CN104931993B - Miniature location navigation time dissemination system - Google Patents
Miniature location navigation time dissemination system Download PDFInfo
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- CN104931993B CN104931993B CN201510271925.4A CN201510271925A CN104931993B CN 104931993 B CN104931993 B CN 104931993B CN 201510271925 A CN201510271925 A CN 201510271925A CN 104931993 B CN104931993 B CN 104931993B
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention proposes a kind of miniature location navigation time dissemination system, including：Chip atomic clock, micro inertial measurement unit and GPS software receiver, wherein, it is that micro inertial measurement unit and GPS software receiver provide clock signal that chip atomic clock, which is used for, and auxiliary global satellite positioning system software receiver carries out navigator fix computing, and the correction signal sent according to GPS software receiver is corrected；Micro inertial measurement unit is used for the movable information that measured target is measured according to clock signal, wherein, movable information includes acceleration and angular speed；GPS software receiver is used to receive the positioning signal that GPS is sent, and carries out navigator fix computing according to the movable information of positioning signal, measured target, to be positioned, navigated and time service information.The system of the present invention has the advantages that PNT service robustness is high, precision is high, strong interference immunity.
Description
Technical field
The present invention relates to location navigation Service of Timing field, more particularly to a kind of miniature location navigation time dissemination system.
Background technology
Positioning, navigation and time (Positioning, Navigation and Timing, PNT) are description time and sky
Between key technology.With the development in epoch, dependence of the mankind to PNT has exceeded any period of history.
PNT technological services, in national economy, national security and military field, are the strategy marks of overall national strength and international status
Will.The U.S., Russia, European Union and China etc. have all successively formulated national PNT development plans, set up and improve the PNT of this country
System.Military field is the most important application direction of PNT technologies, is the main power resources of PNT technologies, draws PNT technologies
Development.PNT service battlefield main body include 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 is
War main body provides existing position and desired position, corrects course, velocity information, with reaching target；Timing function is
Battlefield main body provides common time benchmark, obtains it and keeps accurate and chronometer time., should due to the severity of military struggle
PNT technologies for military field have spy in terms of availability, the degree of accuracy, precision, integrity, security and actual effect
Different requirement, it is necessary to adapt to battlefield surroundings.
GPS (Global Navigation Satellite System, GNSS) is most widely used
PNT technologies, various countries have built a variety of PNT systems based on GNSS, such as the GPS in the U.S., the GLONASS of Russia,
The Galileo of European Union and the Big Dipper of China, realize location navigation and the time service service of different accuracy and coverage.However,
GNSS shortcoming is easily to be blocked, disturb and Refresh Data rate is low.Inertial navigation system is set up fixed in Newton classic mechanics
On the basis of rule, using accelerometer and gyroscope determined by coordinate transform and integral algorithm the position of carrier, speed and
Posture.After inertial navigation system is once obtain carrier initial position, it is not necessary to transmit signal from carrier or receive letter
Number, you can navigation locating function is completed by its own system, with very excellent independence and disguise.MEMS inertia measurements
Combination (MIMU) is consolidated in carrier, constitutes strapdown inertial navigation system (SINS), but SINS has the shortcomings that the accumulation of error.
The content of the invention
It is contemplated that at least solving one of technical problem in above-mentioned correlation technique to a certain extent.
Therefore, it is an object of the invention to propose a kind of miniature location navigation time dissemination system, there is the system PNT to service Shandong
Rod is 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, its feature
It is, including：Chip atomic clock, micro inertial measurement unit and GPS software receiver, wherein, the chip
It is that the micro inertial measurement unit and GPS software receiver provide clock signal that atomic clock, which is used for, and is aided in
The GPS software receiver carries out navigator fix computing, and soft according to the GPS
The correction signal that part receiver is sent is corrected；The micro inertial measurement unit is used to measure tested according to the clock signal
The movable information of target, wherein, the movable information includes acceleration and angular speed；The GPS software connects
Receipts machine is used to receive the positioning signal that GPS is sent, and according to the positioning signal, the measured target
Movable information carries out navigator fix computing, to be positioned, navigated and time service information.
Miniature location navigation time dissemination system according to embodiments of the present invention, chip atomic clock CSAC, micro inertial measurement unit
Depth is coupled between MIMU and GPS software receiver SDR, and provides robust by combined filter method
Positioning, navigation and temporal information.The system has the advantages that PNT service robustness is high, precision is high, strong interference immunity, it is adaptable to
The occasion that robustness, precision, anti-interference require high is serviced PNT, such as aircraft, rocket, vehicle, pedestrian.
