CN107656297B - Positioning method based on space-based opportunistic signals - Google Patents
Positioning method based on space-based opportunistic signals Download PDFInfo
- Publication number
- CN107656297B CN107656297B CN201710696097.8A CN201710696097A CN107656297B CN 107656297 B CN107656297 B CN 107656297B CN 201710696097 A CN201710696097 A CN 201710696097A CN 107656297 B CN107656297 B CN 107656297B
- Authority
- CN
- China
- Prior art keywords
- satellite
- user terminal
- space
- inter
- delay difference
- 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.)
- Active
Links
Images
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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
Abstract
The invention provides a positioning method based on space-based opportunistic signals, which comprises the following steps: (1) acquiring the time when the opportunity signal reaches a monitoring terminal; (2) selecting one from the information source satellites of the received multiple space-based opportunity signals as a reference satellite, and acquiring the inter-satellite time delay difference of the monitoring terminal; (3) according to the inter-satellite time delay difference, the rough ephemeris positions of the reference satellite and the information source satellite and the position information of the monitoring terminal, modeling of a hyperboloid space-time distribution model is carried out; (4) the user terminal monitors opportunity signals in a hot spot service area, inter-satellite time delay difference of a reference satellite and an information source satellite reaching the user terminal is obtained, an inter-satellite time delay difference space-time distribution model is built based on the screened information source satellite and a monitoring reference station, and positioning and navigation of the user terminal are achieved. The invention can use signal source as non-navigation satellite/constellation such as space-based communication satellite, etc., space-based communication signal features are randomized, diversified and concealed, and provides a new realization way for positioning navigation service.
Description
Technical Field
The invention belongs to the technical field of radio navigation communication, and particularly relates to a positioning method based on space-based opportunistic signals.
Background
As a current mainstream positioning and Navigation System, a Global Navigation Satellite System (GNSS) can provide high-precision/reliable positioning, Navigation, and Time service (PNT) functions for military/civilian users in a Global domain, all-weather, and all-Time. The wide and effective application has penetrated into various fields of national economy and plays a very important role.
The mature industrial popularization and technical application of the satellite navigation system enable the limitation and shortage of the system to be exposed. The lack of on-board resources results in weak signal power (signal-inherent vulnerability), sensitivity to terrain occlusion/physical blockage, resulting in "shadow zones" for services; the system constellation/signals are transparent and open, are easy to be subjected to the suppression type interference and accurate physical attack of an confrontation party, and have weak anti-interference/destruction capability. The above system drawbacks and deficiencies result in difficulty for GNSS systems to provide PNT services safely/stably/continuously.
In order to solve the inherent weakness restriction of a satellite navigation system and guarantee the PNT service capability in the GNSS denial environment, space-based non-navigation constellation resources become a potential research and development platform. A large number of communication satellites, remote sensing satellites, ocean satellites and the like are distributed in the earth space, the satellite platform resources are rich, the constellation coverage range is large, the signal landing power of the constellation platform is high, the signal format characteristics are obvious, the signal can be used as a potential signal source for positioning and navigation application, deep exploration and research can be carried out, and a new implementation way can be provided for positioning and navigation services.
Disclosure of Invention
In view of the above, the invention provides a positioning method based on space-based opportunistic signals, which is used for making up for inherent defects such as poor concealment and signal vulnerability of a satellite navigation system and meeting the requirements of local area/hot spot emergency navigation positioning services in complex scenes (physical shielding, electromagnetic interference, military attack/confrontation and the like) under the condition of GNSS rejection.
