CN101118705B - GPS satellite positioning simulated experimental device and experimental method thereof - Google Patents

GPS satellite positioning simulated experimental device and experimental method thereof Download PDF

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CN101118705B
CN101118705B CN2007100712171A CN200710071217A CN101118705B CN 101118705 B CN101118705 B CN 101118705B CN 2007100712171 A CN2007100712171 A CN 2007100712171A CN 200710071217 A CN200710071217 A CN 200710071217A CN 101118705 B CN101118705 B CN 101118705B
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satellite
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positioning
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CN101118705A (en
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陈红雨
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Zhejiang University ZJU
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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

GPS satellite positioning simulated experimental device and experimental technique
Technical field
The present invention relates to a kind of physics facility and experimental technique, particularly relate to can simulating global positioning system in during the survey of satellite and range finding realize the pinpoint experimental provision and the experimental technique of object.
Background technology
When utilizing the survey of satellite and the range finding GPS GPS of navigating be most advanced, the most perfect in the world satellite navigation system and positioning system at present, it not only has global, round-the-clock, real-time high-precision, three-dimensional navigation and station-keeping ability, and have good anti-interference and confidentiality.Therefore cause the common concern of countries in the world military service and vast civilian department.At present, the GPS precision positioning technology is penetrated into many fields of economic construction and science and technology widely, especially in geodesy and related discipline field, as geodynamics, marine geodesy, the widespread use of aspects such as geophysical survey, resources survey, aviation and satellite remote sensing, engineering surveying has shown the high precision and the high benefit of this satellite positioning tech fully.
The measuring technique of satellite and method are one of college physical experiment teaching contents, relevant therewith at present teaching instrument and equipment seldom, GPS satellite positioning simulated experimental device and experimental technique are combined closely modern science and technology and college physical experiment teaching, have improved teaching level and quality of instruction.
Summary of the invention
The object of the invention provides a kind of being applied in the teaching, and reliable, strong operability, the physical quantity of using towards the student shows succinct, and can change the different experiments method according to experimental principle, GPS satellite positioning simulated experimental device of measuring and experimental technique.
The invention provides a kind of GPS satellite positioning simulated experimental device, this device is divided into two parts: experiment porch, measuring and controlling instrument.
Described experiment porch mainly includes: by the two-dimensional bodies detent mechanism, and polar coordinates, X, Y coordinate, analog satellite signal transmitter and receiver are formed; Analog satellite signal transmitter is installed on the adjustable for height support, and support is fixed on the experiment porch base relevant position, constitutes analog satellite; Signal receiver is fixed on the positioning object, and positioning object is fixed on the two-dimensional bodies detent mechanism of being made up of two orthogonal guide rails, can move arbitrarily in X, Y direction, and the present position is by X, and the Y coordinate is read.
Described measuring and controlling instrument mainly includes: 4 groups of microsecond stage time intervals are measured single-chip microcomputer, single-chip microcomputer is launched ultrasonic signal by analog satellite signal transmitter, by signal receiver received signal and measuring-signal, measure corresponding connection of instrumented satellite options button on selected cell and the measuring and controlling instrument panel, there is LCDs to show on the measuring and controlling instrument panel, the cable jack, the instrumented satellite options button.
Of the present invention by 4 satellites of 4 analog satellite signal transmitter simulation according to experiment content advance to install, fixing, regulate height and position.
GPS satellite positioning simulated experimental device measuring method of the present invention is:
Analog satellite is placed on the corresponding experiment content desired position, and the object that receiver is housed places a certain position with two-dimensional localization mechanism, by scale around the platform, read object reality coordinate position (x, y).
On the measuring and controlling instrument panel, select instrumented satellite, the receiver hydraucone on the object is aimed at selected satellite launch vehicle, the time value on the record LCDs.Change object space, measure once more.