In addition, miniature location navigation time dissemination system according to the above embodiment of the present invention can also have skill additional as follows
Art feature：
In some instances, the GPS software receiver includes：Radio-frequency front-end, the radio-frequency front-end
For being amplified, filtering to the positioning signal, frequency conversion and collection；Digital signal processor, the digital signal processor
For realizing signal capture, tracking, navigation message extraction, positioning calculation and combined filter function.
In some instances, the micro inertial measurement unit includes：The orthogonal microelectromechanical-systems accelerometer and three of three axles
The orthogonal microelectromechanical-systems gyroscope of axle；Three axle orthohormbic structures, three axle orthogonal micro electro mechanical system accelerator and three axles
Orthogonal MEMS gyroscope is separately positioned in the three axles orthohormbic structure；Process circuit, the process circuit is used for
Data acquisition and calibration compensation are carried out, wherein, the micro inertial measurement unit is used for the orthogonal microelectromechanical-systems of three axle
Accelerometer and the orthogonal microelectromechanical-systems gyroscope combination of three axles, to obtain the acceleration and angular speed of measured target.
In some instances, the micro inertial measurement unit is additionally operable to described soft by acceleration and angular speed prediction
The Doppler frequency shift and Doppler frequency shift rate of change of the radiofrequency signal of part receiver.
In some instances, the micro inertial measurement unit is additionally operable to aid in the GPS software to receive
Machine carries out signal trace.
In some instances, the chip atomic clock is the passive-type atomic clock based on CPT principles.
In some instances, the acceleration and angular speed is represented by equation below：
Wherein,For acceleration,For angular velocity vector.
In some instances, the correction signal that the GPS software receiver is sent is 1PPS signals.
In some instances, the chip atomic clock is based on linear optimal estimation principle and aids in the global positioning satellite system
Software receiver of uniting carries out navigator fix computing.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the structured flowchart of miniature location navigation time dissemination system according to an embodiment of the invention；
Fig. 2 is the structured flowchart of 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 location navigation time dissemination system according to an embodiment of the invention；And
Fig. 5 is the workflow schematic diagram of miniature location navigation time dissemination system according to an embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
Miniature location navigation time dissemination system according to embodiments of the present invention is described below in conjunction with accompanying drawing.The system 100 can use
In location navigation and temporal information of the offer motion carrier such as guided missile, aircraft, vehicle, personnel.
Fig. 1 is the structured flowchart of miniature location navigation time dissemination system according to an embodiment of the invention.As shown in figure 1,
The system 100 includes：Chip atomic clock (Chip Scale Atomic Clock, CSAC) 101, micro inertial measurement unit
(Micro Inertial Measurement Unit, MIMU) 103 and GPS software receiver (Soft
Defined Receiver, SDR) 102., wherein it is desired to which explanation, chip atomic clock 101, micro- in specific implementation process
Inertial Measurement Unit 103 and GPS software receiver 102 can be manufactured in same printed circuit board (PCB), can also
Combine in any way, such as chip atomic clock 101 and micro inertial measurement unit 103 are in same printed circuit board (PCB), and the whole world is defended
Star positioning system application receiver 102 is connected in another printed circuit board (PCB), between them by low-loss cable.Normal conditions
Under, chip atomic clock 101 and micro inertial measurement unit 103 are arranged on same printed circuit board (PCB), and GPS is soft
Part receiver 102 is connected using cable with the circuit board where chip atomic clock 101 and micro inertial measurement unit 103.At some
In example, the clock signal of chip atomic clock 101 is, for example, but is not limited to 10MHz.As fruit chip atomic clock 101 is surveyed with micro- inertia
Amount unit 103 is not set at same printed circuit board (PCB), then, the clock signal of chip atomic clock 101 need to be with as short as possible
Coaxial cable is connected with 103.
Specifically, chip atomic clock 101 is used to be that micro inertial measurement unit 103 and GPS software connect
Receipts machine 102 provides clock signal, and auxiliary global satellite positioning system software receiver 102 carries out navigator fix computing, and
It is corrected according to the correction signal that GPS software receiver 102 is sent.Wherein, in the reality of the present invention
Apply in example, the correction signal that GPS software receiver 102 is sent is, for example, 1PPS signals.Further, example
Such as, chip atomic clock 101 is navigated based on linear optimal estimation principle auxiliary global satellite positioning system software receiver 102
Positions calculations.
101 using the quantum leap phenomenon between atom or intramolecule energy level in chip atom, and transition spectral line frequency is made
For normative reference, local oscillation signal is locked, or the oscillator signal directly produced by the use of atomic reorganization is used as the time
With reference to.Nuclear energy has quantized feature, and the wave frequency that atomic transition is launched or absorbed is highly stable.
