CN101118705A - GPS satellite positioning simulated experimental device and experimental method thereof - Google Patents
GPS satellite positioning simulated experimental device and experimental method thereof Download PDFInfo
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Abstract
An experiment device for simulated GPS satellite positioning is composed of an experiment platform and a measuring and controlling instrument. The experiment platform is composed of a two-dimensional object positioning mechanism, a polar coordinate, a simulated satellite signal transmitter and a receiver. The two-dimensional object positioning mechanism can arbitrarily move the object, which is arranged with the receiver, in the directions of X and Y, and according to the scale value at the edge of the platform, X and Y coordinate thereof is read out. The measuring and controlling instrument is composed of four groups of single chip microcomputers for time interval measuring in the scale of microsecond and measuring, and selecting units. The single chip microcomputers transmit ultrasonic signals and measure the time needed for the signals from being transmitted to being received. Totally four transmitters are used to simulate four satellites, one receiver, which is with the positioning object together, receives signals transmitted by the four transmitters respectively through the selecting units. The panel of the measuring and controlling instrument is provided with four liquid crystal display screens to respectively show the times that signals of the 1-4 simulated satellite are received by the ground objects, and also show the temperatures. The four transmitters simulated satellites are fixed on the frame whose latitude is adjustable, and the position of the frame can be fixedly placed on the experiment platform according to the experimental content. The present invention provides an experiment method and means for changing experimental conditions and quantitatively measuring physical quantities, and precisely positions experimental objects by measured time and measured range data of the simulated satellites, and is applicable to the simulated GPS satellite positioning experiment device in physics experiment teaching.
Description
Technical Field
The invention relates to a physical experiment device and an experiment method, in particular to an experiment device and an experiment method which can simulate the time measurement and the distance measurement of a satellite in a global positioning system to realize the accurate positioning of an object.
Background
The GPS system for navigation by using time measurement and distance measurement of satellites is the most advanced and perfect satellite navigation system and positioning system in the world at present, and has the global, all-weather, real-time, high-precision, three-dimensional navigation and positioning capabilities, and good anti-interference and confidentiality. Therefore, the method has attracted general attention of military departments and wide civil departments of all countries in the world. At present, the GPS precision positioning technology has widely penetrated many fields of economic construction and scientific technology, especially widely applied in the fields of geodetic survey and related subjects, such as geodynamics, marine geodetic survey, geophysical exploration, resource exploration, aviation and satellite remote sensing, engineering survey and the like, and fully shows the high precision and high benefit of the satellite positioning technology.
The measurement technology and the measurement method of the satellite are one of college physical experiment teaching contents, related teaching instruments are few at present, and the simulated GPS satellite positioning experimental device and the experimental method tightly combine modern scientific technology with college physical experiment teaching, so that the teaching level and the teaching quality are improved.
Disclosure of Invention
The invention aims to provide a simulated GPS satellite positioning experimental device and an experimental method which are applied to teaching, are reliable and strong in operability, are easy and clean in physical quantity display and can be used for measuring by changing different experimental methods according to experimental principles.
The invention provides a simulated GPS satellite positioning experimental device, which is divided into two parts: experiment platform, measurement control appearance.
The experimental platform mainly comprises: the device consists of a two-dimensional object positioning mechanism, a polar coordinate, a X, Y coordinate, a simulated satellite signal transmitter and a receiver; the simulation satellite signal emitter is arranged on a support with adjustable height, and the support is fixed on a corresponding position of the experiment platform base to form a simulation satellite; the signal receiver is fixed on a positioning object, the positioning object is fixed on a two-dimensional object positioning mechanism consisting of two mutually vertical guide rails and can move freely in the X, Y direction, and the position is read out through X and Y coordinates.
The measurement control instrument mainly comprises: 4 groups of microsecond-level time intervals of ultrasonic signal transmission and measurement signal measurement single chips are connected with a measurement satellite selection key on a measurement control instrument panel correspondingly, and a liquid crystal display screen, a cable jack and a measurement satellite selection key are arranged on the measurement control instrument panel.
