CN104931993A - Miniature positioning, navigation and timing system - Google Patents
Miniature positioning, navigation and timing system Download PDFInfo
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- CN104931993A CN104931993A CN201510271925.4A CN201510271925A CN104931993A CN 104931993 A CN104931993 A CN 104931993A CN 201510271925 A CN201510271925 A CN 201510271925A CN 104931993 A CN104931993 A CN 104931993A
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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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
Abstract
The invention provides a miniature positioning, navigation and timing system comprising a chip atomic clock, a micro inertial measurement unit and a global positioning system (GPS) software receiver. The chip atomic clock is used to provide a clock signal for the micro inertial measurement unit and the GPS software receiver, assist the GPS software receiver in navigation positioning operation, and perform correction according to a correction signal sent by the GPS software receiver. The micro inertial measurement unit is used to measure motion information of a measured target according to the clock signal, wherein the motion information includes acceleration and angular speed. The GPS software receiver is used to receive a positioning signal sent by a GPS and perform navigation positioning operation according to the positioning signal and the motion information of the measured target in order to obtain positioning, navigation and timing information. The system of the invention has the advantages of high robustness PNT service, high precision, and strong anti-interference performance.
Description
Technical field
The present invention relates to location navigation Service of Timing field, particularly the miniature location navigation time dissemination system of one.
Background technology
Location, navigation and time (Positioning, Navigation and Timing, PNT) are the gordian techniquies describing Time and place.Along with the development in epoch, the dependence of the mankind to PNT has exceeded any period of history.
PNT technical service, in national economy, national security and military field, is the strategy mark of overall national strength and international status.The U.S., Russia, European Union and China etc. have all successively formulated national PNT development plan, set up and improve the PNT system of this country.Military field is the most important application direction of PNT technology, is the main power resources of PNT technology, traction PNT technical development.The battlefield main body of PNT service comprises equipment (aircraft, naval vessel, battlebus etc.), weapon (guided missile, shell etc.), personnel (soldier, officers and men etc.) etc.Positioning function provides accurate and accurate two dimension or three-dimensional position, direction for battlefield main body; Navigation feature provides existing position and desired position for war main body, corrects course, velocity information, arrives target ground; Time service function for battlefield main body provide common time benchmark, make it obtain and keep accurately and chronometer time.Due to the severity of military struggle, the PNT technology being applied to military field has special requirement in availability, accuracy, precision, integrity, security and actual effect etc., must adapt to battlefield surroundings.
GPS (Global Position System) (Global Navigation Satellite System, GNSS) be most widely used PNT technology, various countries have built the multiple PNT system based on GNSS, the GPS of the such as U.S., Muscovite GLONASS, the Galileo of European Union and the Big Dipper of China, realize location navigation and the time service service of different accuracy and coverage.But the shortcoming of GNSS is to be subject to block, disturb and Refresh Data rate low.Inertial navigation system is based upon on the basis of Newton classic mechanics law, utilizes accelerometer and gyroscope by the position of coordinate transform and integral algorithm determination carrier, speed and attitude.Inertial navigation system is not once after obtaining carrier initial position, need, from carrier transmission signal or Received signal strength, namely to complete navigation locating function by its own system, have very excellent independence and disguise.MEMS IMU (MIMU) is consolidated in carrier, form strapdown inertial navigation system (SINS), but SINS has the shortcoming of the accumulation of error.
Summary of the invention
The present invention is intended to solve one of technical matters in above-mentioned correlation technique at least to a certain extent.
For this reason, the object of the invention is to propose a kind of miniature location navigation time dissemination system, this system have PNT serve robustness high, precision is high, the advantage of strong interference immunity.