The technical scheme for realizing the invention is as follows:
a positioning method based on space-based opportunistic signals comprises the following specific processes:
(1) space-based opportunistic signal feature extraction and arrival time measurement
Taking a space-based opportunistic signal synchronous frame as a signal characteristic, receiving and demodulating the synchronous frame by a ground-based reference network monitoring terminal, and acquiring the time when an opportunistic signal reaches the monitoring terminal;
(2) reference star selection and inter-star time delay difference acquisition
Selecting one from the received information source satellites of the plurality of space-based opportunity signals as a reference satellite, and subtracting the measured arrival time of the downlink opportunity signals of other information source satellites to the monitoring terminal from the arrival time of the downlink opportunity signals of the reference satellite to the monitoring terminal to obtain the inter-satellite time delay difference of the monitoring terminal;
(3) space-time distribution model construction based on inter-satellite time delay difference
According to the inter-satellite time delay difference, the rough ephemeris positions of the reference satellite and the information source satellite and the position information of the monitoring terminal, modeling a hyperboloid space-time distribution model is carried out, as shown in a formula (4),
wherein the content of the first and second substances,
respectively representing the reference star and the source star position coordinate with the number i,
indicating the position coordinates of the monitoring reference station with the numbers j,
as a reference star SRInformation source star SiThe relative time delay difference of the downlink signal reaching the monitoring reference station with the number j;
(4) user terminal matching and positioning
The user terminal monitors opportunity signals in a hot spot service area, inter-satellite time delay difference of a reference satellite-an information source satellite from reaching the user terminal is obtained, a plurality of reference stations closest to the user terminal and information source satellites corresponding to the reference stations are screened out according to the inter-satellite time delay difference, a space-time distribution model based on the inter-satellite time delay difference is built according to the screened information source satellites and monitoring reference stations, and positioning and navigation of the user terminal are achieved.
Further, the specific process for implementing the positioning navigation of the user terminal in the invention is as follows:
the time when the downlink opportunity signal of the reference satellite reaches the authorized user terminal is assumed to be
Source star SiThe time when the downlink signal of opportunity arrives at the user terminal is
The inter-satellite delay difference of the user terminal is:
performing information matching search in an opportunity signal inter-satellite time delay difference space-time distribution model, wherein the screening criterion is as follows:
screening out at least 4 monitoring reference stations which are close to the periphery of the user terminal, constructing a space-time distribution model based on the inter-satellite time delay difference, and calculating the specific range of the area where the user terminal is located to realize the positioning navigation of the user terminal.
Further, the specific process for implementing the positioning navigation of the user terminal in the invention is as follows:
the time when the downlink opportunity signal of the reference satellite reaches the authorized user terminal is assumed to be
Source star SiThe time when the downlink signal of opportunity arrives at the user terminal is
The inter-satellite delay difference of the user terminal is:
performing information matching search in an opportunity signal inter-satellite time delay difference space-time distribution model, wherein the screening criterion is as follows:
screening out at least 6 monitoring reference stations close to the peripheral distance of the user terminal and at least 3 information source satellites, and constructing a position calculation equation set:
calculating accurate position coordinates of a reference star and an information source star by using the formula (7);
calculating the accurate position coordinates of the reference satellite and the information source satellite according to the inter-satellite time delay difference sum (7) formula of the user terminal, and constructing a formula (8) to calculate the accurate position (x) of the user terminaluser,yuser,zuser) And realizing the positioning navigation of the user terminal:
furthermore, the invention selects the signal source star which can cover the hot spot service area with high quality, has high elevation angle position, long dwell time and high signal-to-noise ratio of the downlink signal as the reference star.
Advantageous effects
Compared with the traditional satellite navigation positioning system, the invention has the following technical advantages according to the utilized resources and technical characteristics:
A. simple positioning requirement and low operation cost
The observed quantity of the space-time positioning model is inter-satellite signal arrival time delay difference, is different from absolute time delay estimation of a traditional satellite navigation system, does not need to rely on a high-precision atomic clock to ensure accurate time synchronization of a signal source end during operation, does not need a large amount of infrastructure to accurately calibrate position information of the source end, and is simple in positioning requirement and low in operation complexity and cost.
B. Strong anti-interference ability
The available signal source is a space-based communication satellite and the like, and compared with a satellite navigation system, the satellite navigation system has the advantages of strong signal transmitting power, small path transmission loss and high signal receiving power, and can greatly improve the self anti-interference capability of the signal; meanwhile, space-based communication signal platforms are rich and diverse in resources, and features such as signal modulation mechanisms, broadcast time slots, frequency band occupation and the like are randomized/diversified, so that the intentional electromagnetic interference is difficult to implement accurately and effectively.
C. Strong ability of anti-attack and deception
The signal sources of the invention are redundant and diverse, and the terminal adopts a passive processing mode, the system has strong concealment, the enemy can hardly detect the signal sources, frequency points, multiple access modes, modulation formats, modulation information and the like which are specifically adopted by the locking system, the system is difficult to be accurately knocked and destroyed, and the deceptive interference is less likely to be carried out.