The invention uses 4 analog satellite signal transmitters to simulate 4 satellites to be installed, fixed and adjusted in height and position according to the experimental content.
The measuring method of the simulated GPS satellite positioning experimental device comprises the following steps:
the simulation satellite is placed at a position required by corresponding experiment contents, an object provided with a receiver is placed at a certain position by a two-dimensional positioning mechanism, and the actual coordinate position (x, y) of the object is read out through the scales on the periphery of the platform.
And selecting a measurement satellite on a panel of the measurement control instrument, aligning a receiver bell mouth on an object to a selected satellite transmitter, and recording a time value on the liquid crystal display screen.
The object position is changed and the measurement is performed again.
The invention adopts the plane positioning principle in the acoustic emission technology, and can carry out simulation GPS satellite positioning on a two-dimensional plane and three-dimensional space GPS satellite positioning simulation experiments. The method for positioning the object in the experiment by simulating the satellite time measurement and distance measurement data through the experiment not only can learn the basic principle of the related experiment and further understand the basic status and the action of physics in the modern high-tech field, but also can understand a plurality of basic knowledge of a modern measurement system consisting of a sensor, a signal processing unit and a computer and a plurality of basic methods for processing the experiment data by the computer.
The invention adopts the experimental principle and the technical method to form the simulated GPS satellite positioning experimental device, the experimental contents of the device in experimental teaching are rich, the device can not only position objects on a two-dimensional plane, but also position and measure the objects in a three-dimensional space, and the spatial position of the objects is obtained through data processing. The data processing result can be compared with a position value directly measured on an experimental platform, so that the understanding of students on the satellite positioning principle and method is deepened, the knowledge plane of the students is expanded, and the physical experiment teaching quality is improved.
Drawings
FIG. 1 is a diagram of an experimental device for simulating GPS satellite positioning according to the present invention
1. An experimental platform 2, a polar coordinate base map 3, a peripheral scale 4, a positioning object 5, an X-direction guide rail 6, a Y-direction guide rail 7, a guide rail groove 8, a signal receiver 9, a signal transmitter (simulation satellite 1) 10, a signal transmitter (simulation satellite 2) 11, a signal transmitter (simulation satellite 3) 12, a signal transmitter (simulation satellite 4) 13, a support 14, a fixing hole 15, a measurement controller 16, a control panel 17, a measurement satellite selection key 18, a liquid crystal data display window 19, an external jack 20, a cable 21, a positioning pointer
FIG. 2 is a schematic representation of a three-transmitter probe simulation Wei Xingzhen column on a two-dimensional plane
FIG. 3 is a schematic representation of a four-transmitter probe column Wei Xingzhen in the two-dimensional plane of FIG. 3
FIG. 4 is a three-dimensional space four-emitter probe simulation Wei Xingzhen column diagram
FIG. 5 is a two-dimensional plan view of three transmitter positions
FIG. 6 is a two-dimensional plane diagram of the positions of four emitters
Detailed Description
Referring to the attached fig. 1, the device is composed of an experiment platform 1 and a measurement controller 15, wherein the experiment platform 1 mainly comprises: a polar coordinate base figure 2 and a graduated scale 3 at the periphery of the platform; the simulated satellite signal emitters 9, 10, 11 and 12 are arranged on a bracket 13 with adjustable height, and the bracket 13 is fixed on the platform 1 through a fixing hole 14 to form a simulated satellite; the signal receiver 8 is fixed on a position mechanism object 4 consisting of two mutually vertical guide rails and can move freely in the direction of X, Y; four groups of microsecond-level time interval measurement single-chip microcomputers for transmitting ultrasonic signals and measuring signals are arranged in the measurement control instrument 15, the single-chip microcomputers transmit the ultrasonic signals and measure the signals, the measurement selection unit is correspondingly connected with a measurement satellite selection key 17 on a measurement control instrument panel 16, a liquid crystal display 18 is arranged on the measurement control instrument panel 16 to display measurement data of simulated satellite signals, and transmitters 9, 10, 11 and 12 of the simulated satellites and a cable 20 of a signal receiver 8 are inserted into an external jack 19 to be connected with the single-chip microcomputers in the measurement control instrument 15. The two-dimensional object positioning mechanism consists of a positioning object 4 and an X-direction guide rail 5,Y direction guide rail 6, two ends of the guide rail are embedded into a groove 7 on the inner side of the platform and freely slide, the guide rail freely moves in the direction of X, Y, a X, Y coordinate value of the position of the positioning object 4 can be measured on a graduated scale 3 of the platform, a pointer 21 at the bottom of the positioning object 4 points to a polar coordinate base map 2, and an angle value of the position of the positioning object 4 can be measured. Four simulated satellite signal transmitters simulate four satellites T 1 、T 2 、T 3 、T 4 And (5) mounting, fixing and adjusting the height and the position according to the experimental content. The signals of the four transmitters are respectively received and measured by a measurement selection unit connected with a measurement satellite selection key 17, and four liquid crystal display screens 18 are arranged on a panel of the measurement control instrument to respectively display the time and the temperature of the analog satellite signals received by a ground object.
