CN106940447A - A kind of Big Dipper/GPS dual-mode navigation positional device and method - Google Patents
A kind of Big Dipper/GPS dual-mode navigation positional device and method Download PDFInfo
- Publication number
- CN106940447A CN106940447A CN201710249508.9A CN201710249508A CN106940447A CN 106940447 A CN106940447 A CN 106940447A CN 201710249508 A CN201710249508 A CN 201710249508A CN 106940447 A CN106940447 A CN 106940447A
- Authority
- CN
- China
- Prior art keywords
- big dipper
- gps
- data
- satellite
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
Abstract
The present invention relates to a kind of Big Dipper/GPS dual-mode navigation positional device and method, the Big Dipper/GPS dual-mode navigation positional device includes receiving the Big Dipper/gps satellite signal, and reads to obtain satellite data；Satellite data is parsed and calculated, first Big Dipper/GPS differential corrections and the base station preserved is obtained；The Big Dipper/gps satellite signal is received, and reads to obtain satellite data；Satellite data is parsed and calculated, second Big Dipper/GPS differential corrections are obtained；First Big Dipper/GPS differential corrections are matched and corrected with second Big Dipper/GPS differential corrections, obtain correcting the Big Dipper/GPS differential corrections, and are carried out location resolution, bimodulus positioning is carried out；Also carry out the airborne rover station of continuous positioning.Compared with the prior art, the present invention can improve locating speed and positioning precision；Continuous positioning can also be carried out in the state of without satellite-signal, positioning precision is lifted.
Description
Technical field
The present invention relates to airborne navigation field, more particularly to a kind of Big Dipper/GPS dual-mode navigation positional device and method.
Background technology
As the extensive use of unmanned plane to our life brings more facilities, also play more and more important
Role, is paid attention to by various countries, has attracted many research institution and R＆D institution's input wherein.Unmanned plane it is autonomous take off,
Navigation, landing, and related application field such as unmanned plane plant protection, power-line patrolling, disaster monitoring etc. depend critically upon high accuracy
Navigator fix technology.
In occasions such as high mountains and dense forests, city high rise building mansions, GNSS signal is easily blocked, and the Big Dipper/GPS single systems are possible to
Occur that observation satellite number is very few in the case where signal blocks are serious, cause to position the big situation of inaccurate error, and the Big Dipper/
GPS dual-mode can effectively observe that enough satellites are positioned, and be effectively increased the number of satellite for participating in positioning and improvement is defended
Star PDOP values.
The positioning of single-point pseudorange is influenceed positioning precision 5 by satellite clock correction, ephemeris error, ionosphere delay, tropospheric delay
To 10 meters of scope, it is impossible to effectively meet high accuracy positioning.
Located in connection module, receiver precision are poor on the market at present, and high-precision receiver is expensive, volume is big, work(
Consumption is high, proposes new design philosophy for these deficiencies and improves located in connection algorithm so that the device has precision
The features such as height, low cost, small volume, low-power consumption.
Module, differential data generation module and RTCM difference are resolved according to GNSS data there is provided one kind in the prior art
Data coding module, differential data is encoded by RTCM, MSK is broadcast away after modulating, user receives this signal by solution
Acquisition correction is adjusted to improve positioning precision.The characteristics of this system, is broadcast again after differential refinement number is encoded and modulated
Hair, user's docking collection of letters number is demodulated acquisition differential corrections.It is worthy of note that this method be blocked in GNSS signal, it is poor
It is less suitable, this is clearly can not for the real-time location tracking of multi-rotor unmanned aerial vehicle in the case that sub-signal can not be received
Take.
In the prior art there is provided technical scheme by cellphone GPS resolve positional information according to communication network obtain difference
Correction, is modified raising precision.The characteristics of this system is not improve cellphone GPS by ancillary equipment or circuit
Positioning precision, it is pointed out that this system does not possess versatility and is only applicable to domestic consumer, if necessary to be used in such as thing
The occasions such as flow network tracking, unmanned plane precision positioning are clearly inappropriate.
In the prior art there is provided technical scheme differential communication chain set up by unmanned plane wireless communication module and base station
Road, base station sends difference information to Precision Position Location System in real time, and the positional information after resolving and original navigation data are carried out
Storage.Some defects are had according to its analysis of technical, it is few using Big Dipper single system observation satellite number, such as run into satellite-signal
Blocking can cause positioning to be interrupted, and this monitoring real-time to multi-rotor unmanned aerial vehicle does not allow.
The content of the invention
It is an object of the invention to provide a kind of Big Dipper/GPS dual-mode navigation positional device and method, technology to be solved is asked
Topic is：Occur that observation satellite number is very few in the case where signal blocks are serious, cause to position inaccurate error big；By satellite clock
The scope of difference, ephemeris error, ionosphere delay, tropospheric delay influence positioning precision at 5 to 10 meters, it is impossible to effective to meet high
Precision is positioned.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of Big Dipper/GPS dual-mode navigation positional device, bag
Include base station and airborne rover station, the base station and the airborne rover station wireless connection；
The base station is used to receive the Big Dipper/gps satellite signal, and reads to obtain satellite data；Satellite data is solved
Analysis and calculating, obtain first Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections are preserved, concurrent feeding device
Carried flow station；
The airborne rover station is used to receive the Big Dipper/gps satellite signal, and reads to obtain satellite data；Satellite data is entered
Row parsing and calculating, obtain second Big Dipper/GPS differential corrections；By first Big Dipper/GPS differential corrections and second Big Dipper/GPS
Differential corrections are matched and corrected, and obtain correcting the Big Dipper/GPS differential corrections；According to the amendment Big Dipper/GPS differential correctings
Number carries out location resolution, carries out bimodulus positioning；Generate bimodulus framing signal, at the same carry out angular speed measure, acceleration determine and
The direction of motion is determined, and combination mensuration value and bimodulus framing signal carry out continuous positioning.