Drawings
FIG. 1 is a flow chart of the construction and positioning solution of an opportunistic signal inter-satellite time delay difference space-time distribution model;
FIG. 2 is a diagram of a TDMA frame structure;
FIG. 3 is a schematic diagram of a model of space-time distribution of inter-satellite time delay differences of opportunity signals;
FIG. 4 is a schematic diagram of a user space solution/matching algorithm;
fig. 5 is a schematic diagram of authorized user location terminal matching/calculation.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a positioning method based on space-based opportunistic signals, which is applicable to an environment comprising a foundation reference network consisting of a plurality of monitoring terminals, and the specific process is shown in figure 1:
(1) space-based opportunistic signal feature extraction and arrival time measurement
Acquiring space-based communication satellites and beam center parameters according to a satellite broadcast channel; a typical space-based communication satellite signal adopts a TDMA signal format, and a frame structure thereof mainly includes: the structure of the synchronous framing (also called reference framing, RB) and the data (traffic) framing (DB) is shown in fig. 2.
In the TDMA frame structure, the synchronization sub-frames are usually sent by designated reference stations in the network, do not carry service information, and are only used for providing timing references for each service station. Therefore, the synchronous sub-frames can be taken as space-based opportunistic signal features, the ground-based reference network monitoring terminal receives and demodulates the synchronous sub-frames, and the time when the signals reach the monitoring terminal is obtained and used as initial observed quantity; in addition, the type of the information source constellation can be obtained, and then the information source constellation historical ephemeris is compared to obtain the information source star number and the rough ephemeris position.
(2) Reference star selection and inter-star time delay difference acquisition
Selecting one from the source satellites of the received multiple space-based opportunity signals as a reference satellite; during selection, important factors such as the type of an information source star base, an ephemeris position (rough), a wave beam covering condition, downlink signal quality and the like are comprehensively considered, an optimal wave beam can cover an information source star with a high quality in a hotspot service area, a high elevation angle position, a long sky-staying time (GEO satellite priority), a downlink signal-to-noise ratio and the like as a reference star, and the reference star can be replaced in a model according to factors such as a user positioning area, precision, resolving speed and the like.
And obtaining the inter-satellite time delay difference of the monitoring terminal by subtracting the measured arrival time of the downlink opportunity signals of other information source satellites to the monitoring terminal from the arrival time of the downlink opportunity signals of the reference satellite to the monitoring terminal, wherein the arrival time is used as a model variable.
Hypothetical reference satellite SRThe time when the downlink signal reaches the monitoring terminal is
Source star S1、S2、S3The time when the downlink signal reaches the monitoring terminal is respectively
The model variable inter-satellite time delay difference can be obtained,
and (3) establishing a hyperboloid positioning model based on the inter-satellite time delay difference.
(3) Space distribution model construction based on opportunity signal inter-satellite time delay difference
The signal emission time of the space-based communication satellite is unknown, the signal format design and the data information are different from those of a navigation satellite, a unified space-time reference cannot be provided like a GNSS system, and a terminal cannot realize source-terminal ranging based on a pseudo-random code (PRN).
The method includes the steps of measuring/estimating signal arrival time by means of ground reference network monitoring opportunity signal characteristics (synchronous frame headers), preferably selecting an initial observed quantity, namely inter-satellite time delay difference, according to factors such as information source star calendar position, opportunity signal channel propagation quality, signal to noise ratio and estimation accuracy, and carrying out hyperboloid space-time distribution model modeling by combining estimated satellite coarse ephemeris information, ground reference network monitoring nodes and monitoring terminal accurate position information, wherein the specific figure is shown in FIG. 3. Ground reference network ground monitoring nodes (monitoring terminals) keep time synchronization based on a clock-taming technology and provide time reference information for a reference network, the geographic position information of the ground reference monitoring nodes is accurately known (mapping and calibration) to provide space reference information for the reference network, and unified space-time reference is provided for opportunistic signal positioning.
The model of space-time distribution of time delay difference between the satellites of the opportunity signals takes the ephemeris position of the information source satellite in the difference combination term as a focus, and takes a monitoring reference station for intercepting/measuring the signals as a passing point, and the mathematical expression is as follows:
wherein the content of the first and second substances,
respectively representing the reference star and the source star position coordinate with the number i,
indicating the position coordinates of the monitoring reference station with the numbers j,
as a reference star SRInformation source star SiThe downlink signal reaches the relative delay difference (inter-satellite delay difference) of the monitoring reference station with the number j. The inter-satellite time delay difference can eliminate/inhibit systematic observation errors such as a receiver clock error, an ionosphere error, a troposphere error and the like, and compared with an absolute observed quantity (signal arrival time delay), the estimation accuracy is more accurate and reliable.
