CN104678417A - Target positioning method based on reflection signals of navigation satellite - Google Patents
Target positioning method based on reflection signals of navigation satellite Download PDFInfo
- Publication number
- CN104678417A CN104678417A CN201510072195.5A CN201510072195A CN104678417A CN 104678417 A CN104678417 A CN 104678417A CN 201510072195 A CN201510072195 A CN 201510072195A CN 104678417 A CN104678417 A CN 104678417A
- Authority
- CN
- China
- Prior art keywords
- receiver
- earth
- transmitter
- target
- core
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a target positioning method based on reflection signals of a navigation satellite. The target positioning method comprises the following seven steps: step one, setting a moment t1 for receiving direct signals from a GPS satellite and a moment t2 for removing target reflection signals associated with GPS satellite signals by a receiver, wherein an ephemeris file in a GPS signal comprises a transmitting moment for transmitting signals; step two, calculating a direct signal path length L1 and a reflection signal path length L2+L3 of the signals according to the arrival moment of the signals; step three, calculating a position (XT, YT, ZT) of a transmitter T and a position (XR, YR, ZR) of a receiver R; step four, calculating distance H from the transmitter to the center of the earth and distance h from the receiver to the center of the earth; step five, calculating an angle TOR, namely, alpha, formed between the transmitter, the center of the earth and the receiver; step six, calculating distance L2 from the transmitter to the target and distance L3 from the target to the receiver; step seven, calculating a target position (XP, YP and ZP) by using a system of simultaneous equations.
Description
Technical field
The present invention relates to a kind of object localization method based on navigational satellite reflected signal, it mainly utilizes the geometry site of transmitter, receiver and target to solve the three-dimensional coordinate of sea-surface target, belongs to wireless communication technology field.
Technical background
Mostly the radar mentioned under normal circumstances, be to utilize active detection technology.Monostatic radar is self directed radiation electromagnetic pulse mainly, after being irradiated to target, by the reception to reflected wave information, analysis and calculation, thus realizes the detection of target, location and tracking.Through the development of decades, Radar Technology is very ripe.But, in use owing to sending detectable signal, easily stick one's chin out, disguised poor, be easy to the interference and the attack that are subject to enemy.
So people begin one's study the electromagnetic new system radar of self non-radiating, and passive detection is just arisen at the historic moment.Itself is emitting electromagnetic wave not, but utilizes target self to irradiation source as target of external radiation or other non-cooperation radiation sources existing.It, by receiving the direct wave from irradiation source and the echo through target scattering, records the Doppler shift of target echo, step-out time and the angle of arrival etc., the detection of realize target after treatment and tracking.Therefore, even if when target keeps " mourning in silence ", dumb station still can detect target and follow the tracks of.Relative normal radar, the Detection And Tracking system of passive radar has unique superiority.
GNSS-R (Global Navigation Satellite System-Reflection) remote sensing technology is the novel branch since nineteen ninety-seven grown up, one of domestic and international remote sensing and field of navigation technology study hotspot, it utilizes Navsat L-band signal to be emissive source, with bank, machine, spaceborne or other receiving platform, receive different target reflected signal such as process ocean, land etc. by microwave remote sensing device, realize the microwave remote sensing Detection Techniques of the remote sensings such as elements recognition.At present, the world four large satellite navigational system is the GPS (GPS) of the U.S., USSR (Union of Soviet Socialist Republics)/Muscovite GLONASS (Global Navigation Satellite System) (GLONASS), the Galilean satellite positioning system of European Space Agency and the BD2 navigation positioning system of China; The navigational satellite system of the country such as Japan, India is also in develop actively.Along with the quickening of each large satellite navigational system modernization and day by day perfect, the achievement acquired by various application of global navigation satellite system GNSS (Global Navigation Satellite System) has reached irreplaceable aspect in modern society.Therefore, the concern of Chinese scholars and research institution is received more and more based on the passive radar technology of GNSS-R signal.Current, object localization method based on GNSS-R utilizes the delay inequality of reflected signal and direct signal to list the three-dimensional coordinate of Solving Nonlinear Systems of Equations target mostly, this kind of localization method principle is simple, but need the target detection unit of the many places in multi-source list place or single source, its equipment is complicated, and cost is huge.