The beneficial effects of the invention are as follows：Base station can provide differential corrections to single mode or dual-mode subscriber receiver,
Airborne rover station carries out differential corrections matching and amendment, improves locating speed and positioning precision；Airborne rover station can also be in nothing
Continuous positioning is carried out in the state of satellite-signal, positioning precision is lifted.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the base station include be sequentially connected the first dual mode receiver unit, the first data processing unit and
Server unit；
The first dual mode receiver unit is used to observe the Big Dipper/gps satellite signal, is received and defended by dual mode reception antenna
Star signal, data and almanac data must be observed by reading satellite-signal, and data and almanac data will be observed by serial communication mode
Transmit to the first data processing unit；
First data processing unit is used to be parsed and be calculated to observation data and with almanac data, obtains the first north
Bucket/GPS differential corrections；First Big Dipper/GPS differential corrections are transmitted to server unit by serial communication mode；
The server unit is used to be stored first Big Dipper/GPS differential corrections；It is additionally operable to according to airborne flowing
The access request stood, first Big Dipper/GPS differential corrections are transmitted to airborne rover station.
Beneficial effect using above-mentioned further scheme is：Server unit can enter to first Big Dipper/GPS differential corrections
Row is stored, and interior all users can access the server at the regional level, extracts first Big Dipper/GPS differential corrections lifting
Self poisoning precision, expands application.
Further, the airborne rover station includes the second dual mode receiver unit and the second data processing unit, described the
Two dual mode receiver units are connected with the second data processing unit, and second data processing unit and server unit are wireless
Connection；
The second dual mode receiver unit is used to observe the Big Dipper/gps satellite signal, is received and defended by dual mode reception antenna
Star signal, data and almanac data must be observed by reading satellite-signal, and data and almanac data will be observed by serial communication mode
Transmit to the second data processing unit；
Second data processing unit is used to observation data and almanac data are parsed and calculated, and obtains the second north
Bucket/GPS differential corrections；Access server unit obtains first Big Dipper/GPS differential corrections simultaneously, by first Big Dipper/GPS
Differential corrections are matched and corrected with second Big Dipper/GPS differential corrections, obtain correcting the Big Dipper/GPS differential corrections；
Location resolution is carried out according to the amendment Big Dipper/GPS differential corrections, bimodulus positioning is carried out.
Beneficial effect using above-mentioned further scheme is：Airborne rover station energy access server unit obtains the first north
Bucket/GPS differential corrections, carries out differential corrections matching and amendment, improves locating speed and positioning precision.
Further, second data processing unit is connected by network insertion unit with the server unit, described
Network insertion unit is used to carry out signal transmission between the second data processing unit and server unit.
Beneficial effect using above-mentioned further scheme is：Network insertion unit is easy to carry out wireless signal biography with outside
It is defeated.
Further, the airborne rover station also includes inertial navigation unit, the inertial navigation unit and the described second number
Connected according to processing unit；The inertial navigation unit is used to obtain the bimodulus framing signal for obtaining the second data processing unit, root
Continuous positioning is carried out according to location data, continuous positioning signal is obtained, and by continuous positioning signal transmission to the second data processing list
Member carries out navigator fix.
Beneficial effect using above-mentioned further scheme is：Inertial navigation unit can be carried out in the state of without satellite-signal
Continuous positioning, ensures positioning precision.
Further, the inertial navigation unit includes three-axis gyroscope, three axis accelerometer, three axle magnetometer and processing
Device, the three-axis gyroscope, three axis accelerometer and three axle magnetometer are connected with the processor, the processor with it is described
Second data processing unit is connected；
The three-axis gyroscope is used to determine angular speed, and location coordinate is built according to measured value, generates location coordinate
Signal transmission is to processor；
The three axis accelerometer is used to determine acceleration of motion, and the time is integrated twice according to acceleration of motion
To move distance, generation distance signal transmission to processor；
The three axle magnetometer is used to determine the direction of motion, and generation direction signal is transmitted to processor；
The processor is used to obtain bimodulus framing signal, to location coordinate signal, distance signal, direction signal and double
Mould framing signal carries out signal transacting, generates corresponding continuous positioning signal transmission to the second data processing unit and navigate and determines
Position.
Beneficial effect using above-mentioned further scheme is：Pass through three-axis gyroscope, three axis accelerometer and three axle magnetic force
Coordinate operation is counted, continuous positioning can be carried out in the state of without satellite-signal, positioning precision is ensured.
Another technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of Big Dipper/GPS dual-mode navigator fix side
Method, comprises the following steps：
Step S1. base stations receive the Big Dipper/gps satellite signal, and read to obtain satellite data；Satellite data is parsed
And calculating, obtain first Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections are preserved；
The airborne rover stations of step S2. receive the Big Dipper/gps satellite signal, and read to obtain satellite data；Satellite data is carried out
Parsing and calculating, obtain second Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections and second Big Dipper/GPS are poor
Divide correction to be matched and corrected, obtain correcting the Big Dipper/GPS differential corrections；According to the amendment Big Dipper/GPS differential corrections
Location resolution is carried out, bimodulus positioning is carried out；
The airborne rover station generation bimodulus framing signals of step S3., determine and move while carrying out angular speed measure, acceleration
Direction is determined, and combination mensuration value and bimodulus framing signal carry out continuous positioning.
The beneficial effects of the invention are as follows：Base station can provide differential corrections to single mode or dual-mode subscriber receiver,
Airborne rover station carries out differential corrections matching and amendment, improves locating speed and positioning precision；Airborne rover station can also be in nothing
Continuous positioning is carried out in the state of satellite-signal, positioning precision is lifted.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the step S1 specifically includes following steps：
Step S11. receives the Big Dipper/gps satellite signal, and data and almanac data must be observed by reading satellite-signal, to observation
Data carry out data processing, obtain pseudorange observation data；
Step S12. carries out carrier phase detection to pseudorange observation data and repaired, and recycles observation model to pseudorange observation
Data carry out satellite clock correction, ionosphere delay and tropospheric delay amendment, obtain revised pseudorange observation data；
Step S13. carries out smothing filtering by carrier phase smoothing pseudo-range algorithm to revised pseudorange observation data, obtains
Pseudorange value after smothing filtering；Satellite position is calculated by almanac data, according to satellite position and own coordinate computer installation star away from；
Pseudorange value after smothing filtering and station star away from difference algorithm processing is carried out, are obtained first Big Dipper/GPS poor by step S14.
Divide correction.
Beneficial effect using above-mentioned further scheme is：Satellite clock is carried out to pseudorange observation data using observation model
Difference, ionosphere delay and tropospheric delay amendment, lift positioning precision；By carrier phase smoothing pseudo-range algorithm to revised
Pseudorange observation data carry out smothing filtering, eliminate pseudorange noise.