Due to geographical position difference of each base station in the ground reference network, the arrival time of the characteristic signal presents regular difference along with the geographical position distribution of the base station, and the method specifically comprises the following steps: based on the fact that the trace connecting lines of the satellite points under the monitored satellite are gradient lines, regular curve-type contour models are projected. And (4) estimating the quantity according to the inter-satellite time delay difference acquired by the monitoring terminal node, and modeling according to a contour rule (venation).
However, when the ground reference network listens to 2 non-navigation satellites, the inter-satellite difference of the arrival time of the characteristic signals can only project a group of contour lines with similar rules, the ambiguity is too large, the position of a user cannot be judged, and the positioning and navigation functions are realized. Therefore, in order to ensure the positioning and navigation capability of the system, at least 4 satellites need to be monitored, and at least three inter-satellite arrival delay difference observables (which share one reference satellite) are obtained, so that contour lines are converged, and possible user positions are determined.
(4) User terminal matching and resolving positioning
An authorized user listens random/opportunity signals in a hot spot service area, the arrival time of the opportunity signals reaching a user terminal is measured/estimated, the measured opportunity signals are classified based on signal characteristics, the arrival time of the opportunity signals between the reference satellite and the source satellite selected based on the model is compared, and the inter-satellite delay difference of the reference satellite and the source satellite reaching the user terminal is obtained, and the figure 4 shows.
The time when the downlink opportunity signal of the reference satellite reaches the authorized user terminal is assumed to be
Source star SiThe time when the downlink signal of opportunity arrives at the user terminal is
The inter-satellite delay difference of the user terminal is:
the authorized user terminal classifies the inter-satellite time delay difference according to a reference satellite-information source satellite number-corresponding inter-satellite time delay difference format, and performs information matching search in an opportunity signal inter-satellite time delay difference space-time distribution model according to the format, wherein the screening criterion is as follows:
and preferably selecting a comparison monitoring reference station (more than or equal to 4) which is close to the periphery of the user terminal and the corresponding information source star (more than or equal to 4, wherein one is a reference star) by using the screening criterion, and performing frame calculation on the specific range of the region where the authorized user terminal is located according to a space-time distribution model of the inter-satellite time delay difference to realize the coarse positioning of the user terminal, which is specifically shown in FIG. 5.
And if the screened information source satellite (not less than 4) and the monitoring reference station (not less than 6), the user terminal is accurately positioned and navigated based on the space-time distribution model of the inter-satellite time delay difference.
According to the DOP value optimal configuration principle, the rough ephemeris information of the signal source star is utilized in a time delay difference space-time distribution model of the opportunity signal stars to screen the signal source star, and a position calculation equation set is constructed by combining the position information of the monitoring reference station with the accurately known position:
and (4) calculating the position coordinates of the reference satellite and the source satellite by using the formula (7). (7) There are 6 unknowns in the formula, and at least 6 sets of equations are needed to complete the solution, namely: the satellite position solution is realized by monitoring data (inter-satellite time delay difference) of more than or equal to 6 monitoring reference stations.
And (3) the authorized user terminal utilizes the satellite ephemeris position calculated by the formula (7) and the inter-satellite time delay difference measured/estimated by the terminal to construct the following equation set (more than or equal to the set of 3):
resolving authorized user terminal location information (x) by least squares iterationuser,yuser,zuser) And the accurate positioning navigation function of the user terminal is realized.
The authorized user can realize positioning according to model matching and data fitting, and can realize accurate positioning of the user through the European geometric principle based on model reverse-deducing accurate ephemeris information of the source satellite.
