CN103792548B - Based on the satellite receiver gradual self-correcting position keeping method of time service application - Google Patents
Based on the satellite receiver gradual self-correcting position keeping method of time service application Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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Abstract
The present invention relates to a kind of satellite receiver gradual self-correcting position keeping method based on time service application, containing the following step: 1: adopt the mode based on Differential Detection and positional information statistics to carry out stability distinguishing to satnav; 2: the position based on combined type parameter matrix preferentially processes: satnav stablize after and positioning states upgrades to high priority from the low priority that positioning states priority parameters matrix is determined time, initialized location filter state also upgrades the filter factor determined by position filtering parameter matrix; After the state duration after positioning states is high priority from low priority transition is greater than the determined detection duration of position maintenance detection duration parameters matrix, satellite real-time positioning information then through filtering is that position keeps information, equipment in-position hold mode; 3: keep information to carry out self-correcting process to the position after the hold mode of in-position; The present invention can improve the precision and time that time service type receiver obtains at complicated applications environment upper/lower positions.
Description
(1), technical field: the present invention relates to a kind of satellite receiver self-correcting position keeping method, particularly a kind of satellite receiver gradual self-correcting position keeping method based on time service application.
(2), background technology: at present, GPS (Global Position System) enters the fast-developing stage, main satellite navigation system has the gps satellite navigational system of the U.S., Muscovite GLONASS satellite navigation system, the GALILEO satellite navigation system in Europe and China's Beidou satellite navigation system, time service application in satellite navigation system is its important application, the time service type that time service adopts receives function and provides high-precision time signal and time message etc., but the receiver location of time service type receiver is fixed, it needs accurate receiver location guarantee precision time service, therefore, accurate positional information is the prerequisite that time service type receiver carries out time service.Time service type receiver is usually adopted and is carried out coordinate acquisition in two ways, and one is arranged by external interface according to receiver communication protocol, then carries out time service process; One is first independently located for receiver, then carries out time service process.For first kind of way, or other approach auxiliary by other positioning system is needed to obtain coordinate and arrange, very inconvenience (as Big Dipper generation Timing Receiver adopts this kind of method usually) in engineer applied in actual applications, for the second way, receiver does not need or outer setting auxiliary by other navigational system, improve the convenience (as China's Beidou II time service type receiver) of engineer applied, but in practical engineering application, also there are problems, the satnav precision parameter mentioned in usual document is in accepting state good (as aerial position is more spacious), and receiving satellite amount more when determine, but the actual working environment of receiver is relatively more severe (such as electromagnetic interference (EMI) often, buildings blocks), this can cause receiver receptivity bad, receiver is received star number quantity not sufficient or receives star number amount unstable, the situations such as the geometry that satellite is formed with reception is not good, thus cause the deviation of positioning result.In satellite time transfer application, pot life is as far as possible short first to require receiver time signal on the one hand, require that the precision of time signal wants high on the other hand, namely after requiring receiver to start shooting, time signal will can be used as early as possible, also require time signal as far as possible accurately, stable, do not allow co-ordinates of satellite for a long time unavailable or its upstate often change.
(3), summary of the invention:
The technical problem to be solved in the present invention is: not enough for prior art, a kind of satellite receiver gradual self-correcting position keeping method based on time service application is provided, the method can improve the precision and time that time service type receiver obtains at complicated applications environment upper/lower positions, improves the time service performance of time service type receiver.
Technical scheme of the present invention:
Based on a satellite receiver gradual self-correcting position keeping method for time service application, containing the following step:
Step 1: adopt the mode based on Differential Detection and positional information statistics to carry out stability distinguishing to satellite positioning location information;
Step 2: the position based on combined type parameter matrix preferentially processes:
Combined type parameter matrix contains the parameter matrix of three difference in functionalitys, the parameter matrix of these three difference in functionalitys is respectively positioning states priority parameters matrix, position keeps detecting duration parameters matrix, position filtering parameter matrix, when carrying out position and preferentially processing, select this three parameter matrixs simultaneously;
After satellite positioning location information stability and positioning states upgrades to high priority from the low priority that positioning states priority parameters matrix is determined time, then initialized location filter state also upgrades the filter factor determined by position filtering parameter matrix; After the state duration after positioning states is high priority from low priority transition is greater than the determined detection duration of position maintenance detection duration parameters matrix, then the satellite real-time positioning information through filtering is defined as position and keeps information, equipment in-position hold mode;
Step 3: keep information to carry out self-correcting process to the position after the hold mode of in-position.