To achieve these goals, embodiments of the invention propose a kind of miniature location navigation time dissemination system, it is characterized in that, comprise: chip atomic clock, micro inertial measurement unit and Global Positioning System (GPS) software receiver, wherein, described chip atomic clock is used for providing clock signal for described micro inertial measurement unit and Global Positioning System (GPS) software receiver, and auxiliary described Global Positioning System (GPS) software receiver carries out navigator fix computing, and correct according to the correction signal that described Global Positioning System (GPS) software receiver sends; Described micro inertial measurement unit is used for the movable information measuring measured target according to described clock signal, and wherein, described movable information comprises acceleration and angular velocity; The positioning signal that described Global Positioning System (GPS) software receiver sends for receiving Global Positioning System (GPS), and carry out navigator fix computing according to the movable information of described positioning signal, described measured target, to obtain location, navigation and time service information.
According to the miniature location navigation time dissemination system of the embodiment of the present invention, between chip atomic clock CSAC, micro inertial measurement unit MIMU with Global Positioning System (GPS) software receiver SDR, the degree of depth is coupled, and provides the location of robust, navigation and temporal information by combined filter method.This system has PNT and serves that robustness is high, precision is high, the advantage of strong interference immunity, is applicable to serve robustness to PNT, precision, anti-interference require high occasion, such as aircraft, rocket, vehicle, pedestrian etc.
In addition, miniature location navigation time dissemination system according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, described Global Positioning System (GPS) software receiver comprises: radio-frequency front-end, described radio-frequency front-end is used for amplifying described positioning signal, filtering, frequency conversion and collection; Digital signal processor, described digital signal processor is used for realizing signal capture, tracking, navigation message extraction, positioning calculation and combined filter function.
In some instances, described micro inertial measurement unit comprises: the microelectromechanical-systems accelerometer that three axles are orthogonal and the orthogonal microelectromechanical-systems gyroscope of three axles; Three axle orthohormbic structures, the micro electro mechanical system accelerator that described three axles are orthogonal and the orthogonal MEMS gyroscope of three axles are separately positioned in described three axle orthohormbic structures; Treatment circuit, described treatment circuit is used for carrying out data acquisition and calibration compensation, wherein, described micro inertial measurement unit be used for by microelectromechanical-systems accelerometer orthogonal for described three axles and three axles orthogonal microelectromechanical-systems gyroscope combination, to obtain acceleration and the angular velocity of measured target.
In some instances, described micro inertial measurement unit is also for predicting Doppler shift and the Doppler shift rate of change of the radiofrequency signal of described software receiver by described acceleration and angular velocity.
In some instances, described micro inertial measurement unit also carries out signal trace for auxiliary described Global Positioning System (GPS) software receiver.
In some instances, described chip atomic clock is the passive-type atomic clock based on CPT principle.
In some instances, described acceleration and angular velocity are represented by following formula:
Wherein,
for acceleration,
for angular velocity vector.
In some instances, the correction signal that described Global Positioning System (GPS) software receiver sends is 1PPS signal.
In some instances, based on linear optimal, described chip atomic clock estimates that principle assists described Global Positioning System (GPS) software receiver to carry out navigator fix computing.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the structured flowchart of miniature according to an embodiment of the invention location navigation time dissemination system;
Fig. 2 is the structured flowchart of Global Positioning System (GPS) software receiver according to an embodiment of the invention;
Fig. 3 is the structured flowchart of micro inertial measurement unit according to an embodiment of the invention;
Fig. 4 is the coupled relation schematic diagram of miniature according to an embodiment of the invention location navigation time dissemination system; And
Fig. 5 is the workflow schematic diagram of miniature according to an embodiment of the invention location navigation time dissemination system.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
Below in conjunction with accompanying drawing, the miniature location navigation time dissemination system according to the embodiment of the present invention is described.This system 100 can be used for the location navigation and the temporal information that provide motion carrier such as guided missile, aircraft, vehicle, personnel etc.