In some instances, the 101 for example, passive-type atomic clock based on CPT principles, and using micro- in chip atom
Mechatronic Systems MEMS technology is processed, with small volume, low in energy consumption, lightweight and low cost and other advantages, for example, generally feelings
Under condition, 1s frequency stabilities are better than 5 × 10-10, volume is no more than 30 cubic centimetres.
Micro inertial measurement unit 103 is used for the movable information that measured target is measured according to clock signal, wherein, movable information
Including acceleration and angular speed.
In some instances, as shown in figure 3, the micro inertial measurement unit 103 adds including the orthogonal microelectromechanical-systems of three axles
The orthogonal microelectromechanical-systems gyroscope of speedometer, three axles, three axle orthohormbic structures and process circuit.Wherein, the orthogonal microcomputer of three axles
Electric system accelerometer and the orthogonal MEMS gyroscope of three axles are separately positioned in three axle orthohormbic structures.Process circuit is used
In progress data acquisition and calibration compensation.Micro inertial measurement unit 103 is used for the orthogonal microelectromechanical-systems accelerometer of three axles
The microelectromechanical-systems gyroscope combination orthogonal with three axles, to obtain the acceleration and angular speed 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) 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 gyroscope 304, Y-axis MEMS gyroscope
305th, Z axis MEMS gyroscope 306.Wherein, X/Y/Z mems accelerometers and X/Y/Z MEMS gyroscopes are orthogonal respectively is installed on
In three axle orthohormbic structures 307.Damper 308 is due to filtering out the interference of carrier dither.309 pairs of process circuit respectively to 301~
306 carry out data acquisition and calibration compensation.Wherein, micro inertial measurement unit 103 is output as the acceleration and angular speed of carrier
Information, inputs the clock signal 310 produced for chip atomic clock 101.X-axis mems accelerometer 301, Y-axis mems accelerometer
302 and the range of Z axis mems accelerometer 303 be, for example, ± 30g, bias instaility is better than 1mg；X-axis MEMS gyroscope 304, Y
Axle MEMS gyroscope 305, the range of Z axis MEMS gyroscope 306 are ± 400 °/s, and bias instaility is better than 10 °/h.In addition, 301
~306 technical indicator is applied to guided missile, aircraft, vehicle and personnel etc. and used.
In the case of no satellite-signal, micro inertial measurement unit 103 can separately provide locating navigation information, including carry
Acceleration, speed, position, angular speed and the attitude information of body.
In one embodiment of the invention, the acceleration and angular speed that micro inertial measurement unit 103 is exported passes through as follows
Formula is represented：
Wherein,It is defeated for X-axis mems accelerometer 301, Y-axis mems accelerometer 302 and Z axis mems accelerometer 303
Go out the acceleration of composition,Exported for X-axis MEMS gyroscope 304, Y-axis MEMS gyroscope 305, Z axis MEMS gyroscope 306
The angular velocity vector of composition,Represent the output of micro inertial measurement unit 103.
Further, the error compensation equations of micro inertial measurement unit 103 are：
The error correction equation of micro inertial measurement unit 103 is：
Wherein, g1The error correcting method of micro inertial measurement unit 103 is described,For the correction at k moment,For k
Moment revised acceleration and angular velocity vector.
GPS software receiver 102 is used to receive the positioning signal that GPS is sent,
And navigator fix computing is carried out according to the movable information of positioning signal, measured target, to be positioned, be navigated and time service information.
In some instances, as shown in Fig. 2 GPS software receiver 102 includes：Radio-frequency front-end sum
Word signal processor.Wherein, radio-frequency front-end be used to being amplified positioning signal, filter, frequency conversion and collection.Digital Signal Processing
Device is used to realize signal capture, tracking, navigation message extraction, positioning calculation and combined filter function.More specifically, with reference to figure
2, in specific implementation process, antenna 201 receives GPS GPS signal, wherein, antenna 201 can only connect
A certain satellite navigation signals are received, a variety of satellite navigation signals can also be received simultaneously.Preamplifier 202, low-converter 203
RF IC RFIC is constituted with A/D converter 204, benchmark vibration 208 provides clock by frequency synthesizer 209 for RFIC
Signal.In this example, the oscillator signal of benchmark oscillation module 208 comes from chip atomic clock 101, and the oscillator signal is, for example,
10MHz sinusoidal signal.Signal capture module 205, signal trace module 206 and positioning navigation module 207 are by microprocessor
Complete, finally, GPS software receiver 102 is output as position and velocity information and 1PPS signals.
