CN108020854A - A kind of scene target battle state display method and system - Google Patents
A kind of scene target battle state display method and system Download PDFInfo
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- CN108020854A CN108020854A CN201711013533.3A CN201711013533A CN108020854A CN 108020854 A CN108020854 A CN 108020854A CN 201711013533 A CN201711013533 A CN 201711013533A CN 108020854 A CN108020854 A CN 108020854A
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- coordinate information
- receiving station
- mobile equipment
- scene target
- coordinate
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—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
- G01S19/423—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 position solutions derived from different satellite radio beacon positioning systems
Abstract
The invention discloses a kind of scene target battle state display method, including：Obtain the first coordinate information of the mobile equipment in current region；Second coordinate information is calculated according to each receiving station and the distance of the reference beacon in mobile equipment；The positioning accuracy of current region is calculated according to the first coordinate information and the second coordinate information；The scene target situation map being according to each receiving station of the positioning accuracy in each region output under current working status, wherein, the working status of each receiving station represents the quantity for the receiving station opened.The invention also discloses a kind of scene target battle state display system, scene target battle state display method and system provided by the invention can be with the change of real-time display scene positioning accuracy, so that user can carry out decision-making and co-ordination according to the change of positioning accuracy.
Description
Technical field
The present invention relates to alignment system field, more particularly to a kind of scene target battle state display method and system.
Background technology
The major way of existing scene target battle state display is to use a static map conduct for containing local computer aided
Background base map, is then superimposed target information (aircraft or vehicle) and carries out Dynamic Display.Static map exact picture runway, slide
The various element shapes such as road, connecting taxiway, airplane parking area and aircraft gate and region, are also labelled with scene alignment system each
The relative position of a receiver.The static map is one-to-one with local airport practical layout, by being selected in static map
Some object of reference fixing points, the latitude and longitude coordinates of these fixing points physical location corresponding with local airport is associated
Match somebody with somebody, then the scaling that can carry out same ratio browses.
One of the key technical index of positioning accuracy as scene multipoint location system, it is laid out with live receiver website
It is closely related.When equipment breaks down or putting maintenance into practice repairs, it is necessary to which positioning accuracy can all be influenced by closing some website
Change.Either airport surface traffic control user or equipment guarantee user, are required to the positioning accuracy of concern scene multipoint location system
Change, it is ensured that positioning accuracy change meets industry technology requirement, and does not interfere with business normal work.But existing scene mesh
Standard state gesture display methods does not account for the positioning accuracy situation of change at scene, can not meet that user checks scene Real-Time Positioning
Demand.
The content of the invention
For overcome the deficiencies in the prior art, it is an object of the present invention to provide a kind of scene target battle state display side
Method, to solve the problems, such as that existing scene target battle state display method cannot meet that user checks scene Real-Time Positioning.
The second object of the present invention is to provide a kind of scene target battle state display system, to solve existing scene target state
Gesture display methods cannot meet the problem of user checks scene Real-Time Positioning.
An object of the present invention adopts the following technical scheme that realization：
A kind of scene target battle state display method, including：
Obtain the first coordinate information of the mobile equipment in current region；
Second coordinate information is calculated according to each receiving station and the distance of the reference beacon in the mobile equipment；
The positioning accuracy of current region is calculated according to first coordinate information and second coordinate information；
The scene target situation map being according to each receiving station of the positioning accuracy in each region output under current working status, its
In, the working status of each receiving station represents the quantity for the receiving station opened.
Further, first coordinate information for obtaining the mobile equipment in current region includes：
Obtain the positional information of the RTK GNSS movement stations in mobile equipment, wherein the RTK GNSS movement stations with
The RTK GNSS base station cooperatings of fixed setting.
Further, the positioning that current region is calculated according to first coordinate information and second coordinate information
Precision includes：
If the collection moment of first coordinate information is identical with the collection moment of second coordinate information, institute is calculated
State the first coordinate information and the error distance of second information.
Further, the positioning that current region is calculated according to first coordinate information and second coordinate information
Precision further includes：
If the collection moment of second coordinate information was between the collection moment of two first coordinate informations,
The 3rd coordinate information between two first coordinate informations is calculated by interpolation algorithm；
Calculate the error distance of the 3rd coordinate information and second coordinate information.
Further, further included before first coordinate information for obtaining the mobile equipment in current region：
It is multiple cells by region division to be measured, wherein, the current region is any one cell.
Further, the scene being according to each receiving station of the positioning accuracy in each region output under current working status
Target situation map includes：
For the unit case marking different colours of different positioning accuracies.
The second object of the present invention adopts the following technical scheme that realization：
A kind of scene target battle state display system, including：Mobile equipment, scene multipoint location system and differential global positioning system；
The mobile equipment is used to move in current region；The scene multipoint location system includes reference beacon, processor and more
A receiving station；The differential global positioning system is used to gather the first coordinate information of the mobile equipment and is sent to the processor；
The reference beacon is located in the mobile equipment, and the reference beacon is used to transmit a signal to multiple receptions
Stand；The receiving station is used to the signal received feeding back to the processor；The processor is used for according to each reception
The feedback time stood calculates each receiving station and the distance of the reference beacon, so that calculate the mobile equipment second sits
Mark information；
The processor is additionally operable to calculate current region according to first coordinate information and second coordinate information
Positioning accuracy；The processor is additionally operable to record the working status of each receiving station；The processor is additionally operable to according to each area
The positioning accuracy in domain draws out the scene target situation map that each receiving station is under current working status.
Further, the differential global positioning system includes RTK GNSS movement stations and RTK GNSS base stations, the RTK
GNSS movement stations are located in the mobile equipment, and the RTK GNSS base stations fixed setting, the RTK GNSS movement stations are used
In coordinating with the RTK GNSS base stations to obtain the positional informations of the RTK GNSS movement stations.
Further, the processor includes center processing server and display terminal, and the center processing server is used
In the positioning accuracy that current region is calculated according to first coordinate information and second coordinate information；The display terminal is used
In the scene target situation map being according to each receiving station of the positioning accuracy in each region output under current working status.
Further, it is multiple cells that the center processing server, which is additionally operable to region division to be measured, wherein, it is described
Current region is any one cell.
Compared with prior art, the beneficial effects of the present invention are：Obtain the mobile equipment positioned at current region first sits
Information is marked, the second coordinate information is calculated according to the reference beacon in receiving station and mobile equipment, according to the first coordinate information and the
Two coordinate informations calculate the positioning accuracy of current region, and mobile equipment passes through each region, and each area is calculated according to data are received
The positioning accuracy in domain, obtains the positioning accuracy that each receiving station is in each region under current working status, adjusts the work of each receiving station
Make state, export the scene target situation map under different working condition, so as to the change of real-time display scene positioning accuracy,
So that user can carry out decision-making and co-ordination according to the change of positioning accuracy.
Brief description of the drawings
Fig. 1 is scene target battle state display method flow diagram provided in an embodiment of the present invention；
Fig. 2 is scene target battle state display system schematic provided in an embodiment of the present invention.
Embodiment
In the following, with reference to attached drawing and embodiment, the present invention is described further, it is necessary to which explanation is, not
Under the premise of afoul, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
As shown in Figure 1, scene target battle state display method provided in an embodiment of the present invention, including：
Step S101：Obtain the first coordinate information of the mobile equipment in current region.
Specifically, exemplified by being located at by region to be measured in airport, it is more in area peripheral edge location arrangements to be measured according to measurement needs
A receiving station and RTK GNSS base stations.RTK GNSS movement stations are fixed in mobile equipment, mobile equipment can be vehicle-mounted
Equipment, makes mobile unit ensure that all runways, taxiway, contact is completely covered in traffic route according to designed lines low-speed motion
Road, airplane parking area and aircraft gate, that is, cover region to be measured.In mobile equipment moving process, RTK GNSS movement stations and fixed setting
RTK GNSS base station cooperatings, RTK GNSS movement stations can obtain the positional information of itself in real time and be sent to processing
Device, the positional information of RTK GNSS movement stations are the first coordinate information of the mobile equipment in current region.Wherein, RTK
It is the prior art that GNSS movement stations and the RTK GNSS base station cooperatings of fixed setting, which obtain the positional information of itself, herein
Repeat no more.In order to intuitively show the situation map in region to be measured, drawn before gathered data corresponding with airport practical layout quiet
State figure, including the key element such as runway, taxiway, connecting taxiway, airplane parking area and aircraft gate, and indicate the position of each receiving station, then
Divide the static map in a manner of grid matrix, the region to be measured in static map is made of a series of grids, and correspondence will be treated actually
Survey region division is multiple cells, and according to static map ratio, the size of each cell in actual region to be measured is 5m*5m,
Current region is any one cell.The each cell of region overlay of mobile equipment movement, mobile equipment is in each unit
When in lattice, RTK GNSS movement stations at least gather first coordinate information and are sent to processor.
Step S102：Second coordinate is calculated according to each receiving station and the distance of the reference beacon in the mobile equipment
Information.
Specifically, reference beacon is fixed in mobile equipment, reference beacon transmits a signal to each receiving station, receiving station
Receive signal and feed back to processor.Since each receiving station is different from the distance of reference beacon, after reference beacon sends signal, respectively
The time that receiving station receives signal is different.Processor is according to time of each receiving station's feedback signal, you can calculates each reception
Stand and the distance of reference beacon, according to each receiving station and the distance of reference beacon, you can the coordinate information of reference beacon is calculated,
That is the second coordinate information.Wherein, processor calculates the coordinate information of reference beacon according to the distance of each receiving station and reference beacon
For the prior art, details are not described herein.When mobile equipment is moved in each cell, processor at least calculates one time second seat
Mark information.
Step S103：The positioning accurate of current region is calculated according to first coordinate information and second coordinate information
Degree.The step includes：
Step S1031：If the collection moment of first coordinate information and the collection moment phase of second coordinate information
Together, then first coordinate information and the error distance of second information are calculated.
Specifically, assume the point mark PM that processor is calculated and exported according to the feedback signal of each receiving stationiCoordinate is (PMXi,
PMYi), i.e. the second coordinate information, the record moment is PMTi.Accordingly, the letter that processor is sent according to RTK GNSS movement stations
Number in PMTiSimilar time fragment in export two neighboring mark PDiAnd PDi+1, its coordinate is respectively (PDXi, PDYi) and
(PDXi+1, PDYi+1), i.e. the first coordinate information, the record time is respectively PDTiAnd PDTi+1。
In same unit lattice, if time PMTiEqual to PDTi, then a mark PM can directly be calculatediWith a mark PDiBetween
Error distance Li, i.e. Li*Li=(PMXi-PDXi)*(PMXi-PDXi)+(PMYi-PDYi)*(PMXi-PDYi), it is the cell
Positioning accuracy.
Step S1032：If the collection moment of second coordinate information is in the collection of two first coordinate informations
Between moment, then the 3rd coordinate information between two first coordinate informations is calculated by interpolation algorithm.
Specifically, in same unit lattice, if time PMTiBetween PDTiAnd PDTi+1Between, can by interpolation method come
Calculate new point mark PD 'iCoordinate (PDX 'i, PDY 'i), i.e. the 3rd coordinate information, wherein PDX 'i=PDXi+(PDXi+1-PDXi)*
(PMTi-PDTi)/(PDTi+1-PDTi), similarly PDY 'i=PDYi+(PDYi+1-PDYi)*(PMTi-PDTi)/(PDTi+1-PDTi)。
Step S1033：Calculate the error distance of the 3rd coordinate information and second coordinate information.
Specifically, calculate the error distance L ' between point mark PMi and new point mark PD ' ii, i.e. L 'i*L’i=(PMXi-PDX
’i)*(PMXi-PDX’i)+(PMYi-PDY’i)*(PMXi-PDY’i), be the cell positioning accuracy.
It should be noted that if in same unit lattice, processor exported according to the feedback signal of each receiving station second
Coordinate information is multiple marks, and the first coordinate information is also multiple marks, then calculated respectively according to the above method it is each identical or
First coordinate information at close moment and the error distance of the second coordinate information, finally calculate the average value of multiple error distances,
Positioning accuracy as the cell.
Step S104：The scene target being according to each receiving station of the positioning accuracy in each region output under current working status
Situation map, wherein, the working status of each receiving station represents the quantity for the receiving station opened.
Specifically, in the case where all receiving stations are all in opening, processor is according to the data received according to step
S103 calculates the positioning accuracy of each unit lattice, different for the unit case marking of different positioning accuracies according to the numerical value of positioning accuracy
Color, makes different colors represent different positioning accuracy, so as to draw scene mesh of all receiving stations all in opening
Mark situation map.Such as：Definition cell different colours concrete meaning is as follows：
Gray scale 1 (either shallow)：Positioning accuracy reaches less than 7.5 meters；
Gray scale 2 (moderate)：Positioning accuracy reaches 7.5 meters to 12 meters；
Gray scale 3 (depth)：Positioning accuracy reaches 12 meters to 20 meters；
Gray scale 4 (severe)：Positioning accuracy reaches more than 20 meters.
Turn off the states of one or more receiving stations equivalent to the data for not gathering correspondingly received station, during in order to reduce test
Between, the positioning accuracy of each cell is recalculated using the method for all test datas for removing corresponding receiving station, is as closed
The positioning accuracy of each unit lattice when closing correspondingly received station, can be different positioning accuracies according to the positioning accuracy of each unit lattice
Unit case marking different colours.For example, it is assumed that sharing ten receiving stations, then gather and sit in the case where ten receiving stations are all turned on state
Information is marked, processor, that is, exportable ten receiving station is all turned on the scene target situation map under state, therein to export
Target situation map under one or more receiving station's closed modes, then remove the feedback data of corresponding one or more receiving stations
The positioning accuracy of each cell is recalculated, exports corresponding scene target situation map.In another embodiment of the invention,
Corresponding positioning accuracy, output field Area Objects situation map can also be tested respectively under the working status of every kind of receiving station.For example,
Assuming that ten receiving stations are shared, to export the target situation map under wherein one or more receiving station's closed modes, then every
The positioning accuracy of each unit lattice is tested under kind state respectively, exports the scene target situation map under each state.Draw different operating
Scene target situation map under state, can intuitively show influence of each receiver to the positioning accuracy of each unit lattice, convenient to use
Family decision-making and coordination are arranged work.
As shown in Fig. 2, scene target battle state display system provided in an embodiment of the present invention, including：Mobile equipment 1, scene
Multipoint location system 2 and differential global positioning system 3；Mobile equipment 1 is used to move in current region；Scene multipoint location system 2 wraps
Include reference beacon 21, processor 22 and multiple receiving stations 23；Differential global positioning system 3 is used for the first coordinate letter for gathering mobile equipment 1
Cease and be sent to processor 22；Reference beacon 21 is located in mobile equipment 1, and reference beacon 21 is used to transmit a signal to multiple receptions
Stand 23；Receiving station 23 is used to the signal received feeding back to processor 22；Processor 22 is used for according to the anti-of each receiving station 23
Each receiving station 23 of time calculating and the distance of reference beacon 21 are presented, so as to calculate the second coordinate information of mobile equipment 1；Processor
22 are additionally operable to calculate the positioning accuracy of current region according to the first coordinate information and the second coordinate information；Processor 22 is additionally operable to remember
The working status of Lu Ge receiving stations 23, the working status of receiving station 23 represent the quantity for the receiving station 23 opened；Processor 22 is also
For drawing out the scene target situation map that each receiving station 23 is under current working status according to the positioning accuracy in each region.Move
In dynamic 1 moving process of equipment, processor 22 receives the feedback signal of receiving station 23, calculates the second coordinate information, and according to connecing
First coordinate information of the differential global positioning system 3 of receipts calculates the positioning accuracy of current region, so as to export determining for regional
Position precision.Change the unlatching quantity of receiving station 23, duplicate measurements or calculating, different operating shape is in so as to export receiving station
Scene target situation map under state.
Differential global positioning system 3 includes RTK GNSS movement stations 31 and RTK GNSS base stations 32, RTK GNSS movement stations 31
In in mobile equipment 1, RTK GNSS base stations 2 are fixedly installed, and RTK GNSS movement stations 31 are used for and RTK GNSS base stations 32
Coordinate to obtain the positional information of RTK GNSS movement stations 31.
Processor 22 includes center processing server 221 and display terminal 222, and center processing server 221 is used to receive
The feedback information of receiving station 23, the second coordinate information of reference beacon 21 is calculated according to the feedback time of each receiving station 23, is received
First coordinate information of RTK GNSS movement stations 31, determining for current region is calculated according to the first coordinate information and the second coordinate information
Position precision；Display terminal 222 is used to be in the field under current working status according to each receiving station of the positioning accuracy in each region output
Area Objects situation map.
As preferred embodiment, it is multiple cells that center processing server 221, which is additionally operable to region division to be measured,
Wherein, current region is any one cell.So as to draw scene target situation map according to the positioning accuracy of cell.
The test of scene target battle state display system provided in this embodiment and Computing Principle and aforementioned field Area Objects situation
The test of display methods is identical with Computing Principle, and details are not described herein.
Scene target battle state display method and system provided by the invention, obtain the of the mobile equipment positioned at current region
One coordinate information, calculates the second coordinate information, according to the first coordinate information according to the reference beacon in receiving station and mobile equipment
The positioning accuracy of current region is calculated with the second coordinate information, mobile equipment is passed through each region, calculated according to data are received
The positioning accuracy in each region, obtains the positioning accuracy that each receiving station is in each region under current working status, adjusts each receiving station
Working status, export different working condition under scene target situation map, so as to real-time display scene positioning accuracy
Change, so that user can carry out decision-making and co-ordination according to the change of positioning accuracy.
The above embodiment is only the preferred embodiment of the present invention, it is impossible to the scope of protection of the invention is limited with this,
The change and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed scope.
Claims (10)
- A kind of 1. scene target battle state display method, it is characterised in that including：Obtain the first coordinate information of the mobile equipment in current region；Second coordinate information is calculated according to each receiving station and the distance of the reference beacon in the mobile equipment；The positioning accuracy of current region is calculated according to first coordinate information and second coordinate information；The scene target situation map being according to each receiving station of the positioning accuracy in each region output under current working status, wherein, The working status of each receiving station represents the quantity for the receiving station opened.
- 2. scene target battle state display method according to claim 1, it is characterised in that the acquisition is located at current region First coordinate information of interior mobile equipment includes：The positional information of the RTK GNSS movement stations in mobile equipment is obtained, wherein the RTK GNSS movement stations and fixation The RTK GNSS base station cooperatings of setting.
- 3. scene target battle state display method according to claim 1, it is characterised in that described according to first coordinate The positioning accuracy that information and second coordinate information calculate current region includes：If the collection moment of first coordinate information is identical with the collection moment of second coordinate information, described is calculated The error distance of one coordinate information and second information.
- 4. scene target battle state display method according to claim 3, it is characterised in that described according to first coordinate The positioning accuracy that information and second coordinate information calculate current region further includes：If the collection moment of second coordinate information was between the collection moment of two first coordinate informations, pass through Interpolation algorithm calculates the 3rd coordinate information between two first coordinate informations；Calculate the error distance of the 3rd coordinate information and second coordinate information.
- 5. scene target battle state display method according to claim 1, it is characterised in that the acquisition is located at current region Further included before first coordinate information of interior mobile equipment：It is multiple cells by region division to be measured, wherein, the current region is any one cell.
- 6. scene target battle state display method according to claim 5, it is characterised in that the positioning according to each region Precision, which exports the scene target situation map that each receiving station is under current working status, to be included：For the unit case marking different colours of different positioning accuracies.
- A kind of 7. scene target battle state display system, it is characterised in that including：Mobile equipment, scene multipoint location system and difference Divide GPS system；The mobile equipment is used to move in current region；The scene multipoint location system include reference beacon, Processor and multiple receiving stations；The differential global positioning system is used to gather the first coordinate information of the mobile equipment and is sent to The processor；The reference beacon is located in the mobile equipment, and the reference beacon is used to transmit a signal to multiple receiving stations； The receiving station is used to the signal received feeding back to the processor；The processor is used for according to each receiving station Feedback time calculates each receiving station and the distance of the reference beacon, so as to calculate the second coordinate letter of the mobile equipment Breath；The processor is additionally operable to calculate the positioning of current region according to first coordinate information and second coordinate information Precision；The processor is additionally operable to record the working status of each receiving station；The processor is additionally operable to according to each region Positioning accuracy draws out the scene target situation map that each receiving station is under current working status.
- 8. scene target battle state display system according to claim 7, it is characterised in that the differential global positioning system includes RTK GNSS movement stations and RTK GNSS base stations, the RTK GNSS movement stations are located in the mobile equipment, the RTK GNSS base stations are fixedly installed, and the RTK GNSS movement stations are used to coordinate with the RTK GNSS base stations described to obtain The positional information of RTK GNSS movement stations.
- 9. scene target battle state display system according to claim 7, it is characterised in that the processor is included at center Server and display terminal are managed, the center processing server is used to believe according to first coordinate information and second coordinate Breath calculates the positioning accuracy of current region；The display terminal is used to be according to each receiving station of the positioning accuracy in each region output Scene target situation map under current working status.
- 10. scene target battle state display system according to claim 9, it is characterised in that the center processing server It is multiple cells to be additionally operable to region division to be measured, wherein, the current region is any one cell.
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| CN111277945A (en) * | 2018-11-20 | 2020-06-12 | 北京华信泰科技股份有限公司 | RTK positioning method and device |
| CN109581442A (en) * | 2018-12-27 | 2019-04-05 | 华为技术有限公司 | A kind of high-precision satellite positioning method, positioning terminal and positioning system |
| WO2020135543A1 (en) * | 2018-12-27 | 2020-07-02 | 华为技术有限公司 | High-precision satellite positioning method, positioning terminal and positioning system |
| US11906638B2 (en) | 2018-12-27 | 2024-02-20 | Huawei Technologies Co., Ltd. | High-accuracy satellite positioning method, positioning terminal, and positioning system |
| CN112986980A (en) * | 2021-02-09 | 2021-06-18 | 北京理工大学 | Monitoring system of target situation characteristics |
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| CN108020854B (en) | 2022-05-17 |
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