Further, the step S1 is further comprising the steps of：Step S15. is according to multiple first Big Dippeves/GPS differential correctings
Number calculates correction rate of change, and correction rate of change is preserved.
Beneficial effect using above-mentioned further scheme is：By calculating correction rate of change, it can be changed according to correction
Rate obtains correction, so that correction can be obtained in the state of it can not receive satellite-signal by realizing, is convenient for positioning.
Further, the step S2 specifically includes following steps：
Step S21. receives the Big Dipper/gps satellite signal, and data and almanac data must be observed by reading satellite-signal, to observation
Data carry out data processing, obtain pseudorange observation data；
Step S22. carries out carrier phase detection to pseudorange observation data and repaired, and recycles observation model to pseudorange observation
Data carry out satellite clock correction, ionosphere delay and tropospheric delay amendment, obtain revised pseudorange observation data；
Step S23. carries out smothing filtering by carrier phase smoothing pseudo-range algorithm to revised pseudorange observation data, obtains
Pseudorange value after smothing filtering；Satellite position is calculated by almanac data, according to satellite position and own coordinate computer installation star away from；
Pseudorange value after smothing filtering and station star away from difference algorithm processing is carried out, are obtained second Big Dipper/GPS poor by step S24.
Divide correction；
Step S25. obtains first Big Dipper/GPS differential corrections, by first Big Dipper/GPS differential corrections and the second north
Bucket/GPS differential corrections are matched and corrected, and obtain correcting the Big Dipper/GPS differential corrections；It is poor according to the amendment Big Dipper/GPS
Divide correction to carry out location resolution, carry out bimodulus positioning；
Step S26. generates bimodulus framing signal, is determined and direction of motion measure while carrying out angular speed measure, acceleration,
Combination mensuration value and bimodulus framing signal carry out continuous positioning.
Beneficial effect using above-mentioned further scheme is：Satellite clock is carried out to pseudorange observation data using observation model
Difference, ionosphere delay and tropospheric delay amendment, lift positioning precision；By carrier phase smoothing pseudo-range algorithm to revised
Pseudorange observation data carry out smothing filtering, eliminate pseudorange noise；Differential corrections are matched and corrected, locating speed are improved and fixed
Position precision；Continuous positioning can also be carried out in the state of without satellite-signal, positioning precision is lifted.
Brief description of the drawings
Fig. 1 is a kind of module frame chart of Big Dipper/GPS dual-mode navigation positional device of the invention；
Fig. 2 is a kind of flow chart of Big Dipper/GPS dual-mode navigation positional device of the invention；
The flow chart of station and airborne rover station on the basis of Fig. 3；
Fig. 4 is a kind of integrated navigation system block diagram of Big Dipper/GPS dual-mode navigation positional device of the invention.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, base station, the 101, first dual mode receiver unit, the 102, first data processing unit, 103, server unit；
2nd, airborne rover station, the 201, second dual mode receiver unit, the 202, second data processing unit, 203, network insertion
Unit, 204, inertial navigation unit, 205, three-axis gyroscope, 206, three axis accelerometer, 207, three axle magnetometer, 208, processing
Device.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, a kind of Big Dipper/GPS dual-mode navigation positional device, including base station 1 and airborne rover station 2, it is described
Base station 1 and the airborne wireless connection of rover station 2；
The base station 1 is used to receive the Big Dipper/gps satellite signal, and reads to obtain satellite data；Satellite data is solved
Analysis and calculating, obtain first Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections are preserved, concurrent feeding device
Carried flow station 2；
The airborne rover station 2 is used to receive the Big Dipper/gps satellite signal, and reads to obtain satellite data；Satellite data is entered
Row parsing and calculating, obtain second Big Dipper/GPS differential corrections；By first Big Dipper/GPS differential corrections and second Big Dipper/GPS
Differential corrections are matched and corrected, and obtain correcting the Big Dipper/GPS differential corrections；According to the amendment Big Dipper/GPS differential correctings
Number carries out location resolution, carries out bimodulus positioning；Generate bimodulus framing signal, at the same carry out angular speed measure, acceleration determine and
The direction of motion is determined, and combination mensuration value and bimodulus framing signal carry out continuous positioning.
In above-described embodiment, base station 1 can provide differential corrections, airborne stream to single mode or dual-mode subscriber receiver
Dynamic station 2 carries out differential corrections matching and amendment, improves locating speed and positioning precision；Airborne rover station can also be believed without satellite
Continuous positioning is carried out in the state of number, positioning precision is lifted.
Optionally, as one embodiment of the present of invention：The base station 1 includes the first dual mode receiver being sequentially connected
Unit 101, the first data processing unit 102 and server unit 103；
The first dual mode receiver unit 101 is used to observe the Big Dipper/gps satellite signal, is connect by dual mode reception antenna
Satellite-signal is received, data and almanac data must be observed by reading satellite-signal, data and ephemeris will be observed by serial communication mode
Data transfer is to the first data processing unit 102；
First data processing unit 102 is used for observation data and with almanac data is parsed and calculated, and obtains the
One Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections are transmitted to server unit by serial communication mode
103；
The server unit 103 is used to be stored first Big Dipper/GPS differential corrections；It is additionally operable to according to airborne
The access request of rover station 2, first Big Dipper/GPS differential corrections are transmitted to airborne rover station 2.
In above-described embodiment, server unit 103 can be stored to first Big Dipper/GPS differential corrections, in region model
The server unit 103 can be accessed by enclosing interior all users, extract first Big Dipper/GPS differential corrections lifting self poisoning
Precision, expands application.
Optionally, as one embodiment of the present of invention：The airborne rover station 2 includes the second dual mode receiver unit
201 and second data processing unit 202, the second dual mode receiver unit 201 is connected with the second data processing unit 202,
And second data processing unit 202 and the wireless connection of server unit 103；
The second dual mode receiver unit 201 is used to observe the Big Dipper/gps satellite signal, is connect by dual mode reception antenna
Satellite-signal is received, data and almanac data must be observed by reading satellite-signal, data and ephemeris will be observed by serial communication mode
Data transfer is to the second data processing unit 202；
Second data processing unit 202 is used to observation data and almanac data are parsed and calculated, and obtains second
The Big Dipper/GPS differential corrections；Access server unit 103 obtains first Big Dipper/GPS differential corrections simultaneously, by the first north
Bucket/GPS differential corrections are matched and corrected with second Big Dipper/GPS differential corrections, are obtained the amendment Big Dipper/GPS difference and are changed
Positive number；Location resolution is carried out according to the amendment Big Dipper/GPS differential corrections, bimodulus positioning is carried out.