The detailed process of step 3 is: detect the positioning states after the hold mode of in-position, when this positioning states priority is higher than the positioning states priority after transition in step 2, and positional information after the hold mode of in-position and position keep the deviation of information to be greater than sets threshold value, be greater than after the time setting threshold value exceedes and set duration, keep information to upgrade by this positional information to position, complete the self-correcting that position keeps information.
In step 1: inplace stability differentiates and refers to that the shake judging positioning result is whether within certain scope; Due to factors such as the change of receiver tracking satellite number, electromagnetic interference (EMI), the adjustment of receiver base band control loop, all can cause the shake of positioning result, after usual start work a period of time, positioning result tends towards stability, and it is the basis of carrying out subsequent treatment that positioning result tends towards stability; Inplace stability differentiates and adopts differential ratio to reject, singular value and the mode of statistics positional information extreme value realizes, and its processing procedure is: first, carries out Difference Calculation to satellite real-time positioning information; Secondly, the locating information that the absolute value for difference result is greater than setting threshold value is rejected, and it is invalid to mark this locating information; The locating information that absolute value for difference result is less than setting threshold value retains, and it is effective to mark this locating information; Finally, within the time period of setting, statistical study is carried out to locating information, if the number percent of locating effective number of times shared total location number of times is greater than setting thresholding and the maximum value of effective location information and minimizing difference are less than setting thresholding, then think that positioning result is stablized.Adopt locating information Difference Calculation, add up the stability judging method that effective location information percentage when carries out statistics of extremes, compare the stability statistical method calculated based on variance and decrease calculated amount, alleviate receiver processor processing load.
In step 2: positioning states priority parameters matrix adopts and does line order number with segmentation usable satellite number, with segmentation satellite PDOP(positiondilutionofprecision, three-dimensional position dilution of precision) value does row sequence number, with priori determination positioning states priority parameters; This priori is: usable satellite number is more, satellite PDOP value is less, and positioning states priority is higher; Usable satellite number less, satellite PDOP value is larger, and positioning states priority is lower; Positioning states priority parameters is used for identifying the precision of satellite positioning information; Positioning states priority is higher, and satellite positioning information precision is higher; Positioning states priority is lower, and satellite positioning information precision is lower.
In step 2: position keeps detecting the employing of duration parameters matrix and does line order number with segmentation usable satellite number, does row sequence number, determine that position keeps detecting duration parameters with priori with segmentation satellite PDOP value; This priori is:, satellite PDOP value more at usable satellite number is less, positioning result is with a high credibility, and positioning precision is higher, now shortens in-position and keeps the required duration detected, be beneficial to time signal available fast; When usable satellite number is less, when satellite PDOP value is larger, positioning result confidence level degree is lower, positioning precision is poor, now increases in-position and keeps the required duration detected, be beneficial to receiver and return to good receiver state, improve the chance obtaining exact position and keep information; Position keeps detecting duration parameters and is used for in-position under the operation of receiver state at that time that is identified at and keeps the required duration detected; Analyze according to actual test statistics, when satellite receiver reception situation is bad, increase the time that in-position keeps, can wait for that within the detection time increased satellite receiver receives situation and recovers good, to increase the chance obtaining optimal location, but due to have receiver time signal first can restriction, can not wait for that satellite receiver accepting state is recovered good or reached condition of acceptance of certain setting indefinite duration.
In step 2: position filtering parameter matrix adopts and does line order number with segmentation usable satellite number, does row sequence number, with priori determination position filtering parameter with segmentation satellite PDOP value; This priori is: in digital filter mode, and usable satellite number is more, satellite PDOP value is less, and ratio of damping is stronger, and filtering parameter is larger; Usable satellite number less, satellite PDOP value is larger, and ratio of damping is more weak, and filtering parameter is less; In-position needs to carry out filtering process to satellite positioning location information before keeping, with the shake of the information of dipping, to improve the accuracy that position keeps information; Digital filter mode carries out filtering process to satellite Autonomous locating information, the degree of stability of satellite positioning position information and the departure degree with real-time positioning result after the size decision filtering of filtering parameter, when satellite receiver reception good, autonomous locating information shake is less, the deviation of position filtering information and real-time position information is less, comparatively heavy damping filter factor can be adopted, make filtered positional information more steady; When receiver accepting state is poor, the jitter range of independently determining information is larger, even there is the step of positioning result, adopt comparatively underdamping filter factor, filtered positional information can be enable to be consistent with the real-time positioning information changed fast.
After setting three parameter matrixs, receiver can according to actual accepting state in operational process, corresponding parameter is selected to carry out the check processing of position hold mode, first receiver carries out judgement of stability to current satellite positioning location information, after determining satellite positioning location information stability, according to receiver tracking satellite number and satellite PDOP value, corresponding positioning states priority is adopted according to combined type parameter matrix, position keeps detecting duration and position filtering coefficient, the change of detection and location priority of status, location information is carried out filtering process and is added up the detection duration entering this accepting state, if the detection duration entering this state is greater than detection duration parameters corresponding in parameter matrix, positional information then through filtering is defined as position maintenance information, equipment in-position hold mode, during the hold mode of equipment in-position, record usable satellite number and satellite PDOP value,
Keep in position in detected state, if detect that the generation of positioning result priority is high priority state from low priority state transition, then reinitialize position filtering device, namely using real-time positional information as the initial value of wave filter, the position filtering hysteresis characteristic of low priority state is avoided to affect the output of wave filter, when resetting filter status, the transition of positioning states priority adds hysteresis effect, namely after detecting that priority changes, can the priority continued after change detected keep certain time length, after the priority duration duration after change is greater than setting duration, reset filter status again, receiver accepting state is avoided to cause position filtering output stability because of of short duration change.
By above processing procedure, satellite receiver is under different reception situations, determine that different positions keeps detecting duration, the in-position retention time is shortened when accepting state is good, the chance obtaining exact position is added when accepting state is bad, according to the reception situation of satellite receiver, adopt different filter factors and positioning result priority, improve the accuracy reinitializing raising filtering output coordinate by wave filter while position keeps degree of stability.
After the hold mode of in-position, the positional information that receiver uses keeps fixing, to improve the stability of time signal, continue to detect the difference that the positional information of in real time location and position keep information in this case, when the absolute value of this difference is greater than setting threshold value and duration, and when positioning states priority keeps the Priority level for location in moment higher than position, then system reenters position maintenance detected state, keeps information to upgrade position.Under the hold mode of position, time signal can be used, fully can detect the duty of satellite receiver, by longer time of reception and higher positioning states priority qualifications, after position keeps information independence to correct, the precision that position keeps improves further, avoid because of receive during start in poor shape and detect time length and cause position hold error, thus complete the zero offset capability of holding position.
Beneficial effect of the present invention:
1. the present invention can make receiver within the regular hour to the coordinate of autonomous location and operation of receiver
State carries out statistical study, obtain fixing position coordinates optimum in a timing statistics section in a progressive way, and can under time service state automatic calibration keep positional information, progressively to improve station keeping accuracy, can make receiver within the time short as far as possible, obtain receiver location information high as far as possible by method of the present invention, thus improve the time service performance of time service type receiver.
2. the present invention adopts a kind of method based on Difference Calculation, effective value and position statistics of extremes to carry out inplace stability judgement; Set up position-based according to priori to keep detecting the combined type parameter matrix that duration, filter factor and positioning states priority are foundation; Adopt diverse location to keep detecting duration, in reception good situation, shorten position and keep duration; Under reception unfavorable condition, increase the precision obtaining holding position; Adopt different filter factors, improve accuracy in the degree of stability of Priority level for location higher situation upper/lower positions filtering and the lower situation of Priority level for location; Adopt different Priority level for locations, reset wave filter when Priority level for location generation transition, accelerate to know clearly the duration of wave filter stable output value; Keep the stage in position, continue to carry out check processing to position retention value, reduce the time signal precision deterioration keeping the error of coordinate to cause because of position.