Fig. 1 is the structured flowchart of miniature according to an embodiment of the invention location navigation time dissemination system.As shown in Figure 1, this system 100 comprises: chip atomic clock (Chip Scale Atomic Clock, CSAC) 101, micro inertial measurement unit (MicroInertial Measurement Unit, MIMU) 103 and Global Positioning System (GPS) software receiver (Soft DefinedReceiver, SDR) 102.Wherein, it should be noted that, in specific implementation process, chip atomic clock 101, micro inertial measurement unit 103 and Global Positioning System (GPS) software receiver 102 can be manufactured in same printed circuit board (PCB), also can combine in any way, such as chip atomic clock 101 and micro inertial measurement unit 103 are at same printed circuit board (PCB), and Global Positioning System (GPS) software receiver 102 is at another printed circuit board (PCB), is connected between them by low-loss cable.Under normal circumstances, chip atomic clock 101 and micro inertial measurement unit 103 are arranged on same printed circuit board (PCB), and Global Positioning System (GPS) software receiver 102 utilizes cable to be connected with the circuit board at chip atomic clock 101 and micro inertial measurement unit 103 place.In some instances, the clock signal of chip atomic clock 101 is such as but is not limited to 10MHz.As fruit chip atomic clock 101 and micro inertial measurement unit 103 are not arranged on same printed circuit board (PCB), so, the clock signal of chip atomic clock 101 need be connected with 103 with concentric cable short as far as possible.
Specifically, chip atomic clock 101 is for providing clock signal for micro inertial measurement unit 103 and Global Positioning System (GPS) software receiver 102, and auxiliary global satellite positioning system software receiver 102 carries out navigator fix computing, and correct according to the correction signal that Global Positioning System (GPS) software receiver 102 sends.Wherein, in one embodiment of the invention, the correction signal that Global Positioning System (GPS) software receiver 102 sends is such as 1PPS signal.Further, such as, based on linear optimal, chip atomic clock 101 estimates that principle auxiliary global satellite positioning system software receiver 102 carries out navigator fix computing.
In chip atom, the 101 quantum leap phenomenons utilizing atom or intramolecule energy inter-stage, using transition spectral line frequency as with reference to standard, lock, or the oscillator signal directly utilizing atomic reorganization to produce are as time reference to local oscillation signal.Nuclear energy has quantized feature, and the wave frequency that atomic transition is launched or absorbed is highly stable.
In some instances, in chip atom, 101 is such as the passive-type atomic clock based on CPT principle, and adopts micro-electromechanical system (MEMS) technique to process, there is little, low in energy consumption, the lightweight and low cost and other advantages of volume, such as, under normal circumstances, 1s frequency stability is better than 5 × 10
-10, volume is no more than 30 cubic centimetres.
Micro inertial measurement unit 103 is for measuring the movable information of measured target according to clock signal, wherein, movable information comprises acceleration and angular velocity.
In some instances, as shown in Figure 3, this micro inertial measurement unit 103 comprises the orthogonal microelectromechanical-systems accelerometer of three axles, three axles orthogonal microelectromechanical-systems gyroscope, three axle orthohormbic structure and treatment circuits.Wherein, the micro electro mechanical system accelerator that three axles are orthogonal and the orthogonal MEMS gyroscope of three axles are separately positioned in three axle orthohormbic structures.Treatment circuit is used for carrying out data acquisition and calibration compensation.Micro inertial measurement unit 103 for by microelectromechanical-systems accelerometer orthogonal for three axles and three axles orthogonal microelectromechanical-systems gyroscope combination, to obtain acceleration and the angular velocity of measured target.
Specifically, as shown in Figure 3, the orthogonal microelectromechanical-systems accelerometer of three axles is respectively X-axis MEMS (Micro-Electro-Mechanical System, MEMS (micro electro mechanical system)) accelerometer 301, Y-axis mems accelerometer 302 and Z axis mems accelerometer 303.The orthogonal microelectromechanical-systems gyroscope of three axles is respectively X-axis MEMS gyro instrument 304, Y-axis MEMS gyro instrument 305, Z axis MEMS gyro instrument 306.Wherein, X/Y/Z mems accelerometer and X/Y/ZMEMS gyroscope are orthogonal is respectively installed in three axle orthohormbic structures 307.Vibroshock 308 is due to the interference of filtering carrier dither.Treatment circuit 309 is to carrying out data acquisition and calibration compensation to 301 ~ 306 respectively.Wherein, the output of micro inertial measurement unit 103 is acceleration and the angular velocity information of carrier, is input as the clock signal 310 that chip atomic clock 101 produces.The range of X-axis mems accelerometer 301, Y-axis mems accelerometer 302 and Z axis mems accelerometer 303 is such as ± 30g, and bias instaility is better than 1mg; The range of X-axis MEMS gyro instrument 304, Y-axis MEMS gyro instrument 305, Z axis MEMS gyro instrument 306 is ± 400 °/s, and bias instaility is better than 10 °/h.In addition, the technical indicator of 301 ~ 306 is applicable to the uses such as guided missile, aircraft, vehicle and personnel.
