CN105182382A - Centimeter-level positioning method of pseudo satellite - Google Patents

Centimeter-level positioning method of pseudo satellite Download PDF

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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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pseudolite
pseudo satellite
pseudo
main
satellite
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甘兴利
蔚保国
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CETC 54 Research Institute
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CETC 54 Research Institute
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Priority to CN201510473473.8A priority Critical patent/CN105182382A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/33Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/421Determining 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
    • G01S19/425Determining 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 centimeter-level positioning method of a pseudo satellite. The method comprises: firstly, a centimeter-level 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, self-closed-loop 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 single-error or dual-error measurement equation is established, and integer-cycle fuzziness resolving and centimeter-level positioning are completed based on a satellite navigation RTK resolving principle. With the method, high-precision positioning of a pseudo satellite can be realized; and the method has advantages of low cost and high simpleness and practicability.

Description

A kind of pseudo satellite, pseudolite centimetre-sized localization method
Technical field
The present invention relates to satellite navigation and radiolocation field, particularly a kind of pseudo satellite, pseudolite centimetre-sized 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 centimetre-sized.Therefore, block the application that cannot realize hi-Fix for satellite navigation signals because of buildings, this patent provides a kind of centimetre-sized 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 hi-Fix for satellite navigation signals because of buildings, design a kind of pseudo satellite, pseudolite centimetre-sized localization method.
In order to achieve the above object, a kind of pseudo satellite, pseudolite centimetre-sized localization method, comprises the following steps:
1. pseudo satellite, pseudolite centimetre-sized positioning system is built; Described pseudo satellite, pseudolite centimetre-sized 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 pseudo-range 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 pseudo-range 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 centimetre-sized location that principle completes single poor or two poor carrier phase measurement equation;
Complete pseudo satellite, pseudolite centimetre-sized 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 pL-fromfor the system time deviation from pseudo satellite, pseudolite; Dt pL-masterit is the system time deviation of main pseudo satellite, pseudolite; for the pseudo-range 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 pseudo-range 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 i-th from the poor carrier-phase measurement of the list of pseudo satellite, pseudolite, dt u master=dt u-dt main; be main pseudo satellite, pseudolite to i-th carrier phase measurement equation from pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u is to i-th carrier phase measurement equation from pseudo satellite, pseudolite; be that the synchrodyne of main pseudo satellite, pseudolite is to i-th carrier-phase measurement from pseudo satellite, pseudolite; be that main pseudo satellite, pseudolite and i-th are from the geometric distance between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the geometric distance between pseudo satellite, pseudolite; Dt mainit is the time deviation of main pseudo satellite, pseudolite synchrodyne; Dt ufor the time deviation of pseudo satellite, pseudolite subscriber computer u; be that main pseudo satellite, pseudolite and i-th are from the integer ambiguity between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the integer ambiguity between pseudo satellite, pseudolite; being that main pseudo satellite, pseudolite is self-closing changes synchrodyne to i-th from the multipath between pseudo satellite, pseudolite and thermonoise; for pseudo satellite, pseudolite subscriber computer u to i-th 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 carrier-phase measurement, from the poor carrier-phase measurement of the list of pseudo satellite, pseudolite to i-th; for pseudo satellite, pseudolite subscriber computer u is to i-th carrier phase measurement equation from pseudo satellite, pseudolite; be that the synchrodyne of main pseudo satellite, pseudolite is to i-th carrier-phase measurement from pseudo satellite, pseudolite; be that main pseudo satellite, pseudolite and i-th are from the geometric distance between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the geometric distance between pseudo satellite, pseudolite; be that main pseudo satellite, pseudolite and i-th are from the integer ambiguity between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the integer ambiguity between pseudo satellite, pseudolite; being that main pseudo satellite, pseudolite is self-closing changes synchrodyne to i-th from the multipath between pseudo satellite, pseudolite and thermonoise; for pseudo satellite, pseudolite subscriber computer u to i-th from the multipath between pseudo satellite, pseudolite and thermonoise; individual from the poor carrier-phase 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 carrier-phase 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 self-closing 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 centimetre-sized 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 centimetre-sized positioning calculation with the advantage of the RTK method compatibility of satellite navigation.