Summary of the invention
1. in order to solve above deficiency, the object of the invention is to, a kind of object localization method based on navigational satellite reflected signal is provided, utilize the geometry site of transmitter, receiver and target to solve the three-dimensional coordinate of sea-surface target, owing to adopting the target detection unit of single place, single source, equipment is simple, easy realization, compared to the device of the many places of former multi-source Dan Su and single source, significantly reduce complexity and the cost of equipment, obtain location efficiently by less input.The proposed by the invention position coordinates that the time delay of target echo and direct signal only need be known in geometric relationship location, the position coordinates of transmitter and receiver just can solve sea-surface target simply, easily.
2. the present invention is in the three-dimensional coordinate process solving target, the distance of transceiver and target is remote, target can be considered as particle, to be received machine time of reception extremely short from being transmitted into target echo for gps signal, during this period receiver, transmitter, target is considered as geo-stationary.Meanwhile, if earth radius is r, and hypothetical target appears in the plane of transmitter, receiver, the earth's core composition, or this plane of target range is nearer.
A kind of object localization method based on navigational satellite reflected signal of the present invention, the method concrete steps are as follows:
Step one: receiver receives and is respectively t from direct signal moment of gps satellite and the reflected signal moment of associated GPS satellites signal to target
1and t
2, in the ephemeris file in gps signal, comprise the x time t that transmits
0.
Step 2: according to the due in of signal, calculates the path L of the direct signal of signal
1with the path L of reflected signal
2+ L
3.
(1) direct signal path: L
1=(t
1-t
0) × c.
Wherein, c is the light velocity, c=3 × 10
8m/s, t
0and t
1for the launch time of signal and the moment of receiver reception direct signal.
(2) reflection paths length: L
2+ L
3=(t
2-t
0) × c.
Wherein, c is the light velocity, c=3 × 10
8m/s, L
2for transmitter range-to-go, L
3for target is to the distance of receiver, t
0and t
2for the launch time of signal and the moment of receiver reception reflected signal.
Step 3: from almanac data, the position (X of transmitter computes T
t, Y
t, Z
t) and the position (X of receiver R
r, Y
r, Z
r).
Step 4: transmitter computes is to the distance H in the earth's core and receiver to the distance h in the earth's core.
(1) transmitter is to the distance in the earth's core
wherein (X
t, Y
t, Z
t) be the position coordinates of transmitter.
(2) receiver is to the distance in the earth's core
wherein (X
r, Y
r, Z
r) be the position coordinates of receiver.
Step 5: the ∠ TOR of transmitter computes, the earth's core, receiver composition, i.e. α.
In the Δ TOR of transmitter, the earth's core, receiver composition, utilize the cosine law,
α can be obtained.Wherein, H is the distance of transmitter to the earth's core, and h is the distance that receiver is arrived in the earth's core, L
1for direct signal path.
Step 6: transmitter computes range-to-go L
2with the distance L of target to receiver
3.
(1) in the Δ TOP of transmitter, the earth's core, target composition, the cosine law is utilized,
1..
Wherein, α
1for the ∠ TOP of transmitter, the earth's core, target composition, H is the distance of transmitter to the earth's core, and r is earth radius, L
2for transmitter range-to-go.
(2) in the Δ ROP of receiver, the earth's core, target composition, the cosine law is utilized,
2..
Wherein, α
2for the ∠ ROP of receiver, the earth's core, target composition, h is the distance of receiver to the earth's core, and r is earth radius, L
3for target is to the distance of transmitter.
(3)L
2+L
3＝(t
2-t
0)×c③
(4)α
1+α
2＝α④
Wherein, α
1for the ∠ TOP of transmitter, the earth's core, target composition, α
2for the ∠ TOR that the ∠ ROP of receiver, the earth's core, target composition, α are transmitter, the earth's core, receiver composition.