Further, in one embodiment of the invention, defended in the capture of GPS software receiver 102
During star signal, micro inertial measurement unit 103 is additionally operable to by acceleration and angular speed aid forecasting global positioning satellite
The Doppler frequency shift and Doppler frequency shift rate of change of the radiofrequency signal of system software receiver 102, and then it is fixed to improve global satellite
Acquisition performance of the position system software receiver 102 in the case of high dynamic.And, in GPS software receiver
During 102 tracking satellite signals, micro inertial measurement unit 103 also provides for carrier movement information, assisted global satellite
Positioning system application receiver 102 carries out signal trace, to reduce track loop bandwidth, improves GPS software
The antijamming capability of receiver 102.
In specific example, with reference to shown in Fig. 4 and Fig. 5, chip atomic clock 101, GPS software are received
There is close coupling relation between machine 102 and micro inertial measurement unit 103, with provide robust, high accuracy, it is jamproof positioning, lead
Boat and time service (PNT) service.
Specifically, chip atomic clock 101 is GPS software receiver 102 and micro inertial measurement unit
103 provide high stable clock signal, and GPS software receiver 102 passes through 1PPS signal correction chip atomic clocks
101 so that the temporal information long-time stability that chip atomic clock 101 is provided are improved.401 be correction unit, by numeral mirror
Phase device 411, adjuster 421, chip atomic clock 101, frequency divider 431 are constituted.Wherein, 1PPS signals come from spaceborne time-frequency system
System, with preferable long-time stability.Correct unit 401 and correct chip atomic clock 101 using the long-time stability of 1PPS signals
Frequency error.Further, chip atomic clock 101 keeps auxiliary global satellite positioning system software using the high-precision time
Receiver 102 is captured, and chip atomic clock 101 does " clock is slided " processing, the retention time information within relatively long a period of time
Accuracy, reduce acquisition procedure in code phase hunting zone, improve capture rate.For long Code acquisition, chip atomic clock
101 secondary effects are more notable.Chip atomic clock 101, which is additionally operable to auxiliary global satellite positioning system software receiver 102, to be determined
Position, supplementary means is based on linear optimal and estimates principle, and traditional orientation problem (solving time and three-dimensional coordinate) is become and turned to only
Only solve three-dimensional coordinate.Chip atomic clock 101 improves the geometry in the solution procedure of GPS software receiver 102
Dilution of precision DOP, the geometric dilution of precision VDOP being especially vertically oriented.When only capturing three satellites, chip atom
The auxiliary global satellite positioning system software receiver 102 of clock 101 can realize three-dimensional localization, improve positioning precision.
Further, with reference to shown in Fig. 4 and Fig. 5, chip atomic clock 101, GPS software receiver 102
There is close coupling relation between micro inertial measurement unit 103.The acceleration and angular speed letter that micro inertial measurement unit 103 is exported
Breath passes through compensation tache 413 and strap-down navigation computing module 423, output carrier positions, speed and attitude information (p, v, θ).
Micro inertial measurement unit 103, compensation tache 413 and strap-down navigation computing module 423 constitute strapdown inertial navigation system (SINS)
113.Acceleration, the velocity information auxiliary signal trapping module 205 of strapdown inertial navigation system 113, reduce signal capture module
205 searching carrier scopes.Further, the acceleration of strapdown inertial navigation system 113, velocity information auxiliary signal tracking module
206, carrier loop bandwidth and code phase search scope are reduced, the dynamic of GPS software receiver 102 is improved
Performance and antijamming capability.GPS software receiver 102 utilizes Kalman with strapdown inertial navigation system 113
Wave filter 123 obtains the pseudorange optimized, pseudorange rates, inertial device error information.Global positioning satellite is exported by Kalman filter
Locating navigation information after system software receiver 102 and the fusion of strapdown inertial navigation system 113.Wherein, combinations of the above is filtered
Wave method can also be EKF filtering or UKF filtering.
Further, in this example, the location navigation output equation of strapdown inertial navigation system 1113 is, for example,：
Wherein, f describes strapdown inertial navigation method, g2Describe the error correction side of strapdown inertial navigation system 1113
Method.For the navigation information that the k moment is unmodified；For k moment revised navigation information；Come from outside correction letter
Breath, comes from Kalman filter equation in this example.
To sum up, the structure and principle of the miniature location navigation time dissemination system of the above embodiment of the present invention can be summarized as follows：Should
System is made up of chip-scale atomic clock CSAC, micro inertial measurement unit MIMU and GPS software receiver SDR.