Accompanying drawing explanation
Fig. 1 is pseudo satellite, pseudolite centimetre-sized positioning system schematic diagram of the present invention;
Fig. 2 changes from pseudo satellite, pseudolite and main pseudo satellite, pseudolite self-closing synchronously to receive schematic diagram;
Fig. 3 is pseudo satellite, pseudolite centimetre-sized 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 centimetre-sized localization method, comprises the following steps:
1. pseudo satellite, pseudolite centimetre-sized positioning system is built; Described pseudo satellite, pseudolite centimetre-sized 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 self-closing 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, Pseudo-range Equation is as follows:
Wherein: for to from pseudo satellite, pseudolite from signal pseudo-range 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 rfor from pseudo satellite, pseudolite from closed loop synchrodyne time deviation; Dt pL-from being the system time deviation from pseudo satellite, pseudolite; ε pL-fromfor multipath and thermonoise; C is the light velocity.
(202) from pseudo satellite, pseudolite to main signal pseudo range measurement, Pseudo-range Equation is as follows:
Wherein: for the main signal pseudo-range 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 rfor from closed loop synchrodyne time deviation; Dt pL-masterit is the system time deviation of main pseudo satellite, pseudolite; ε pL-masterfor 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 Pseudo-range Equation (202) Simultaneous Equations of the Pseudo-range 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 pL-masterpL-from)=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 pseudo-range 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 pseudo-range 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 pseudo-range 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 i-th carrier phase measurement equation from pseudo satellite, pseudolite for:
Wherein: be that the synchrodyne of main pseudo satellite, pseudolite is to i-th carrier-phase measurement from pseudo satellite, pseudolite. be main pseudo satellite, pseudolite and i-th from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance; Dt mainit is the time deviation of main pseudo satellite, pseudolite synchrodyne; Dt pL-master-ibe i-th system time deviation from pseudo satellite, pseudolite; be that main pseudo satellite, pseudolite and i-th 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 carrier-phase 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 mainit is the time deviation of main pseudo satellite, pseudolite synchrodyne; Dt pL-masterit 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 pseudo-range 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 centimetre-sized 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 i-th carrier phase measurement equation from pseudo satellite, pseudolite for:
Wherein: for pseudo satellite, pseudolite subscriber computer u is to i-th carrier-phase measurement from pseudo satellite, pseudolite. for pseudo satellite, pseudolite subscriber computer u and i-th from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance; Dt ufor the time deviation of pseudo satellite, pseudolite subscriber computer u; Dt pL-master-ibe i-th system time deviation from pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th 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 carrier-phase 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 ufor the time deviation of pseudo satellite, pseudolite subscriber computer u; Dt pL-masterit 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 i-th 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 carrier-phase measurement of the list of pseudo satellite, pseudolite to i-th; for pseudo satellite, pseudolite subscriber computer u is to i-th carrier phase measurement equation from pseudo satellite, pseudolite; be that the synchrodyne of main pseudo satellite, pseudolite is to i-th carrier-phase measurement from pseudo satellite, pseudolite; be main pseudo satellite, pseudolite and i-th from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance; for pseudo satellite, pseudolite subscriber computer u and i-th from the geometric distance between pseudo satellite, pseudolite, by measuring acquisition in advance; be that main pseudo satellite, pseudolite and i-th are from the integer ambiguity between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the integer ambiguity between pseudo satellite, pseudolite; being that main pseudo satellite, pseudolite is self-closing changes synchrodyne to i-th from the multipath between pseudo satellite, pseudolite and thermonoise; for pseudo satellite, pseudolite subscriber computer u to i-th 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 high-precision 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 centimetre-sized 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 carrier-phase 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 carrier-phase 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 self-closing 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 i-th 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 centimetre-sized position coordinates of pseudo satellite, pseudolite subscriber computer u.

