CN105182382A  Centimeterlevel positioning method of pseudo satellite  Google Patents
Centimeterlevel positioning method of pseudo satellite Download PDFInfo
 Publication number
 CN105182382A CN105182382A CN201510473473.8A CN201510473473A CN105182382A CN 105182382 A CN105182382 A CN 105182382A CN 201510473473 A CN201510473473 A CN 201510473473A CN 105182382 A CN105182382 A CN 105182382A
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 Prior art keywords
 pseudolite
 pseudo satellite
 pseudo
 main
 satellite
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 239000000969 carrier Substances 0.000 claims abstract description 40
 238000005259 measurement Methods 0.000 claims abstract description 19
 230000004807 localization Effects 0.000 claims description 13
 238000000034 methods Methods 0.000 claims description 7
 238000004364 calculation methods Methods 0.000 claims description 5
 230000001360 synchronised Effects 0.000 abstract description 2
 238000010586 diagrams Methods 0.000 description 4
 DMBHHRLKUKUOEGUHFFFAOYSAN Diphenylamine Chemical compound 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C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEGUHFFFAOYSAN 0.000 description 3
 230000000694 effects Effects 0.000 description 1
Classifications

 G—PHYSICS
 G01—MEASURING; TESTING
 G01S—RADIO DIRECTIONFINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCEDETECTING 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 timestamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
 G01S19/13—Receivers
 G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS

 G—PHYSICS
 G01—MEASURING; TESTING
 G01S—RADIO DIRECTIONFINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCEDETECTING 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 timestamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
 G01S19/42—Determining position
 G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
 G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
Abstract
The invention, which relates to the satellite navigation and radio positioning field, discloses a centimeterlevel positioning method of a pseudo satellite. The method comprises: firstly, a centimeterlevel positioning system of pseudo satellites is constructed; secondly, a master pseudo satellite transmits a master signal to all slave pseudo satellites and all slave pseudo satellites transmit slave signals to the master pseudo satellite; thirdly, selfclosedloop synchronous receivers of the slave pseudo satellites calculate clock errors between the master pseudo satellite and the slave pseudo satellites and write navigation messages and the navigation messages are transmitted to the master pseudo satellite; fourthly, the master pseudo satellite receive all slave signals to obtain a pseudo range measurement value and a carrier wave measurement value, and a navigation message is compiled according to an RTC standard protocol; and fifthly, a pseudo satellite user machine receives all slave signals and master signals, after obtaining of the pseudo range measurement value and the carrier wave measurement value, a singleerror or dualerror measurement equation is established, and integercycle fuzziness resolving and centimeterlevel positioning are completed based on a satellite navigation RTK resolving principle. With the method, highprecision positioning of a pseudo satellite can be realized; and the method has advantages of low cost and high simpleness and practicability.
Description
Technical field
The present invention relates to satellite navigation and radiolocation field, particularly a kind of pseudo satellite, pseudolite centimetresized localization method.
Background technology
At present, the demand of location is more and more urgent, people wish can in megastore, public place, longer velocity tunnel etc. know the position at self place.
The satellite navigation system being representative with the Big Dipper and GPS application is more and more extensive, and has become the requisite function such as smart mobile phone, automatic navigator.But satellite navigation signals, because of the occlusion effect of buildings, cannot penetrate building walls, thus makes satellite navigation receiver lose positioning function.
For these reasons, need the pseudo satellite, pseudolite equipment of a kind of compatible Big Dipper and GPS navigation signal, under the condition that can not change at the Big Dipper/GPS navigation chip module of software and hardware of the configuration such as smart mobile phone, automatic navigator, realize the localization method of centimetresized.Therefore, block the application that cannot realize hiFix for satellite navigation signals because of buildings, this patent provides a kind of centimetresized positioning system based on pseudo satellite, pseudolite and method.
Summary of the invention
The object of the invention is: block the application that cannot realize hiFix for satellite navigation signals because of buildings, design a kind of pseudo satellite, pseudolite centimetresized localization method.
