting the whole-cycle count. Since the quartic difference or the quintic difference generally has an accidental error characteristic and cannot be fitted by using a function, the polynomial fitting usually only needs 4 to 5 orders.
For a given set of data points (x) i ，y i ) (i =0,1, 2.. Eta., n), an m-th order polynomial function y = f (x) is constructed to approximate the data points and minimize the weighted sum of squares of the deviations.
I.e. such that Γ (a) 0 ，a 1 ，...，a m ) Taking the minimum, weighting factor delta i > 0, usually δ is preferred i ＝1，(i＝ 0，1，2，...，n)。
5. Tropospheric error estimation
For pseudolites, small height differences can cause significant changes in elevation angle due to their close proximity. Obviously, the conventional troposphere model can no longer be used to estimate the amount of troposphere delay for pseudolites, since it considers the case where the signal is coming from space over 20000 kilometers away.
The tropospheric delay after a single difference between stations is then:
p is atmospheric pressure, T is absolute temperature e is water vapor pressure, and the magnitude of e can be estimated from the relative humidity by the following equation:
e ＝ RH·exp(-37.2465+0.2133T-2.569*10 -4 T 2 )
calculating single difference and substituting for double differences
6. Establishing a single difference observation equation
The expression form of the single difference, namely the difference between the observed quantities obtained by synchronously observing the same satellite at different observation stations, is as follows:
λΔ_＝Δρ+cΔdT-λΔN
wherein, the delta-two receivers observe the phase decimal difference of the same satellite
Delta N difference of whole cycle of phase of two receivers observing same satellite
Difference of distance between two receivers to same satellite
Absolute clock difference of c delta dT two receivers
7. Establishing double-difference observation equation
Synchronously observing the same group of satellites by different observation stations, and obtaining single difference to calculate the difference, wherein the expression form is as follows:
λ_Δ_＝_Δρ-λ_ΔN
wherein the _Δ _ two receivers observe the difference between the phase decimal differences of different satellites
Two receivers of _DeltaNobserve the difference of the phase whole-cycle number differences of different satellites
Difference between delta rho and satellite distance difference between two receivers
8. Generating error equation coefficient arrays A, B
L＝[_Δl(t 1 )_Δl(t 2 )..._Δl(t nt )] T
V＝[v(t 1 )v(t 1 )...v(t nt )] T
Forming an error equation set by the calculation coefficients of each epoch:
V＝AδX+B_ΔN+L
9. generating equation matrix, and solving floating solution
NΔY+U＝0
Wherein, N = [ AB =] T P[AB]，U＝[AB] T PL
ΔY＝-N -1 U，ΔY＝[δXΔ_N′] T
10. Estimating pseudolite multipath error
11. Regenerating an error equation coefficient matrix
_Δl′ PL (t)＝_Δl PL (t)+δ mp
V′＝AδX+B_ΔN+L′
12. Regenerating equation matrix and solving floating solution
NΔY+U′＝0
ΔY′＝-N -1 U′
13.FARA search, fixing ambiguities
Accurately and quickly resolving the whole-week unknowns is one of the key points to ensure correct resolution. The method adopts a fuzzy fast solution method (FARA), which searches a group of solution sets with the smallest sum of variance and likelihood whole-cycle number in a certain estimated solution space based on statistical theory and judges the significance of the solution sets superior to other solution sets.
Δ_N＝FARA(Δ_N′)
14. Solving coordinates with fixed ambiguity
V X ＝AδX+L X
δX＝-(A T PA) -1 (A T PL X )
15. And outputting the position information.
The GPS and pseudolite combined positioning method of the invention adopts the GPS and pseudolite combined positioning technology, and the user GPS receiver can obtain a plurality of additional pseudolites, thus increasing the number of visible satellites positioned by the user and improving the geometric distribution configuration of the satellites. In addition, pseudolites provide additional pseudorange and carrier-phase observations to facilitate resolution of GPS ambiguities, which may improve positioning accuracy. The geometry of the satellite constellation is improved by a reasonable choice of the positions of the pseudolites. In pure GPS measurements, satellites at lower elevation angles are usually discarded to avoid introducing severe multipath interference and ionospheric and tropospheric delay errors. The weak point can be just complemented after the pseudolite is introduced, so that the solution of the ambiguity of the whole circle and the positioning precision, particularly the precision in the elevation aspect, can be obviously improved. At the same time, the additional pseudolite pseudoranges also enhance the overall reliability of the system.
4. Description of the drawings
FIG. 1 is a schematic block diagram of a GPS and pseudolite combined positioning method of the present invention;
FIG. 2 is a block diagram of a combined GPS and pseudolite positioning solution routine.
5. Detailed description of the preferred embodiments
The present invention will be described in further detail with reference to examples.