Claims (5)

1. a pseudo satellite, pseudolite centimetre-sized localization method, is characterized in that comprising the following steps:
1. pseudo satellite, pseudolite centimetre-sized positioning system is built; Described pseudo satellite, pseudolite centimetre-sized 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 pseudo-range 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 pseudo-range 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 centimetre-sized location that principle completes single poor or two poor carrier phase measurement equation;
Complete pseudo satellite, pseudolite centimetre-sized localization method.
2., according to a kind of pseudo satellite, pseudolite centimetre-sized 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 pseudo-range 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 pseudo-range 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 centimetre-sized 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 i-th from the poor carrier-phase measurement of the list of pseudo satellite, pseudolite, dt u master=dt u-dt main; be main pseudo satellite, pseudolite to i-th carrier phase measurement equation from pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u is to i-th carrier phase measurement equation from pseudo satellite, pseudolite; be that the synchrodyne of main pseudo satellite, pseudolite is to i-th carrier-phase measurement from pseudo satellite, pseudolite; be that main pseudo satellite, pseudolite and i-th are from the geometric distance between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the geometric distance between pseudo satellite, pseudolite; Dt mainit is the time deviation of main pseudo satellite, pseudolite synchrodyne; Dt ufor the time deviation of pseudo satellite, pseudolite subscriber computer u; be that main pseudo satellite, pseudolite and i-th are from the integer ambiguity between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the integer ambiguity between pseudo satellite, pseudolite; being that main pseudo satellite, pseudolite is self-closing changes synchrodyne to i-th from the multipath between pseudo satellite, pseudolite and thermonoise; for pseudo satellite, pseudolite subscriber computer u to i-th 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 centimetre-sized 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 carrier-phase measurement, from the poor carrier-phase measurement of the list of pseudo satellite, pseudolite to i-th; for pseudo satellite, pseudolite subscriber computer u is to i-th carrier phase measurement equation from pseudo satellite, pseudolite; be that the synchrodyne of main pseudo satellite, pseudolite is to i-th carrier-phase measurement from pseudo satellite, pseudolite; be that main pseudo satellite, pseudolite and i-th are from the geometric distance between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the geometric distance between pseudo satellite, pseudolite; be that main pseudo satellite, pseudolite and i-th are from the integer ambiguity between pseudo satellite, pseudolite; for pseudo satellite, pseudolite subscriber computer u and i-th from the integer ambiguity between pseudo satellite, pseudolite; being that main pseudo satellite, pseudolite is self-closing changes synchrodyne to i-th from the multipath between pseudo satellite, pseudolite and thermonoise; for pseudo satellite, pseudolite subscriber computer u to i-th from the multipath between pseudo satellite, pseudolite and thermonoise; individual from the poor carrier-phase 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 carrier-phase 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 self-closing 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 centimetre-sized 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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CN105526932A (en) * 2015-12-29 2016-04-27 中国矿业大学 A pseudolite-technique-based positioning method and a positioning system for a fleet of unmanned aerial vehicles
CN106291639A (en) * 2016-08-31 2017-01-04 和芯星通科技(北京)有限公司 A kind of GNSS receiver realizes the method and device of location
CN106291639B (en) * 2016-08-31 2019-11-26 和芯星通科技(北京)有限公司 A kind of GNSS receiver realizes the method and device of positioning
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CN108089204A (en) * 2017-12-08 2018-05-29 中国人民解放军国防科技大学 A kind of ground high-precision zone location navigation system and method
CN108957501A (en) * 2018-06-04 2018-12-07 北京因子图导航技术有限公司 A kind of ground base navigation localization method and system that digital ground multimedia broadcast is synchronous
CN110927753A (en) * 2019-10-29 2020-03-27 中国电子科技集团公司第五十四研究所 Carrier phase-based array pseudo satellite indoor precise positioning method and system

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