The experimental method of the simulated GPS satellite positioning experimental device comprises the following steps:
● The cable wires 20 of the simulated satellite transmitters 9, 10, 11 and 12 and the receiver 8 are respectively inserted into corresponding external jacks 19 on the panel of the measurement control instrument 15;
● Inserting the simulated satellite signal transmitters 9, 10, 11 and 12 into corresponding fixing holes 14 of the experiment platform 1, and adjusting the height of a bracket 13 to enable the simulated satellite to be placed at a position required by corresponding experiment contents;
● The positioning object 4 provided with the receiver 8 is placed at a certain position, and the actual coordinate position (x, y) of the positioning object 4 is read out through the graduated scales 3 at the periphery of the platform;
● Pressing a satellite selection key 17 to align the receiver to the direction of the selected simulated satellite transmitter, displaying a time interval on a corresponding liquid crystal display screen 18 and recording time;
● Changing the direction of the receiver aiming at the simulated satellite transmitter to sequentially complete the measurement of each simulated satellite;
● And changing the position of the positioning object 4, measuring the next group of data again, and comparing the measured position value with the position value directly measured on the experiment platform through data processing to obtain the simulated GPS satellite positioning experiment result.
The experimental device of the invention can not only research on a two-dimensional plane, but also simulate GPS satellite positioning by adopting the principles of three transmitters and four transmitters. The method can also be used for researching the principle of using four emitters in three-dimensional space to carry out simulation positioning and further research and study in the aspects of numerical analysis and data processing.
The experimental contents which can be set by the experimental device of the invention are from shallow to deep, the knowledge range is wide, the study interest of students can be aroused by the close combination of the modern science and technology, and the teaching quality of physical experiments is improved.
Example 2 three-emitter simulation satellite array experiment on plane
Three transmitters are used for simulating three satellites and three ultrasonic signal transmitter probes T 1 、T 2 ，T 3 Simulated satellite arrays figure 2 shows:
it is known that: d 1 ，D 2 ，θ 1 ，θ 3 ，Δt 1 ＝t 2 -t 1 ，Δt 2 ＝t 3 -t 1
Δt 1 V＝r 2 -r 1 (1)
Δt 2 V＝r 3 -r 1 (2)
Solution (3), (4)
cos(θ-θ 1 )＝cosθ·cosθ 1 +sinθ·sinθ 1
cos(θ 3 -θ)＝cosθ 3 ·cosθ+sinθ 3 ·sinθ
Setting: a = cos θ 1 ，b＝sinθ 1 ，c＝cosθ 3 ，d＝sinθ 3
A＝eh-gf，B＝fD 1 a-eD 2 c，T＝fD 1 b-eD 2 d X＝cosθ
To obtain (B) 2 +T 2 )X 2 -2ABX+A 2 -T 2 ＝0 (5)
Solving the following steps: theta, r 1 。
The transmitter position is shown in fig. 5, and the receiver position is the object position.
θ 1 ＝10°，θ 3 ＝45°，D 1 ＝69.0cm，D 2 ＝67.5cm
| Positioning point | Received from |
Reception from satellite 2 Time to signal | Received from satellite 3 Time of signal | Distance r 1 | Angle of rotation |
| t 1 (μs) | t 2 (μs) | t 3 (μs) | Measured r 1 (cm) | Actually measured theta deg | |
| A | 1563 | 1129 | 678 | 49.5 | 38.0 |
| B | 1429 | 1026 | 914 | 44.6 | 30.0 |
| C | 1376 | 992 | 1030 | 43.2 | 25.0 |
| D | 1113 | 1275 | 1136 | 34.5 | 33.0 |
| E | 933 | 1514 | 1276 | 28.2 | 40.5 |
Data processing:
according to the formula (3),(4) Polar coordinate r of positioning object obtained by simulated satellite positioning calculation 1 And a value of θ.
| Distance r 1 | Angle of rotation | |||||||
| Positioning point | Measured r 1 (cm) | Calculating r 1 (cm) | Δr 1 (cm) | Relative error E(％) | Measured theta deg | Calculating theta DEG | Δθ | Relative error E(％) |
| A | 49.5 | 49.8 | 0.3 | 0.6 | 38.0 | 38.5 | 0.5 | 1.3 |
| B | 44.6 | 44.9 | 0.3 | 0.7 | 30.0 | 29.8 | 0.2 | 0.7 |
| C | 43.2 | 43.0 | 0.2 | 0.5 | 25.0 | 24.9 | 0.1 | 0.4 |
| D | 34.5 | 34.1 | 0.4 | 1.1 | 33.0 | 32.7 | 0.3 | 0.9 |
| E | 28.2 | 27.8 | 0.4 | 1.4 | 40.5 | 42.8 | 2.3 | 5.7 |
Calculated r 1 And the theta value is compared with the actual measured value, and the relative error of the theta value can meet the requirement of experimental teaching.
Example 3 four transmitters in a plane simulate a satellite array experiment.
4 satellites are simulated by 4 transmitters, the principle is shown in figure 3, the positions of the transmitters are shown in figure 6, and the positions of the receivers are the positions of the objects. a =80.00cm, b =60.00cm
Experimental data:
| stator Bit Dot | Reception from |
Reception from satellite 2 Time to signal | Reception from satellite 3 Time to signal | Reception from satellite 4 Time to signal | X coordinate (cm) | Y coordinate (cm) |
| t 1 (μs) | t 2 (μs) | t 3 (μs) | t 4 (μs) | Actual measured value | Actual measured value | |
| A | 1787 | 1721 | 1154 | 479 | 12.80 | 23.90 |
| B | 2028 | 1621 | 726 | 900 | 24.30 | 16.10 |
| C | 1760 | 1369 | 856 | 810 | 15.95 | 10.30 |
| D | 1480 | 747 | 1117 | 1205 | 5.90 | -7.80 |
| E | 1021 | 699 | 1596 | 1321 | -10.30 | -10.92 |
| F | 787 | 820 | 1986 | 1620 | -22.45 | -17.20 |
| G | 1160 | 1448 | 1539 | 530 | -7.00 | 15.60 |
| H | 814 | 1670 | 2004 | 826 | -22.80 | 18.65 |
Data processing:
and (4) simulating the x and y coordinate values obtained by satellite positioning calculation according to the formulas (6) and (7).
| X coordinate (cm) | Y coordinate (cm) | |||||||
| Positioning point | Actual measured value | Calculated value | |Δx|(cm) | Relative error Difference E (%) | Actual measurement Magnitude of | Calculated value | |Δy|(cm) | Relative error E(％) |
| A | 12.80 | 12.84 | 0.04 | 0.31 | 23.90 | 24.76 | 0.86 | 3.6 |
| B | 24.30 | 24.83 | 0.53 | 2.2 | 16.10 | 16.61 | 0.51 | 3.2 |
| C | 15.95 | 16.09 | 0.14 | 0.88 | 10.30 | 10.96 | 0.66 | 6.4 |
| D | 5.90 | 6.32 | 0.42 | 7.1 | -7.80 | -7.99 | 0.19 | 2.4 |
| E | -10.30 | -10.21 | 0.09 | 0.87 | -10.92 | -11.29 | 0.37 | 3.4 |
| F | -22.45 | -23.10 | 0.65 | 2.9 | -17.20 | -18.04 | 0.84 | 4.9 |
| G | -7.00 | -6.99 | 0.01 | 1.0 | 15.60 | 16.23 | 0.63 | 4.0 |
| H | -22.80 | -23.24 | 0.44 | 1.9 | 18.65 | 19.21 | 0.56 | 3.0 |
The data result shows that the x and y coordinate values obtained by the simulated satellite positioning calculation are compared with the actual measurement coordinates, and the relative error can meet the requirement of experimental teaching.
Example 4 three-dimensional space four-emitter simulation satellite array experiment
In actual GPS positioning, at least four satellites are measured simultaneously. To determine the three-dimensional coordinates in the terrestrial coordinate system and the correction of the clock offset due to the non-synchronization of the satellite clock and the receiver clock. In the acoustic simulation of GPS, in order to reduce the influence of time difference misalignment on positioning accuracy, design consideration is given to acquiring positions and time differences from a plurality of "satellites" (signal transmitters) to obtain relevant position information of "users" (receivers) through a data processing platform.
The satellite array in the experimental system for simulating the GPS by using four ultrasonic probes is shown in figure 4, wherein coordinates of the satellite array are T 1 (x 1 ，y 1 ，z 1 )，T 2 (x 2 ，y 2 ，z 2 )，T 3 (x 3 ，y 3 ，z 3 )，T 4 (x 4 ，y 4 ，z 4 ). M (x, y, z) is a positioning target.
Setting: t is t 1 Is M to T 1 Time of (d), like t 2 ，t 3 ，t 4 。
Δt 1 ＝t 2 -t 1 ，Δt 2 ＝t 3 -t 1 ，Δt 3 ＝t 4 -t 1 V speed of sound,/ 1 ＝Δt 1 V，l 2 ＝Δt 2 V，l 3 ＝Δt 3 V
Setting:
if f is 1 (x，y，z)＝f 2 (x，y，z)＝f 3 (x, y, z) =0, then x, y, z are solutions.
Setting: modulus function
If F (x, y, z) =0, then x, y, z are the solutions.
Setting: x (0), y (0), and z (0) are sample solutions at step 0 (initial)
Setting: x (k), y (k), z (k) are the sample solutions of step k
x(k)＝x(k-1)-Δx(k)，
y(k)＝y(k-1)-Δy(k)
z(k)＝z(k-1)-Δz(k)
And (5) solving the x, y and z coordinates of the M point by using MATLAB software through a gradient method.
The transmitter position is shown in fig. 1, and the receiver position is the object position. Coordinates of four transmitters: t is 1 (-40.00，0，21.50)、 T 2 (0，-30.00，21.50)、T 3 (40.00，0，21.50)、T 4 (0，30.00，21.50)
Experimental data:
| stator Bit (C) Dot |
Reception from |
Reception from satellite 2 Time to signal | Reception from satellite 3 Time to signal | Reception from satellite 4 Time to signal | x coordinate (cm) | y coordinate (cm) |
| t 1 (μs) | t 2 (μs) | t 3 (μs) | t 4 (μs) | Actual measured value | Actual measured value | |
| A | 1893 | 1826 | 1306 | 845 | 12.80 | 23.90 |
| B | 2116 | 1731 | 985 | 1093 | 24.30 | 16.10 |
| C | 1857 | 1502 | 1068 | 1038 | 15.95 | 10.30 |
| D | 1567 | 995 | 1277 | 1349 | 5.90 | -7.80 |
| E | 2071 | 959 | 1170 | 1866 | 19.90 | -23.92 |
| F | 1189 | 971 | 1711 | 1454 | -10.30 | -10.92 |
| G | 1314 | 1572 | 1661 | 909 | -7.00 | 15.60 |
| H | 1051 | 1776 | 2093 | 1043 | -22.80 | 18.65 |
Data processing: and (4) carrying out gradient method solving by using MATLAB software to obtain the x and y coordinates of each point where the positioning object M is located.
| Positioning point | x coordinate (cm) | y coordinate (cm) | ||||||
| Actual measurement Value of | Calculated value | |Δx| | Relative error E(％) | Actual measurement Value of | Calculated value | |Δy| | Relative error E(％) | |
| A | 12.80 | 13.38 | 0.58 | 4.5 | 23.90 | 24.75 | 0.85 | 3.6 |
| B | 24.30 | 23.83 | 0.47 | 1.9 | 16.10 | 16.19 | 0.09 | 0.6 |
| C | 15.95 | 15.99 | 0.04 | 0.3 | 10.30 | 10.79 | 0.49 | 4.8 |
| D | 5.90 | 5.69 | 0.21 | 3.5 | -7.80 | -7.54 | 0.26 | 3.3 |
| E | 19.90 | 20.41 | 0.51 | 2.6 | -23.92 | -23.71 | 0.21 | 0.9 |
| F | -10.30 | -10.37 | 0.07 | 0.7 | -10.92 | -10.55 | 0.37 | 3.4 |
| G | -7.00 | -7.60 | 0.60 | 8.6 | 15.60 | 16.15 | 0.55 | 3.5 |
| H | -22.80 | -22.85 | 0.05 | 0.2 | 18.65 | 19.11 | 0.46 | 2.5 |
The data result shows that the x and y coordinate values obtained by the simulated satellite positioning calculation are compared with the actual measurement coordinates, and the relative error can meet the requirement of experimental teaching.
Claims (6)
1. The utility model provides a simulation GPS satellite positioning experimental apparatus, by experiment platform (1), measurement control appearance (15) two parts constitute characterized by:
the experimental platform (1) mainly comprises: a polar coordinate base map (2) and a graduated scale (3) at the periphery of the platform; the simulation satellite signal transmitter is arranged on a height-adjustable bracket (13), and the bracket (13) is fixed on the platform (1) through a fixing hole (14) to form a simulation satellite; the signal receiver (8) is fixed on a positioning mechanism object (4) consisting of two mutually vertical guide rails and can move freely in the direction of X, Y;
the device is characterized in that a 4-group microsecond time interval measurement single chip microcomputer for transmitting ultrasonic signals and measuring signals is arranged in the measurement control instrument (15), the single chip microcomputer transmits the ultrasonic signals and detects the signals, the measurement selection unit is correspondingly connected with a measurement satellite selection key (17) on a measurement control instrument panel (16), a liquid crystal display (18) is arranged on the measurement control instrument panel (16) to display measurement data of simulated satellite signals, and a transmitter and a signal receiver (8) of the simulated satellite are connected with the single chip microcomputer in the measurement control instrument (15) by inserting a cable (20) into an external jack (19).
2. The simulated GPS satellite positioning experimental device according to claim 1, wherein: the two-dimensional object positioning mechanism is composed of a positioning object (4), an X-direction guide rail (5) and a Y-direction guide rail (6), two ends of the guide rail are embedded into grooves (7) in the inner side of the platform to freely slide, the guide rail can move freely in the X, Y direction, a X, Y coordinate value of the position of the positioning object (4) is measured on a graduated scale (3) of the platform, a pointer (21) at the bottom of the positioning object (4) points to a polar coordinate base map (2), and an angle value of the position of the positioning object (4) is measured.
3. The simulated GPS satellite positioning experimental device according to claim 1, wherein: 4 satellites T are simulated by 4 simulated satellite signal transmitters (9), (10), (11) and (12) 1 、T 2 、T 3 、T 4 And (4) installing, fixing and adjusting the height and the position according to the experimental content.
4. Simulated GPS satellite positioning system according to claim 1 or 3Test the device, characterized by: the measurement selection unit connected with the satellite measurement selection key (17) is used for respectively receiving and measuring signals of 4 transmitters, and 4 liquid crystal display screens (18) are arranged on a panel of the measurement control instrument and respectively display T 1 、T 2 、T 3 、T 4 Simulating the time and temperature at which the satellite signals are received by the ground object.
5. The experimental method of the simulated GPS satellite positioning experimental apparatus of claim 1 is:
● Respectively inserting cables (20) of the simulated satellite transmitter and the simulated satellite receiver (8) into corresponding external plug jacks (19) of a panel of the measurement control instrument (15);
● Inserting the simulated satellite signal emitter into a corresponding fixing hole (14) of the experiment platform (1), and adjusting the height of the bracket (13) to enable the simulated satellite to be placed at a position required by corresponding experiment contents;
● A positioning object (4) provided with a receiver (8) is fixed on the two-dimensional positioning mechanism, and the actual coordinate position (x, y) of the positioning object (4) is read through the graduated scale (3) at the periphery of the platform;
● Pressing a satellite selection key (17), aligning a receiver to the direction of the selected simulated satellite transmitter, displaying a time interval on a corresponding liquid crystal display screen (18) and recording time;
● Changing the direction of the receiver aiming at the simulated satellite transmitter to sequentially complete the measurement of each simulated satellite;
● And changing the position of the positioning object (4), measuring the next group of data again, and comparing the measured position value with the position value directly measured on the experiment platform through data processing to obtain the simulated GPS satellite positioning experiment result.
6. The simulated GPS satellite positioning experimental facility as claimed in claim 1, wherein the experimental contents comprise:
1) Simulating GPS satellite positioning on a two-dimensional plane;
2) And simulating GPS satellite positioning in a three-dimensional space.
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| CN102375146A (en) * | 2011-09-23 | 2012-03-14 | 上海交通大学 | Method and system for simulating GPS (Global Positioning System) digital medium-frequency signal |
| CN105741665A (en) * | 2016-01-29 | 2016-07-06 | 北京华云智联科技有限公司 | Satellite navigation teaching demonstration platform |
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| CN110033687A (en) * | 2019-05-14 | 2019-07-19 | 北京鼎赢科技有限公司 | A kind of satellite navigation ground simulator and method |
| CN110517548A (en) * | 2019-08-26 | 2019-11-29 | 北京星际元会展有限公司 | Satellite positioning experience apparatus |
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| US5382958A (en) * | 1992-12-17 | 1995-01-17 | Motorola, Inc. | Time transfer position location method and apparatus |
| US5815114A (en) * | 1996-04-05 | 1998-09-29 | Discovision Associates | Positioning system and method |
| NL1012666C2 (en) * | 1999-07-21 | 2001-01-29 | Thian Liang Ong | System for stimulating events in a real environment. |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102375146A (en) * | 2011-09-23 | 2012-03-14 | 上海交通大学 | Method and system for simulating GPS (Global Positioning System) digital medium-frequency signal |
| CN107429996A (en) * | 2015-03-17 | 2017-12-01 | 株式会社村田制作所 | Sensor locator |
| US10539416B2 (en) | 2015-03-17 | 2020-01-21 | Christopher A. Bennett | Sensor positioning device |
| CN107429996B (en) * | 2015-03-17 | 2020-08-25 | 株式会社村田制作所 | Sensor positioning device |
| CN105741665A (en) * | 2016-01-29 | 2016-07-06 | 北京华云智联科技有限公司 | Satellite navigation teaching demonstration platform |
| CN110726969A (en) * | 2018-07-16 | 2020-01-24 | 刘勉志 | Firefighter positioning system |
| CN110726969B (en) * | 2018-07-16 | 2022-03-15 | 刘勉志 | Firefighter positioning system |
| CN110033687A (en) * | 2019-05-14 | 2019-07-19 | 北京鼎赢科技有限公司 | A kind of satellite navigation ground simulator and method |
| CN110517548A (en) * | 2019-08-26 | 2019-11-29 | 北京星际元会展有限公司 | Satellite positioning experience apparatus |
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| CN101118705B (en) | 2010-12-01 |
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