The embodiment is as follows:
1. laying out pseudolite locations
The method uses a rapid pseudolite optimal position searching method, and the algorithm is as follows:
(1) Firstly, the pseudolite and the user are placed at the same height, and the azimuth scanning is carried out near the observation station by adopting a pure HDOP criterion. I.e. the position OP at which HDOP is minimal, is the optimal placement position of the pseudolite on the horizontal plane.
Horizontal precision attenuation factor:q ii are constituent elements of the matrix Q.
(2) Then, on the OHP plane, an azimuth scan on a vertical plane is performed near the user. Since the change in orientation in the vertical plane affects three components, weighted DOP is used for the determination. WDOP = (a × VDOP + b × HDOP)/(a + b), and the constants a and b are selected according to the positioning accuracy requirement in the vertical and horizontal directions in practical applications, and may be generally 1.
Horizontal precision attenuation factor:q ii are constituent elements of the matrix Q.
(3) The azimuth OQ at which WDOP is the minimum is the optimal pseudolite layout azimuth in space. This position is within the framework of the GPS coordinate system. The position information can be directly substituted in the program calculation.
2. GPS signal and pseudolite signal acquisition and recording
Using GPS receiver to collect original information of GPS signal and pseudo-satellite signal, inputting these information into computer, firstly eliminating a constant deviation from binary original data of every epoch of pseudo-satellite signal, then converting GPS and pseudo-satellite original code information into RENIX format
3. Extracting pseudorange and carrier phase observations for valid satellites
And reading out the needed ephemeris, pseudo range and carrier phase information at the corresponding storage position according to the format definition of RENIX, and reserving for subsequent calculation.
4. Pseudorange and carrier phase signal repair
The method adopts a high-order curve fitting method.
For a given set of data points (x) i ，y i ) (i =0,1, 2.. Eta., n), an m-th order polynomial function y = f (x) is constructed to approximate the data points and minimize the weighted sum of squares of the deviations.
I.e. such that Γ (a) 0 ，a 1 ，...，a m ) Taking the minimum, weighting factor delta i > 0, usually δ is preferred i ＝1，(i＝ 0，1，2，...，n)。
5. Tropospheric error estimation
The tropospheric delay after a single difference between stations is:
p is atmospheric pressure, T is absolute temperature e is water vapor pressure, and the magnitude of e can be estimated from the relative humidity by the following equation:
e＝RH·exp(-37.2465+0.2133T-2.569*10 -4 T 2 )
calculating single difference and substituting for calculating double differences
6. Establishing a single-difference observation equation
The homodyne expression pattern is:
λΔ_＝Δρ+cΔdT-λΔN
wherein, the delta-two receivers observe the phase decimal difference of the same satellite
Delta N difference of whole cycle of phase of two receivers observing same satellite
Difference between distances from two receivers to the same satellite
Absolute clock difference of c delta dT two receivers
7. Establishing a double-difference observation equation
Synchronously observing the same group of satellites by different observation stations, and obtaining single difference to calculate the difference, wherein the expression form is as follows:
λ_Δ_＝_Δρ-λ_ΔN
wherein the two receivers observe the difference between the phase decimal differences of different satellites
Two receivers of _DeltaNobserve the difference of the phase whole-cycle number differences of different satellites
Difference between delta rho and satellite distance difference between two receivers
8. Generating error equation coefficient arrays A, B
L＝[_Δl(t 1 )_Δl(t 2 )..._Δl(t nt )] T
V＝[v(t 1 )v(t 1 )...v(t nt )] T
Forming an error equation set by the calculation coefficients of each epoch:
V＝AδX+B_ΔN+L
9. generating equation matrix, and solving floating solution
NΔY+U＝0
Wherein, N = [ AB ]] T P[AB]，U＝[AB] T PL
ΔY＝-N -1 U，ΔY＝[δXΔ_N′] T
10. Estimating pseudolite multipath error
11. Regenerating an error equation coefficient matrix
_Δl′ PL (t)＝_Δl PL (t)+δ mp
V′＝AδX+B_ΔN+L′
12. Regenerating equation matrix and solving floating solution
NΔY+U′＝0
ΔY′＝-N -1 U′
13.FARA search, fixing ambiguities
The method adopts a fast ambiguity resolution method (FARA)
Δ_N＝FARA(Δ_N′)
14. Solving coordinates with fixed ambiguities
V X ＝ AδX+L X
δX＝-(A T PA) -1 (A T PL X )
Claims (3)
1. A GPS and pseudolite combined positioning method comprises the following steps:
step one, laying pseudo satellite positions;
step two, collecting and recording GPS signals and pseudo satellite signals
Firstly, eliminating a constant deviation from binary original data of each epoch of a pseudolite signal, and converting GPS and pseudolite original code information into a RENIX format;
step three, extracting pseudo range and carrier phase observed quantity of effective satellite
Reading out the needed ephemeris, pseudo range and carrier phase information at the corresponding storage position according to the format definition of RENIX, and reserving for subsequent calculation;
fourthly, repairing the observed value signal
Adopting a high-order curve fitting method;
step five, troposphere error estimation;
step six, establishing a single difference observation equation, and solving a single difference;
establishing a double-difference observation equation, and solving double differences;
generating error equation coefficient arrays A and B; forming an error equation set by using the calculation coefficients of each epoch;
step nine, generating a method equation array, and solving a floating solution
NΔY+U＝0
Wherein, N = [ AB ]] T p[AB]，U＝[AB] T PL
ΔY＝-N -1 U，ΔY＝[δX Δ_N′] T ；
Step ten, estimating pseudo satellite multipath error
Eleven steps of regenerating error equation coefficient array
_Δl PL ′(t)＝_Δl PL (t)+δ mp
V′＝AδX+B_ΔN+L′；
Step twelve, regenerating a method equation array and solving a floating solution
NΔY+U′＝0
ΔY′＝-N -1 U′；
Thirteen step, FARA search, fixing the ambiguity
Using a fast ambiguity resolution method (FARA)
Δ_N＝FARA(Δ_N′)；
Fourteen, solving the coordinates by fixed ambiguity
V X ＝AδX+L X
δX＝-(A T PA) -1 (A T PL X )。
2. A combined GPS and pseudolite positioning method according to claim 1, wherein: the method for fitting the high-order curve adopted in the fourth step comprises the following steps:
for a given set of data points (x) i ，y i ) I =0,1,2, \8230, n, constructing an m-th order polynomial function y = f (x) to approximate the data points and minimize the weighted sum of squares of the deviations,
i.e. such that Γ (a) 0 ，a 1 ，…，a m ) Taking the minimum, weighting factor delta i > 0, it is generally preferable to take delta i ＝1，i＝ 0，1，2，…，n。
3. A combined GPS and pseudolite positioning method according to claim 1, characterized in that: the error equation coefficient arrays A and B generated in the step eight are as follows:
A＝[a(t 1 )a(t 2 )…a(t nt )] T ，
B＝[b(t 1 )b(t 2 )…b(t nt )] T ，
L＝[_Δl(t 1 )_Δl(t 2 )…_Δl(t nt )] T
V＝[v(t 1 )v(t 1 )…v(t nt )] T
forming an error equation set by the calculation coefficients of each epoch:
V＝AδX+B_ΔN+L。
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| WO2007020693A1 (en) * | 2005-08-18 | 2007-02-22 | Mitsubishi Denki Kabushiki Kaisha | Gps positioning method and gps position device |
| CN101158719B (en) * | 2007-11-16 | 2011-01-26 | 上海伽利略导航有限公司 | False satellite sub-decimeter level indoor position location method |
| EP2436138A1 (en) * | 2009-05-29 | 2012-04-04 | Thomson Licensing | Method and apparatus for iterative timing recovery |
| CN101833103B (en) * | 2010-04-07 | 2013-01-30 | 北京航空航天大学 | Positioning method of deep open pit based on pseudolite |
| CN103874029B (en) | 2012-12-12 | 2018-02-06 | 中兴通讯股份有限公司 | Message method, fake satellite positioning system and the relevant apparatus of pseudolite systems |
| CN104035068B (en) * | 2014-06-26 | 2016-09-14 | 桂林电子科技大学 | A kind of indoor locating system based on pseudo satellite, pseudolite and method |
| US10094930B2 (en) * | 2015-06-23 | 2018-10-09 | Honeywell International Inc. | Global navigation satellite system (GNSS) spoofing detection with carrier phase and inertial sensors |
| CN108775899B (en) * | 2018-05-31 | 2022-05-17 | 中国矿业大学 | Deep mining well up-down coordinate system connection method based on pseudolite and inertia information |
| CN113805223A (en) * | 2021-08-16 | 2021-12-17 | 南京天巡遥感技术研究院有限公司 | Seismic exploration system and processing method of data acquired by seismic exploration system |
| CN115079214B (en) * | 2022-08-18 | 2022-11-29 | 中移(上海)信息通信科技有限公司 | Pseudo-satellite pseudo-range multipath correction method, device, platform and receiver |
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| US5959575A (en) * | 1997-11-04 | 1999-09-28 | Nortrhop Grumman Corporation | Interior GPS navigation |
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| 采用GPS伪卫星技术提高定位精度的研究. 杨光，何秀凤，华锡生.河海大学学报（自然科学版），第32卷第3期. 2004 * |
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