CSAC provides high stability clock signal using quantum effect；MIMU is by 3 axis MEMS accelerometer and three axis MEMS gyro group
There is provided acceleration, angular velocity information for conjunction；SDR receives GPS signal using radio-frequency front-end, passes through data signal
Processing unit acquisition speed and positional information.The system has following typical feature：Highly coupled between CSAC, MIMU and SDR,
There is hardware coupled relation in CSAC and MIMU, SDR, CSAC, MIMU and SDR have software coupled relation.
Miniature location navigation time dissemination system according to embodiments of the present invention, chip atomic clock CSAC, micro inertial measurement unit
Depth is coupled between MIMU and GPS software receiver SDR, and provides robust by combined filter method
Positioning, navigation and temporal information.The system has the advantages that PNT service robustness is high, precision is high, strong interference immunity, it is adaptable to
The occasion that robustness, precision, anti-interference require high is serviced PNT, such as aircraft, rocket, vehicle, pedestrian.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clear and definite restriction.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are directly contacted, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (7)
1. a kind of miniature location navigation time dissemination system, it is characterised in that including：Chip atomic clock, micro inertial measurement unit and complete
Ball global position system software receiver, the chip atomic clock, micro inertial measurement unit and GPS software
There is close coupling relation between receiver, wherein,
When the chip atomic clock is used to provide for the micro inertial measurement unit and GPS software receiver
Clock signal, and aid in the GPS software receiver to carry out navigator fix computing, and according to the whole world
The correction signal that global position system software receiver is sent is corrected, wherein, the chip atomic clock is based on CPT principles
Passive-type atomic clock；
The micro inertial measurement unit is used for the movable information that measured target is measured according to the clock signal, wherein, the fortune
Dynamic information includes acceleration and angular speed, and the micro inertial measurement unit is additionally operable to predict institute by the acceleration and angular speed
State the Doppler frequency shift and Doppler frequency shift rate of change of the radiofrequency signal of GPS software receiver；
The GPS software receiver is used to receive the positioning signal that GPS is sent, and root
Navigator fix computing is carried out according to the movable information of the positioning signal, the measured target, is believed with being positioned, being navigated with time service
Breath.
2. miniature location navigation time dissemination system according to claim 1, it is characterised in that the GPS
Software receiver includes：
Radio-frequency front-end, the radio-frequency front-end is used to being amplified the positioning signal, filter, frequency conversion and collection；
Digital signal processor, the digital signal processor is used to realize that signal capture, tracking, navigation message are extracted, positioned
Resolve and combined filter function.
3. miniature location navigation time dissemination system according to claim 1, it is characterised in that the micro inertial measurement unit bag
Include：
The orthogonal microelectromechanical-systems accelerometer of three axles and the orthogonal microelectromechanical-systems gyroscope of three axles；
Three axle orthohormbic structures, the orthogonal micro electro mechanical system accelerator of three axle and the orthogonal MEMS gyroscope of three axles
It is separately positioned in the three axles orthohormbic structure；
Process circuit, the process circuit is used to carry out data acquisition and calibration compensation,
Wherein, the micro inertial measurement unit is used for the orthogonal microelectromechanical-systems accelerometer of three axle and three axles is orthogonal
Microelectromechanical-systems gyroscope is combined, to obtain the acceleration and angular speed of measured target.
4. miniature location navigation time dissemination system according to claim 2, it is characterised in that the micro inertial measurement unit is also
For aiding in the GPS software receiver to carry out signal trace.
5. miniature location navigation time dissemination system according to claim 1, it is characterised in that the acceleration and angular speed is led to
Equation below is crossed to represent：
<mrow>
<mover>
<mi>u</mi>
<mo>~</mo>
</mover>
<mo>=</mo>
<mo><</mo>
<mover>
<mi>a</mi>
<mo>~</mo>
</mover>
<mo>,</mo>
<mover>
<mi>&omega;</mi>
<mo>~</mo>
</mover>
<mo>></mo>
<mo>,</mo>
</mrow>
Wherein,For acceleration,For angular velocity vector.
6. miniature location navigation time dissemination system according to claim 1, it is characterised in that the GPS
The correction signal that software receiver is sent is 1PPS signals.
7. miniature location navigation time dissemination system according to claim 1, it is characterised in that the chip atomic clock is based on line
Property optimal estimation principle aid in the GPS software receiver to carry out navigator fix computing.
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| CN105549058B (en) * | 2016-01-22 | 2018-04-10 | 清华大学 | The coupling process and system of atomic clock, Micro Inertial Measurement Unit and navigation system |
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