In above-described embodiment, airborne rover station 2 can the acquisition first Big Dipper/GPS differential correctings of access server unit 103
Number, carries out differential corrections matching and amendment, improves locating speed and positioning precision.
Optionally, as one embodiment of the present of invention：Second data processing unit 202 passes through network insertion unit
203 are connected with the server unit 103, and the network insertion unit 203 is used for the second data processing unit 202 and server
Signal transmission is carried out between unit 103.
In above-described embodiment, network insertion unit 203 is easy to carry out transmission of wireless signals with outside.
Optionally, as one embodiment of the present of invention：The airborne rover station 2 also includes inertial navigation unit 204, institute
Inertial navigation unit 204 is stated to be connected with second data processing unit 202；The inertial navigation unit 204 is obtained for acquisition
The bimodulus framing signal of the second data processing unit 202 is obtained, continuous positioning is carried out according to location data, continuous positioning letter is obtained
Number, and continuous positioning signal transmission to the second data processing unit 202 is subjected to navigator fix.
In above-described embodiment, inertial navigation unit 204 can carry out continuous positioning in the state of without satellite-signal, ensure fixed
Position precision.
Optionally, as one embodiment of the present of invention：The inertial navigation unit 204 includes three-axis gyroscope 205, three
Axis accelerometer 206, three axle magnetometer 207 and processor 208, the three-axis gyroscope 205, three axis accelerometer 206 and three
Axle magnetometer 207 is connected with the processor 208, and the processor 208 is connected with second data processing unit 202；
The three-axis gyroscope 205 is used to determine angular speed, and location coordinate is built according to measured value, generates the elements of a fix
It is signal transmission to processor 208；
The three axis accelerometer 206 is used to determine acceleration of motion, and the time is accumulated twice according to acceleration of motion
Get move distance, generation distance signal transmission to processor 208；
The three axle magnetometer 207 is used to determine the direction of motion, and generation direction signal is transmitted to processor 208；
The processor 208 is used to obtain bimodulus framing signal, to location coordinate signal, distance signal, direction signal
Signal transacting is carried out with bimodulus framing signal, corresponding continuous positioning signal transmission to the second data processing unit 202 is generated and enters
Row navigator fix.
In above-described embodiment, coordinate to transport by three-axis gyroscope 205, three axis accelerometer 206 and three axle magnetometer 207
Make, continuous positioning can be carried out in the state of without satellite-signal, ensure positioning precision.
The inertial navigation unit 204 and Big Dipper/GPS is separate to carry out positioning positioning, constant speed resolving, then both positioning knots
Fruit is fused together by a feed forward type complementary type Kalman filtering, and inertial navigation unit 204 is to three-axis gyroscope 205, three
Axis accelerometer 206, the measured value of three axle magnetometer 207, which is done, exported after integration positions calculations a smooth, position for low noise,
Positioning result using the second data processing unit 202 carries out Kalman filtering integrated navigation as initial position, exports location information
Fly control to multi-rotor unmanned aerial vehicle, efficiently solve the Big Dipper/GPS and block positioning interruption situation.
As shown in Figure 2 and Figure 4, a kind of Big Dipper/GPS dual-mode navigation locating method, comprises the following steps：
Step S1. base stations 1 receive the Big Dipper/gps satellite signal, and read to obtain satellite data；Satellite data is solved
Analysis and calculating, obtain first Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections are preserved；
The airborne rover stations 2 of step S2. receive the Big Dipper/gps satellite signal, and read to obtain satellite data；Satellite data is entered
Row parsing and calculating, obtain second Big Dipper/GPS differential corrections；By first Big Dipper/GPS differential corrections and second Big Dipper/GPS
Differential corrections are matched and corrected, and obtain correcting the Big Dipper/GPS differential corrections；According to the amendment Big Dipper/GPS differential correctings
Number carries out location resolution, carries out bimodulus positioning；
The airborne generation of the rover station 2 bimodulus framing signals of step S3., determine and transport while carrying out angular speed measure, acceleration
Dynamic direction is determined, and combination mensuration value and bimodulus framing signal carry out continuous positioning.
In above-described embodiment, base station 1 can provide differential corrections, airborne stream to single mode or dual-mode subscriber receiver
Dynamic station 2 carries out differential corrections matching and amendment, improves locating speed and positioning precision；Airborne rover station 2 can also be without satellite
Continuous positioning is carried out in the state of signal, positioning precision is lifted.
Optionally, as one embodiment of the present of invention：As shown in figure 3, the step S1 specifically includes following steps：
Step S11. receives the Big Dipper/gps satellite signal, and data and almanac data must be observed by reading satellite-signal, to observation
Data carry out data processing, obtain pseudorange observation data；
Step S12. carries out carrier phase detection to pseudorange observation data and repaired, and recycles observation model to pseudorange observation
Data carry out satellite clock correction, ionosphere delay and tropospheric delay amendment, obtain revised pseudorange observation data；
Step S13. carries out smothing filtering by carrier phase smoothing pseudo-range algorithm to revised pseudorange observation data, obtains
Pseudorange value after smothing filtering；Satellite position is calculated by almanac data, according to satellite position and own coordinate computer installation star away from；
Pseudorange value after smothing filtering and station star away from difference algorithm processing is carried out, are obtained first Big Dipper/GPS poor by step S14.
Divide correction.
In above-described embodiment, satellite clock correction, ionosphere delay and convection current are carried out to pseudorange observation data using observation model
Layer Deferred Correction, lifts positioning precision；Revised pseudorange observation data are put down by carrier phase smoothing pseudo-range algorithm
Sliding filtering, eliminates pseudorange noise.
Optionally, as one embodiment of the present of invention：The step S1 is further comprising the steps of：Step S15. is according to more
Individual first Big Dipper/GPS differential corrections calculate correction rate of change, and correction rate of change is preserved.