In order to achieve the above object, a kind of pseudo satellite, pseudolite centimetresized localization method, comprises the following steps:
1. pseudo satellite, pseudolite centimetresized positioning system is built; Described pseudo satellite, pseudolite centimetresized positioning system comprise main pseudo satellite, pseudolite and be no less than 3 from pseudo satellite, pseudolite, main pseudo satellite, pseudolite and include Pseudolite signal generator, from closed loop synchrodyne, receiving antenna and emitting antenna from pseudo satellite, pseudolite; Measure the receiving antenna of main pseudo satellite, pseudolite and the coordinate of emitting antenna respectively and from the receiving antenna of pseudo satellite, pseudolite and the coordinate of emitting antenna;
2. main pseudo satellite, pseudolite launches main signal respectively to all from pseudo satellite, pseudolite and pseudo satellite, pseudolite subscriber computer, all from pseudo satellite, pseudolite respectively simultaneously to main pseudo satellite, pseudolite, self launch from signal from closed loop synchrodyne and pseudo satellite, pseudolite subscriber computer;
3. all from pseudo satellite, pseudolite from closed loop synchrodyne receive respectively simultaneously main signal and self from signal, and according to the main signal received and self calculate main pseudo satellite, pseudolite and from the clock correction between pseudo satellite, pseudolite from signal, then by the write of this clock correction after the navigation message of the respective Pseudolite signal generator of pseudo satellite, pseudolite, this navigation message is emitted to respectively main pseudo satellite, pseudolite from closed loop synchrodyne and pseudo satellite, pseudolite subscriber computer;
4. main pseudo satellite, pseudolite receive from closed loop synchrodyne and process all from pseudo satellite, pseudolite launch comprise navigation message from signal, obtain pseudorange measurements and carrier wave measured value, and write the navigation message of main pseudo satellite, pseudolite according to RTCM standard agreement; This navigation message is emitted to pseudo satellite, pseudolite subscriber computer by the Pseudolite signal generator of main pseudo satellite, pseudolite;
5. pseudo satellite, pseudolite subscriber computer receives all main signals comprising navigation message of launching from signal and main pseudo satellite, pseudolite comprising navigation message of launching from pseudo satellite, pseudolite of process, obtain pseudorange measurements and carrier wave measured value, and after setting up single poor or two poor carrier phase measurement equation, resolve based on satellite navigation RTK the centimetresized location that principle completes single poor or two poor carrier phase measurement equation;
Complete pseudo satellite, pseudolite centimetresized localization method.
Wherein, step 3. in main pseudo satellite, pseudolite and being specially from the clock correction computing method between pseudo satellite, pseudolite:
Wherein: Δ dt is from the clock correction between pseudo satellite, pseudolite and main pseudo satellite, pseudolite; Dt
^{pLfrom}for the system time deviation from pseudo satellite, pseudolite; Dt
^{pLmaster}it is the system time deviation of main pseudo satellite, pseudolite;
for the pseudorange measurements from pseudo satellite, pseudolite;
for from pseudo satellite, pseudolite from closed loop synchrodyne receiving antenna with from the geometric distance between the Pseudolite signal generator emitting antenna of pseudo satellite, pseudolite;
it is the pseudorange measurements of main pseudo satellite, pseudolite;
for from pseudo satellite, pseudolite from the geometric distance between closed loop synchrodyne receiving antenna and the Pseudolite signal generator emitting antenna of main pseudo satellite, pseudolite; C is the light velocity.
Wherein, step 5. in pseudo satellite, pseudolite subscriber computer set up single poor carrier phase measurement equation and be:
Wherein,
to ith from the poor carrierphase measurement of the list of pseudo satellite, pseudolite,
dt
_{u master}=dt
_{u}dt
_{main};
be main pseudo satellite, pseudolite to ith carrier phase measurement equation from pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u is to ith carrier phase measurement equation from pseudo satellite, pseudolite;
be that the synchrodyne of main pseudo satellite, pseudolite is to ith carrierphase measurement from pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and ith are from the geometric distance between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the geometric distance between pseudo satellite, pseudolite; Dt
_{main}it is the time deviation of main pseudo satellite, pseudolite synchrodyne; Dt
_{u}for the time deviation of pseudo satellite, pseudolite subscriber computer u;
be that main pseudo satellite, pseudolite and ith are from the integer ambiguity between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the integer ambiguity between pseudo satellite, pseudolite;
being that main pseudo satellite, pseudolite is selfclosing changes synchrodyne to ith from the multipath between pseudo satellite, pseudolite and thermonoise;
for pseudo satellite, pseudolite subscriber computer u to ith from the multipath between pseudo satellite, pseudolite and thermonoise; λ is signal wavelength; F is signal frequency.
Wherein, step 5. in pseudo satellite, pseudolite subscriber computer set up two difference carrier phase measurement equation and be:
Wherein,
two difference carrierphase measurement,
from the poor carrierphase measurement of the list of pseudo satellite, pseudolite to ith;
for pseudo satellite, pseudolite subscriber computer u is to ith carrier phase measurement equation from pseudo satellite, pseudolite;
be that the synchrodyne of main pseudo satellite, pseudolite is to ith carrierphase measurement from pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and ith are from the geometric distance between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the geometric distance between pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and ith are from the integer ambiguity between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the integer ambiguity between pseudo satellite, pseudolite;
being that main pseudo satellite, pseudolite is selfclosing changes synchrodyne to ith from the multipath between pseudo satellite, pseudolite and thermonoise;
for pseudo satellite, pseudolite subscriber computer u to ith from the multipath between pseudo satellite, pseudolite and thermonoise;
individual from the poor carrierphase measurement of the list of pseudo satellite, pseudolite to jth;
for pseudo satellite, pseudolite subscriber computer u is to the individual carrier phase measurement equation from pseudo satellite, pseudolite of jth;
be that the synchrodyne of main pseudo satellite, pseudolite is to the individual carrierphase measurement from pseudo satellite, pseudolite of jth;
be that main pseudo satellite, pseudolite and jth are individual from the geometric distance between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and jth are from the geometric distance between pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and jth are individual from the integer ambiguity between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and jth are from the integer ambiguity between pseudo satellite, pseudolite;
being that main pseudo satellite, pseudolite is selfclosing changes synchrodyne to jth from the multipath between pseudo satellite, pseudolite and thermonoise;
for pseudo satellite, pseudolite subscriber computer u is individual from the multipath between pseudo satellite, pseudolite and thermonoise to jth; λ is signal wavelength; F is signal frequency.
Wherein, described main pseudo satellite, pseudolite is identical with the structure from pseudo satellite, pseudolite.
The technology of the present invention tool has the following advantages:
I () the present invention adopts pseudo satellite, pseudolite centimetresized positioning system, have time synchronized and networking realizes simple advantage.
(ii) the present invention proposes utilize main pseudo satellite, pseudolite from the pseudo satellite, pseudolite RTK method of closed loop synchrodyne as base station, the method in carrier phase measurement equation, Fast integer Ambiguity Resolution and centimetresized positioning calculation with the advantage of the RTK method compatibility of satellite navigation.
Accompanying drawing explanation
Fig. 1 is pseudo satellite, pseudolite centimetresized positioning system schematic diagram of the present invention;
Fig. 2 changes from pseudo satellite, pseudolite and main pseudo satellite, pseudolite selfclosing synchronously to receive schematic diagram;
Fig. 3 is pseudo satellite, pseudolite centimetresized positioning flow schematic diagram of the present invention.
Embodiment
Below in conjunction with specific embodiments and the drawings, the present invention will be further described.
A kind of pseudo satellite, pseudolite centimetresized localization method, comprises the following steps:
1. pseudo satellite, pseudolite centimetresized positioning system is built; Described pseudo satellite, pseudolite centimetresized positioning system comprise main pseudo satellite, pseudolite and be no less than 3 from pseudo satellite, pseudolite, main pseudo satellite, pseudolite and include Pseudolite signal generator, from closed loop synchrodyne, receiving antenna and emitting antenna from pseudo satellite, pseudolite; Main pseudo satellite, pseudolite and use instrument to measure accurately respectively from the receiving antenna of pseudo satellite, pseudolite and the coordinate of emitting antenna.
2. main pseudo satellite, pseudolite launches main signal respectively to all from pseudo satellite, pseudolite and pseudo satellite, pseudolite subscriber computer, all from pseudo satellite, pseudolite respectively simultaneously to main pseudo satellite, pseudolite, self launch from signal from closed loop synchrodyne and pseudo satellite, pseudolite subscriber computer.Fig. 2 changes from pseudo satellite, pseudolite and main pseudo satellite, pseudolite selfclosing synchronously to receive schematic diagram.
3. all from pseudo satellite, pseudolite from closed loop synchrodyne receive respectively simultaneously main signal and self from signal, and according to the main signal received and self calculate main pseudo satellite, pseudolite and from the clock correction between pseudo satellite, pseudolite from signal, then by the write of this clock correction after the navigation message of the respective Pseudolite signal generator of pseudo satellite, pseudolite, and this navigation message is emitted to respectively main pseudo satellite, pseudolite from closed loop synchrodyne and pseudo satellite, pseudolite subscriber computer;
Wherein, main pseudo satellite, pseudolite and comprising the following steps from the clock correction computing method between pseudo satellite, pseudolite:
(201) from pseudo satellite, pseudolite to the pseudo range measurement from signal, Pseudorange Equation is as follows:
Wherein:
for to from pseudo satellite, pseudolite from signal pseudorange measurements, obtain from the observed quantity of closed loop synchrodyne by from pseudo satellite, pseudolite;
for from pseudo satellite, pseudolite from closed loop synchrodyne receiving antenna with from the geometric distance between the Pseudolite signal generator emitting antenna of pseudo satellite, pseudolite, by measuring acquisition in advance; Dt
_{r}for from pseudo satellite, pseudolite from closed loop synchrodyne time deviation; Dt
^{pL}from being the system time deviation from pseudo satellite, pseudolite; ε
_{pLfrom}for multipath and thermonoise; C is the light velocity.
(202) from pseudo satellite, pseudolite to main signal pseudo range measurement, Pseudorange Equation is as follows:
Wherein:
for the main signal pseudorange measurements to main pseudo satellite, pseudolite, obtain by from the observed quantity of closed loop synchrodyne.
for from pseudo satellite, pseudolite from the geometric distance between closed loop synchrodyne receiving antenna and the Pseudolite signal generator emitting antenna of main pseudo satellite, pseudolite, by measuring acquisition in advance; Dt
_{r}for from closed loop synchrodyne time deviation; Dt
^{pLmaster}it is the system time deviation of main pseudo satellite, pseudolite; ε
_{pLmaster}for multipath and thermonoise; C is the light velocity.
(203) main pseudo satellite, pseudolite is calculated and from the clock correction between pseudo satellite, pseudolite.According to Pseudorange Equation (202) Simultaneous Equations of the Pseudorange Equation from pseudo satellite, pseudolite in (201) and main pseudo satellite, pseudolite, by offseting process, obtaining new accounting equation is:
Ignore the impact of multipath and receiver thermonoise, i.e. (ε
_{pLmaster}ε
_{pLfrom})=0.Then step 3. in from the computing method of clock correction between pseudo satellite, pseudolite and main pseudo satellite, pseudolite be:
Wherein: Δ dt is the clock correction from pseudo satellite, pseudolite and main pseudo satellite, pseudolite;
for to the pseudorange measurements from pseudo satellite, pseudolite;
for from pseudo satellite, pseudolite from closed loop synchrodyne receiving antenna with from the geometric distance between the Pseudolite signal generator emitting antenna of pseudo satellite, pseudolite;
for the pseudorange measurements to main pseudo satellite, pseudolite.
for from pseudo satellite, pseudolite from the geometric distance between closed loop synchrodyne receiving antenna and the Pseudolite signal generator emitting antenna of main pseudo satellite, pseudolite; C is the light velocity.
4. main pseudo satellite, pseudolite receive from closed loop synchrodyne and process all from pseudo satellite, pseudolite launch comprise navigation message from signal, obtain pseudorange measurements and carrier wave measured value, and write the navigation message of main pseudo satellite, pseudolite according to RTCM standard agreement; This navigation message is emitted to pseudo satellite, pseudolite subscriber computer by the Pseudolite signal generator of main pseudo satellite, pseudolite.
Wherein, the carrier phase measurement of main pseudo satellite, pseudolite to the main signal from pseudo satellite, pseudolite and himself transmitting is specially:
Main pseudo satellite, pseudolite is to ith carrier phase measurement equation from pseudo satellite, pseudolite
for:
Wherein:
be that the synchrodyne of main pseudo satellite, pseudolite is to ith carrierphase measurement from pseudo satellite, pseudolite.
be main pseudo satellite, pseudolite and ith from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance; Dt
_{main}it is the time deviation of main pseudo satellite, pseudolite synchrodyne; Dt
^{pLmasteri}be ith system time deviation from pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and ith are from the integer ambiguity between pseudo satellite, pseudolite;
for multipath and thermonoise; λ is signal wavelength; F is signal frequency.
Main pseudo satellite, pseudolite is to the carrier phase measurement equation of the main signal that himself is launched
for:
Wherein:
be the carrierphase measurement of synchrodyne to its main signal of main pseudo satellite, pseudolite.
be receiving antenna and the emitting antenna geometric distance of main pseudo satellite, pseudolite, by measuring acquisition in advance; Dt
_{main}it is the time deviation of main pseudo satellite, pseudolite synchrodyne; Dt
^{pLmaster}it is the system time deviation of main pseudo satellite, pseudolite;
it is the integer ambiguity between the receiving antenna of main pseudo satellite, pseudolite and emitting antenna;
for multipath and thermonoise; λ is signal wavelength; F is signal frequency.
5. pseudo satellite, pseudolite subscriber computer receives all main signals comprising navigation message of launching from signal and main pseudo satellite, pseudolite comprising navigation message of launching from pseudo satellite, pseudolite of process, obtain pseudorange measurements and carrier wave measured value, and after setting up single poor or two poor carrier phase measurement equation, resolve based on satellite navigation RTK the centimetresized location that principle completes single poor or two poor carrier phase measurement equation.
Pseudo satellite, pseudolite subscriber computer u be respectively specially from the carrier wave measurement of the synchrodyne of pseudo satellite, pseudolite, main pseudo satellite, pseudolite, main pseudo satellite, pseudolite:
Pseudo satellite, pseudolite subscriber computer u is to ith carrier phase measurement equation from pseudo satellite, pseudolite
for:
Wherein:
for pseudo satellite, pseudolite subscriber computer u is to ith carrierphase measurement from pseudo satellite, pseudolite.
for pseudo satellite, pseudolite subscriber computer u and ith from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance; Dt
_{u}for the time deviation of pseudo satellite, pseudolite subscriber computer u; Dt
^{pLmasteri}be ith system time deviation from pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the integer ambiguity between pseudo satellite, pseudolite;
for multipath and thermonoise; λ is signal wavelength; F is signal frequency.
Pseudo satellite, pseudolite subscriber computer u is to the carrier phase measurement equation of main pseudo satellite, pseudolite
for:
Wherein:
for pseudo satellite, pseudolite subscriber computer u is to the carrierphase measurement of main pseudo satellite, pseudolite.
for the geometric distance between pseudo satellite, pseudolite subscriber computer u and main pseudo satellite, pseudolite, by measuring acquisition in advance; Dt
_{u}for the time deviation of pseudo satellite, pseudolite subscriber computer u; Dt
^{pLmaster}it is the system time deviation of main pseudo satellite, pseudolite;
for the integer ambiguity between pseudo satellite, pseudolite subscriber computer u and main pseudo satellite, pseudolite;
for multipath and thermonoise; λ is signal wavelength; F is signal frequency.
The synchrodyne of pseudo satellite, pseudolite subscriber computer u and main pseudo satellite, pseudolite to ith from the poor carrier phase measurement equation of the list of pseudo satellite, pseudolite is:
Wherein,
dt
_{u master}=dt
_{u}dt
_{main};
from the poor carrierphase measurement of the list of pseudo satellite, pseudolite to ith;
for pseudo satellite, pseudolite subscriber computer u is to ith carrier phase measurement equation from pseudo satellite, pseudolite;
be that the synchrodyne of main pseudo satellite, pseudolite is to ith carrierphase measurement from pseudo satellite, pseudolite;
be main pseudo satellite, pseudolite and ith from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance;
for pseudo satellite, pseudolite subscriber computer u and ith from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance;
be that main pseudo satellite, pseudolite and ith are from the integer ambiguity between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the integer ambiguity between pseudo satellite, pseudolite;
being that main pseudo satellite, pseudolite is selfclosing changes synchrodyne to ith from the multipath between pseudo satellite, pseudolite and thermonoise;
for pseudo satellite, pseudolite subscriber computer u to ith from the multipath between pseudo satellite, pseudolite and thermonoise.Once
solved, then single poor carrier phase
just becoming both had not had blur level to have to have the poor distance measure of highprecision list, it is identical that this and the RTK that GNSS satellite is navigated measure equation, therefore, the measurement equation identical with the RTK principle that GNSS satellite is navigated can be set up, calculate the centimetresized position coordinates of pseudo satellite, pseudolite subscriber computer u.