The invention subverts the signal receiving and transmitting time difference distance measuring principle and the 'multi-ball intersection' positioning model of the traditional satellite navigation system, depends on a foundation reference network, measures the inter-satellite time delay difference of an opportunity signal reaching a network monitoring reference station (terminal), uses a finite space coordinate node to detect the signal space distribution regularity difference, constructs an inter-satellite time delay difference-space time-space distribution model based on a mathematical modeling method, provides a time-space reference system for a user, and further realizes the positioning and navigation function of a hot spot area.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A positioning method based on space-based opportunistic signals is characterized by comprising the following specific processes:
(1) space-based opportunistic signal feature extraction and arrival time measurement
Taking a space-based opportunistic signal synchronous frame as a signal characteristic, receiving and demodulating the synchronous frame by a ground-based reference network monitoring terminal, and acquiring the time when an opportunistic signal reaches the monitoring terminal;
(2) reference star selection and inter-star time delay difference acquisition
Selecting one from the received information source satellites of the plurality of space-based opportunity signals as a reference satellite, and subtracting the measured arrival time of the downlink opportunity signals of other information source satellites to the monitoring terminal from the arrival time of the downlink opportunity signals of the reference satellite to the monitoring terminal to obtain the inter-satellite time delay difference of the monitoring terminal;
(3) space-time distribution model construction based on inter-satellite time delay difference
According to the inter-satellite time delay difference, the rough ephemeris positions of the reference satellite and the information source satellite and the position information of the monitoring terminal, modeling a hyperboloid space-time distribution model is carried out, as shown in a formula (4),
wherein the content of the first and second substances,
the position coordinates of the reference star are represented,
indicating the source star position coordinates numbered i,
indicating the monitoring reference station position coordinate number j,
as a reference star SRInformation source star SiThe relative time delay difference of the downlink signal reaching the monitoring reference station with the number j;
(4) user terminal matching and positioning
The user terminal monitors opportunity signals in a hot spot service area, inter-satellite time delay difference of a reference satellite-an information source satellite from reaching the user terminal is obtained, a plurality of reference stations closest to the user terminal and information source satellites corresponding to the reference stations are screened out according to the inter-satellite time delay difference, a space-time distribution model based on the inter-satellite time delay difference is built according to the screened information source satellites and monitoring reference stations, and positioning and navigation of the user terminal are achieved.
2. The positioning method based on space-based opportunistic signals according to claim 1, wherein the specific process for realizing the positioning navigation of the user terminal is as follows:
the time when the downlink opportunity signal of the reference satellite reaches the authorized user terminal is assumed to be
Source star SiThe time when the downlink signal of opportunity arrives at the user terminal is
The inter-satellite delay difference of the user terminal is:
performing information matching search in an opportunity signal inter-satellite time delay difference space-time distribution model, wherein the screening criterion is as follows:
screening out at least 4 monitoring reference stations which are close to the periphery of the user terminal, constructing a space-time distribution model based on the inter-satellite time delay difference, and calculating the specific range of the area where the user terminal is located to realize the positioning navigation of the user terminal.
3. The positioning method based on space-based opportunistic signals according to claim 1, wherein the specific process for realizing the positioning navigation of the user terminal is as follows:
the time when the downlink opportunity signal of the reference satellite reaches the authorized user terminal is assumed to be
Source star SiThe time when the downlink signal of opportunity arrives at the user terminal is
The inter-satellite delay difference of the user terminal is:
performing information matching search in an opportunity signal inter-satellite time delay difference space-time distribution model, wherein the screening criterion is as follows:
screening out at least 6 monitoring reference stations close to the peripheral distance of the user terminal and at least 3 information source satellites, and constructing a position calculation equation set:
calculating accurate position coordinates of a reference star and an information source star by using the formula (7);
according to the accurate position coordinates of the reference star and the information source star obtained by the inter-satellite time delay difference sum (7) calculation of the user terminal, the accurate position (x) of the user terminal is calculated by the formula (8)user,yuser,zuser) And realizing the positioning navigation of the user terminal:
4. the space-based opportunistic signal positioning method according to claim 1, wherein a source satellite with a beam covering a hotspot service area with high quality, a high elevation position, a long dwell time and a high downlink signal-to-noise ratio is selected as a reference satellite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710696097.8A CN107656297B (en) | 2017-08-15 | 2017-08-15 | Positioning method based on space-based opportunistic signals |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710696097.8A CN107656297B (en) | 2017-08-15 | 2017-08-15 | Positioning method based on space-based opportunistic signals |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107656297A CN107656297A (en) | 2018-02-02 |
| CN107656297B true CN107656297B (en) | 2021-04-20 |
Family
ID=61127728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710696097.8A Active CN107656297B (en) | 2017-08-15 | 2017-08-15 | Positioning method based on space-based opportunistic signals |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107656297B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108957501B (en) * | 2018-06-04 | 2020-10-13 | 北京因子图导航技术有限公司 | Digital ground multimedia broadcast synchronous foundation navigation positioning method and system |
| CN112152737B (en) * | 2019-06-28 | 2021-12-17 | 清华大学 | Downlink opportunistic signal acquisition method, device, equipment and storage medium |
| CN111510409B (en) * | 2020-04-16 | 2020-12-29 | 清华大学 | Method and system for estimating space-based opportunistic signal doppler using BPSK data |
| CN111526090B (en) * | 2020-07-06 | 2020-12-25 | 北京大学深圳研究生院 | Routing method of heaven-earth integrated information network |
| CN117031453A (en) * | 2023-10-08 | 2023-11-10 | 中国科学院空天信息创新研究院 | Low orbit satellite opportunistic signal pseudo-range calculation method |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101479622A (en) * | 2006-04-28 | 2009-07-08 | 卢克卓尼克斯有限公司 | System and method for positioning in configured environments |
| CN101617526A (en) * | 2006-12-28 | 2009-12-30 | 真实定位公司 | The emergency wireless location system that comprises the definite receiver in location |
| AU2009282220A1 (en) * | 2008-08-14 | 2010-02-18 | Trueposition, Inc. | Hybrid GNSS and TDOA wireless location system |
| CN101855566A (en) * | 2007-11-13 | 2010-10-06 | 诺瓦特公司 | System for determining position over a network |
| CN103038662A (en) * | 2010-06-08 | 2013-04-10 | Q－Track股份有限公司 | Method and apparatus for determining location using signals-of-opportunity |
| CN103064092A (en) * | 2012-12-28 | 2013-04-24 | 中国科学院光电研究院 | Selection method of navigational satellite |
| DE102013005058A1 (en) * | 2012-09-07 | 2014-03-13 | Cambridge Silicon Radio Limited | PSEUDO MAXIMUM LIKELIHOOD TRACKING FOR GLOBAL NAVIGATION SATELLITE SYSTEMS |
| CN103713301A (en) * | 2006-01-10 | 2014-04-09 | 高通股份有限公司 | Global navigation satellite system |
| CN103777217A (en) * | 2008-05-22 | 2014-05-07 | 诺瓦特公司 | GNSS receiver and system to reduce the time to first fix |
| CN104181500A (en) * | 2014-08-19 | 2014-12-03 | 北京邮电大学 | Real-time locating method based on inertia information and chance wireless signal characteristics |
| CN104297761A (en) * | 2014-09-10 | 2015-01-21 | 中国科学院光电研究院 | Locating method based on non-synchronous reception |
| EP2940490A1 (en) * | 2014-04-30 | 2015-11-04 | U-blox AG | Determining clock-drift using signals of opportunity |
| CN106792508A (en) * | 2015-11-19 | 2017-05-31 | 瑞士优北罗股份有限公司 | Calculate distance measurement value in a cellular communication network |
| CN106886034A (en) * | 2017-01-12 | 2017-06-23 | 清华大学 | A kind of relay type based on single user multiple spot cheats the localization method in source |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656112B (en) * | 2015-01-28 | 2017-08-25 | 重庆大学 | Based on surface electromyogram signal and the used personal localization method and devices combined of MEMS |
| CN106643690A (en) * | 2016-09-21 | 2017-05-10 | 中国第汽车股份有限公司 | Method for high-precision positioning of automobile through scene recognition |
| CN106850958A (en) * | 2016-12-22 | 2017-06-13 | 中国科学院光电研究院 | A kind of positional information in mobile phone position service forges recognition methods and device |
| CN106991700A (en) * | 2017-04-20 | 2017-07-28 | 佛山科学技术学院 | A kind of unmanned plane target position locking and follow-up mechanism and its method |
-
2017
- 2017-08-15 CN CN201710696097.8A patent/CN107656297B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103713301A (en) * | 2006-01-10 | 2014-04-09 | 高通股份有限公司 | Global navigation satellite system |
