CN102739301B - Global navigation satellite wide area augmentation system embedded in cellular network - Google Patents
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Abstract
The present invention relates to a global navigation satellite wide area augmentation system embedded in a cellular network, comprising a cellular base station (4), a satellite positioning receiver (8) arranged at a fixed position near a cellular base station (4), a core network (10) of a cellular system, a positioning augmentation server (11) of a cellular network, and a mobile terminal (12), wherein the cellular base station (4), the satellite positioning receiver (8) arranged at a fixed position near a cellular base station, and the mobile terminal (12) form the cellular network (5), the core network (10) of the cellular system is respectively connected with the cellular base station and the positioning augmentation server (11) of the cellular network, the computer of the cellular network base station (4) is provided with a data collection and management software module (14), the positioning augmentation server (11) of the cellular network is equipped with a central wide area augmentation system server software (13), and the mobile terminal (12) is equipped with the wide area augmentation system client terminal software (15). The global navigation satellite wide area augmentation system embedded in a cellular network is low in cost and accurate in positioning.
Description
Technical field
The present invention is a kind of embedded global navigational satellite WAAS in cellular networks, belongs to the renovation technique of embedded global navigational satellite WAAS in cellular networks.
Background technology
GLONASS (Global Navigation Satellite System) (GNSS) has been widely used in each side of its life by the people all over the world.The annual mobile phone sold tens million of personal navigation equipment (PND) and possessed global navigation satellite function.GLONASS (Global Navigation Satellite System) is also widely used in industry, agricultural, military, building, communications and transportation and safety applications.Current topmost operational system is the U.S. global positioning system (GPS) (Fig. 1).The Galileo in Europe, the navigation system that Muscovite GNOLASS and Chinese Big Dipper II also can compete with gps system in the near future.GNSS system is made up of 20 to 30 medium earth-orbiting satellites 1, and each satellite broadcasts its different pseudo noise and its ephemeris under its atomic clock control accurately.Subscriber equipment 2 (GNSS receiver) is decoded pseudo noise obtain the time that satellite-signal is sent to customer location.When following the tracks of the signal of the satellite having more than 4, the three-dimensional position of user and user clock skew just can resolve out.GNSS system also can synchronously provide correct time signal for communication network.In fact, GNSS system is just being widely used in the synchronous of Modern cellular networks.
Although the facility that global positioning system is huge for people provide, it also has its restriction.Most users is only equipped with cheap single-frequency L1 band receiver.They at its best certainty of measurement be only about 10 meters.Most of error is due to ionosphere delay evaluated error (7.1 meters), the satellite position error (0.8 meter) of the clocking error (1.1 meters) of satellite and the broadcast ephemeris relative to it.In order to improve accuracy, the U.S. develops satellite-based enhancing system (SBAS).When not having adding users device hardware complexity, SBAS system can improve the GPS positioning precision of about 10 meters to 2 meters.SBAS system is made up of several geostationary satellites, and for broadcast GPS satellite clock, ephemeris, the control information of position and speed and ionosphere delay, ground reference station, master control system and uplink relay are to the information of geo-synchronous orbit satellite.Unfortunately, this system is very expensive.It contains limited area all over the world.SBAS is at present only at North America (WAAS), and European Union (EGNOS) and Japan (MSAS) run.SBAS does not cover the major part comprising China, the vast area in Russia and Africa.