The synchrodyne of pseudo satellite, pseudolite subscriber computer u and main pseudo satellite, pseudolite to jth from the poor carrier phase measurement equation of the list of pseudo satellite, pseudolite is:
Wherein,
dt
_{u master}=dt
_{u}dt
_{main};
individual from the poor carrierphase measurement of the list of pseudo satellite, pseudolite to jth;
for pseudo satellite, pseudolite subscriber computer u is to the individual carrier phase measurement equation from pseudo satellite, pseudolite of jth;
be that the synchrodyne of main pseudo satellite, pseudolite is to the individual carrierphase measurement from pseudo satellite, pseudolite of jth;
be that main pseudo satellite, pseudolite and jth are individual from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance;
for pseudo satellite, pseudolite subscriber computer u and jth are from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance;
be that main pseudo satellite, pseudolite and jth are individual from the integer ambiguity between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and jth are from the integer ambiguity between pseudo satellite, pseudolite;
being that main pseudo satellite, pseudolite is selfclosing changes synchrodyne to jth from the multipath between pseudo satellite, pseudolite and thermonoise;
for pseudo satellite, pseudolite subscriber computer u is individual from the multipath between pseudo satellite, pseudolite and thermonoise to jth; λ is signal wavelength; F is signal frequency.
The synchrodyne of pseudo satellite, pseudolite subscriber computer u and main pseudo satellite, pseudolite to ith from pseudo satellite, pseudolite with from two difference carrier phase measurement equations of satellite j is:
Wherein,
Single poor carrier phase
the clock correction eliminating the synchrodyne of pseudo satellite, pseudolite subscriber computer u and main pseudo satellite, pseudolite affects, it is identical that this and the RTK that GNSS satellite is navigated measure equation, therefore, the measurement equation identical with the RTK principle that GNSS satellite is navigated can be set up, calculate the centimetresized position coordinates of pseudo satellite, pseudolite subscriber computer u.
Claims (5)
1. a pseudo satellite, pseudolite centimetresized localization method, is characterized in that comprising the following steps:
1. pseudo satellite, pseudolite centimetresized positioning system is built; Described pseudo satellite, pseudolite centimetresized positioning system comprise main pseudo satellite, pseudolite and be no less than 3 from pseudo satellite, pseudolite, main pseudo satellite, pseudolite and include Pseudolite signal generator, from closed loop synchrodyne, receiving antenna and emitting antenna from pseudo satellite, pseudolite; Measure the receiving antenna of main pseudo satellite, pseudolite and the coordinate of emitting antenna respectively and from the receiving antenna of pseudo satellite, pseudolite and the coordinate of emitting antenna;
2. main pseudo satellite, pseudolite launches main signal respectively to all from pseudo satellite, pseudolite and pseudo satellite, pseudolite subscriber computer, all from pseudo satellite, pseudolite respectively simultaneously to main pseudo satellite, pseudolite, self launch from signal from closed loop synchrodyne and pseudo satellite, pseudolite subscriber computer;
3. all from pseudo satellite, pseudolite from closed loop synchrodyne receive respectively simultaneously main signal and self from signal, and according to the main signal received and self calculate main pseudo satellite, pseudolite and from the clock correction between pseudo satellite, pseudolite from signal, then by the write of this clock correction after the navigation message of the respective Pseudolite signal generator of pseudo satellite, pseudolite, this navigation message is emitted to respectively main pseudo satellite, pseudolite from closed loop synchrodyne and pseudo satellite, pseudolite subscriber computer;
4. main pseudo satellite, pseudolite receive from closed loop synchrodyne and process all from pseudo satellite, pseudolite launch comprise navigation message from signal, obtain pseudorange measurements and carrier wave measured value, and write the navigation message of main pseudo satellite, pseudolite according to RTCM standard agreement; This navigation message is emitted to pseudo satellite, pseudolite subscriber computer by the Pseudolite signal generator of main pseudo satellite, pseudolite;
5. pseudo satellite, pseudolite subscriber computer receives all main signals comprising navigation message of launching from signal and main pseudo satellite, pseudolite comprising navigation message of launching from pseudo satellite, pseudolite of process, obtain pseudorange measurements and carrier wave measured value, and after setting up single poor or two poor carrier phase measurement equation, resolve based on satellite navigation RTK the centimetresized location that principle completes single poor or two poor carrier phase measurement equation;
Complete pseudo satellite, pseudolite centimetresized localization method.