In above-described embodiment, by calculating correction rate of change, correction can be obtained according to correction rate of change, so that real
Can not receive now in the state of satellite-signal can obtain correction, be convenient for positioning.
Optionally, as one embodiment of the present of invention：As shown in figure 3, the step S2 specifically includes following steps：
Step S21. receives the Big Dipper/gps satellite signal, and data and almanac data must be observed by reading satellite-signal, to observation
Data carry out data processing, obtain pseudorange observation data；
Step S22. carries out carrier phase detection to pseudorange observation data and repaired, and recycles observation model to pseudorange observation
Data carry out satellite clock correction, ionosphere delay and tropospheric delay amendment, obtain revised pseudorange observation data；
Step S23. carries out smothing filtering by carrier phase smoothing pseudo-range algorithm to revised pseudorange observation data, obtains
Pseudorange value after smothing filtering；Satellite position is calculated by almanac data, according to satellite position and own coordinate computer installation star away from；
Pseudorange value after smothing filtering and station star away from difference algorithm processing is carried out, are obtained second Big Dipper/GPS poor by step S24.
Divide correction；
Step S25. obtains first Big Dipper/GPS differential corrections, by first Big Dipper/GPS differential corrections and the second north
Bucket/GPS differential corrections are matched and corrected, and obtain correcting the Big Dipper/GPS differential corrections；It is poor according to the amendment Big Dipper/GPS
Divide correction to carry out location resolution, carry out bimodulus positioning；
Step S26. generates bimodulus framing signal, is determined and direction of motion measure while carrying out angular speed measure, acceleration,
Determined with reference to angular speed, acceleration is determined and sense-of-movement determination value and bimodulus framing signal progress continuous positioning.
In above-described embodiment, satellite clock correction, ionosphere delay and convection current are carried out to pseudorange observation data using observation model
Layer Deferred Correction, lifts positioning precision；Revised pseudorange observation data are put down by carrier phase smoothing pseudo-range algorithm
Sliding filtering, eliminates pseudorange noise；Differential corrections are matched and corrected, locating speed and positioning precision is improved；Can also be in Wu Wei
Continuous positioning is carried out in the state of star signal, positioning precision is lifted.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modifications, equivalent substitutions and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of Big Dipper/GPS dual-mode navigation positional device, it is characterised in that：Including base station (1) and airborne rover station (2), institute
State base station (1) and airborne rover station (2) wireless connection；
The base station (1) is used to receive the Big Dipper/gps satellite signal, and reads to obtain satellite data；Satellite data is parsed
And calculating, obtain first Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections are preserved, and sent to airborne
Rover station (2)；
The airborne rover station (2) is used to receive the Big Dipper/gps satellite signal, and reads to obtain satellite data；Satellite data is carried out
Parsing and calculating, obtain second Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections and second Big Dipper/GPS are poor
Divide correction to be matched and corrected, obtain correcting the Big Dipper/GPS differential corrections；According to the amendment Big Dipper/GPS differential corrections
Location resolution is carried out, bimodulus positioning is carried out；Bimodulus framing signal is generated, determines and transports while carrying out angular speed measure, acceleration
Dynamic direction is determined, and combination mensuration value and bimodulus framing signal carry out continuous positioning.
2. a kind of Big Dipper/GPS dual-mode navigation positional device according to claim 1, it is characterised in that：The base station (1)
Including the first dual mode receiver unit (101), the first data processing unit (102) and the server unit (103) being sequentially connected；
The first dual mode receiver unit (101) is used to observe the Big Dipper/gps satellite signal, is received by dual mode reception antenna
Satellite-signal, data and almanac data must be observed by reading satellite-signal, and data and ephemeris number will be observed by serial communication mode
According to transmitting to the first data processing unit (102)；
First data processing unit (102) is used to be parsed and be calculated to observation data and with almanac data, obtains first
The Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections are transmitted to server unit by serial communication mode
(103)；
The server unit (103) is used to be stored first Big Dipper/GPS differential corrections；It is additionally operable to according to airborne stream
The access request of dynamic station (2), first Big Dipper/GPS differential corrections are transmitted to airborne rover station (2).
3. a kind of Big Dipper/GPS dual-mode navigation positional device according to claim 1, it is characterised in that：The airborne rover station
(2) the second dual mode receiver unit (201) and the second data processing unit (202), the second dual mode receiver unit are included
(201) it is connected with the second data processing unit (202), and second data processing unit (202) and server unit (103)
Wireless connection；
The second dual mode receiver unit (201) is used to observe the Big Dipper/gps satellite signal, is received by dual mode reception antenna
Satellite-signal, data and almanac data must be observed by reading satellite-signal, and data and ephemeris number will be observed by serial communication mode
According to transmitting to the second data processing unit (202)；
Second data processing unit (202) is used to observation data and almanac data are parsed and calculated, and obtains the second north
Bucket/GPS differential corrections；Access server unit (103) obtains first Big Dipper/GPS differential corrections simultaneously, by the first north
Bucket/GPS differential corrections are matched and corrected with second Big Dipper/GPS differential corrections, are obtained the amendment Big Dipper/GPS difference and are changed
Positive number；Location resolution is carried out according to the amendment Big Dipper/GPS differential corrections, bimodulus positioning is carried out.
4. a kind of Big Dipper/GPS dual-mode navigation positional device according to claim 3, it is characterised in that：At second data
Reason unit (202) is connected by network insertion unit (203) with the server unit (103), the network insertion unit
(203) it is used to carry out signal transmission between the second data processing unit (202) and server unit (103).
5. a kind of Big Dipper/GPS dual-mode navigation positional device according to claim 4, it is characterised in that：The airborne rover station
(2) inertial navigation unit (204) is also included, the inertial navigation unit (204) connects with second data processing unit (202)
Connect；The inertial navigation unit (204) is used for the bimodulus framing signal for obtaining the second data processing unit (202), according to bimodulus
Framing signal carries out continuous positioning, obtains continuous positioning signal, and by continuous positioning signal transmission to the second data processing unit
(202) navigator fix is carried out.
6. a kind of Big Dipper/GPS dual-mode navigation positional device according to claim 5, it is characterised in that：The inertial navigation list
First (204) include three-axis gyroscope (205), three axis accelerometer (206), three axle magnetometer (207) and processor (208), institute
Three-axis gyroscope (205), three axis accelerometer (206) and three axle magnetometer (207) is stated to be connected with the processor (208),
The processor (208) is connected with second data processing unit (202)；
The three-axis gyroscope (205) is used to determine angular speed, and location coordinate is built according to measured value, generates location coordinate
Signal transmission is to processor (208)；
The three axis accelerometer (206) is used to determine acceleration of motion, and the time is integrated twice according to acceleration of motion
Obtain move distance, generation distance signal transmission to processor (208)；
The three axle magnetometer (207) is used to determine the direction of motion, and generation direction signal is transmitted to processor (208)；
The processor (208) be used for obtain bimodulus framing signal, to location coordinate signal, distance signal, direction signal and
Bimodulus framing signal carries out signal transacting, generates corresponding continuous positioning signal transmission to the second data processing unit (202) and enters
Row navigator fix.
7. a kind of Big Dipper/GPS dual-mode navigation locating method, it is characterised in that comprise the following steps：
Step S1. base stations (1) receive the Big Dipper/gps satellite signal, and read to obtain satellite data；Satellite data is parsed
And calculating, obtain first Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections are preserved；
The airborne rover stations of step S2. (2) receive the Big Dipper/gps satellite signal, and read to obtain satellite data；Satellite data is carried out
Parsing and calculating, obtain second Big Dipper/GPS differential corrections；First Big Dipper/GPS differential corrections and second Big Dipper/GPS are poor
Divide correction to be matched and corrected, obtain correcting the Big Dipper/GPS differential corrections；According to the amendment Big Dipper/GPS differential corrections
Location resolution is carried out, bimodulus positioning is carried out；
The airborne rover stations of step S3. (2) generate bimodulus framing signal, determine and move while carrying out angular speed measure, acceleration
Direction is determined, and combination mensuration value and bimodulus framing signal carry out continuous positioning.
8. a kind of Big Dipper/GPS dual-mode navigation locating method according to claim 7, it is characterised in that the step S1 is specific
Comprise the following steps：
Step S11. receives the Big Dipper/gps satellite signal, and data and almanac data must be observed by reading satellite-signal, to observation data
Data processing is carried out, pseudorange observation data are obtained；
Step S12. carries out carrier phase detection to pseudorange observation data and repaired, and recycles observation model to pseudorange observation data
Satellite clock correction, ionosphere delay and tropospheric delay amendment are carried out, revised pseudorange observation data are obtained；
Step S13. carries out smothing filtering by carrier phase smoothing pseudo-range algorithm to revised pseudorange observation data, obtains smoothly
Filtered pseudorange value；Satellite position is calculated by almanac data, according to satellite position and own coordinate computer installation star away from；
Pseudorange value after smothing filtering and station star away from difference algorithm processing is carried out, are obtained first Big Dipper/GPS difference and changed by step S14.
Positive number.
9. a kind of Big Dipper/GPS dual-mode navigation locating method according to claim 7, it is characterised in that the step S1 is also wrapped
Include following steps：Step S15. calculates correction rate of change according to multiple first Big Dippeves/GPS differential corrections, and correction is become
Rate is preserved.
10. a kind of Big Dipper/GPS dual-mode navigation locating method according to claim 7 or 8, it is characterised in that the step S2
Specifically include following steps：
Step S21. receives the Big Dipper/gps satellite signal, and data and almanac data must be observed by reading satellite-signal, to observation data
Data processing is carried out, pseudorange observation data are obtained；
Step S22. carries out carrier phase detection to pseudorange observation data and repaired, and recycles observation model to pseudorange observation data
Satellite clock correction, ionosphere delay and tropospheric delay amendment are carried out, revised pseudorange observation data are obtained；
Step S23. carries out smothing filtering by carrier phase smoothing pseudo-range algorithm to revised pseudorange observation data, obtains smoothly
Filtered pseudorange value；Satellite position is calculated by almanac data, according to satellite position and own coordinate computer installation star away from；
Pseudorange value after smothing filtering and station star away from difference algorithm processing is carried out, are obtained second Big Dipper/GPS difference and changed by step S24.
Positive number；
Step S25. obtains first Big Dipper/GPS differential corrections, by first Big Dipper/GPS differential corrections and second Big Dipper/GPS
Differential corrections are matched and corrected, and obtain correcting the Big Dipper/GPS differential corrections；According to the amendment Big Dipper/GPS differential correctings
Number carries out location resolution, carries out bimodulus positioning；
Step S26. generates bimodulus framing signal, is determined and direction of motion measure while carrying out angular speed measure, acceleration, with reference to
Measured value and bimodulus framing signal carry out continuous positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710249508.9A CN106940447A (en) | 2017-04-17 | 2017-04-17 | A kind of Big Dipper/GPS dual-mode navigation positional device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710249508.9A CN106940447A (en) | 2017-04-17 | 2017-04-17 | A kind of Big Dipper/GPS dual-mode navigation positional device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106940447A true CN106940447A (en) | 2017-07-11 |
Family
ID=59464066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710249508.9A Pending CN106940447A (en) | 2017-04-17 | 2017-04-17 | A kind of Big Dipper/GPS dual-mode navigation positional device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106940447A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272034A (en) * | 2017-07-17 | 2017-10-20 | 桂林电子科技大学 | A kind of reverse car seeking alignment system and method |
| CN107462905A (en) * | 2017-07-31 | 2017-12-12 | 武汉南斗六星系统集成有限公司 | A kind of Big Dipper GPS dual-mode localization method, positioning terminal and alignment system |
| CN107479082A (en) * | 2017-09-19 | 2017-12-15 | 广东容祺智能科技有限公司 | A kind of unmanned plane makes a return voyage method without GPS |
| CN107643535A (en) * | 2017-08-17 | 2018-01-30 | 桂林电子科技大学 | A kind of indoor and outdoor Position Fixing Navigation System and method |
| CN107907894A (en) * | 2017-11-09 | 2018-04-13 | 上汽通用五菱汽车股份有限公司 | Pilotless automobile localization method, device, storage medium and pilotless automobile |
| CN108318904A (en) * | 2018-02-13 | 2018-07-24 | 北京国网富达科技发展有限责任公司 | Ultra-high-tension power transmission line based on Big Dipper location technology waves monitoring system and method |
| CN109425878A (en) * | 2017-08-25 | 2019-03-05 | 武汉米风通信技术有限公司 | A kind of narrowband broadcasting method of Beidou ground enhancing positioning message |
| CN109541652A (en) * | 2018-11-12 | 2019-03-29 | 北京时代民芯科技有限公司 | A kind of Beidou, GPS dual-mode vehicle-mounted terminal system |
| CN110068844A (en) * | 2019-03-09 | 2019-07-30 | 江苏北斗星通汽车电子有限公司 | A kind of Beidou navigation high-precision location technique |
| CN110113569A (en) * | 2019-04-22 | 2019-08-09 | 苏州天地衡遥感科技有限公司 | Unmanned machine head and its video stream processing method |
| CN111123318A (en) * | 2019-12-31 | 2020-05-08 | 泰斗微电子科技有限公司 | Satellite positioning device, satellite signal receiver and terminal equipment |
| CN111414004A (en) * | 2020-03-03 | 2020-07-14 | 桂林电子科技大学 | RTK (real time kinematic) positioning system for unmanned aerial vehicle formation |
| CN111679305A (en) * | 2020-06-16 | 2020-09-18 | 四川省天域航通科技有限公司 | Large-scale freight transportation unmanned aerial vehicle positioning system |
| CN111705822A (en) * | 2020-06-19 | 2020-09-25 | 中铁建大桥工程局集团南方工程有限公司 | Double-wall steel suspension box cofferdam real-time positioning method based on Beidou RTK technology |
| CN112255660A (en) * | 2020-10-20 | 2021-01-22 | 苏州致真科技有限公司 | High-precision relative positioning method for Beidou No. three |
| CN112415540A (en) * | 2020-11-16 | 2021-02-26 | 广东电网有限责任公司肇庆供电局 | Unmanned aerial vehicle autonomous flight system with multi-source positioning data |
| CN112799107A (en) * | 2020-12-28 | 2021-05-14 | 中国科学院国家授时中心 | Dynamic time service system and method |
| CN113109849A (en) * | 2021-05-13 | 2021-07-13 | 西安索格亚航空科技有限公司 | Auxiliary flight navigation method and system based on Beidou/GPS dual-channel differential prediction |
| CN116736352A (en) * | 2023-08-01 | 2023-09-12 | 深圳市中车智联科技有限公司 | Mobile traffic equipment tracking system and method based on Beidou differential positioning |
| CN117008169A (en) * | 2023-07-18 | 2023-11-07 | 湖北海派海洋科技发展有限公司 | Positioning and orientation equipment based on Beidou satellite |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5838237A (en) * | 1996-05-22 | 1998-11-17 | Revell; Graeme Charles | Personal alarm device |
| CN102288977A (en) * | 2011-04-29 | 2011-12-21 | 山东超越数控电子有限公司 | Differential positioning algorithm based on Big Dipper/GPS (Global Positioning System) double-mode positioning module |
| CN103529459A (en) * | 2012-07-05 | 2014-01-22 | 上海映慧电子科技有限公司 | Precise positioning method through combination of single-frequency GPS and GLONASS and system thereof |
| CN104007457A (en) * | 2014-05-28 | 2014-08-27 | 武汉市测绘研究院 | Parameter-free real-time locating method based on CORS |
| CN105005019A (en) * | 2015-07-09 | 2015-10-28 | 厦门精图信息技术股份有限公司 | Underground pipeline measuring method based BDS/GPS RTK |
| CN105158778A (en) * | 2015-09-02 | 2015-12-16 | 上海海积信息科技股份有限公司 | Multisystem-combined-implementation-based carrier phase differential fault satellite rejecting method and system thereof |
| CN205280943U (en) * | 2015-11-18 | 2016-06-01 | 桂林电子科技大学 | Novel bimodulus satellite positioning device |
| CN106226803A (en) * | 2016-07-18 | 2016-12-14 | 深圳市华信天线技术有限公司 | Localization method, device and unmanned plane |
| CN106324645A (en) * | 2016-08-19 | 2017-01-11 | 付寅飞 | Vehicle accuracy positioning method based on inertial navigation and satellite differential positioning |
-
2017
- 2017-04-17 CN CN201710249508.9A patent/CN106940447A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5838237A (en) * | 1996-05-22 | 1998-11-17 | Revell; Graeme Charles | Personal alarm device |
| CN102288977A (en) * | 2011-04-29 | 2011-12-21 | 山东超越数控电子有限公司 | Differential positioning algorithm based on Big Dipper/GPS (Global Positioning System) double-mode positioning module |
| CN103529459A (en) * | 2012-07-05 | 2014-01-22 | 上海映慧电子科技有限公司 | Precise positioning method through combination of single-frequency GPS and GLONASS and system thereof |
| CN104007457A (en) * | 2014-05-28 | 2014-08-27 | 武汉市测绘研究院 | Parameter-free real-time locating method based on CORS |
| CN105005019A (en) * | 2015-07-09 | 2015-10-28 | 厦门精图信息技术股份有限公司 | Underground pipeline measuring method based BDS/GPS RTK |
| CN105158778A (en) * | 2015-09-02 | 2015-12-16 | 上海海积信息科技股份有限公司 | Multisystem-combined-implementation-based carrier phase differential fault satellite rejecting method and system thereof |
| CN205280943U (en) * | 2015-11-18 | 2016-06-01 | 桂林电子科技大学 | Novel bimodulus satellite positioning device |
| CN106226803A (en) * | 2016-07-18 | 2016-12-14 | 深圳市华信天线技术有限公司 | Localization method, device and unmanned plane |
| CN106324645A (en) * | 2016-08-19 | 2017-01-11 | 付寅飞 | Vehicle accuracy positioning method based on inertial navigation and satellite differential positioning |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272034A (en) * | 2017-07-17 | 2017-10-20 | 桂林电子科技大学 | A kind of reverse car seeking alignment system and method |
