CN103809189A - System and method for calibration , system and method for positioning correction, and positioning system - Google Patents
System and method for calibration , system and method for positioning correction, and positioning system Download PDFInfo
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- CN103809189A CN103809189A CN201210457529.7A CN201210457529A CN103809189A CN 103809189 A CN103809189 A CN 103809189A CN 201210457529 A CN201210457529 A CN 201210457529A CN 103809189 A CN103809189 A CN 103809189A
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- satellite
- signal
- signal receiver
- gps signal
- positioning
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- 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
- G01S19/42—Determining position
Abstract
The invention discloses a system and a method for calibration , a system and a method for positioning correction, and a positioning system. The system for calibration comprises a GPS (Global Positioning System) signal receiver and a terminal device, wherein the GPS signal receiver is used for receiving the satellite signals of a plurality of satellites, and the terminal device is used for selecting a satellite signal having a signal-to-noise ratio greater than a standard threshold or a satellite elevation greater than a standard angle from the satellite signals and calibrating the satellite corresponding to the satellite signal having the signal-to-noise ratio greater than the standard threshold or the satellite elevation greater than the standard angle as an observation satellite; the system for positioning correction comprises a GPS signal receiver, a terminal device, a code-phase counter and an information processing unit; the positioning system comprises the system for calibration and the system for positioning correction. The system for calibration has the function of calibrating the observation satellite capable of improving the positioning accuracy, and also is capable of strictly controlling and correcting the satellite signals received by the GPS signal receiver, eliminating a drift error, reducing a drift range and improving the positioning accuracy.
Description
Technical field
The present invention relates to network communications technology field, especially relate to a kind of calibration system and method, location update the system and method and positioning system.
Background technology
GPS is GPS (Global Positioning System).Briefly, this be one by 24 satellite systems that satellite forms covering the whole world.This system can guarantee at any time, and on the earth, any point can observe 4 satellites simultaneously, to guarantee that satellite can collect longitude and latitude and the height of this observation station, to realize the functions such as navigation, location, time service.
The composition of GPS comprises space segment, ground control section and customer equipment part, and customer equipment part is gps signal receiver.Its major function is can capture by the selected satellite to be measured of certain satellite cutoff angle, and follows the tracks of the operation of these satellites.When gps signal receiver captures after the satellite-signal of tracking, can measure receiving antenna to the pseudo-distance of satellite and the rate of change of distance, demodulate the data such as satellite orbit parameter.According to these data, the micro-process computer in receiver just can position calculating by positioning calculation method, calculate the longitude and latitude of user geographic location, highly, the information such as speed, time.
But the clock correction, atmospheric propagation delay, the multipath effect equal error that have comprised satellite and receiver in gps signal receiver observed quantity also will be subject to the impact of satellite broadcasting ephemeris error in the time of location Calculation, and positioning precision is reduced greatly.
Summary of the invention
The technical problem to be solved in the present invention is the clock correction that has comprised satellite and receiver in the satellite-signal that in prior art, gps signal receiver receives in order to overcome, atmospheric propagation delay, multipath effect equal error, in the time of location Calculation, also to be subject to the impact of satellite broadcasting ephemeris error, the defect that causes positioning precision greatly to reduce, a kind of calibration system and method are provided, location update the system and method and positioning system, there is the function that demarcation can improve the observation satellite of positioning precision, and there is the satellite-signal that gps signal receiver is received and carry out strict control and correction, eliminate drift error, reduce range of drift and improve the advantage of positioning precision.
The present invention solves above-mentioned technical matters by following technical proposals:
The invention provides a kind of calibration system, this calibration system comprises a gps signal receiver and a terminal device, and its feature is, this gps signal receiver is for receiving the satellite-signal of multiple satellites; This terminal device is greater than for choose satellite-signal signal to noise ratio (S/N ratio) from those satellite-signals the satellite-signal that a level threshold value or satellite elevation angle are greater than a standard angle, and satellite-signal signal to noise ratio (S/N ratio) is greater than to satellite corresponding to satellite-signal that this level threshold value or satellite elevation angle be greater than this standard angle is demarcated as observation satellite.
Wherein, observation satellite refers to that the satellite-signal Satellite Signal-to-Noise of multiple satellites that this gps signal receiver obtains is greater than the corresponding satellite of satellite-signal that this level threshold value or satellite elevation angle are greater than this standard angle.
Preferably, this level threshold value is 35, and this standard angle is 20 °.Certainly, this level threshold value and this standard angle can also be other numerical value.
The present invention also provides a kind of scaling method, and it utilizes above-mentioned calibration system to realize, and this scaling method comprises the following steps:
Step S
1, this gps signal receiver is for receiving the satellite-signal of multiple satellites;
Step S
2, this terminal device chooses satellite-signal signal to noise ratio (S/N ratio) and is greater than the satellite that this level threshold value or satellite elevation angle are greater than this standard angle from those satellite-signals, be greater than for satellite-signal signal to noise ratio (S/N ratio) the satellite-signal that this level threshold value or satellite elevation angle be greater than this standard angle and enter step S
3, otherwise process ends;
Step S
3, satellite-signal signal to noise ratio (S/N ratio) be greater than to satellite corresponding to satellite-signal that this level threshold value or satellite elevation angle be greater than this standard angle be demarcated as observation satellite.
The present invention also provides a kind of location update the system, and its feature is, this location update the system comprises a gps signal receiver, a terminal device, a code phase counter and an information process unit;
The antenna element of this gps signal receiver is for receiving satellite signal, and the receiving element of this gps signal receiver is for decoding to the satellite-signal receiving;
This terminal device is used for based on positioning calculating through the satellite-signal of decoding by positioning calculation algorithm, and calculates this gps signal receiver geographic location as a locating information;
This code phase counter arrives the mistiming of the antenna element of this gps signal receiver for instrumented satellite signal, and transfers to this information process unit;
This information process unit is used for receiving this locating information, and calculate the displacement of this gps signal receiver in the vertical direction based on this locating information, this information process unit is also for receiving this mistiming, and calculating the change in displacement rate of this gps signal receiver in the vertical direction based on this mistiming and this locating information, this information process unit is also for revising this displacement based on this change in displacement rate.
Wherein, this locating information comprise the longitude and latitude of this gps signal receiver, highly, the information such as speed and time, establishing the mistiming that two satellites arrive this gps signal receiver is t, utilizes following formula:
T=B*s/C=B*cos ∠ α/C is d ∠ α/dt=C/Bsin ∠ α
C represents the light velocity, and B represents the distance between two satellites, and s represents the direction vector of two satellites and this gps signal receiver, can calculate ∠ α by above-mentioned formula, according to ∠ α and the displacement that highly can calculate this gps signal receiver in the vertical direction.
In the prior art, often adopt the method for the mean value of observation equation to position operation, according to ranging formula: ((T-t) * C)
2=(X-x)
2+ (Y-y)
2+ (Z-z)
2
Known, location need to have four unknown numbers (X, Y, Z, T) to set up four system of equations, can realize three-dimensional localization, and this just needs at least four satellites to locate.And the present invention only needs two satellites just can calculate the displacement of this gps signal receiver in the vertical direction, and the numerical value of B is larger, and the precision of location is just higher.
In addition, vertical direction is to define with respect to the surface level of the earth, and it is perpendicular to the surface level of the earth.
Preferably, this code phase counter is for arriving the mistiming of the antenna element of this gps signal receiver by C/A code (Coarse/Acquisition Code, thick ranging code) or P code (Procise Code, precision code) instrumented satellite signal.
Preferably, this information process unit is revised for this displacement being added to this change in displacement rate.
The present invention also provides a kind of positioning correction method, and it utilizes above-mentioned location update the system to realize, and this positioning correction method comprises the following steps:
Step S
1, this gps signal receiver antenna element receiving satellite signal, the receiving element of this gps signal receiver is decoded to the satellite-signal receiving;
Step S
2, this terminal device is based on positioning calculating through the satellite-signal of decoding by positioning calculation algorithm, and calculates this gps signal receiver geographic location as this locating information;
Step S
3, this code phase counter measures satellite-signal arrives the mistiming of the antenna element of this gps signal receiver, and transfers to this information process unit;
Step S
4, this information process unit receives this locating information, and calculate the displacement of this gps signal receiver in the vertical direction based on this locating information, this information process unit also receives this mistiming, and calculates the change in displacement rate of this gps signal receiver in the vertical direction based on this mistiming and this locating information;
Step S
5, this information process unit revises this displacement based on this change in displacement rate.
The present invention also provides a kind of positioning system that comprises above-mentioned calibration system and above-mentioned location update the system.
Preferably, this positioning system is used above-mentioned scaling method and above-mentioned positioning correction method to realize.
Positive progressive effect of the present invention is:
Calibration system of the present invention and method, location update the system and method and positioning system, there is the function that demarcation can improve the observation satellite of positioning precision, and have advantages of that the satellite-signal that gps signal receiver is received carries out strict control and correction, elimination drift error, reduces range of drift and improves positioning precision.
Accompanying drawing explanation
Fig. 1 is the structural drawing of the positioning system of preferred embodiment of the present invention.
Fig. 2 is the process flow diagram of the localization method of the positioning system of preferred embodiment of the present invention.
Embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail, but therefore do not limit the present invention among described scope of embodiments.
Shown in figure 1, the positioning system of the present embodiment comprises calibration system 1 and location update the system 2, this calibration system comprises a gps signal receiver 11 and a terminal device 12, and this location update the system comprises this gps signal receiver 11, this terminal device 12, a code phase counter 21 and an information process unit 22.
The function that each parts in this calibration system are realized is:
This gps signal receiver 11 is for receiving the satellite-signal of multiple satellites, this terminal device 12 is greater than for choose satellite-signal signal to noise ratio (S/N ratio) from those satellite-signals the satellite-signal that a level threshold value 35 or satellite elevation angle are greater than 20 ° of standard angles, and satellite-signal signal to noise ratio (S/N ratio) is greater than to satellite corresponding to satellite-signal that this level threshold value 35 or satellite elevation angle be greater than 20 ° of this standard angles is demarcated as observation satellite.
Wherein, this level threshold value and this standard angle can also be other numerical value.
The function that each parts in this location update the system 2 are realized is:
The antenna element of this gps signal receiver 11 is for receiving the satellite-signal of observation satellite, and the receiving element of this gps signal receiver 11 is for decoding to the satellite-signal receiving;
This terminal device 12, for based on positioning calculating through the satellite-signal of decoding by positioning calculation algorithm, and calculates these gps signal receiver 11 geographic locations as a locating information;
This code phase counter 21 is for arriving the mistiming of the antenna element of this gps signal receiver 11 by C/A code or P code instrumented satellite signal, and transfers to this information process unit 22;
This information process unit 22 is for receiving this locating information, and calculate the displacement of these gps signal receiver 11 in the vertical directions based on this locating information, this information process unit 22 is also for receiving this mistiming, and calculating the change in displacement rate of these gps signal receiver 11 in the vertical directions based on this mistiming and this locating information, this information process unit 22 is also for adding that to this displacement this change in displacement rate revises.
Wherein, after operation that this calibration system 1 realizes that what this location update the system 2 was realized operate in, complete after the operation of this calibration system 1 in this positioning system, then carry out the operation of this location update the system 2.
Shown in figure 2, the present embodiment also provides a kind of localization method, and it utilizes above-mentioned positioning system to realize, and this localization method comprises the following steps:
The antenna element of step 104, this gps signal receiver receives the satellite-signal of observation satellite, and the receiving element of this gps signal receiver is decoded to the satellite-signal receiving;
Each functional module in the present invention all can be realized in conjunction with existing software programming means under existing hardware condition, therefore its concrete methods of realizing is not all repeated at this.
Although more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present invention and essence, can make various changes or modifications to these embodiments, but these changes and modification all fall into protection scope of the present invention.
Claims (9)
1. a calibration system, this calibration system comprises a gps signal receiver and a terminal device, it is characterized in that, this gps signal receiver is for receiving the satellite-signal of multiple satellites, this terminal device is greater than for choose satellite-signal signal to noise ratio (S/N ratio) from those satellite-signals the satellite-signal that a level threshold value or satellite elevation angle are greater than a standard angle, and satellite-signal signal to noise ratio (S/N ratio) is greater than to satellite corresponding to satellite-signal that this level threshold value or satellite elevation angle be greater than this standard angle is demarcated as observation satellite.
2. calibration system as claimed in claim 1, is characterized in that, this level threshold value is 35, and this standard angle is 20 °.
3. a scaling method, is characterized in that, it utilizes calibration system as claimed in claim 1 or 2 to realize, and this scaling method comprises the following steps:
Step S
1, this gps signal receiver receives the satellite-signal of multiple satellites;
Step S
2, this terminal device chooses satellite-signal signal to noise ratio (S/N ratio) and is greater than the satellite that this level threshold value or satellite elevation angle are greater than this standard angle from those satellite-signals, be greater than for satellite-signal signal to noise ratio (S/N ratio) the satellite-signal that this level threshold value or satellite elevation angle be greater than this standard angle and enter step S
3, otherwise process ends;
Step S
3, satellite-signal signal to noise ratio (S/N ratio) be greater than to satellite corresponding to satellite-signal that this level threshold value or satellite elevation angle be greater than this standard angle be demarcated as observation satellite.
4. a location update the system, is characterized in that, this location update the system comprises a gps signal receiver, a terminal device, a code phase counter and an information process unit;
The antenna element of this gps signal receiver is for receiving satellite signal, and the receiving element of this gps signal receiver is for decoding to the satellite-signal receiving;
This terminal device is used for based on positioning calculating through the satellite-signal of decoding by positioning calculation algorithm, and calculates this gps signal receiver geographic location as a locating information;
This code phase counter arrives the mistiming of the antenna element of this gps signal receiver for instrumented satellite signal, and transfers to this information process unit;
This information process unit is used for receiving this locating information, and calculate the displacement of this gps signal receiver in the vertical direction based on this locating information, this information process unit is also for receiving this mistiming, and calculating the change in displacement rate of this gps signal receiver in the vertical direction based on this mistiming and this locating information, this information process unit is also for revising this displacement based on this change in displacement rate.
5. location as claimed in claim 4 update the system, is characterized in that, this code phase counter is for arriving the mistiming of the antenna element of this gps signal receiver by C/A code or P code instrumented satellite signal.
6. location as claimed in claim 4 update the system, is characterized in that, this information process unit is revised for this displacement being added to this change in displacement rate.
7. a positioning correction method, is characterized in that, it utilizes the location update the system as described in any one in claim 4-6 to realize, and this positioning correction method comprises the following steps:
Step S
1, this gps signal receiver antenna element receiving satellite signal, the receiving element of this gps signal receiver is decoded to the satellite-signal receiving;
Step S
2, this terminal device is based on positioning calculating through the satellite-signal of decoding by positioning calculation algorithm, and calculates this gps signal receiver geographic location as this locating information;
Step S
3, this code phase counter measures satellite-signal arrives the mistiming of the antenna element of this gps signal receiver, and transfers to this information process unit;
Step S
4, this information process unit receives this locating information, and calculate the displacement of this gps signal receiver in the vertical direction based on this locating information, this information process unit also receives this mistiming, and calculates the change in displacement rate of this gps signal receiver in the vertical direction based on this mistiming and this locating information;
Step S
5, this information process unit revises this displacement based on this change in displacement rate.
8. one kind comprises the positioning system of calibration system as claimed in claim 1 or 2 and the location update the system as described in any one in claim 4-6.
9. positioning system as claimed in claim 8, is characterized in that, this positioning system is used scaling method as claimed in claim 3 and positioning correction method as claimed in claim 7.
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| CN201210457529.7A CN103809189B (en) | 2012-11-14 | 2012-11-14 | Calibration system and method, positioning update the system and method and alignment system |
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| CN201210457529.7A CN103809189B (en) | 2012-11-14 | 2012-11-14 | Calibration system and method, positioning update the system and method and alignment system |
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| CN104133232A (en) * | 2014-07-29 | 2014-11-05 | 豪芯微电子科技（上海）有限公司 | Positioning method and device thereof |
| CN105572699A (en) * | 2016-01-18 | 2016-05-11 | 百度在线网络技术（北京）有限公司 | Method and apparatus for detecting positioning floating |
| CN109521450A (en) * | 2017-09-20 | 2019-03-26 | 高德信息技术有限公司 | A kind of positioning drift detection method and device |
| CN111487659A (en) * | 2019-01-28 | 2020-08-04 | 广州市中海达测绘仪器有限公司 | State recognition method and device, computer equipment and storage medium |
| US11054526B2 (en) | 2018-12-17 | 2021-07-06 | Industrial Technology Research Institute | Satellite positioning module and satellite positioning method |
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| CN110231637B (en) * | 2018-03-05 | 2021-04-13 | 中移物联网有限公司 | Satellite selection method, server and computer storage medium |
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