When not having satellite-signal, micro inertial measurement unit 103 independently can provide locating navigation information, comprises the acceleration of carrier, speed, position, angular velocity and attitude information.
In one embodiment of the invention, micro inertial measurement unit 103 export acceleration and angular velocity represented by following formula:
Wherein,
for X-axis mems accelerometer 301, Y-axis mems accelerometer 302 and Z axis mems accelerometer 303 export the acceleration formed,
for X-axis MEMS gyro instrument 304, Y-axis MEMS gyro instrument 305, Z axis MEMS gyro instrument 306 export the angular velocity vector formed,
represent the output of micro inertial measurement unit 103.
Further, the error compensation equations of micro inertial measurement unit 103 is:
The error correction equation of micro inertial measurement unit 103 is:
Wherein, g
1describe the error correcting method of micro inertial measurement unit 103,
for the correction in k moment,
for k moment revised acceleration and angular velocity vector.
The positioning signal that Global Positioning System (GPS) software receiver 102 sends for receiving Global Positioning System (GPS), and carry out navigator fix computing according to the movable information of positioning signal, measured target, to obtain location, navigation and time service information.
In some instances, as shown in Figure 2, Global Positioning System (GPS) software receiver 102 comprises: radio-frequency front-end and digital signal processor.Wherein, radio-frequency front-end be used for amplifying positioning signal, filtering, frequency conversion and collection.Digital signal processor is used for realizing signal capture, tracking, navigation message extraction, positioning calculation and combined filter function.More specifically, composition graphs 2, in specific implementation process, antenna 201 receives the signal of GPS (Global Position System) GPS, and wherein, antenna 201 can receive only a certain satellite navigation signals, also can receive multiple satellite navigation signals simultaneously.Prime amplifier 202, low-converter 203 and A/D converter 204 form radio frequency integrated circuit RFIC, and benchmark vibrates 208 through frequency synthesizer 209 for RFIC provides clock signal.In this example, the oscillator signal of benchmark oscillation module 208 comes from chip atomic clock 101, and this oscillator signal is such as the sinusoidal signal of 10MHz.Signal capture module 205, signal trace module 206 and positioning navigation module 207 are completed by microprocessor, and finally, the output of Global Positioning System (GPS) software receiver 102 is position and velocity information and 1PPS signal.
Further, in one embodiment of the invention, in the process of Global Positioning System (GPS) software receiver 102 capturing satellite signal, micro inertial measurement unit 103 also for Doppler shift and the Doppler shift rate of change of the radiofrequency signal by acceleration and angular velocity aid forecasting Global Positioning System (GPS) software receiver 102, and then improves the acquisition performance of Global Positioning System (GPS) software receiver 102 under high current intelligence.And, in the process of Global Positioning System (GPS) software receiver 102 tracking satellite signal, micro inertial measurement unit 103 is also for providing carrier movement information, auxiliary global satellite positioning system software receiver 102 carries out signal trace, to reduce track loop bandwidth, improve the antijamming capability of Global Positioning System (GPS) software receiver 102.
In concrete example, shown in composition graphs 4 and Fig. 5, chip atomic clock 101, between Global Positioning System (GPS) software receiver 102 and micro inertial measurement unit 103, there is strong coupling relation, to provide robust, high precision, jamproof location, navigation and time service (PNT) service.
Specifically, chip atomic clock 101 provides high stable clock signal for Global Positioning System (GPS) software receiver 102 and micro inertial measurement unit 103, Global Positioning System (GPS) software receiver 102 is by 1PPS signal correction chip atomic clock 101, and the temporal information long-time stability that chip atomic clock 101 is provided improve.401 is correcting unit, is made up of digital phase discriminator 411, regulator 421, chip atomic clock 101, frequency divider 431.Wherein, 1PPS signal comes from spaceborne the time frequency system, has good long-time stability.Correcting unit 401 utilizes the long-time stability of 1PPS signal to correct the frequency error of chip atomic clock 101.Further, chip atomic clock 101 utilizes the high-precision time to keep auxiliary global satellite positioning system software receiver 102 to catch, chip atomic clock 101 does " clock slides " process, the accuracy of retention time information within relative long period of time, reduce the hunting zone of code phase in acquisition procedure, improve capture rate.Catch for long code, the secondary effects of chip atomic clock 101 is more remarkable.Chip atomic clock 101 is also located for auxiliary global satellite positioning system software receiver 102, and supplementary means estimates principle based on linear optimal, traditional orientation problem (namely solving time and three-dimensional coordinate) is changed to and only solves three-dimensional coordinate.Chip atomic clock 101 improves the geometric dilution of precision DOP in Global Positioning System (GPS) software receiver 102 solution procedure, especially the geometric dilution of precision VDOP of vertical direction.When only capturing three satellites, chip atomic clock 101 auxiliary global satellite positioning system software receiver 102 can realize three-dimensional localization, improves positioning precision.
Further, shown in composition graphs 4 and Fig. 5, chip atomic clock 101, between Global Positioning System (GPS) software receiver 102 and micro inertial measurement unit 103, there is strong coupling relation.The acceleration that micro inertial measurement unit 103 exports and angular velocity information, through compensation tache 413 and strap-down navigation computing module 423, export carrier positions, speed and attitude information (p, v, θ).Micro inertial measurement unit 103, compensation tache 413 and strap-down navigation computing module 423 form strapdown inertial navigation system (SINS) 113.The acceleration of strapdown inertial navigation system 113, velocity information auxiliary signal trapping module 205, reduce signal capture module 205 searching carrier scope.Further, the acceleration of strapdown inertial navigation system 113, velocity information auxiliary signal tracking module 206, reduce carrier loop bandwidth sum code phase search scope, improves dynamic property and the antijamming capability of Global Positioning System (GPS) software receiver 102.Pseudorange, pseudorange rates, inertial device error information that Global Positioning System (GPS) software receiver 102 and strapdown inertial navigation system 113 utilize Kalman filter 123 to obtain to optimize.Locating navigation information after being merged by Kalman filter output Global Positioning System (GPS) software receiver 102 and strapdown inertial navigation system 113.Wherein, above-mentioned combined filter method also can be EKF filtering or UKF filtering.
Further, in this example, the location navigation output equation of strapdown inertial navigation system 1113 is such as:
Wherein, f describes strapdown inertial navigation method, g
2describe strapdown inertial navigation system 1113 error correcting method.
for the navigation information of k moment unmodified;
for k moment revised navigation information;
come from outside rectification information, come from Kalman filter equation in this example.
To sum up, the structure of the miniature location navigation time dissemination system of the above embodiment of the present invention and principle can be summarized as follows: this system is made up of chip-scale atomic clock CSAC, micro inertial measurement unit MIMU and Global Positioning System (GPS) software receiver SDR.CSAC utilizes quantum effect to provide high stability clock signal; MIMU, by 3 axis MEMS accelerometer and three axis MEMS gyro combination, provides acceleration, angular velocity information; SDR utilizes radio-frequency front-end to receive Global Positioning System (GPS) signal, by digital signal processing unit acquisition speed and positional information.This system has following typical feature: be highly coupled between CSAC, MIMU and SDR, CSAC and MIMU, SDR exist hardware coupled relation, and CSAC, MIMU and SDR exist software coupled relation.
According to the miniature location navigation time dissemination system of the embodiment of the present invention, between chip atomic clock CSAC, micro inertial measurement unit MIMU with Global Positioning System (GPS) software receiver SDR, the degree of depth is coupled, and provides the location of robust, navigation and temporal information by combined filter method.This system has PNT and serves that robustness is high, precision is high, the advantage of strong interference immunity, is applicable to serve robustness to PNT, precision, anti-interference require high occasion, such as aircraft, rocket, vehicle, pedestrian etc.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In describing the invention, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary indirect contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this instructions or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (9)
1. a miniature location navigation time dissemination system, is characterized in that, comprising: chip atomic clock, micro inertial measurement unit and Global Positioning System (GPS) software receiver, wherein,
Described chip atomic clock is used for providing clock signal for described micro inertial measurement unit and Global Positioning System (GPS) software receiver, and auxiliary described Global Positioning System (GPS) software receiver carries out navigator fix computing, and correct according to the correction signal that described Global Positioning System (GPS) software receiver sends;
Described micro inertial measurement unit is used for the movable information measuring measured target according to described clock signal, and wherein, described movable information comprises acceleration and angular velocity;
The positioning signal that described Global Positioning System (GPS) software receiver sends for receiving Global Positioning System (GPS), and carry out navigator fix computing according to the movable information of described positioning signal, described measured target, to obtain location, navigation and time service information.
2. miniature location navigation time dissemination system according to claim 1, is characterized in that, described Global Positioning System (GPS) software receiver comprises:
Radio-frequency front-end, described radio-frequency front-end is used for amplifying described positioning signal, filtering, frequency conversion and collection;
Digital signal processor, described digital signal processor is used for realizing signal capture, tracking, navigation message extraction, positioning calculation and combined filter function.
3. miniature location navigation time dissemination system according to claim 1, it is characterized in that, described micro inertial measurement unit comprises:
The microelectromechanical-systems accelerometer that three axles are orthogonal and the orthogonal microelectromechanical-systems gyroscope of three axles;
Three axle orthohormbic structures, the micro electro mechanical system accelerator that described three axles are orthogonal and the orthogonal MEMS gyroscope of three axles are separately positioned in described three axle orthohormbic structures;
Treatment circuit, described treatment circuit is used for carrying out data acquisition and calibration compensation,
Wherein, described micro inertial measurement unit be used for by microelectromechanical-systems accelerometer orthogonal for described three axles and three axles orthogonal microelectromechanical-systems gyroscope combination, to obtain acceleration and the angular velocity of measured target.
4. miniature location navigation time dissemination system according to claim 2, it is characterized in that, described micro inertial measurement unit is also for predicting Doppler shift and the Doppler shift rate of change of the radiofrequency signal of described Global Positioning System (GPS) software receiver by described acceleration and angular velocity.
5. miniature location navigation time dissemination system according to claim 2, is characterized in that, described micro inertial measurement unit also carries out signal trace for auxiliary described Global Positioning System (GPS) software receiver.
6. miniature location navigation time dissemination system according to claim 1, is characterized in that, described chip atomic clock is the passive-type atomic clock based on CPT principle.
7. miniature location navigation time dissemination system according to claim 1, is characterized in that, described acceleration and angular velocity are represented by following formula:
Wherein,
for acceleration,
for angular velocity vector.
8. miniature location navigation time dissemination system according to claim 1, is characterized in that, the correction signal that described Global Positioning System (GPS) software receiver sends is 1PPS signal.
9. miniature location navigation time dissemination system according to claim 1, is characterized in that, based on linear optimal, described chip atomic clock estimates that principle assists described Global Positioning System (GPS) software receiver to carry out navigator fix computing.
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| CN105549058A (en) * | 2016-01-22 | 2016-05-04 | 清华大学 | Atomic clock, micro-inertia measurement combination and navigation system coupling method and system |
| CN107063232A (en) * | 2016-12-23 | 2017-08-18 | 中国电子科技集团公司信息科学研究院 | The navigator fix time service microdevice and its integrated approach of High Density Integration |
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