| CN107462905A (en) * | 2017-07-31 | 2017-12-12 | 武汉南斗六星系统集成有限公司 | A kind of Big Dipper GPS dual-mode localization method, positioning terminal and alignment system |
| CN107643535A (en) * | 2017-08-17 | 2018-01-30 | 桂林电子科技大学 | A kind of indoor and outdoor Position Fixing Navigation System and method |
| CN109425878A (en) * | 2017-08-25 | 2019-03-05 | 武汉米风通信技术有限公司 | A kind of narrowband broadcasting method of Beidou ground enhancing positioning message |
| CN107479082A (en) * | 2017-09-19 | 2017-12-15 | 广东容祺智能科技有限公司 | A kind of unmanned plane makes a return voyage method without GPS |
| CN107907894A (en) * | 2017-11-09 | 2018-04-13 | 上汽通用五菱汽车股份有限公司 | Pilotless automobile localization method, device, storage medium and pilotless automobile |
| CN108318904B (en) * | 2018-02-13 | 2024-03-26 | 北京国网富达科技发展有限责任公司 | High-voltage transmission line galloping monitoring system and method based on Beidou positioning technology |
| CN108318904A (en) * | 2018-02-13 | 2018-07-24 | 北京国网富达科技发展有限责任公司 | Ultra-high-tension power transmission line based on Big Dipper location technology waves monitoring system and method |
| CN109541652A (en) * | 2018-11-12 | 2019-03-29 | 北京时代民芯科技有限公司 | A kind of Beidou, GPS dual-mode vehicle-mounted terminal system |
| CN110068844A (en) * | 2019-03-09 | 2019-07-30 | 江苏北斗星通汽车电子有限公司 | A kind of Beidou navigation high-precision location technique |
| CN110113569A (en) * | 2019-04-22 | 2019-08-09 | 苏州天地衡遥感科技有限公司 | Unmanned machine head and its video stream processing method |
| CN111123318A (en) * | 2019-12-31 | 2020-05-08 | 泰斗微电子科技有限公司 | Satellite positioning device, satellite signal receiver and terminal equipment |
| CN111414004A (en) * | 2020-03-03 | 2020-07-14 | 桂林电子科技大学 | RTK (real time kinematic) positioning system for unmanned aerial vehicle formation |
| CN111679305A (en) * | 2020-06-16 | 2020-09-18 | 四川省天域航通科技有限公司 | Large-scale freight transportation unmanned aerial vehicle positioning system |
| CN111705822A (en) * | 2020-06-19 | 2020-09-25 | 中铁建大桥工程局集团南方工程有限公司 | Double-wall steel suspension box cofferdam real-time positioning method based on Beidou RTK technology |
| CN112255660A (en) * | 2020-10-20 | 2021-01-22 | 苏州致真科技有限公司 | High-precision relative positioning method for Beidou No. three |
| CN112415540A (en) * | 2020-11-16 | 2021-02-26 | 广东电网有限责任公司肇庆供电局 | Unmanned aerial vehicle autonomous flight system with multi-source positioning data |
| CN112799107A (en) * | 2020-12-28 | 2021-05-14 | 中国科学院国家授时中心 | Dynamic time service system and method |
| CN113109849A (en) * | 2021-05-13 | 2021-07-13 | 西安索格亚航空科技有限公司 | Auxiliary flight navigation method and system based on Beidou/GPS dual-channel differential prediction |
| CN117008169A (en) * | 2023-07-18 | 2023-11-07 | 湖北海派海洋科技发展有限公司 | Positioning and orientation equipment based on Beidou satellite |
| CN117008169B (en) * | 2023-07-18 | 2024-02-02 | 湖北海派海洋科技发展有限公司 | Positioning and orientation equipment based on Beidou satellite |
| CN116736352A (en) * | 2023-08-01 | 2023-09-12 | 深圳市中车智联科技有限公司 | Mobile traffic equipment tracking system and method based on Beidou differential positioning |
| CN116736352B (en) * | 2023-08-01 | 2023-12-26 | 深圳市中车智联科技有限公司 | Mobile traffic equipment tracking system and method based on Beidou differential positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106940447A (en) | A kind of Big Dipper/GPS dual-mode navigation positional device and method | |
| CN106255065A (en) | Smart mobile phone and the seamless alignment system of mobile terminal indoor and outdoor and method thereof | |
| CN109196382B (en) | Improved GNSS receiver using a combination of velocity integration and accurate point positioning | |
| CN107894232A (en) | A kind of accurate method for locating speed measurement of GNSS/SINS integrated navigations and system | |
| CN104316947B (en) | GNSS/INS ultra-tight combination navigation apparatus and relative navigation system thereof | |
| CN110187364A (en) | A kind of low rail navigation enhancing is accurate to correct data generation, upper injection system and method | |
| TW591241B (en) | Improved positioning and data integrating method and system thereof | |
| EP0720750A1 (en) | Navigation system using re-transmitted gps | |
| CN103018758A (en) | Method for moving differential base station based on global positioning system (GPS)/inertial navigation system (INS)/assisted global positioning system (AGPS) | |
| JP2018520335A (en) | GNSS real-time kinematic dead reckoning receiver for automobile | |
| CN105607093A (en) | Integrated navigation system and method for acquiring navigation coordinate | |
| CN104536026A (en) | Dynamic-to-dynamic real-time measurement system | |
| Shytermeja et al. | Proposed architecture for integrity monitoring of a GNSS/MEMS system with a fisheye camera in urban environment | |
| CN102739301A (en) | Global navigation satellite wide area augmentation system embedded in cellular network | |
| EP2725322A2 (en) | Smoothed navigation solution using filtered resets | |
| US11624838B2 (en) | System and method for providing GNSS corrections | |
| CN110907976A (en) | High-speed railway combined navigation system based on Beidou satellite | |
| CN103809189B (en) | Calibration system and method, positioning update the system and method and alignment system | |
| WO2015035501A1 (en) | System and method for enhanced integrated navigation with wireless angle of arrival | |
| CN103543454B (en) | A kind of Satellite Orbit Determination system being embedded in wireless network | |
| CN101855567B (en) | Survivor locating method and apparatus using search and rescue beacon equipped with navigation chipset | |
| CN104406592A (en) | Navigation system for underwater glider and attitude angle correcting and backtracking decoupling method | |
| RietDorf et al. | Precise positioning in real-time using navigation satellites and telecommunication | |
| US10386495B1 (en) | Method and apparatus for detecting poor Doppler measurement results in global navigation satellite system navigation | |
| CN106019337A (en) | Vehicle positioning system based on four star fusion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170711 |