2., according to a kind of pseudo satellite, pseudolite centimetresized localization method described in claim 1, it is characterized in that: step 3. in main pseudo satellite, pseudolite and being specially from the clock correction computing method between pseudo satellite, pseudolite:
Wherein: Δ dt is from the clock correction between pseudo satellite, pseudolite and main pseudo satellite, pseudolite;
for the system time deviation from pseudo satellite, pseudolite;
it is the system time deviation of main pseudo satellite, pseudolite;
for the pseudorange measurements from pseudo satellite, pseudolite;
for from pseudo satellite, pseudolite from closed loop synchrodyne receiving antenna with from the geometric distance between the Pseudolite signal generator emitting antenna of pseudo satellite, pseudolite;
it is the pseudorange measurements of main pseudo satellite, pseudolite;
for from pseudo satellite, pseudolite from the geometric distance between closed loop synchrodyne receiving antenna and the Pseudolite signal generator emitting antenna of main pseudo satellite, pseudolite; C is the light velocity.
3., according to a kind of pseudo satellite, pseudolite centimetresized localization method described in claim 1, it is characterized in that: step 5. in pseudo satellite, pseudolite subscriber computer set up single poor carrier phase measurement equation and be:
Wherein,
to ith from the poor carrierphase measurement of the list of pseudo satellite, pseudolite,
dt
_{u master}=dt
_{u}dt
_{main};
be main pseudo satellite, pseudolite to ith carrier phase measurement equation from pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u is to ith carrier phase measurement equation from pseudo satellite, pseudolite;
be that the synchrodyne of main pseudo satellite, pseudolite is to ith carrierphase measurement from pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and ith are from the geometric distance between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the geometric distance between pseudo satellite, pseudolite; Dt
_{main}it is the time deviation of main pseudo satellite, pseudolite synchrodyne; Dt
_{u}for the time deviation of pseudo satellite, pseudolite subscriber computer u;
be that main pseudo satellite, pseudolite and ith are from the integer ambiguity between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the integer ambiguity between pseudo satellite, pseudolite;
being that main pseudo satellite, pseudolite is selfclosing changes synchrodyne to ith from the multipath between pseudo satellite, pseudolite and thermonoise;
for pseudo satellite, pseudolite subscriber computer u to ith from the multipath between pseudo satellite, pseudolite and thermonoise; λ is signal wavelength; F is signal frequency.
4., according to a kind of pseudo satellite, pseudolite centimetresized localization method described in claim 1, it is characterized in that: step 5. in pseudo satellite, pseudolite subscriber computer set up two difference carrier phase measurement equation and be:
Wherein,
two difference carrierphase measurement,
from the poor carrierphase measurement of the list of pseudo satellite, pseudolite to ith;
for pseudo satellite, pseudolite subscriber computer u is to ith carrier phase measurement equation from pseudo satellite, pseudolite;
be that the synchrodyne of main pseudo satellite, pseudolite is to ith carrierphase measurement from pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and ith are from the geometric distance between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the geometric distance between pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and ith are from the integer ambiguity between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and ith from the integer ambiguity between pseudo satellite, pseudolite;
being that main pseudo satellite, pseudolite is selfclosing changes synchrodyne to ith from the multipath between pseudo satellite, pseudolite and thermonoise;
for pseudo satellite, pseudolite subscriber computer u to ith from the multipath between pseudo satellite, pseudolite and thermonoise;
individual from the poor carrierphase measurement of the list of pseudo satellite, pseudolite to jth;
for pseudo satellite, pseudolite subscriber computer u is to the individual carrier phase measurement equation from pseudo satellite, pseudolite of jth;
be that the synchrodyne of main pseudo satellite, pseudolite is to the individual carrierphase measurement from pseudo satellite, pseudolite of jth;
be that main pseudo satellite, pseudolite and jth are individual from the geometric distance between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and jth are from the geometric distance between pseudo satellite, pseudolite;
be that main pseudo satellite, pseudolite and jth are individual from the integer ambiguity between pseudo satellite, pseudolite;
for pseudo satellite, pseudolite subscriber computer u and jth are from the integer ambiguity between pseudo satellite, pseudolite;
being that main pseudo satellite, pseudolite is selfclosing changes synchrodyne to jth from the multipath between pseudo satellite, pseudolite and thermonoise;
for pseudo satellite, pseudolite subscriber computer u is individual from the multipath between pseudo satellite, pseudolite and thermonoise to jth; λ is signal wavelength; F is signal frequency.
5., according to a kind of pseudo satellite, pseudolite centimetresized localization method described in claim 1, it is characterized in that: described main pseudo satellite, pseudolite is identical with the structure from pseudo satellite, pseudolite.
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