The present invention adopts the plane positioning principle in the acoustic emission, can carry out simulating GPS satnav and three dimensions gps satellite positioning module draft experiment on the two dimensional surface.When surveying by this experimental simulation satellite and the data of range finding to the method that positions of object in the experiment, not only may learn the ultimate principle of related experiment, further understand fundamental position and the effect of physics in modern high-tech field, and can understand by sensor, many ABCs of the modern surveying system that signal Processing, computing machine are formed and with some basic skills of Computer Processing experimental data.
The present invention adopts above-mentioned experimental principle and technical method to constitute a kind of GPS satellite positioning simulated experimental device, the experiment content that this device can be done in experimental teaching is abundant, can not only on two dimensional surface, carry out object localization, and can realize three-dimensional object localization measurement, the locus that draws object by data processing.Data processed result can with the positional value that directly records on the experiment porch relatively, deepen the understanding of student to satnav principle and method, expand the students'knowledge face, improve the physics experiment teaching quality.
Description of drawings
Accompanying drawing 1 is GPS satellite positioning simulated experimental device figure of the present invention
1, experiment porch 2, polar coordinates base map 3, rule 4 all around, positioning object 5, directions X guide rail 6, Y traversing guide 7, guide-track groove 8, signal receiver 9, signal projector (analog satellite 1) 10, signal projector (analog satellite 2) 11, signal projector (analog satellite 3) 12, signal projector (analog satellite 4) 13, support 14, fixed orifice 15, measuring and controlling instrument 16, control panel 17, instrumented satellite options button 18, liquid crystal data presentation window 19, outer jointing holes 20, cable 21, positioning pointer
Three transmitters probe analog satellite array of figure on accompanying drawing 2 two dimensional surfaces
Four transmitters probe analog satellite array of figure on accompanying drawing 3 two dimensional surfaces
Accompanying drawing 4 three dimensions four transmitters probe analog satellite array of figure
Three emitter position figure on accompanying drawing 5 two dimensional surfaces
Four emitter position figure on accompanying drawing 6 two dimensional surfaces
Embodiment
Embodiment 1 GPS satellite positioning simulated experimental device
Referring to accompanying drawing 1, to form by experiment porch 1, measuring and controlling instrument 15 two parts, described experiment porch 1 mainly includes: the rule 3 of polar coordinates base map 2, platform edge; Analog satellite signal transmitter 9,10,11,12 is installed on the adjustable for height support 13, and support 13 is fixed on the platform 1 by fixed orifice 14 and constitutes analog satellite; Signal receiver 8 is fixed on the status mechanism object of being made up of two mutual vertical guide rails 4, can move arbitrarily in X, Y direction; There are four groups of microsecond stage time intervals of emission ultrasonic signal and measuring-signal to measure single-chip microcomputer in the described measuring and controlling instrument 15, single chip microcomputers transmit ultrasonic signal and measuring-signal, measure 17 corresponding connections of instrumented satellite options button on selected cell and the measuring and controlling instrument panel 16, LCDs 18 display simulation satellite-signal measurement data are arranged on the measuring and controlling instrument panel 16, and the transmitter 9,10,11,12 of analog satellite inserts outer jointing holes 19 with signal receiver 8 cables 20 and links to each other with single-chip microcomputer in the measuring and controlling instrument 15.Described two-dimensional bodies detent mechanism is by positioning object 4 and directions X guide rail 5, Y traversing guide 6 is formed, guide rail two ends embed platform inboard groove 7 and keep sliding freely, guide rail moves arbitrarily in X, Y direction, on the rule 3 of platform, can measure X, the Y coordinate figure of positioning object 4 present positions, positioning object 4 bottoms have a pointer 21 to point to polar coordinates base map 2, can measure the angle value of positioning object 4 present positions.Four satellite T of four analog satellite signal transmitter simulations 1, T 2, T 3, T 4Install, fix, regulate height and position according to experiment content.By the measurement selected cell that instrumented satellite options button 17 links to each other, receive and measure the signal of four transmitters respectively, four LCDs 18 time and temperature of being received by ground object of display simulation satellite-signal respectively arranged on the measuring and controlling instrument panel.
The experimental technique of GPS satellite positioning simulated experimental device is:
● the cable 20 of analog satellite transmitter 9,10,11,12 and receiver 8 is inserted respectively in the corresponding outer jointing holes 19 of measuring and controlling instrument 15 panels;
● described analog satellite signal transmitter 9,10,11,12 is inserted in the experiment porch 1 corresponding fixed orifice 14, regulated the height of support 13, analog satellite is placed on the corresponding experiment content desired position;
● the positioning object 4 that receiver 8 is housed places a certain position, by platform edge rule 3, read positioning object 4 reality coordinate position (x, y);
● press satellite options button 17, with receiver aim at selected analog satellite Transmitter side to, on the LCDs 18 of correspondence, show the time interval and writing time;
● change receiver and aim at the analog satellite Transmitter side to the measurement of finishing each analog satellite successively;
● change positioning object 4 positions, carry out the measurement of next group data once more, compare, obtain simulating GPS satnav experimental result by the positional value that directly records on data processing and the experiment porch.
Not only can study on two dimensional surface by experimental provision of the present invention, adopt the principle of three transmitters, four transmitters to carry out the simulating GPS satnav.Also can study three dimensions with the principle of four transmitters simulate the location and in numerical analysis, further discussion and research can be done in the data processing aspect.
The experiment content that experimental provision of the present invention can be offered is from the superficial to the deep had a wide range of knowlege and is combined closely and can motivate students' interest in learning with modern science and technology, improves the quality of instruction of Physical Experiment.
Three transmitter analog satellite arrays experiment on embodiment 2 planes
With three satellites of three transmitter simulations, three ultrasonic signal emitters probe T 1, T 2, T 3Shown in the analog satellite array accompanying drawing 2:
Known: D 1, D 2, θ 1, θ 3, Δ t 1=t 2-t 1, Δ t 2=t 3-t 1
Δt 1V＝r 2-r 1 (1)
Δt 2V＝r 3-r 1 (2)
r 1 = 1 2 × D 1 2 - Δt 1 2 · V 2 Δt 1 V + D 1 cos ( θ - θ 1 ) - - - ( 3 )
r 1 = 1 2 × D 2 2 - Δt 2 2 · V 2 Δt 2 V + D 2 cos ( θ 3 - θ ) - - - ( 4 )
Separate (3), (4)
cos(θ-θ 1)＝cosθ·cosθ 1+sinθ·sinθ 1
cos(θ 3-θ)＝cosθ 3·cosθ+sinθ 3·sinθ
If: a=cos θ 1, b=sin θ 1, c=cos θ 3, d=sin θ 3
e = D 1 2 - Δt 1 2 · V 2 , f = D 2 2 - Δ t 2 2 · V 2 , g＝Δt 1V，h＝Δt 2V，
A＝eh-gf，B＝fD 1a-eD 2c，T＝fD 1b-eD 2d?X＝cosθ
Get (B 2+ T 2) X 2-2ABX+A 2-T 2=0 (5)
Ask: θ, r 1
Emitter position as shown in Figure 5, the receiver position is object space.θ 1＝10°，θ 3＝45°，D 1＝69.0cm，D 2＝67.5cm
Figure 200710071217100111
Data processing:
According to formula (3), the polar coordinates r of the positioning object that (4) analog satellite location Calculation obtains 1, the θ value.
Calculate the r of gained 1, θ value and actual measured value compare, and its relative error can satisfy the needs of experimental teaching.
Four transmitter analog satellite arrays experiment on embodiment 3 planes.
With 4 satellites of 4 transmitters simulation, principle such as accompanying drawing 3, emitter position as shown in Figure 6, the receiver position is object space.a＝80.00cm，b＝60.00cm
Experimental data:
Figure 200710071217100113
[0058]?
Figure 200710071217100121
Data processing:
According to formula (6), the x that (7) analog satellite location Calculation obtains, y coordinate figure.
Find out from data result, the x that the analog satellite location Calculation obtains, y coordinate figure and actual measurement coordinate compare, and its relative error all can satisfy the needs of experimental teaching.
The experiment of embodiment 4 three dimensions four transmitter analog satellite arrays
Actual GPS location will be measured simultaneously to four satellites at least.With three-dimensional coordinate in the spherical coordinate system definitely and the clock correction correction that is caused because of satellite clock is asynchronous with receiver clock.In the acoustic simulation of GPS, in order to reduce inaccurate influence of the time difference to bearing accuracy, design is considered, to obtain the relevant location information of " user " (receiver) by data processing platform (DPP) with the position and the time difference of obtaining from a plurality of " satellite " (signal projector).
With 4 satellites of 4 transmitter virtual spaces, experimental system is with shown in the array of satellites accompanying drawing 4 in the four ultrasonic probe simulating GPS, and its coordinate is respectively 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).(x, y z) are localizing objects to M.
If: t 1For M arrives T 1Time, t in like manner 2, t 3, t 4
Δ t 1=t 2-t 1, Δ t 2=t 3-t 1, Δ t 3=t 4-t 1, the V velocity of sound, l 1=Δ t 1V, l 2=Δ t 2V, l 3=Δ t 3V
( x 2 - x ) 2 + ( y 2 - y ) 2 ( z 2 - z ) 2 - ( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 = Δt 1 V = l 1
( x 3 - x ) 2 + ( y 3 - y ) 2 + ( z 3 - z ) 2 - ( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 = Δt 2 V = l 2
( x 4 - x ) 2 + ( y 4 - y ) 2 + ( z 4 - z ) 2 - ( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 = Δt 3 V = l 3
If:
f 1 ( x , y , z ) = ( x 2 - x ) 2 + ( y 2 - y ) 2 + ( z 2 - z ) 2 - ( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 - l 1
f 2 ( x , y , z ) = ( x 3 - x ) 2 + ( y 3 - y ) 2 + ( z 3 - z ) 2 - ( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 - l 2
f 3 ( x , y , z ) = ( x 4 - x ) 2 + ( y 4 - y ) 2 + ( z 4 - z ) 2 - ( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 - l 3
If f 1(x, y, z)=f 2(x, y, z)=f 3(x, y, z)=0, and x then, y, z separates exactly.
If: modular function F (x, y, z)=f 1 2(x, y, z)+f 2 2(x, y, z)+f 3 2(x, y, z)
If F (x, y, z)=0, and x then, y, z separates exactly.
If: the sample when x (0), y (0), z (0) were the 0th step (initially) is separated
If: x (k), y (k), z (k) they are that the sample in k step is separated
x ( k ) = x ( k - 1 ) - Δx ( k ) , Δx ( k ) = h ( k ) · ∂ F ∂ x | x = x ( k - 1 ) , y = y ( k - 1 ) , z = z ( k - 1 )
y ( k ) = y ( k - 1 ) - Δy ( k ) , Δy ( k ) = h ( k ) · ∂ F ∂ y | x = x ( k - 1 ) , y = y ( k - 1 ) , z = z ( k - 1 )
z ( k ) = z ( k - 1 ) - Δz ( k ) , Δz ( k ) = h ( k ) · ∂ F ∂ z | x = x ( k - 1 ) , y = y ( k - 1 ) , z = z ( k - 1 )
Carry out gradient method with MATLAB software and find the solution x, y, the z coordinate that M is ordered.
Emitter position as shown in Figure 1, the receiver position is object space.Four transmitter coordinate: T 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:
Figure 200710071217100131
[0087]Data processing: carry out gradient method with MATLAB software and find the solution, draw x, the y coordinate of positioning object M place each point.
Figure 200710071217100141
Find out from data result, the x that the analog satellite location Calculation obtains, y coordinate figure and actual measurement coordinate compare, and its relative error all can satisfy the needs of experimental teaching.

Claims (4)

1. GPS satellite positioning simulated experimental device, form by experiment porch (1), (15) two parts of measuring and controlling instrument, it is characterized in that: described experiment porch (1) mainly includes: the two-dimensional bodies detent mechanism, the rule (3) of polar coordinates base map (2), platform edge, analog satellite signal transmitter and signal receiver are formed; Described analog satellite signal transmitter is installed on the adjustable for height support (13), and support (13) is fixed on experiment porch (1) the base relevant position by fixed orifice (14), constitutes analog satellite; Signal receiver (8) is fixed on the positioning object (4); Described two-dimensional bodies detent mechanism is by positioning object (4) and directions X guide rail (5), Y traversing guide (6) is formed, guide rail two ends embed platform inboard groove (7) and keep sliding freely, the directions X guide rail moves arbitrarily in the Y direction, the Y traversing guide moves arbitrarily at directions X, on the rule (3) of platform, measure X, the Y coordinate figure of positioning object (4) present position, positioning object (4) bottom has a pointer (21) to point to polar coordinates base maps (2), measures the angle value of positioning object (4) present position; 4 groups of single-chip microcomputers are arranged in the measuring and controlling instrument (15), the single-chip microcomputer of measuring at interval when described single-chip microcomputer is the microsecond level, described single-chip microcomputer is launched ultrasonic signal by analog satellite signal transmitter, by signal receiver received signal and measuring-signal, measure corresponding connection of instrumented satellite options button (17) on selected cell and the measuring and controlling instrument panel (16), LCDs (18) display simulation satellite-signal measurement data is arranged on the measuring and controlling instrument panel (16), and analog satellite signal transmitter is inserted outer jointing holes (19) with signal receiver (8) by cable (20) and is linked to each other with the interior single-chip microcomputer of measuring and controlling instrument (15).
2. GPS satellite positioning simulated experimental device according to claim 1 is characterized in that: by 4 satellite T of 4 analog satellite signal transmitter (9-12) simulation 1, T 2, T 3, T 4Enter to install, fix, regulate height and position according to experiment content.
3. GPS satellite positioning simulated experimental device according to claim 1 and 2, it is characterized in that: by the continuous measurement selected cell of instrumented satellite options button (17), receive and measure the signal of 4 analog satellite signal transmitter respectively, have 4 LCDs (18) to show T respectively on the measuring and controlling instrument panel 1, T 2, T 3, T 4Time and temperature that simulation satellite signal is received by ground object.
4. the experimental technique of the described GPS satellite positioning simulated experimental device of claim 1 is:
● the cable (20) of analog satellite signal transmitter and signal receiver (8) is inserted respectively in measuring and controlling instrument (15) the corresponding outer jointing holes of panel (19);
● described analog satellite signal transmitter is inserted in the corresponding fixed orifice (14) of experiment porch (1), regulated the height of support (13), analog satellite is placed on the corresponding experiment content desired position;
● the positioning object (4) that signal receiver (8) are housed is fixed in the two-dimensional localization mechanism, by platform edge rule (3), read the actual coordinate position of positioning object (4) (x, y);
● press satellite options button (17), signal receiver is aimed at selected analog satellite signal transmitter direction, in LCDs (18) the demonstration time interval and the writing time of correspondence;
● change signal receiver and aim at the measurement that the analog satellite signal transmitter direction is finished each analog satellite successively;
● change positioning object (4) position, carry out the measurement of next group data once more, compare, obtain simulating GPS satnav experimental result by the positional value that directly records on data processing and the experiment porch.
CN2007100712171A 2007-09-06 2007-09-06 GPS satellite positioning simulated experimental device and experimental method thereof Expired - Fee Related CN101118705B (en)

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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
JP6376279B2 (en) * 2015-03-17 2018-08-22 株式会社村田製作所 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
CN110726969B (en) * 2018-07-16 2022-03-15 刘勉志 Firefighter positioning system
CN110033687B (en) * 2019-05-14 2022-03-01 郑州航空港经济综合实验区空港人工智能研究院 Satellite navigation ground simulation device 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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