(4), embodiment:
Satellite receiver gradual self-correcting position keeping method based on time service application contains the following step:
Step 1: adopt the mode based on Differential Detection and positional information statistics to carry out inplace stability differentiation to satellite positioning location information;
Step 2: the position based on combined type parameter matrix preferentially processes:
Combined type parameter matrix contains the parameter matrix of three difference in functionalitys, the parameter matrix of these three difference in functionalitys is respectively positioning states priority parameters matrix, position keeps detecting duration parameters matrix, position filtering parameter matrix, when carrying out position and preferentially processing, select this three parameter matrixs simultaneously;
After satellite positioning location information stability and positioning states upgrades to high priority from the low priority that positioning states priority parameters matrix is determined time, then initialized location filter state also upgrades the filter factor determined by position filtering parameter matrix; After the state duration after positioning states is high priority from low priority transition is greater than the determined detection duration of position maintenance detection duration parameters matrix, then the satellite real-time positioning information through filtering is defined as position and keeps information, equipment in-position hold mode;
Step 3: keep information to carry out self-correcting process to the position after the hold mode of in-position.
The detailed process of step 3 is: detect the positioning states after the hold mode of in-position, when this positioning states priority is higher than the positioning states priority after transition in step 2, and positional information after the hold mode of in-position and position keep the deviation of information to be greater than sets threshold value, be greater than after the time setting threshold value exceedes and set duration, keep information to upgrade by this positional information to position, complete the self-correcting that position keeps information.
In step 1: inplace stability differentiates and refers to that the shake judging positioning result is whether within certain scope; Due to factors such as the change of receiver tracking satellite number, electromagnetic interference (EMI), the adjustment of receiver base band control loop, all can cause the shake of positioning result, after usual start work a period of time, positioning result tends towards stability, and it is the basis of carrying out subsequent treatment that positioning result tends towards stability; Inplace stability differentiates and adopts differential ratio to reject, singular value and the mode of statistics positional information extreme value realizes, and its processing procedure is: first, carries out Difference Calculation to satellite real-time positioning information; Secondly, the locating information that the absolute value for difference result is greater than setting threshold value is rejected, and it is invalid to mark this locating information; The locating information that absolute value for difference result is less than setting threshold value retains, and it is effective to mark this locating information; Finally, within the time period of setting, statistical study is carried out to locating information, if the number percent of locating effective number of times shared total location number of times is greater than setting thresholding and the maximum value of effective location information and minimizing difference are less than setting thresholding, then think that positioning result is stablized.Adopt locating information Difference Calculation, add up the stability judging method that effective location information percentage when carries out statistics of extremes, compare the stability statistical method calculated based on variance and decrease calculated amount, alleviate receiver processor processing load.
In step 2: positioning states priority parameters matrix adopts and does line order number with segmentation usable satellite number, with segmentation satellite PDOP(positiondilutionofprecision, three-dimensional position dilution of precision) value does row sequence number, with priori determination positioning states priority parameters; This priori is: usable satellite number is more, satellite PDOP value is less, and positioning states priority is higher; Usable satellite number less, satellite PDOP value is larger, and positioning states priority is lower; Positioning states priority parameters is used for identifying the precision of satellite positioning information; Positioning states priority is higher, and satellite positioning information precision is higher; Positioning states priority is lower, and satellite positioning information precision is lower.
In step 2: position keeps detecting the employing of duration parameters matrix and does line order number with segmentation usable satellite number, does row sequence number, determine that position keeps detecting duration parameters with priori with segmentation satellite PDOP value; This priori is:, satellite PDOP value more at usable satellite number is less, positioning result is with a high credibility, and positioning precision is higher, now shortens in-position and keeps the required duration detected, be beneficial to time signal available fast; When usable satellite number is less, when satellite PDOP value is larger, positioning result confidence level degree is lower, positioning precision is poor, now increases in-position and keeps the required duration detected, be beneficial to receiver and return to good receiver state, improve the chance obtaining exact position and keep information; Position keeps detecting duration parameters and is used for in-position under the operation of receiver state at that time that is identified at and keeps the required duration detected; Analyze according to actual test statistics, when satellite receiver reception situation is bad, increase the time that in-position keeps, can wait for that within the detection time increased satellite receiver receives situation and recovers good, to increase the chance obtaining optimal location, but due to have receiver time signal first can restriction, can not wait for that satellite receiver accepting state is recovered good or reached condition of acceptance of certain setting indefinite duration.
In step 2: position filtering parameter matrix adopts and does line order number with segmentation usable satellite number, does row sequence number, with priori determination position filtering parameter with segmentation satellite PDOP value; This priori is: in digital filter mode, and usable satellite number is more, satellite PDOP value is less, and ratio of damping is stronger, and filtering parameter is larger; Usable satellite number less, satellite PDOP value is larger, and ratio of damping is more weak, and filtering parameter is less; In-position needs to carry out filtering process to satellite positioning location information before keeping, with the shake of the information of dipping, to improve the accuracy that position keeps information; Digital filter mode carries out filtering process to satellite Autonomous locating information, the degree of stability of satellite positioning position information and the departure degree with real-time positioning result after the size decision filtering of filtering parameter, when satellite receiver reception good, autonomous locating information shake is less, the deviation of position filtering information and real-time position information is less, comparatively heavy damping filter factor can be adopted, make filtered positional information more steady; When receiver accepting state is poor, the jitter range of independently determining information is larger, even there is the step of positioning result, adopt comparatively underdamping filter factor, filtered positional information can be enable to be consistent with the real-time positioning information changed fast.
After setting three parameter matrixs, receiver can according to actual accepting state in operational process, corresponding parameter is selected to carry out the check processing of position hold mode, first receiver carries out judgement of stability to current satellite positioning location information, after determining satellite positioning location information stability, according to receiver tracking satellite number and satellite PDOP value, corresponding positioning states priority is adopted according to combined type parameter matrix, position keeps detecting duration and position filtering coefficient, the change of detection and location priority of status, location information is carried out filtering process and is added up the detection duration entering this accepting state, if the detection duration entering this state is greater than detection duration parameters corresponding in parameter matrix, positional information then through filtering is defined as position maintenance information, equipment in-position hold mode, during the hold mode of equipment in-position, record usable satellite number and satellite PDOP value,
Keep in position in detected state, if detect that the generation of positioning result priority is high priority state from low priority state transition, then reinitialize position filtering device, namely using real-time positional information as the initial value of wave filter, the position filtering hysteresis characteristic of low priority state is avoided to affect the output of wave filter, when resetting filter status, the transition of positioning states priority adds hysteresis effect, namely after detecting that priority changes, can the priority continued after change detected keep certain time length, after the priority duration duration after change is greater than setting duration, reset filter status again, receiver accepting state is avoided to cause position filtering output stability because of of short duration change.
By above processing procedure, satellite receiver is under different reception situations, determine that different positions keeps detecting duration, the in-position retention time is shortened when accepting state is good, the chance obtaining exact position is added when accepting state is bad, according to the reception situation of satellite receiver, adopt different filter factors and positioning result priority, improve the accuracy reinitializing raising filtering output coordinate by wave filter while position keeps degree of stability.
After the hold mode of in-position, the positional information that receiver uses keeps fixing, to improve the stability of time signal, continue to detect the difference that the positional information of in real time location and position keep information in this case, when the absolute value of this difference is greater than setting threshold value and duration, and when positioning states priority keeps the Priority level for location in moment higher than position, then system reenters position maintenance detected state, keeps information to upgrade position.Under the hold mode of position, time signal can be used, fully can detect the duty of satellite receiver, by longer time of reception and higher positioning states priority qualifications, after position keeps information independence to correct, the precision that position keeps improves further, avoid because of receive during start in poor shape and detect time length and cause position hold error, thus complete the zero offset capability of holding position.
Claims (7)
1., based on a satellite receiver gradual self-correcting position keeping method for time service application, it is characterized in that: containing the following step:
Step 1: adopt the mode based on Differential Detection and positional information statistics to carry out stability distinguishing to satellite positioning location information;
Step 2: the position based on combined type parameter matrix preferentially processes:
Combined type parameter matrix contains the parameter matrix of three difference in functionalitys, the parameter matrix of these three difference in functionalitys is respectively positioning states priority parameters matrix, position keeps detecting duration parameters matrix, position filtering parameter matrix, when carrying out position and preferentially processing, select this three parameter matrixs simultaneously;
After satellite positioning location information stability and positioning states upgrades to high priority from the low priority that positioning states priority parameters matrix is determined time, then initialized location filter state also upgrades the filter factor determined by position filtering parameter matrix; After the state duration after positioning states is high priority from low priority transition is greater than the determined detection duration of position maintenance detection duration parameters matrix, then the satellite real-time positioning information through filtering is defined as position and keeps information, equipment in-position hold mode;
Step 3: keep information to carry out self-correcting process to the position after the hold mode of in-position.
2. the satellite receiver gradual self-correcting position keeping method based on time service application according to claim 1, it is characterized in that: the detailed process of described step 3 is: detect the positioning states after the hold mode of in-position, when this positioning states priority is higher than the positioning states priority after transition in step 2, and positional information after the hold mode of in-position and position keep the deviation of information to be greater than setting threshold value, be greater than setting threshold value time exceed setting duration after, information is kept to upgrade by this positional information to position, complete the self-correcting that position keeps information.
3. the satellite receiver gradual self-correcting position keeping method based on time service application according to claim 1, is characterized in that: in described step 1: inplace stability differentiates and refers to that the shake judging positioning result is whether within certain scope; Inplace stability differentiates and adopts differential ratio to reject, singular value and the mode of statistics positional information extreme value realizes, and its processing procedure is: first, carries out Difference Calculation to satellite real-time positioning information; Secondly, the locating information that the absolute value for difference result is greater than setting threshold value is rejected, and it is invalid to mark this locating information; The locating information that absolute value for difference result is less than setting threshold value retains, and it is effective to mark this locating information; Finally, within the time period of setting, statistical study is carried out to locating information, if the number percent of locating effective number of times shared total location number of times is greater than setting thresholding and the maximum value of effective location information and minimizing difference are less than setting thresholding, then think that positioning result is stablized.
4. the satellite receiver gradual self-correcting position keeping method based on time service application according to claim 1, it is characterized in that: in described step 2: positioning states priority parameters matrix adopts and does line order number with segmentation usable satellite number, row sequence number is done, with priori determination positioning states priority parameters with segmentation satellite PDOP value; This priori is: usable satellite number is more, satellite PDOP value is less, and positioning states priority is higher; Usable satellite number less, satellite PDOP value is larger, and positioning states priority is lower; Positioning states priority parameters is used for identifying the precision of satellite positioning information; Positioning states priority is higher, and satellite positioning information precision is higher; Positioning states priority is lower, and satellite positioning information precision is lower.
5. the satellite receiver gradual self-correcting position keeping method based on time service application according to claim 1, it is characterized in that: in described step 2: position keeps detecting the employing of duration parameters matrix and does line order number with segmentation usable satellite number, do row sequence number with segmentation satellite PDOP value, determine that position keeps detecting duration parameters with priori; This priori is:, satellite PDOP value more at usable satellite number is less, shortens in-position and keeps the required duration detected; When usable satellite number is less, when satellite PDOP value is larger, increases in-position and keep the required duration detected; Position keeps detecting duration parameters and is used for in-position under the operation of receiver state at that time that is identified at and keeps the required duration detected.
6. the satellite receiver gradual self-correcting position keeping method based on time service application according to claim 1, it is characterized in that: in described step 2: position filtering parameter matrix adopts and does line order number with segmentation usable satellite number, row sequence number is done, with priori determination position filtering parameter with segmentation satellite PDOP value; This priori is: in digital filter mode, and usable satellite number is more, satellite PDOP value is less, and filtering parameter is larger; Usable satellite number less, satellite PDOP value is larger, and filtering parameter is less.
7. the satellite receiver gradual self-correcting position keeping method based on time service application according to claim 4 or 5 or 6, is characterized in that: during the hold mode of equipment in-position, records usable satellite number and satellite PDOP value.
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| CN101609143A (en) * | 2009-04-30 | 2009-12-23 | 中国科学院国家授时中心 | A kind of satellite timing method that strengthens based on wide area differential |
| WO2013093593A1 (en) * | 2011-12-22 | 2013-06-27 | Renesas Mobile Corporation | Timing-based positioning |
| CN102968552A (en) * | 2012-10-26 | 2013-03-13 | 郑州威科姆科技股份有限公司 | Satellite orbit data estimation and correction method |
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Effective date of registration: 20170703 Address after: 501, building 4, building 450000, block 55, Lianhua street, Zhengzhou hi tech Industrial Development Zone, Henan, Patentee after: Zhengzhou Weikemu China Beidou Navigation Technology Co. Ltd. Address before: 450001 Zhengzhou high tech Industrial Development Zone, Henan Lotus Street, No. 5 Patentee before: Zhengzhou Vcom Technology Co., Ltd. |