In some regions as the big city be full of by skyscraper, the rural area covered by trees and branches and leaves or in indoor, gps signal can both be blocked.Independently GPS device possibly cannot obtain enough gps satellite signals to calculate the position of user.Under these conditions, people can utilize network assistance GPS (A-GPS) technology (United States Patent (USP) 6625458).When not having gps signal to receive, the Information locating that A-GPS receiver cellular base station provides.When gps signal is weak, the receiver with A-GPS function can obtain ephemeris and year calendar by a general cellular network.A-GPS also can from cellular network obtain thick frequently and code delayed data to help the collection of gps signal.The GPSOne of Qualcomm such aly realizes example.It is by A-GPS terminal 3, (normally cell phone built in GPS receiver); One can provide GPS supplementary if satellite ephemeris is with when gps signal is too weak, and the cellular network 4 from central location-server 6 to the year calendar of A-GPS receiver that cannot decode forms.A-GPS can have higher availability than independently gps system.But it can not improve the precision of GPS location.Under the system not strengthening SBAS, at optimum conditions, precision is 10 meters to A-GPS.In the U.S., European Union and Japan, SBAS is effective, GPS and A-GPS receives function and obtain better precision.If receiver can obtain SBAS signal from geostationary WAAS satellite or obtain SBAS information from cellular network 4, precision can reach 2 meters.Because A-GPS system is not that a difference strengthens system, it does not need cellular basestation to be equipped with GPS.All A-GPS supplementarys are the information without any amendment or corrigendum further obtained from GPS or SBAS satellite.This system does not calculate any satellite clock correction, orbit error, ionosphere and tropospheric error.
The method improving GPS positioning precision is the special CORS network (CORS) of use one.It normally based on the differential signal that the reference station in a set of fixing geographical position provides, revises ionospheric time delay, satellite clock and orbit error, tropospheric delay error.Give an example, the virtual reference station technology (VRS) of Trimble is by the high accuracy reference station for instrumented satellite signal of 3 or more with between reference station and user, central server and user, and between central server software, the private high network of transmission of signal forms.Reference station calculates update information and is delivered to final user by express network.Usual reference station measures pseudorange and carrier phase simultaneously, and positioning software is then based on real-time dynamically (RTK) technology.These systems can reach the surprising precision of Centimeter Level.But the communication network of system mainly have employed proprietary standard, instead of open cellular network standards, as current 2G, 2.5G, 3G and 4G network: GSM, CDMA, WCDMA, CDMA2000, TD-SDMA or LTE.Compared with cellular network, the number of users that proprietary network can be supported and area coverage all much smaller.It can not support voice call.The access of video, data and Internet of Things is also obviously not all right.Current CORS system also needs special, and expensive receiver is decoded and realized the corrigendum of location.Due to these reasons, the construction of system and maintenance are extremely expensive, and can only cover the fraction field in the world.
One of important use of hi-Fix is monitoring structural health conditions.Gps system based on real-time dynamically (RTK) technology can provide the relative motion monitoring accuracy of Centimeter Level.Therefore, it is popular large scale structure as the health monitoring mode of skyscraper and bridge.So far, the monitoring system of this type is all realize with special RTK latticed form.If there is multiple multi-functional transducer, as strain transducer, wind-force and humidity and pressure sensor, also can provide many facilities to structural health measurement.Piezoelectric sender can bring out the mechanical oscillation of structure, is carried out the mechanical change of analytical structure by its response of piezoelectric transducer acquisition.Combine with the output of transducer, supervisory control system can be more effective.Current system is all isolated part, the corresponding structure of each system, and should be best selection by the output of all the sensors of the middle position monitoring connection different structure of a networking.
Summary of the invention
The object of the invention is to consider the problems referred to above and provide a kind of cost low, the embedded global navigational satellite WAAS in cellular networks of accurate positioning.The present invention is reasonable in design, convenient and practical.
Technical scheme of the present invention is: embedded global navigational satellite WAAS in cellular networks of the present invention, include cellular basestation, be installed in the satellite positioning receiver of fixed position near cellular basestation, the core network of cellular system, the location enhanced services device of cellular network, mobile terminal, cellular basestation and be installed in the satellite positioning receiver of fixed position near cellular basestation and mobile terminal forms cellular network, the core network of cellular system is connected with the location enhanced services device of cellular basestation and cellular network respectively, and the computer of the cellular basestation of cellular network is provided with data collection and administration software module, the location enhanced services device of cellular network is equipped with central WAAS server software, WAAS client software mobile terminal is equipped with.
The mobile terminal that above-mentioned Standard User uses refers to mobile phone or is integrated with the car navigation device of GNSS receiver module and above-mentioned said cellular network communication module.
The mobile terminal that above-mentioned Standard User uses is the GNSS receiver module that can carry out carrier phase measurement, and for the high-speed communication module of cellular network.
The enhancing system data swap server setting up WAAS information path is provided with between above-mentioned central wide area location enhanced services device and the user of different cellular network.
Also be provided with sensor network between above-mentioned mobile terminal and cellular network, sensor network is connected with the communication interface of cellular network by Zigbee hub.
The sensor network comprises the transducer of band Zigbee transceiver, and mobile terminal forms one or more ZigBee-network by the transducer of band Zigbee transceiver, and is connected to cellular network with the ZigBee hinge of one or more monitoring structural health conditions.
The transducer of above-mentioned band Zigbee transceiver comprises strain transducer, piezoelectric transducer and PZT (piezoelectric transducer).
Above-mentioned cellular network is based on one of them general and open standard: GSM, CDMA, WCDMA, CDMA2000, TD-SCDMA LTE also provides mobile phone, and note is connected with the Internet; Above-mentioned satellite positioning receiver exports initial data and comprises pseudorange, Doppler frequency shift, carrier phase measurement and satellite ephemeris; Above-mentioned satellite positioning receiver receives the one or more satellite fix frequencies from one or more satellite fix constellation.
To record the initial data in circular buffer on the computer that above-mentioned data collection and administration software module operates in cellular basestation; Above-mentioned WAAS server software obtains initial data by host cellular network from the computer of cellular basestation, solves the ionosphere on each space lattice and troposphere time delay correction, and revises clock correction and the orbit error of satellite; Above-mentioned WAAS server software is on the two difference algorithms based on adjacent base station carrier phase measurement; Above-mentioned WAAS server software is the solution based on carrier phase measurement integer ambiguity; Above-mentioned WAAS server software sends ionosphere delay by cellular network to mobile terminal, tropospheric delay, satellite orbital error and clock correction update information.
The WAAS client software of above-mentioned hi-Fix user is by mobile device and nearest acquisition ionosphere, base station and troposphere time delay correction, satellite orbit and clock skew and carrier phase measurement solve integer ambiguity, and obtain hi-Fix; Above-mentioned WAAS client software integrates ionosphere and the tropospheric delay of WAAS by cellular network, and the update information of satellite orbital error and clock correction is in positioning calculation.
Compared with prior art, the present invention utilizes the hardware of existing cellular network in the present invention, is embedded on a general beehive network system.The present invention is not when increasing any hardware, and enhancing system uses existing satellite positioning receiver, and the computational resource of wireless and broadband communication network and central server, for mobile subscriber provides positioning service.WAAS of the present invention, to cover the large area of billions of cellphone subscriber, this system can also provide high-precision location (Centimeter Level) for paying customer and monitoring structural health conditions simultaneously.The present invention is a kind of low cost, the embedded global navigational satellite WAAS in cellular networks of accurate positioning.
Accompanying drawing explanation
Fig. 1 is a typical GLONASS (Global Navigation Satellite System): the gps system of the U.S., comprises gps satellite 1 and mobile subscriber 2;
Fig. 2 is a satellite fix auxiliary network (A-GPS) realized by Qualcomm, GPSOne.When satellite positioning signal is very weak, central secondary server 6 by cellular network for A-GPS user provides accurate satellite orbit and clock information.
Fig. 3 is the topological structure of a typical standard universal beehive network system.By base station 4 and the satellite positioning receiver 8 of fixed position near it form, satellite positioning receiver provides accurate synchronous for network 10 and user 9.
Fig. 4 is that the Embedded satellite fix of the present invention strengthens system architecture.
Fig. 5 is the topological structure of the embedded WAAS of the present invention and host cellular network system.
Fig. 6 is that the present invention embeds enhancing system service in multiple satellite fix constellations (gps satellite 1 and Galilean satellite 16 are example) of multiple cellular network (A17 and B18).Represented by dotted arrows be radio communication, and arrow block representative be broadband network.
Fig. 7 is the health monitoring systems based on hi-Fix of the present invention service.This system comprises one or more mobile terminal 12, strain transducer and Zigbee terminal equipment 23, is positioned at the Zigbee hub of mobile terminal 12 or base station 4 (not included in this figure).
In figure:
1, position location satellite; 2, independently mobile-satellite navigation neceiver; 3, network assisted satellite location (A-GPS) receiver; 4, cellular basestation; 5, cellular network; 6, GPS global positioning system secondary server; 7, the Internet of satellite supplementary can be downloaded; The satellite positioning receiver of the fixed position 8, near cellular basestation; 9, mobile subscriber; 10, the core network of cellular system; 11, the location enhanced services device of cellular network; 12, mobile terminal; 13, central WAAS server software; 14, the data acquisition software of base station computer is positioned at; 15, WAAS client software; 16, Galilean satellite; 17, the core network of honeycomb A; 18, the core network of honeycomb B; 19, the system enhancement service device of honeycomb A; 20, the location enhanced services device of honeycomb B; 21, system data swap server is strengthened; 22, the structure of monitoring is needed; 23, the transducer of Zigbee transceiver is with; 24, with the Zigbee hub of cellular communication interface.
Embodiment
Embodiment:
As shown in Figure 4, the present invention is at the embedded difference WAAS of beehive network system and real-time dynamic system towards GLONASS (Global Navigation Satellite System) to structural representation of the present invention.The present invention utilizes the hardware of a modern communication beehive network system and the advantage of Internet resources set up, and difference WAAS of the present invention does not need to increase any hardware to cellular network main frame.Therefore, it can reduce system cost greatly.Further, it can provide the precision of standard and provide hi-Fix for those advanced level users selected in cellular network coverage for vast mobile subscriber.The present invention utilizes modern ubiquitous, always readily available covering cellular network, and the dedicated reference station that the present invention can not need construction expensive and geostationary satellite are to set up WAAS and real-time dynamic positioning system.
Modern cellular networks as shown in Figure 3, needs time synchronized strict between cellular basestation.Such as WCDMA, disposes 3G network standard the most widely, and in order to the interference in non-pendant calling and minimizing network, the synchronous error between base station is less than 2.5e-06 second.The solution of current unique feasible disposes satellite positioning receiver 8 at each cellular basestation 4, is used to provide time synchronized.This system has three major parts: satellite positioning receiver, provides base station time synchronism, the location enhanced services device 11 of cellular network; Connect the core network 10 of cellular basestation 4 and location enhanced services device 11.
Fig. 5 is the system topological of the embedded WAAS of the present invention and its honeycomb mainframe network system.Enhancing system of the present invention for cellular network without the need to extra hardware.Hardware resource needed for the mainframe network that it utilizes them all: 1) mobile terminal 12 provides high-speed radio to be connected to base station 4.2) CORS (CORS) is served as in the base station 4 (Node B) that the satellite receiver 8 of dense distribution is fixed on network.3) express network that cellular basestation 4 arrives the location enhanced services device 11 of core network 10 and cellular network is connected.4) the location enhanced services device 11 of cellular network.In the disabled area of satellite-based augmentation system SBAS (China, Russia, South America, Oceania and African country), system of the present invention is particularly useful.It can provide the positioning service of pin-point accuracy by minimum cost.In addition, system of the present invention can also provide hi-Fix service.Such high accuracy service is very expensive and only available in very little area at present.
Use the hardware resource of beehive network system, the present invention just can set up a WAAS for GNSS by means of only increase software.In addition, system of the present invention can as CORS (CORS) networking, and without the need to extra hardware, be also high accuracy user service.System is divided into several software section, add cellular network to, set up a WAAS, as shown in Figure 5: the data acquisition software module 14 of a. on cellular basestation 4 computer, b. the WAAS server software 13 run on location enhanced services device 11, c. the WAAS server software 15 on mobile terminal 12 is operated in, for providing the error correction of local satellite positioning surveys.
A. data acquisition software module 14
Data acquisition software module 14 is run on the computer of cellular basestation 4.The initial data that its task is record and manages from satellite positioning receiver.Usually not only synchronizing signal can be produced at the satellite positioning receiver 8 of cellular basestation 4.It also can measure pseudorange, Doppler frequency shift and the carrier phase of each visible position location satellite.Such as, to the synchronous widely used satellite positioning receiver of WCDMA, U-BLOX LEA-4T, can export pseudorange, Doppler frequency shift and carrier phase measurement.Hi-Fix needs carrier phase measurement.In addition, the ephemeris of satellite positioning receiver also output satellite, clock skew, ionosphere delay etc.Many satellite positioning receivers, such as LEA-4T, can export initial data in the speed of 10Hz.From the original output data of satellite fix, the limited storage space of cellular basestation 4 computer can be filled up rapidly.But, the measurement that we only need local storage nearest.This task can realize by using a buffer circle.Because WAAS server software needs synchrodata in order to numerical analysis to obtain hi-Fix, buffering area needs the record of the timestamp guaranteeing satellite location data.WAAS server obtains data from buffer circle, calculates WAAS correction in real time, is transmitted to the user of needs.In addition, the mobile subscriber near cellular basestation also can obtain hi-Fix by cellular radio Communication by real-time dynamic technique in real time.
B. WAAS server software 13
WAAS server software 13 runs on the location enhanced services device 11 of cellular network.Its object analyzes initial data, extracts error component.Analytical method of the present invention is based on difference WAAS: gather from different places and measure initial data.Initial data comprises synchronous pseudo-distance, Doppler drift, carrier phase and satellite ephemeris frequently.WAAS server software solves the ionosphere of space lattice and troposphere time delay and satellite clock correction, satellite orbital corrections.
Suppose to be distributed on an area, have the base station of N number of band satellite positioning receiver, i represents receiver (i=1..N), and each receiver can see M position location satellite.J represents position location satellite (j=1..M).The measurement equation of pseudo-distance, the drift of Doppler's frequency, carrier phase can be:
Wherein
Also have the clock correction of receiver and frequency drift, ionosphere, troposphere to prolong the position of satellite, speed, clock correction and drift frequently and be used as unknown number when the value of different spaces lattice point, native system has M (3+3+1+1)+N (1+1)+O (1) individual unknown quantity.Floating equation (the 1st and the 2nd equation) provides 2MN equation frequently for pseudo-distance and Doppler.When the receiver number M on base station is larger time, our equation number is more much larger than unknown number.Because each measurement equation is containing measured deviation, we adopt least square method to solve unknown quantity.Better way uses Kalman filter.Because satellite position, speed are relevant, we can set up satellite orbit parameter with the physical mechanics model of complexity, and then application card Thalmann filter solves unknown quantity.Satellite fix enhancement service device, by mobile phone cellular network, passes to ionosphere, troposphere, satellite orbit and clock correction the user of needs, reaches the object that wide area strengthens satellite fix.
High-precision location can utilize carrier phase, process as equation 3 reaches.Real-time dynamic positioning (Real time Kinematic, RTK) utilizes well-known method, solves integer ambiguity.Although the integer ambiguity of MN equation 3 containing MN the unknown, their measure error measures little two orders of magnitude than pseudo-distance.The carrier information that equation contains can reach a lot of location higher than algnment accuracy.Usual hi-Fix utilizes two difference to send out disappear satellite and user's clock correction.Under short cardinal distance (distance of mobile terminal 12 and cellular basestation 4 is smaller, within such as 10 kilometers) condition, user is the same with the ionospheric time delay of nearest fixed receiver 8.The carrier phase (DD) of two difference is measured equation and be can be written as:
Wherein
be carrier phase, geometric distance and integer ambiguity at satellite k and l, base station receiver r's and user u is two poor.Notice that this equation needs synchronous mobile terminal and the measurement data of base station receiver.If the position of cellular basestation 4 is known, we can be attached to the carrier phase equation of two difference in the measurement equation of pseudo-distance, utilize Lambda method to solve integer ambiguity, for user brings the location of Centimeter Level.
C. WAAS client software 15
Similar with satellite-based augmentation system (SBAS), cellular network of the present invention strengthens system and carry ionosphere, troposphere time delay, satellite orbit, the satellite clock calculated to be adapted on the mobile terminal of locality, improves their positioning precision.Common user terminal software 15 can only utilize the signal of satellite-based augmentation system (SBAS) to improve precision, and differential signal can not be utilized high-precision to carry.Realize Differential positioning to allow, the present invention devises the correction sentence structure with satellite-based augmentation system SBAS compatibility, and they comprise satellite orbit, clock correction and ionospheric correction.Engineer only needs to do to WAAS client software 15 corrected signal that location enhanced services device 11 that small change just can accept cellular network sends, and improves positioning precision.
To high accuracy user, present system, except providing ionosphere, troposphere time delay, satellite orbit, satellite clock correction, also provides the phase measurement of neighbouring base station.High-precision client terminal software comprises the real-time dynamic positioning algorithm resolving integer ambiguity.Such as, the present invention can utilize Lambda algorithm, helps the positioning precision that mobile terminal 12 reaches Centimeter Level.
Can see from Fig. 4, the essential difference of system of the present invention and networking secondary navigation system: 1. enhancing system of the present invention make use of the fixing satellite navigation receiver 8 be distributed near base station 4.Systematic collection of the present invention connects the raw measurement data of the receiver 8 be distributed near different cellular basestation 4, deliver on WAAS server software 13 of the present invention, and network assistance navigation system (A-GPS) does not have the receiver of distribution and measuring system.2. present system WAAS server software 13 calculates ionosphere, troposphere time delay, satellite orbit, satellite clock correction according to measurement data, network assistance navigation system (A-GPS) then obtains ionosphere, troposphere time delay, satellite orbit, satellite clock information simply from internet, be broadcast to the user (satellite-signal is more weak) of needs.It does not calculate oneself corrected signal.3. system of the present invention has carrier phase measurement and processing capacity and structure, and network assistance navigation system is then without any the function of process carrier phase.This no wonder, because the object of network assistance navigation system is the availability of increase system, and the object of system of the present invention improves positioning precision.
WAAS of the present invention not only can be applied on the gps system of the U.S., and it also can be applied to the Big Dipper II system of the GLONASS system of Russia, the Galileo system of European Union and China.In fact it can strengthen multiple satellite navigation system simultaneously.Such as, the present invention can strengthen Big Dipper II and gps system, reaches location and the more availability (possibility of locating under signal accepts difficulty) of the accuracy higher than single satellite navigation system.It also can be multiple beehive network system services that satellite fix of the present invention strengthens system simultaneously.In a lot of city, cellular basestation 4 is that multiple beehive network system is shared, with conserve space and structural cost simultaneously.The satellite fix of simultaneously serving multiple beehive network system strengthens system the cellular basestation 4 of more crypto set and wider space.The distance of user and base station is also nearer.Better positioning precision can be reached like this.We only need to install some and strengthen system data swap server 21 to transmit the Satellite Augmentation System information in different cellular network 17,18 system, as shown in Figure 6.
Because wide-area satellite navigation augmentation system of the present invention can on a large scale in reach the level of Centimeter Level, it is applicable to the safety of monitoring multiple large corporation.System of the present invention can detect the high-speed railway bridge system of China in real time.Several geographic strategic point is laid mobile terminal 12, and the cellular basestation 4 of several known coordinate, system can measure the relative motion of bridge, in real time and whole day gas to make decision the fail safe of bridge, as shown in Figure 7.If install the transducer of multiple other type, such as strain gauge and accelerograph be piezoelectric transducer and transducer, and system can be more effective.These transducers with solar powered, can connect with zigbee wireless network.Zigbee hub 24 can be arranged on mobile terminal 12 of the present invention together, or is arranged on cellular basestation 4, is connected with cellular network 5.Such safety monitoring system center can receive the measurement of each transducer in real time, reaches the object of Real-Time Monitoring large scale structure.
Claims (9)
1. an embedded global navigational satellite WAAS in cellular networks, it is characterized in that including cellular basestation (4), be installed in the satellite positioning receiver (8) of fixed position near cellular basestation (4), the core network (10) of cellular system, the location enhanced services device (11) of cellular network, mobile terminal (12), cellular basestation (4) forms cellular network (5) with the satellite positioning receiver (8) and mobile terminal (12) being installed in fixed position near cellular basestation (4), the core network (10) of cellular system is connected with the location enhanced services device (11) of cellular basestation (4) and cellular network respectively, and the computer of the cellular basestation of cellular network (4) is equiped with data collection and administration software module (14), the location enhanced services device (11) of cellular network is equipped with central WAAS server software (13), WAAS client software (15) mobile terminal (12) is equipped with, to record the initial data in circular buffer on the computer that above-mentioned data collection and administration software module (14) operates in cellular basestation (4), above-mentioned WAAS server software (13) obtains initial data by core network (10) from the computer of cellular basestation (4), solves the ionosphere on each space lattice and troposphere time delay correction, and revises clock correction and the orbit error of satellite, above-mentioned WAAS server software (13) is the two difference algorithms based on adjacent base station carrier phase measurement, above-mentioned WAAS server software (13) sends ionosphere delay, tropospheric delay, satellite orbital error and clock correction update information by cellular network to mobile terminal (12).
2. embedded global navigational satellite WAAS in cellular networks according to claim 1, is characterized in that above-mentioned mobile terminal (12) refers to mobile phone or car navigation device.
3. embedded global navigational satellite WAAS in cellular networks according to claim 1, it is characterized in that above-mentioned mobile terminal (12) is the satellite fix receiver module that can carry out carrier phase measurement, and for the high-speed communication module of cellular network.
4. embedded global navigational satellite WAAS in cellular networks according to claim 1, is characterized in that being provided with the enhancing system data swap server (21) setting up WAAS information path between above-mentioned centrally-located enhancement service device (11) and the user of different cellular network (5).
5. embedded global navigational satellite WAAS in cellular networks according to claim 1, it is characterized in that also being provided with sensor network between above-mentioned mobile terminal (12) and cellular network (5), sensor network is connected with the communication interface of cellular network (5) by Zigbee hub (24).
6. embedded global navigational satellite WAAS in cellular networks according to claim 5, it is characterized in that the sensor network comprises the transducer (23) of band Zigbee transceiver, mobile terminal (12) forms one or more ZigBee-network by the transducer (23) of band Zigbee transceiver, and is connected to cellular network (5) with the ZigBee hinge of one or more monitoring structural health conditions.
7. embedded global navigational satellite WAAS in cellular networks according to claim 6, is characterized in that the transducer (23) of above-mentioned band Zigbee transceiver comprises strain transducer, piezoelectric transducer and PZT (piezoelectric transducer).
8. embedded global navigational satellite WAAS in cellular networks according to claim 1, it is characterized in that above-mentioned cellular network (5) is based on one of them general and open standard: GSM, CDMA, WCDMA, CDMA2000, TD-SCDMA LTE and mobile phone is provided, note is connected with the Internet; Above-mentioned satellite positioning receiver (8) exports initial data and comprises pseudorange, Doppler frequency shift, carrier phase measurement and satellite ephemeris; Above-mentioned satellite positioning receiver (8) receives the one or more satellite fix frequencies from one or more global positioning satellite constellation.
9. embedded global navigational satellite WAAS in cellular networks according to claim 1, it is characterized in that above-mentioned WAAS client software (15) is by mobile device and nearest acquisition ionosphere, base station and troposphere time delay correction, satellite orbit and clock skew and carrier phase measurement solve integer ambiguity, and obtain hi-Fix.
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| CN1864078A (en) * | 2003-10-08 | 2006-11-15 | 纳夫科姆技术公司 | Method for using three GPS frequencies to resolve carrier-phase integer ambiguities |
| CN101083501A (en) * | 2006-05-31 | 2007-12-05 | 中国科学院国家天文台 | Integration of navigation and communication based on time location and status information |
| CN101646920A (en) * | 2007-03-30 | 2010-02-10 | 索尼株式会社 | The efficient system and method for carrying out the mobile-device location procedures that strengthens |
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