Simultaneous 1. 2. 3. 4. equation, and then solve transmitter range-to-go L
2with the distance L of target to receiver
3.
Step 7: Simultaneous Equations, solves target location (X
p, Y
p, Z
p).
Transmitter is (X to the equation of target range
t-X
p)
2+ (Y
t-Y
p)
2+ (Z
t-Z
p)
2=L
2 25.
Target is (X to the equation of receiver distance
p-X
r)
2+ (Y
p-Y
r)
2+ (Z
p-Z
r)
2=L
3 26.
Target equation is at the earth's surface X
p 2+ Y
p 2+ Z
p 2=r
27.
Simultaneous 5. 6. 7. equation, and then solve coordinates of targets (X
p, Y
p, Z
p).
3. compared with prior art, the present invention has the following advantages:
(1) present invention employs the target detection unit of single place, single source, compared to the device of the many places of former multi-source Dan Su and single source, reduce and find condition needed for target, improve the probability finding target.
(2) position coordinates that the present invention only need know the time delay of target echo and direct signal, the position coordinates of transmitter and receiver just can solve sea-surface target, method is simple, is easy to realize.
Accompanying drawing explanation
Fig. 1 the method for the invention FB(flow block).
The geometric relationship that Fig. 2 the present invention forms at transmitter, receiver, target and reflected signal.
In figure, symbol description is as follows:
Transmitter T, receiver R, target P, the earth's core O, earth radius is r, and transmitter is H to the distance in the earth's core, and receiver is h to the distance in the earth's core, and direct signal path is L
1, transmitter range-to-go is L
2, target is L to the distance of receiver
3, the ∠ TOP of transmitter, the earth's core, target composition is α
1, the ∠ ROP of receiver, the earth's core, target composition is α
2, the ∠ TOR of transmitter, the earth's core, receiver composition is α.
Embodiment
See Fig. 1, Fig. 2, a kind of object localization method based on navigational satellite reflected signal of the present invention, the method concrete steps are as follows:
Step one: receiver receives and is respectively t from direct signal moment of gps satellite and the reflected signal moment of associated GPS satellites signal to target
1and t
2, in the ephemeris file in gps signal, comprise the x time t that transmits
0.
Step 2: according to the due in of signal, calculates the path L of the direct signal of signal
1with the path L of reflected signal
2+ L
3.
(1) direct signal path: L
1=(t
1-t
0) × c
Wherein, c is the light velocity, c=3 × 10
8m/s, t
0and t
1for the launch time of signal and the moment of receiver reception direct signal.
(2) reflection paths length: L
2+ L
3=(t
2-t
0) × c
Wherein, c is the light velocity, c=3 × 10
8m/s, L
2for transmitter range-to-go, L
3for target is to the distance of receiver, t
0and t
2for the launch time of signal and the moment of receiver reception reflected signal.
Step 3: from almanac data, the position (X of transmitter computes T
t, Y
t, Z
t) and the position (X of receiver R
r, Y
r, Z
r).
Step 4: transmitter computes is to the distance H in the earth's core and receiver to the distance h in the earth's core.
(1) transmitter is to the distance in the earth's core
wherein (X
t, Y
t, Z
t) be the position coordinates of transmitter.
(2) receiver is to the distance in the earth's core
wherein (X
r, Y
r, Z
r) be the position coordinates of receiver.
Step 5: the ∠ TOR of transmitter computes, the earth's core, receiver composition, i.e. α.
In the Δ TOR of transmitter, the earth's core, receiver composition, utilize the cosine law,
α can be obtained.Wherein, H is the distance of transmitter to the earth's core, and h is the distance that receiver is arrived in the earth's core, L
1for direct signal path.
Step 6: transmitter computes range-to-go L
2with the distance L of target to receiver
3.
In the Δ TOP of transmitter, the earth's core, target composition, utilize the cosine law,
1.,
Wherein, α
1for the ∠ TOP of transmitter, the earth's core, target composition, H is the distance of transmitter to the earth's core, and r is earth radius, L
2for transmitter range-to-go.
In the Δ ROP of receiver, the earth's core, target composition, utilize the cosine law,
2.,
Wherein, α
2for the ∠ ROP of receiver, the earth's core, target composition, h is the distance of receiver to the earth's core, and r is earth radius, L
3for target is to the distance of transmitter.
L
2+L
3＝(t
2-t
0)×c③
α
1+α
2＝α④
Wherein, α
1for the ∠ TOP of transmitter, the earth's core, target composition, α
2for the ∠ TOR that the ∠ ROP of receiver, the earth's core, target composition, α are transmitter, the earth's core, receiver composition.
Simultaneous 1. 2. 3. 4. equation, and then solve transmitter range-to-go L
2with the distance L of target to receiver
3.
Step 7: Simultaneous Equations, solves target location (X
p, Y
p, Z
p).
Transmitter is (X to the equation of target range
t-X
p)
2+ (Y
t-Y
p)
2+ (Z
t-Z
p)
2=L
2 25.
Target is (X to the equation of receiver distance
p-X
r)
2+ (Y
p-Y
r)
2+ (Z
p-Z
r)
2=L
3 26.
Target equation is at the earth's surface X
p 2+ Y
p 2+ Z
p 2=r
27.
Simultaneous 5. 6. 7. equation, and then solve coordinates of targets (X
p, Y
p, Z
p).
Claims (1)
1. based on an object localization method for navigational satellite reflected signal, it is characterized in that: the method concrete steps are as follows:
Step one: receiver receives and is respectively t from direct signal moment of gps satellite and the reflected signal moment of associated GPS satellites signal to target
1and t
2, in the ephemeris file in gps signal, comprise the x time t that transmits
0;
Step 2: according to the due in of signal, calculates the path L of the direct signal of signal
1with the path L of reflected signal
2+ L
3;
(1) direct signal path: L
1=(t
1-t
0) × c;
Wherein, c is the light velocity, c=3 × 10
8m/s, t
0and t
1for the launch time of signal and the moment of receiver reception direct signal;
(2) reflection paths length: L
2+ L
3=(t
2-t
0) × c;
Wherein, c is the light velocity, c=3 × 10
8m/s, L
2for transmitter range-to-go, L
3for target is to the distance of receiver, t
0and t
2for the launch time of signal and the moment of receiver reception reflected signal;
Step 3: from almanac data, the position (X of transmitter computes T
t, Y
t, Z
t) and the position (X of receiver R
r, Y
r, Z
r);
Step 4: transmitter computes is to the distance H in the earth's core and receiver to the distance h in the earth's core;
(1) transmitter is to the distance in the earth's core
wherein (X
t, Y
t, Z
t) be the position coordinates of transmitter;
(2) receiver is to the distance in the earth's core
wherein (X
r, Y
r, Z
r) be the position coordinates of receiver;
Step 5: the ∠ TOR of transmitter computes, the earth's core, receiver composition, i.e. α,
In the Δ TOR of transmitter, the earth's core, receiver composition, utilize the cosine law,
α can be obtained;
Wherein, H is the distance of transmitter to the earth's core, and h is the distance that receiver is arrived in the earth's core, L
1for direct signal path;
Step 6: transmitter computes range-to-go L
2with the distance L of target to receiver
3;
(1) in the Δ TOP of transmitter, the earth's core, target composition, the cosine law is utilized,
1.;
Wherein, α
1for the ∠ TOP of transmitter, the earth's core, target composition, H is the distance of transmitter to the earth's core, and r is earth radius, L
2for transmitter range-to-go;
(2) in the Δ ROP of receiver, the earth's core, target composition, the cosine law is utilized,
2.;
Wherein, α
2for the ∠ ROP of receiver, the earth's core, target composition, h is the distance of receiver to the earth's core, and r is earth radius, L
3for target is to the distance of transmitter;
(3)L
2+L
3＝(t
2-t
0)×c ③
(4)α
1+α
2＝α ④
Wherein, α
1for the ∠ TOP of transmitter, the earth's core, target composition, α
2for the ∠ TOR that the ∠ ROP of receiver, the earth's core, target composition, α are transmitter, the earth's core, receiver composition;
Simultaneous 1. 2. 3. 4. equation, and then solve transmitter range-to-go L
2with the distance L of target to receiver
3;
Step 7: Simultaneous Equations, solves target location (X
p, Y
p, Z
p);
Transmitter is (X to the equation of target range
t-X
p)
2+ (Y
t-Y
p)
2+ (Z
t-Z
p)
2=L
2 25.
Target is (X to the equation of receiver distance
p-X
r)
2+ (Y
p-Y
r)
2+ (Z
p-Z
r)
2=L
3 26.
Target equation is at the earth's surface X
p 2+ Y
p 2+ Z
p 2=r
27.
Simultaneous 5. 6. 7. equation, and then solve coordinates of targets (X
p, Y
p, Z
p).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510072195.5A CN104678417A (en) | 2015-02-11 | 2015-02-11 | Target positioning method based on reflection signals of navigation satellite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510072195.5A CN104678417A (en) | 2015-02-11 | 2015-02-11 | Target positioning method based on reflection signals of navigation satellite |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104678417A true CN104678417A (en) | 2015-06-03 |
Family
ID=53313738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510072195.5A Pending CN104678417A (en) | 2015-02-11 | 2015-02-11 | Target positioning method based on reflection signals of navigation satellite |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104678417A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556835A (en) * | 2016-12-01 | 2017-04-05 | 西安电子科技大学 | Object localization method based on double-basis Forward-looking SAR image |
| CN108226863A (en) * | 2017-12-27 | 2018-06-29 | 武汉理工大学 | A kind of monocular Satellite Tracking localization method |
| CN110231616A (en) * | 2019-04-09 | 2019-09-13 | 电子科技大学 | Sea Moving objects detection and location method based on big-dipper satellite radiation source |
| CN110456387A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Active remote sensing satellite establishes barrier tapes to the method for aircraft search |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101344589A (en) * | 2008-08-29 | 2009-01-14 | 北京航空航天大学 | Space vehicle inspection device based on GNSS reflection signal |
| CN101833090A (en) * | 2010-03-12 | 2010-09-15 | 中国科学院遥感应用研究所 | Airborne ocean microwave remote sensing system utilizing signal sources of global satellite positioning system |
| CN102176010A (en) * | 2011-01-21 | 2011-09-07 | 西安电子科技大学 | Multiple-output-single-input-based passive radar positioning tracking system and positioning tracking method |
| CN103235325A (en) * | 2013-04-19 | 2013-08-07 | 北京航空航天大学 | Line segment dichotomy-based specular reflection point estimation algorithm |
| CN103576138A (en) * | 2013-11-21 | 2014-02-12 | 北京航空航天大学 | Satellite-borne passive radar location method based on GNSS-R (global navigation satellite system-reflection) signal geometrical relationship |
-
2015
- 2015-02-11 CN CN201510072195.5A patent/CN104678417A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101344589A (en) * | 2008-08-29 | 2009-01-14 | 北京航空航天大学 | Space vehicle inspection device based on GNSS reflection signal |
| CN101833090A (en) * | 2010-03-12 | 2010-09-15 | 中国科学院遥感应用研究所 | Airborne ocean microwave remote sensing system utilizing signal sources of global satellite positioning system |
| CN102176010A (en) * | 2011-01-21 | 2011-09-07 | 西安电子科技大学 | Multiple-output-single-input-based passive radar positioning tracking system and positioning tracking method |
| CN103235325A (en) * | 2013-04-19 | 2013-08-07 | 北京航空航天大学 | Line segment dichotomy-based specular reflection point estimation algorithm |
| CN103576138A (en) * | 2013-11-21 | 2014-02-12 | 北京航空航天大学 | Satellite-borne passive radar location method based on GNSS-R (global navigation satellite system-reflection) signal geometrical relationship |
Non-Patent Citations (2)
| Title |
|---|
| 刘夫体: ""一种"北斗"双星定位新算法"", 《全球定位系统》 * |
| 宋学忠: "《http://xueshu.baidu.com/s?wd=paperuri%3A%2887d8e3abe35989af52096a177f879900%29&filter=sc_long_sign&tn=SE_xueshusource_2kduw22v&sc_vurl=http%3A%2F%2Fd.wanfangdata.com.cn%2FThesis%2FD471840&ie=utf-8&sc_us=12462402299497605740》", 3 July 2014 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556835A (en) * | 2016-12-01 | 2017-04-05 | 西安电子科技大学 | Object localization method based on double-basis Forward-looking SAR image |
| CN106556835B (en) * | 2016-12-01 | 2019-03-26 | 西安电子科技大学 | Object localization method based on biradical Forward-looking SAR image |
| CN108226863A (en) * | 2017-12-27 | 2018-06-29 | 武汉理工大学 | A kind of monocular Satellite Tracking localization method |
| CN108226863B (en) * | 2017-12-27 | 2021-12-03 | 武汉理工大学 | Monocular satellite tracking and positioning method |
| CN110231616A (en) * | 2019-04-09 | 2019-09-13 | 电子科技大学 | Sea Moving objects detection and location method based on big-dipper satellite radiation source |
| CN110231616B (en) * | 2019-04-09 | 2021-01-12 | 电子科技大学 | Sea surface moving target detection and positioning method based on Beidou satellite radiation source |
| CN110456387A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Active remote sensing satellite establishes barrier tapes to the method for aircraft search |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103308934B (en) | Method for positioning indoor moving persons by aid of WIFI (wireless fidelity) reflected signals | |
| US8711033B2 (en) | Method and system for the geolocation of a radio beacon in a search and rescue system | |
| RU2469346C1 (en) | Method of positioning underwater objects | |
| CN104391281A (en) | Method for improving sky-wave radar sea surface ship target tracking and positioning precision | |
| CN101446634A (en) | Combination measurement method for high precision position, azimuth angle and pitch angle, and device thereof | |
| CN103576138B (en) | A kind of spaceborne passive radar localization method based on GNSS-R signal geometric relationship | |
| CN102981144A (en) | Method for three-dimensional passive positioning of targets by air moving platform | |
| RU2437114C1 (en) | System for determining coordinates of underwater objects | |
| CN104678418B (en) | One kind is based on many star GNSS R sea-surface target location ambiguity removing methods | |
| CN103968830B (en) | Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method | |
| CN104678417A (en) | Target positioning method based on reflection signals of navigation satellite | |
| WO2019001415A1 (en) | Large-area and high-precision positioning method capable of replacing conventional radio navigation system | |
| RU2674404C1 (en) | Method of navigation and positioning of underwater objects in deep-water channel at large distance and system for its implementation | |
| CN204086553U (en) | Based on coastal waters and the port area positioning system of Big Dipper pseudo satellite, pseudolite | |
| CN110568463A (en) | Buoy underwater positioning and position reporting method and device based on Beidou | |
| CN108345015A (en) | A kind of radio high-precision frequency hopping localization method with strong anti-interference ability | |
| Raquet | Navigation using pseudolites beacons and signals of opportunity | |
| RU127944U1 (en) | INTEGRATED ATMOSPHERIC RADIO sounding system | |
| Enge | Retooling the global positioning system | |
| CN106342214B (en) | A kind of ionosphere lateral scattering detection method | |
| RU2568071C1 (en) | Hydroacoustic positioning system | |
| WO2016166752A1 (en) | Method and system for locating underground targets | |
| RU2613342C1 (en) | Compact navigation system of atmosphere radiosonde observation | |
| RU2802050C1 (en) | Method for local radio navigation of a moving object | |
| CN214623056U (en) | GNSS high accuracy positioner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20180209 |
|
| AD01 | Patent right deemed abandoned |