| CN101479622A (en) * | 2006-04-28 | 2009-07-08 | 卢克卓尼克斯有限公司 | System and method for positioning in configured environments |
| CN101617526A (en) * | 2006-12-28 | 2009-12-30 | 真实定位公司 | The emergency wireless location system that comprises the definite receiver in location |
| CN101855566A (en) * | 2007-11-13 | 2010-10-06 | 诺瓦特公司 | System for determining position over a network |
| CN103777217A (en) * | 2008-05-22 | 2014-05-07 | 诺瓦特公司 | GNSS receiver and system to reduce the time to first fix |
| AU2009282220A1 (en) * | 2008-08-14 | 2010-02-18 | Trueposition, Inc. | Hybrid GNSS and TDOA wireless location system |
| CN103038662A (en) * | 2010-06-08 | 2013-04-10 | Q－Track股份有限公司 | Method and apparatus for determining location using signals-of-opportunity |
| DE102013005058A1 (en) * | 2012-09-07 | 2014-03-13 | Cambridge Silicon Radio Limited | PSEUDO MAXIMUM LIKELIHOOD TRACKING FOR GLOBAL NAVIGATION SATELLITE SYSTEMS |
| CN103064092A (en) * | 2012-12-28 | 2013-04-24 | 中国科学院光电研究院 | Selection method of navigational satellite |
| EP2940490A1 (en) * | 2014-04-30 | 2015-11-04 | U-blox AG | Determining clock-drift using signals of opportunity |
| CN104181500A (en) * | 2014-08-19 | 2014-12-03 | 北京邮电大学 | Real-time locating method based on inertia information and chance wireless signal characteristics |
| CN104297761A (en) * | 2014-09-10 | 2015-01-21 | 中国科学院光电研究院 | Locating method based on non-synchronous reception |
| CN106792508A (en) * | 2015-11-19 | 2017-05-31 | 瑞士优北罗股份有限公司 | Calculate distance measurement value in a cellular communication network |
| CN106886034A (en) * | 2017-01-12 | 2017-06-23 | 清华大学 | A kind of relay type based on single user multiple spot cheats the localization method in source |
Non-Patent Citations (3)
| Title |
|---|
| A novel method of WiFi fingerprint positioning using spatial multi-points matching;Wen Li, Dongyan Wei, Hong Yuan and Guangzhou Ouyang;《2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN), Alcala de Henares, 2016》;20161117;第1-8页 * |
| UTC(NTSC)远程高精度复现方法研究及工程实现;刘娅,陈瑞琼,赵志雄,李孝辉;《时间频率学报》;20160715;第39卷(第3期);第178-192页 * |
| 一种导航新技术:协作机会导航;刘蔚,康永;《现代导航》;20150215;第6卷(第1期);第71-75页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107656297A (en) | 2018-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107656297B (en) | Positioning method based on space-based opportunistic signals | |
| TWI438465B (en) | Method system and mobile unit for locating a geogprahical position using broadcast frequency modulation signals | |
| Han et al. | Future alternative positioning, navigation, and timing techniques: A survey | |
| CN108196272A (en) | A kind of satellite navigation positioning device and method based on real-time accurate One-Point Location | |
| KR100712237B1 (en) | Regional ionosphere modeling estimation and application method | |
| CN102215558B (en) | Ground mobile communication network positioning method assisted by communication broadcast satellite signal | |
| CN110221320B (en) | Beidou inter-frequency deviation measurement method based on parabolic antenna observation | |
| CN107607907B (en) | Positioning navigation system based on space-based random radio signal | |
| KR20170039718A (en) | Method of collaborative determination of positioning errors of a satellite-based navigation system | |
| CN107607908B (en) | Positioning method based on signal time delay characteristic space-time distribution | |
| CN108345015B (en) | Radio high-precision frequency hopping positioning method with strong anti-interference capability | |
| CN115767430A (en) | Precise petrochemical field space-time information processing and service system based on Beidou | |
| Sadeghi et al. | Maritime target localization from bistatic range measurements in space-based passive radar | |
| Hein et al. | Estimation method of ionospheric TEC distribution using single frequency measurements of GPS signals | |
| CN116819587A (en) | Precise positioning service method enhanced by large-scale low-orbit constellation | |
| CN111596318B (en) | Arranging and designing method of navigation anti-interference signals of low-earth-orbit satellite | |
| Pinell et al. | Receiver architectures for positioning with low earth orbit satellite signals: a survey | |
| CN116755126B (en) | Beidou real-time accurate positioning method based on three-dimensional model mapping matching | |
| Lebekwe et al. | Meteorological influence on eLoran accuracy | |
| KR100305714B1 (en) | Development of DGPS positioning accuracy improvement system via local area ionospheric time delay model | |
| Ochin | Detection of spoofing using differential GNSS | |
| Ren et al. | A GEO satellite position and beam features estimation method based on beam edge positions | |
| US10281590B2 (en) | Cooperative receiver system with mobile to mobile assistance | |
| CN112731497A (en) | Method for improving satellite positioning precision by using field vision field analysis | |
| CN104392108A (en) | Remote positioning system and remote positioning method adopting iterative differential algorithm |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |