CN108089204A - High-precision area positioning and navigation system and method for foundation - Google Patents
High-precision area positioning and navigation system and method for foundation Download PDFInfo
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- CN108089204A CN108089204A CN201711291806.0A CN201711291806A CN108089204A CN 108089204 A CN108089204 A CN 108089204A CN 201711291806 A CN201711291806 A CN 201711291806A CN 108089204 A CN108089204 A CN 108089204A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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Abstract
The invention relates to the satellite navigation and radio positioning field, disclose a high-accuracy regional location navigation system of ground and method, the system includes: 1) the distributed navigation base stations have a navigation signal broadcasting function, each base station is provided with a transmitting antenna and a receiving antenna, and a broadband frequency conversion channel design is adopted; 2) the base station, adopt the two-way time synchronization method to realize the time synchronization between the base stations of navigating between other base stations of navigating and the base station, the base station has time reference function of GNSS; 3) and the monitoring station has the functions of monitoring, evaluating and calibrating the quality of the navigation signal, and can be collocated with the reference station. The invention also discloses a high-precision positioning method, which determines the initial position coordinates of the receiver through the single-difference pseudo code phase measurement value and assists in completing the carrier ambiguity resolution and high-precision positioning. The system has the advantages of strong environmental adaptability, high positioning precision, strong anti-interference performance, easy deployment, low cost, expandability and cooperative working capability of the GNSS system.
Description
Technical field
The present invention relates to satellite navigation and radio-positioning fields more particularly to a kind of ground high-precision zone location to navigate
System and method.
Background technology
At present, ripe day by day with location technology, user is growing day by day to the location-based service demand of real-time high-precision, intelligence
The fields such as energy traffic, environmental monitoring, geographical mapping, unmanned systems all be unable to do without accurately location-based service.Global navigation satellite system
(Global Navigation Satellite System, GNSS) location technology of uniting has good in outdoor spacious environment
Positioning performance, by Static Precise Point Positioning (Precise Point Positioning, PPP) and real time dynamic differential (Real
Time Kinematic, RTK) etc. means can realize the even more high-precision positioning performance of Centimeter Level, however tunnel,
Under, mountain area, urban canyons, the environment Satellite navigation signal such as interior be blocked, positioning performance is caused to decline even without legal
Position.
In order to make up the deficiency of satellite navigation system, there is the concept of pseudo satellite, pseudolite, pseudolite systems pass through analogue navigation
Satellite realizes the positioning to user.The layout of navigation base station is more flexible in pseudolite systems, so as to effectively avoid signal
It blocks, and navigation signal transmission power can be adjusted as needed, improve propagation characteristic of the navigation signal in complex environment,
Therefore useful supplement is formd to satellite navigation system.
However, in high accuracy positioning application, since precise synchronization means, puppet are defended between the simple and effective station of shortage
Star system usually requires to increase reference station, so that user realizes high accuracy positioning according to differential mode, but also therefore adds puppet
Satellite system builds complexity.
In addition, existing ground base navigation system is usually broadcast consistent with satellite navigation system signals system or solid
Determine the navigation signal of frequency point, the problems such as generally existing near-far interference, multipath, and be easily interfered.The above problem influences
Ground base navigation system is applied under increasingly complicated electromagnetic environment, particularly the application in high accuracy positioning navigation Service.
The content of the invention
The deficiency of existing ground base navigation system, for the purpose of realizing region high accuracy positioning navigation, the present invention provides a kind of
Ground high-precision zone location navigation system and method.
Purpose to realize the present invention, is achieved using following technical scheme：
A kind of ground high-precision zone location navigation system, comprising：
1) several distributed navigation base stations, each navigation base station are distributed in the different position of coverage, each navigation base station
All possess navigation signal and broadcast function, each navigation base station is provided with transmitting and reception antenna, realize navigation signal broadcast and
It receives；
2) base station, using between two-way method for synchronizing time realization navigation base station between each navigation base station and base station
Time synchronization, base station have the GNSS time function of reference.
Further, setting up for several navigation base stations of the invention can realize that receiver user enters in coverage
Afterwards, the signal that the navigation base station more than N number of is sent, N >=4 can be received simultaneously in any position of coverage.
Base station can realize time synchronization with Global Satellite Navigation System；Base station can realize navigation with navigation base station
The bi-directional of signal；Base station provides temporal frequency reference under wireless time synchronous mode for each navigation base station, realizes base
Time synchronization between quasi- station and each navigation base station；After the completion of each navigation base station and base station time synchronization in coverage,
Receiver user starts to receive the navigation signal of each navigation base station, and carries out high accuracy positioning.
When not visible there are navigation base station and base station, more than one extension base station is added in coverage.
After extension base station completes the time synchronization with base station, the navigation base station not visible with base station is with extending base station originally
Between establish and be bi-directionally connected, complete the time synchronization between website.Base station is extended by base station time service, extends base station and base
Precise synchronization is realized using two-way time synchronizing method between quasi- station, to ensure the uniformity of system time.
For the navigation base station in the present invention：Each navigation base station has different station codes, and navigation base station includes leading
Signal generation of navigating unit, time synchronization unit, time and frequency standards unit, broadband upconverting unit, broadband down-converter unit, transmitting day
Line and reception antenna；
The time synchronization unit is used to compare with base station progress temporal frequency, and time synchronization unit is by Time-Frequency Information
Manage module and navigation signal processing module composition；The time and frequency standards unit generates navigation base station local zone time and frequency base
It is accurate；Reception antenna is used to receive base station or/and extends the navigation signal that base station is broadcast, and the navigation signal received is via width
Band down-converter unit is converted to intermediate-freuqncy signal, and navigation signal processing module is measured in the navigation signal received and corresponds to website
The temporal frequency of local zone time and navigation base station local zone time is poor, and Time-Frequency Information processing module is by temporal frequency difference with receiving
The time difference of navigation base station that website measures with corresponding to website local zone time in the navigation signal received is corresponded in navigation signal
Navigation signal frequency and phase adjustment are generated, and navigation signal frequency and phase adjustment are sent to navigation signal generation list
First Spread Spectrum Number Generator and carrier frequency generator, to adjust the frequency of spreading code and carrier signal and phase；
The navigation signal generation unit generates intermediate frequency navigation signal, and navigation signal generation unit is occurred by frequency expansion sequence
Device, carrier frequency generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator is according to setting
Site number, code character and working time slot table generate corresponding pseudo-code sequence, the pseudo-code sequence and carrier frequency generator of generation
The navigation message information of carrier signal and navigation message the generation module generation of generation is sent into signal modulation module completion together
Signal modulation, the intermediate frequency navigation signal for modulating generation is sent to broadband upconverting unit and completes radio-frequency modulations, after radio-frequency modulations
The emitted antenna of navigation base station navigation signal is broadcast away.
For the base station in the present invention：Base station has its corresponding station code, and the base station, which includes navigation, to be believed
Number generation unit, time synchronization unit, time and frequency standards unit, GNSS time service units, broadband upconverting unit, broadband down coversion list
Member, transmitting antenna and reception antenna；
The GNSS time service units receive the temporal information of GNSS, and GNSS time service units send the temporal information of GNSS to
Time and frequency standards unit, time and frequency standards unit generate the base station local zone time synchronous with GNSS time and frequency reference；
The time synchronization unit of base station is used to compare with navigation base station progress temporal frequency, and time synchronization unit is by the time
Message processing module and navigation signal processing module composition；The time and frequency standards unit generates base station local zone time and frequency
Benchmark；Reception antenna for receiving extension base station or/and the navigation signal broadcast of navigation base station, the navigation signal of reception via
Broadband down-converter unit is converted to intermediate-freuqncy signal, and navigation signal processing module is measured in the navigation signal received and corresponds to website
Local zone time and base station local zone time time difference, the time difference measured is sent to navigation letter by temporal information processing module
Navigation message generation module generation navigation message in number generation unit, is finally sent to navigation base station in the form of navigation message
For time synchronization；
Navigation signal generation unit generation intermediate frequency navigation signal in base station, navigation signal generation unit is by frequency expansion sequence
Generator, carrier frequency generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator according to
Base station site number, code character and the working time slot table of setting generate corresponding pseudo-code sequence, the pseudo-code sequence and carrier wave of generation
The navigation message information for carrier signal and navigation message the generation module generation that frequency generator generates is sent into signal tune together
Molding block completes signal modulation, and the intermediate frequency navigation signal for modulating generation is sent to broadband upconverting unit completion radio-frequency modulations, penetrates
Frequently the modulated emitted antenna of base station navigation signal is broadcast away.
For the extended base station in the present invention：It is similar with the structure of base station to extend base station, the difference is that its
Pass through base station time service.When exist extension base station and base station it is not visible when, then the extension base station not visible with base station
By other synchronous with base station deadline extension base station time services visual with base station, it is subsequently used for giving navigation base
It stands time service.
It is described extension base station have its corresponding station code, extension base station include navigation signal generation unit, when
Between synchronization unit, time and frequency standards unit, broadband upconverting unit, broadband down-converter unit, transmitting antenna and reception antenna；
The time synchronization unit of extension base station has and other extension base station, base station or/and navigation base stations simultaneously
Time synchronization function, extend base station time synchronization unit be used for and other extension base stations, base station or/and navigation base
It stands and carries out temporal frequency comparison；Time synchronization unit is made of Time-Frequency Information processing module and navigation signal processing module；Institute
It states time and frequency standards unit and generates extension base station local zone time and frequency reference；The reception antenna of extension base station is used to receive it
He extends the navigation signal that base station, base station or/and navigation base station are broadcast, and the navigation signal received is via broadband down coversion
Cell translation is intermediate-freuqncy signal.
Base station is extended when being carried out with base station or other extension base stations synchronous with the base station deadline
Between it is synchronous when, navigation signal processing module measures the base station that receives or other are synchronous with the base station deadline
It is poor that local zone time and the temporal frequency for extending base station local zone time of website are corresponded in the navigation signal that extension base station is broadcast,
Time-Frequency Information processing module by temporal frequency difference and base station or other extension benchmark synchronous with the base station deadline
Local between the extension base station that station measures and base station or other extension base stations synchronous with the base station deadline
Time difference generates navigation signal frequency and phase adjustment, and navigation signal frequency and phase adjustment are sent to navigation signal
Generation unit frequency expansion sequence and carrier generator, to adjust the frequency of spreading code and carrier wave and phase.
Base station is extended when to navigation base station time service, and navigation signal processing module is measured the navigation base station received and broadcast
The time difference of the local zone time and extension base station local zone time of website, Time-Frequency Information processing module are corresponded in the navigation signal of hair
The time difference measured is sent to navigation message generation module in navigation signal generation unit and generates navigation message, finally to lead
The form of avionics text is sent to navigation base station for time synchronization；
The navigation signal generation unit generation intermediate frequency navigation signal in base station is extended, navigation signal generation unit is by spreading
Sequencer, carrier frequency generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator
Corresponding pseudo-code sequence, the pseudo-code sequence of generation are generated according to the extension base station site number, code character and working time slot table of setting
It arranges and is sent together with the navigation message information for carrier signal and navigation message the generation module generation that carrier frequency generator generates
Enter signal modulation module and complete signal modulation, the intermediate frequency navigation signal for modulating generation is sent to broadband upconverting unit completion radio frequency
It modulates, the extension emitted antenna of base station navigation signal is broadcast away after radio-frequency modulations.
Further, present invention additionally comprises monitoring station, there is the assessment of navigation signal quality-monitoring and calibration function, monitoring station
It individually sets up or monitoring station is set up with base station or/and extension base station and location.
Monitoring station and base station or/and extension base station and when location is set up, are wrapped in the base station or/and extension base station
Monitoring and alignment unit are included, including monitoring with the base station of alignment unit and including monitoring the extension base station with alignment unit
Namely monitoring station, there is monitoring and calibration function.The monitoring is used for navigation signal quality-monitoring and navigation with alignment unit
The amendment of signal time delay deviation, monitoring with alignment unit respectively with navigation signal generation unit, navigation signal processing module and
Time and frequency standards unit connects；The time and frequency standards unit can generate monitoring and alignment unit work clock；Reception antenna receives
The navigation signal that each website is broadcast out (including other extension base stations and each navigation base station), the navigation signal received via
Broadband down-converter unit is converted to intermediate-freuqncy signal, and navigation signal processing module measures the pseudo-code and load of the navigation signal received
Wave phase, and parse navigation message；Navigation message that monitoring exports navigation signal processing module with alignment unit, pseudo-code and
Carrier phase is handled, by parsing the fine status of navigation message and the standard deviation size of phase measurement to receiving
To the signal quality of navigation signal make evaluation, the mean bias of pseudo-code and carrier phase is inclined as navigation signal time delay
Difference, and navigation message is generated by navigation signal generation unit, each website is finally sent to (including other extension bases by transmitting antenna
Quasi- station and each navigation base station), each website broadcasts navigation signal quality evaluation situation accordingly, and to existing navigation signal time delay
Deviation is corrected, monitoring and calibration function so as to fulfill navigation system.
Navigation base station Autonomous maintenance precise synchronization supports the wired and wireless time method of synchronization, and wired time is same
Under step mode, each navigation base station is traceable to unified clock source by time-frequency network cable；Under the wireless time method of synchronization, by base
Quasi- station or extension base station provide temporal frequency reference for other navigation base stations, navigation base station and base station/extension base station it
Between Chinese patent (referred to using two-way method for synchronizing time：A kind of synchronous method of ground base navigation system time；The patent No.：
ZL201510137785.1 precise synchronization) is realized.
A kind of ground high-precision zone location navigation system based on above-mentioned offer, the present invention also provides a kind of ground is high-precision
Zone location air navigation aid is spent, is comprised the following steps：
S1：Station layout；
Multiple navigation base stations are set up in coverage, setting up for multiple navigation base stations can realize that receiver user enters clothes
After in business region, the signal that the navigation base station more than N number of is sent, N can be received simultaneously in any position of coverage
≥4；Each navigation base station is equipped with dual-mode antenna, realizes broadcasting and receiving for navigation signal；
S2：Base station and extension base station are set, complete time synchronization between station；
Base station and extension base station are set in coverage, and the setting of base station and extension base station enables to
The time synchronization of base station can be realized with base station or extended to any one navigation base station in coverage；Base station or expansion
It opens up and precise synchronization between standing is completed using two-way method for synchronizing time between base station and navigation base station；
After the completion of the time synchronization of ground high-precision zone location navigation system, navigation base station persistently lock base station or
The navigation signal of base station is extended, follow base station in real time or extends the navigation signal of base station；Base station or extension base station
The time synchronization state of each navigation base station is monitored in real time；
S3：Navigation base station broadcasts user's navigation signal；
S4：Receiver user receives user's navigation signal that navigation base station is broadcast, and measures pseudorange and carrier phase respectively；
Pseudo range observed quantityFor：
Carrier phase observed quantityFor：
Wherein, c represents the light velocity,It is the geometric distance between receiver user u to navigation base station i, δ tiIt is the time between standing
The clock correction of navigation base station i after synchronization, δ tuIt is receiver user clock correction,It is tropospheric propagation error,It is pseudo range measurement error,
λ is carrier wavelength,It is complete cycle carrier ambiguities,It is carrier phase measurement error；
S5：Selective calling is completed by principle (GDOP is minimum) of optimal geometric dilution of precision, and is obtained according to single poor mode between station
Single poor pseudo range observed quantity and single poor carrier phase observed quantity；
Receiver user receives each navigation base station navigation signal, measures and counts the standard deviation of each navigation signal, selection is led
The minimum navigation base station i of base station Plays difference of navigating is used as with reference to standing, other navigation base stations that receiver user is received navigate
The pseudorange and carrier-phase measurement for the navigation base station i that the pseudorange and carrier-phase measurement of signal are received with receiver user
It makes the difference, the poor pseudo range observed quantity of list for the receiver clock-offsets that are eliminated and single poor carrier phase observed quantity：
Single poor pseudo range observed quantityFor：
Single poor carrier phase observed quantityFor：
Wherein,Be receiver user u to navigation base station i, navigation base station j geometric distance it is poor, δ tijBe navigation base station i,
Clock correction between navigation base station j,It is differences of the receiver user u to the tropospheric propagation error of navigate base base station i, navigation base station j,For pseudo-code measurement error, λ is carrier wavelength,It is the complete cycle carrier wave of receiver user u to navigation base station i, navigation base station j
Fuzziness is poor,It is carrier wave measurement error；
It is represented by：
Wherein, (xu,yu,zu) represent receiver user coordinate, (x (i), y (i), z (i)) represents the position of navigation base station i
Coordinate, (x (j), y (j), z (j)) represent the position coordinates of navigation base station j；
It is (x to define receiver initial position co-ordinates0,y0,z0), formula (1) after first order Taylor is unfolded,It can represent
For：
In formula,
S6：Measure initial position co-ordinates；
Receiver user position coordinates is calculated using single poor pseudo range observed quantity, as the initial position of high accuracy positioning
Coordinate；
Assuming that at a time receiver user u receives the navigation signal of N number of navigation base station and N number of navigation base station bag simultaneously
The navigation base station as reference station that number is i is included, then receiver user can obtain N-1 single poor pseudorange observation equation：
In above-mentioned equation, through the high-precisions such as Saastamoinen Tropospheric Models (reference can be made to：Saastaminen
J.Contribution to the Theory of Atmospheric regraction[J].Bulletion Geod-
Esique, 1973,107, PP.13-14.) modified tropospheric propagation errorAnd through it is two-way between missing the stop when
Between { the c δ t of range error caused by clock correction after synchronizationi1,cδti2..., c δ tiNPseudo range measurement error is used as, equation is to be solved
Unknown number is only remained represented by formula (2)In receiver user coordinate (xu,yu,zu), unknown number number is
3, as N >=4, you can obtain receiver user initial position co-ordinates by above-mentioned N-1 single poor pseudorange observation equation solution；
S7：Using receiver user initial position co-ordinates and single poor carrier phase observed quantity, carrier ambiguities are calculated,
And obtain high accuracy positioning result.
Receiver user is at a certain observation position point of coverage, when receiver user persistently receives simultaneously tenacious tracking
The navigation signal of N number of navigation base station, single poor carrier phase observational equation are：
Wherein,The list of receiver user u to navigation base station i and other each navigation base stations are represented respectively
Poor floating-point carrier ambiguities.Through the modified tropospheric propagation error of the high-precisions Tropospheric Models such as SaastamoinenAs measurement error, then, unknown number to be solved will include in single poor carrier phase observational equationIn 3 receiver coordinate (xu,yu,zu) and N-1 single poor floating-point carrier ambiguities, it has been more than equation number
Amount causes equation to owe fixed.
Increase observation position point of the receiver user in coverage, when M sight of the receiver user in coverage
Surveying location point can continue to receive the navigation signal of the simultaneously N number of navigation base station of tenacious tracking, the M observation position point established respectively
Locate the corresponding poor carrier phase observational equation of list, the quantity of unknown number to be solved becomes 3M+N-1 at this time, and single poor carrier phase is seen
The number for surveying equation is also accordingly increased to (N-1) M, and when meeting (N-1) M >=3M+N-1, single poor carrier phase observational equation can
It solves.It is typical such as N >=5 and M >=4 when, single poor carrier phase observational equation can solve；
Using the receiver user initial position co-ordinates obtained in step S6 as the iteration of single poor carrier phase observational equation
Initial value (x0,y0,z0), computing is iterated, when single poor carrier phase observational equation convergence can obtain single poor carrier ambiguitiesAnd then solve the high accuracy positioning coordinate of receiver user.
Further, the poor floating-point carrier ambiguities of list that step S7 is solved contain fixed between the station after time synchronization
Clock correction.
Further, to ensure that single poor floating-point carrier ambiguities are kept fixed in each epoch, use for reference at field of satellite navigation
Reason method is detected and repaired to carrier phase cycle slip.
Further, during step S3 to step S7, the base station (monitoring station) including monitoring with alignment unit can
Perform the quality-monitoring and deviation calibration to navigation signal.By each navigation base station pseudorange and the measurement accuracy and deviation of carrier phase
It as statistic, is compared with the initial threshold of setting, judges the navigation signal quality of navigation base station, and by monitoring result by leading
Avionics text is broadcast to receiver user.In addition, by measure pseudorange and carrier phase deviation and its variation assisting navigation base station into
Row clock correction is calibrated.
The present invention provides a kind of ground high-precision zone location navigation system and method, including receiver user and setting
Navigation base station and base station in coverage, multiple navigation base stations are set up in coverage, and multiple navigation base stations are set
It is vertical to realize that the receiver user in coverage can receive the signal that the navigation base station more than N number of is sent, N simultaneously
≥4；Base station can realize time synchronization with GNSS；Base station can realize the bi-directional of navigation signal with navigation base station；
Base station provides temporal frequency reference under wireless time synchronous mode for each navigation base station, realizes base station and each navigation base station
Between time synchronization；After the completion of each navigation base station and base station time synchronization in coverage, receiver user starts to connect
The navigation signal of each navigation base station is received, and carries out high accuracy positioning.Compared with the prior art, present invention produces below beneficial to skill
Art effect：
1st, foundation region Position Fixing Navigation System of the invention, navigation base station are provided with transmitting and reception antenna, possess navigation
Signal broadcast and receive capabilities using two-way autonomous method for synchronizing time, are not increasing time-frequency network infrastructure and equipment
In the case of hardware complexity, inexpensive, high-precision system time synchronization is realized, is solved in high accuracy positioning application
Time synchronization problem.
2nd, foundation region Position Fixing Navigation System of the invention, navigation base station employ the design of broadband converter unit, system
Can working frequency points flexibly be set according to actual working environment, enhance the environmental suitability of system, improve system rejection to disturbance energy
Power.
3rd, high-precision locating method of the invention so that receiver user can realize that high-precision point positions, without user
The support of reference station and external input information, and allow there is fixed clock correction in time synchronization between station, reduce system with
The complexity and construction cost of base station equipment.
Description of the drawings
Fig. 1 is a kind of schematic diagram of ground high-precision zone location navigation system of the present invention；
Fig. 2 is the structural principle block diagram of navigation base station；
Fig. 3 is the structural principle block diagram of base station (containing monitoring station)；
Fig. 4 is the structural principle block diagram for extending base station (containing monitoring station)；
Fig. 5 is a kind of flow chart of ground high-precision zone location air navigation aid of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in figure of the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out it is clear,
It is fully described by, is described in further details, but embodiments of the present invention are not limited only to this.
With reference to Fig. 1, Fig. 1 is a kind of schematic diagram of ground high-precision zone location navigation system of the present invention, and the present invention includes
Receiver user and the navigation base station being arranged in coverage, base station set up multiple navigation base stations in coverage, more
It, can in any position of coverage after the setting up of a navigation base station can realize that receiver user enters in coverage
The signal that N number of above navigation base station is sent, N >=4 are received simultaneously；Each navigation base station is equipped with dual-mode antenna, and realization is led
Boat signal broadcasting and receiving.
In practical applications：According to navigation base station coverage, service area dimension, terrain situation and polarization
The factors such as energy requirement carry out navigation base station layout, choose navigation with reference to factors such as system periphery electromagnetic environment and user demands and believe
Number frequency point, and determine corresponding base station transceiver antenna, measure its phase center coordinate after completing antenna installation.It is complete in station layout
Working frequency points are determined according to system local environment into rear, can effectively improve the environmental suitability and antijamming capability of system,
External environment is reduced to systematic influence, lifting system performance.
In Fig. 1：Four navigation base stations including being arranged on different position in coverage, 1 base station and 1 monitoring
It stands.Base station and monitoring station and location in the present embodiment.Four setting up for navigation base station can realize that receiver user enters service
After in region, the signal that this four navigation base stations are sent can be received simultaneously in any position of coverage.Each navigation
Base station is equipped with dual-mode antenna, realizes broadcasting and receiving for navigation signal.
Autonomous maintenance precise synchronization between navigation base station supports the wired and wireless time method of synchronization.Wired time
Under the method for synchronization, each navigation base station is traceable to unified clock source by time-frequency network cable；Under the wireless time method of synchronization, respectively
Time synchronization is obtained using two-way method for synchronizing time between navigation base station and base station and ((refers to patent：A kind of ground base navigation system
The synchronous method of system time；The patent No.：ZL201510137785.1)).
Specifically, in the present embodiment, the sending and receiving antenna of each navigation base station after installation is complete, is sat antenna phase center
It is demarcated, and passes through navigation message and broadcast to receiver user；Each navigation base station has different numbers, and navigation signal uses
Code point, when grade multi-access mode.
Base station is provided in coverage, base station can realize time synchronization with Global Satellite Navigation System；Base
Quasi- station can realize the bi-directional of navigation signal with navigation base station；Base station is each navigation base under wireless time synchronous mode
It stands and temporal frequency reference is provided, realize the time synchronization between base station and each navigation base station.Base station and global navigation satellite
After system time synchronization, each navigation base station in ground high-precision zone location navigation system just realizes same with the time of GNSS
Step.After the completion of each navigation base station and Global Satellite Navigation System time synchronization in coverage, receiver user starts to receive
The navigation signal of each navigation base station, and carry out high accuracy positioning.
The structural principle block diagram of navigation base station in the present invention is shown in Fig. 2.Each navigation base station has different station codes,
Each navigation base station includes navigation signal generation unit, time synchronization unit, time and frequency standards unit, broadband upconverting unit, width
Band down-converter unit, transmitting antenna and reception antenna.Its middle width strip upconverting unit realizes intermediate-freuqncy signal to radiofrequency signal
Conversion；Broadband down-converter unit then realizes conversion of the radiofrequency signal to intermediate-freuqncy signal.
The time synchronization unit is used to compare with base station progress temporal frequency, and time synchronization unit is by Time-Frequency Information
Manage module and navigation signal processing module composition；The time and frequency standards unit generates navigation base station local zone time and frequency base
It is accurate；Reception antenna is used to receive base station or/and extends the navigation signal that base station is broadcast, and the navigation signal received is via width
Band down-converter unit is converted to intermediate-freuqncy signal, and navigation signal processing module is measured in the navigation signal received and corresponds to website
The temporal frequency of local zone time and navigation base station local zone time is poor, and Time-Frequency Information processing module is by temporal frequency difference with receiving
The time difference of navigation base station that website measures with corresponding to website local zone time in the navigation signal received is corresponded in navigation signal
Navigation signal frequency and phase adjustment are generated, and navigation signal frequency and phase adjustment are sent to navigation signal generation list
First Spread Spectrum Number Generator and carrier frequency generator, to adjust the frequency of spreading code and carrier signal and phase.
The navigation signal generation unit generates intermediate frequency navigation signal, and navigation signal generation unit is occurred by frequency expansion sequence
Device, carrier frequency generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator is according to setting
Site number, code character and working time slot table generate corresponding pseudo-code sequence, the pseudo-code sequence and carrier frequency generator of generation
The navigation message information of carrier signal and navigation message the generation module generation of generation is sent into signal modulation module completion together
Signal modulation, the intermediate frequency navigation signal for modulating generation is sent to broadband upconverting unit and completes radio-frequency modulations, after radio-frequency modulations
The emitted antenna of navigation base station navigation signal is broadcast away.
In the present embodiment, time and frequency standards unit generates local zone time, work clock and pulse per second (PPS) etc., and with time-frequency
External Reference function when all base stations are by time-frequency network External Reference to unified clock source, just realizes the time under wireline mode
It is synchronous.Time synchronization unit receives base station navigation signal under wireless time synchronous mode, completes navigation base station and base station
Between time synchronizing.
Specifically, in the present embodiment, broadband upconverting unit and broadband down-converter unit can according to user demand and
Real work scene flexibly sets working frequency points, enhances flexibility and the environmental suitability of system, the system of improving resists dry
Disturb ability.
Specifically, in the present embodiment, transmitting antenna matches with reception antenna and navigation signal working band, and selects
The high antenna of Phase center stability.
The base station adds GNSS time service units compared to navigation base station so that other navigation base stations and base station time
After synchronization, the time synchronization between ground base navigation system and GNSS is realized.Base station can also be used as navigation base station.Navigation
The time synchronization between navigation base station is realized using two-way method for synchronizing time between base station and base station, base station has GNSS
Time reference function.After base station and Global Satellite Navigation System time synchronization, each navigation base station of ground base navigation system is just realized
Time synchronization with GNSS.When there is a situation where that navigation base station is not visible with base station, then need to increase the quantity of base station,
It extends base station and navigation base station uses identical time synchronizing method.
In the present embodiment, after each navigation base station completes precise synchronization, receiver user starts to receive each station navigation
Signal, and carry out high accuracy positioning.
It is the structural principle block diagram of base station of the present invention with reference to Fig. 3.Base station has its corresponding station code, the base
Quasi- station includes navigation signal generation unit, time synchronization unit, time and frequency standards unit, GNSS time service units, broadband up-conversion list
Member, broadband down-converter unit, transmitting antenna and reception antenna.The GNSS time service units receive the temporal information of GNSS,
GNSS time service units send the temporal information of GNSS to time and frequency standards unit, and time and frequency standards unit generates synchronous with GNSS time
Base station local zone time and frequency reference；
The time synchronization unit of base station is used to compare with navigation base station progress temporal frequency, and time synchronization unit is by the time
Message processing module and navigation signal processing module composition；The time and frequency standards unit generates base station local zone time and frequency
Benchmark；Reception antenna for receiving extension base station or/and the navigation signal broadcast of navigation base station, the navigation signal of reception via
Broadband down-converter unit is converted to intermediate-freuqncy signal, and navigation signal processing module is measured in the navigation signal received and corresponds to website
Local zone time and base station local zone time time difference, the time difference measured is sent to navigation letter by temporal information processing module
Navigation message generation module generation navigation message in number generation unit, is finally sent to navigation base station in the form of navigation message
For time synchronization.
Navigation signal generation unit generation intermediate frequency navigation signal in base station, navigation signal generation unit is by frequency expansion sequence
Generator, carrier frequency generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator according to
Base station site number, code character and the working time slot table of setting generate corresponding pseudo-code sequence, the pseudo-code sequence and carrier wave of generation
The navigation message information for carrier signal and navigation message the generation module generation that frequency generator generates is sent into signal tune together
Molding block completes signal modulation, and the intermediate frequency navigation signal for modulating generation is sent to broadband upconverting unit completion radio-frequency modulations, penetrates
Frequently the modulated emitted antenna of base station navigation signal is broadcast away.
When navigation base station and base station are not visible, it is necessary to add more than one extension base station in coverage,
Base station is extended by base station time service, extends and high-precision is realized using two-way time synchronizing method between base station and base station
Time synchronization, to ensure the uniformity of system time.It is established with base station between not visible navigation base station and extension base station
It is bi-directionally connected, completes time synchronization between station.After extension base station completes the time synchronization with base station, originally with base station not
It establishes and is bi-directionally connected between visual navigation base station and extension base station, complete time synchronization between station.
With reference to Fig. 4, to extend the structural principle block diagram of base station.There is the extension base station its corresponding website to compile
Code, extension base station include navigation signal generation unit, time synchronization unit, time and frequency standards unit, broadband upconverting unit, width
Band down-converter unit, transmitting antenna and reception antenna.
The time synchronization unit of extension base station has and other extension base station, base station or/and navigation base stations simultaneously
Time synchronization function, extend base station time synchronization unit be used for and other extension base stations, base station or/and navigation base
It stands and carries out temporal frequency comparison；Time synchronization unit is made of temporal information processing module and navigation signal processing module；Institute
It states time and frequency standards unit and generates extension base station local zone time and frequency reference；The reception antenna of extension base station is used to receive it
He extends the navigation signal that base station, base station or/and navigation base station are broadcast, and the navigation signal received is via broadband down coversion
Cell translation is intermediate-freuqncy signal.
Base station is extended when being carried out with base station or other extension base stations synchronous with the base station deadline
Between it is synchronous when, navigation signal processing module measures the base station that receives or other are synchronous with the base station deadline
It is poor that local zone time and the temporal frequency for extending base station local zone time of website are corresponded in the navigation signal that extension base station is broadcast,
Time-Frequency Information processing module by temporal frequency difference and base station or other extension benchmark synchronous with the base station deadline
Local between the extension base station that station measures and base station or other extension base stations synchronous with the base station deadline
Time difference generates navigation signal frequency and phase adjustment, and navigation signal frequency and phase adjustment are sent to navigation signal
Generation unit frequency expansion sequence and carrier generator, to adjust the frequency of spreading code and carrier wave and phase.
Base station is extended when to navigation base station time service, and navigation signal processing module is measured the navigation base station received and broadcast
The time difference of the local zone time and extension base station local zone time of website, Time-Frequency Information processing module are corresponded in the navigation signal of hair
The time difference measured is sent to navigation signal generation unit, when being finally sent to navigation base station in the form of navigation message and being used for
Between it is synchronous.
The navigation signal generation unit generation intermediate frequency navigation signal in base station is extended, navigation signal generation unit is by spreading
Sequencer, carrier frequency generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator
Corresponding pseudo-code sequence, the pseudo-code sequence of generation are generated according to the extension base station site number, code character and working time slot table of setting
It arranges and is sent together with the navigation message information for carrier signal and navigation message the generation module generation that carrier frequency generator generates
Enter signal modulation module and complete signal modulation, the intermediate frequency navigation signal for modulating generation is sent to broadband upconverting unit completion radio frequency
It modulates, the extension emitted antenna of base station navigation signal is broadcast away after radio-frequency modulations.
The present invention is additionally provided with monitoring station, in the present embodiment monitoring station and base station and location.Monitoring station is used for navigation signal
Quality-monitoring and deviation calibration.The monitoring result respectively stood is broadcast by navigation message, and deviation calibration result is used for navigation base station
Carry out time delay amendment.With reference to Fig. 3 and Fig. 4, monitoring station and base station and location in the present embodiment.The base station or/and extension
Base station includes monitoring and alignment unit, including monitoring with the base station of alignment unit and including monitoring and alignment unit
Base station namely monitoring station are extended, there is monitoring and calibration function.The monitoring is supervised with alignment unit for navigation signal quality
Survey and navigation signal time-delay deviation amendment, monitoring with alignment unit respectively at navigation signal generation unit, navigation signal
Manage module and the connection of time and frequency standards unit；
The time and frequency standards unit can generate monitoring and alignment unit work clock；Reception antenna receives each website and broadcasts
The navigation signal gone out, the navigation signal received are converted to intermediate-freuqncy signal, navigation signal processing mould via broadband down-converter unit
Block measures the pseudo-code and carrier phase of the navigation signal received, and parses navigation message；Monitoring is with alignment unit to leading
Navigation message, pseudo-code and the carrier phase of boat signal processing module output are handled, by the intact feelings for parsing navigation message
The signal quality of navigation signal of the standard deviation size of condition and phase measurement to receiving makes evaluation, by pseudo-code and load
The mean bias of wave phase as navigation signal time-delay deviation, and by navigation signal generation unit generate navigation message, finally by
Transmitting antenna is sent to each website, and each website broadcasts navigation signal quality evaluation situation accordingly, and during to existing navigation signal
Prolong deviation to be corrected, monitoring and calibration function so as to fulfill navigation system.
Autonomous maintenance precise synchronization between navigation base station supports the wired and wireless time method of synchronization, wired time
Under the method for synchronization, each base station is traceable to unified clock source by time-frequency network cable；Under the wireless time method of synchronization, by benchmark
It stands and provides temporal frequency reference for other navigation base stations, between navigation base station and base station using two-way method for synchronizing time (in detail
See Chinese patent：A kind of synchronous method of ground base navigation system time；The patent No.：ZL201510137785.1 high-precision) is realized
Time synchronization.
Based on a kind of above-mentioned ground high-precision zone location navigation system, the present invention also provides a kind of ground high-precision regions
Positioning navigation method comprises the following steps：
S1：Station layout；
Multiple navigation base stations are set up in coverage, setting up for multiple navigation base stations can realize that receiver user enters clothes
After in business region, the signal that the navigation base station more than N number of is sent, N can be received simultaneously in any position of coverage
≥4；Each navigation base station is equipped with dual-mode antenna, realizes broadcasting and receiving for navigation signal.
In practical applications：According to navigation base station coverage, service area dimension, terrain situation and polarization
The factors such as energy requirement carry out navigation base station layout, choose navigation with reference to factors such as system periphery electromagnetic environment and user demands and believe
Number frequency point, and determine corresponding base station transceiver antenna, measure its phase center coordinate after completing antenna installation.It is complete in station layout
Working frequency points are determined according to system local environment into rear, can effectively improve the environmental suitability and antijamming capability of system,
External environment is reduced to systematic influence, lifting system performance.
S2：Base station is set, completes time synchronization between station；
Base station and extension base station are set in coverage, and the setting of base station and extension base station enables to
The time synchronization of base station can be realized with base station or extended to any one navigation base station in coverage；Base station or expansion
It opens up and precise synchronization between standing is completed using two-way method for synchronizing time between base station and navigation base station.
S3：Navigation base station broadcasts navigation signal；
After the completion of the time synchronization of ground high-precision zone location navigation system, navigation base station still persistently locks benchmark
It stands navigation signal, follows base station navigation signal in real time；Base station monitors the time synchronization state of each navigation base station in real time, it is ensured that
System time synchronization precision；It is possible to further independently increase navigation base station after the completion of system time synchronization, system support is led
Boat base station being dynamically added and exiting.
S4：Receiver user receives the navigation signal that each navigation base station is broadcast, and measures pseudorange and carrier phase respectively；
Pseudo range observed quantityFor：
Carrier phase observed quantityFor：
Wherein, c represents the light velocity,It is the geometric distance between receiver user u to navigation base station i, δ tiIt is the time between standing
The clock correction of navigation base station i after synchronization, δ tuIt is receiver user clock correction,It is tropospheric propagation error,It is pseudo range measurement error,
λ is carrier wavelength,It is complete cycle carrier ambiguities,It is carrier phase measurement error.
S5：Receiver user completes selective calling by principle (GDOP is minimum) of optimal geometric dilution of precision, and according to single between station
Poor mode obtains single poor pseudo range observed quantity and single poor carrier phase observed quantity；
Receiver user receives each navigation base station navigation signal, measures and counts the standard deviation of each navigation signal, selection is led
The minimum navigation base station i of base station Plays difference of navigating is used as with reference to standing, other navigation base stations that receiver user is received navigate
The pseudorange and carrier-phase measurement for the navigation base station i that the pseudorange and carrier-phase measurement of signal are received with receiver user
It makes the difference, the poor pseudo range observed quantity of list for the receiver clock-offsets that are eliminated and single poor carrier phase observed quantity：
Single poor pseudo range observed quantityFor：
Single poor carrier phase observed quantityFor：
Wherein,Be receiver user u to navigation base station i, navigation base station j geometric distance it is poor, δ tijBe navigation base station i,
Clock correction between navigation base station j,It is differences of the receiver user u to the tropospheric propagation error of navigate base base station i, navigation base station j,For pseudo-code measurement error, λ is carrier wavelength,It is the complete cycle carrier wave of receiver user u to navigation base station i, navigation base station j
Fuzziness is poor,It is carrier wave measurement error.It is represented by：
Wherein, (xu,yu,zu) represent receiver user coordinate, (x (i), y (i), z (i)) represents the position of navigation base station i
Coordinate, (x (j), y (j), z (j)) represent the position coordinates of navigation base station j；
It is (x to define receiver initial position co-ordinates0,y0,z0), formula (1) after first order Taylor is unfolded,It can represent
For：
In formula,
S6：Receiver user position coordinates is calculated using single poor pseudo range observed quantity, as the initial of high accuracy positioning
Position coordinates；
Assuming that at a time receiver user u receives the navigation signal of N number of navigation base station and N number of navigation base station bag simultaneously
The navigation base station as reference station that number is i is included, then receiver user can obtain N-1 single poor pseudorange observation equation：
In above-mentioned equation, through the modified tropospheric propagation error of the high-precisions Tropospheric Models such as SaastamoinenAnd { the c δ t of range error caused by clock correction after two-way time synchronization between miss the stopi1,cδti2,…,cδtiN}
As pseudo range measurement error, equation unknown number to be solved is only remained represented by formula (2)In user
Receiver coordinate (xu,yu,zu), unknown number number is 3；As N >=4, you can pass through above-mentioned N-1 single poor pseudorange observation equation
Solution obtains receiver user initial position co-ordinates.
In addition, the initial position co-ordinates of high accuracy positioning can also measure by other means, such as using high precision instrument into
Rower is determined, and is supplied to receiver user as preset value.
S7：Using receiver user initial position co-ordinates and single poor carrier phase observed quantity, carrier ambiguities are calculated,
And obtain high accuracy positioning result.
Receiver user is at a certain observation position point of coverage, when receiver user persistently receives simultaneously tenacious tracking
The navigation signal of N number of navigation base station, single poor carrier phase observational equation are：
Wherein,The list of receiver user u to navigation base station i and other each navigation base stations are represented respectively
Poor floating-point carrier ambiguities.Through the modified tropospheric propagation error of the high-precisions Tropospheric Models such as SaastamoinenAs measurement error, then, unknown number to be solved will include in single poor carrier phase observational equationIn 3 receiver coordinate (xu,yu,zu) and N-1 single poor floating-point carrier ambiguities, it has been more than equation number
Amount causes equation to owe fixed.
Increase observation position point of the receiver user in coverage, when M sight of the receiver user in coverage
Surveying location point can continue to receive the navigation signal of the simultaneously N number of navigation base station of tenacious tracking, the M observation position point established respectively
Locate the corresponding poor carrier phase observational equation of list, the quantity of unknown number to be solved becomes 3M+N-1 at this time, and single poor carrier phase is seen
The number for surveying equation is also accordingly increased to (N-1) M, when meeting (N-1) M >=3M+N-1, during such as N >=5 and M >=4, and single poor carrier wave
Phase observations equation can solve；
Using the receiver user initial position co-ordinates obtained in step S6 as the iteration of single poor carrier phase observational equation
Initial value (x0,y0,z0), computing is iterated, when single poor carrier phase observational equation convergence can obtain single poor carrier ambiguitiesAnd then solve the high accuracy positioning coordinate of receiver user.
In conclusion although the present invention is disclosed above with preferred embodiment, however, it is not to limit the invention, any
Those of ordinary skill in the art, without departing from the spirit and scope of the present invention, when can make it is various change and retouch, therefore this hair
Bright protection domain is subject to the scope defined depending on claims.
Claims (10)
1. a kind of ground high-precision zone location navigation system, it is characterised in that：
1) several distributed navigation base stations, each navigation base station are distributed in the different position of coverage, and each navigation base station all has
Standby navigation signal broadcasts function, and each navigation base station is provided with transmitting and reception antenna, realizes broadcasting and receiving for navigation signal；
2) base station realizes the time between navigation base station between each navigation base station and base station using two-way method for synchronizing time
Synchronous, base station has the GNSS time function of reference.
2. ground high-precision zone location navigation system according to claim 1, it is characterised in that：Several navigation base stations
Set up and can realize that receiver user enters in coverage after, can be received simultaneously in any position of coverage
The signal that N number of above navigation base station is sent, N >=4；
Base station can realize time synchronization with Global Satellite Navigation System；Base station can realize navigation signal with navigation base station
Bi-directional；Base station provides temporal frequency reference under wireless time synchronous mode for each navigation base station, realizes base station
With the time synchronization between each navigation base station；After the completion of each navigation base station and base station time synchronization in coverage, user
Receiver starts to receive the navigation signal of each navigation base station, and carries out high accuracy positioning.
3. ground high-precision zone location navigation system according to claim 1 or 2, it is characterised in that：It navigates when existing
When base station and not visible base station, more than one extension base station is added in coverage, extension base station passes through benchmark
It stands time service, extends and time synchronization is realized using two-way time synchronizing method between base station and base station, it is not visible with base station
Navigation base station and extension base station between establishes and is bi-directionally connected, complete time synchronization between standing.
4. ground high-precision zone location navigation system according to claim 3, it is characterised in that：Each navigation base station tool
There is different station codes, navigation base station includes navigation signal generation unit, time synchronization unit, time and frequency standards unit, broadband
Upconverting unit, broadband down-converter unit, transmitting antenna and reception antenna；
The time synchronization unit is used to compare with base station progress temporal frequency, and time synchronization unit handles mould by Time-Frequency Information
Block and navigation signal processing module composition；The time and frequency standards unit generates navigation base station local zone time and frequency reference；It connects
It receives antenna to be used to receive base station or/and extend the navigation signal that base station is broadcast, the navigation signal received is via under broadband
Converter unit is converted to intermediate-freuqncy signal, and navigation signal processing module measures the local that website is corresponded in the navigation signal received
Time and the temporal frequency of navigation base station local zone time are poor, and Time-Frequency Information processing module is by temporal frequency difference and the navigation that receives
The time difference generation that the navigation base station that website measures corresponds to website local zone time with the navigation signal received is corresponded in signal
Navigation signal frequency and phase adjustment, and navigation signal frequency and phase adjustment are sent to navigation signal generation unit and expanded
Frequency sequence generator and carrier frequency generator, to adjust the frequency of spreading code and carrier signal and phase；
The navigation signal generation unit generates intermediate frequency navigation signal, and navigation signal generation unit is by Spread Spectrum Number Generator, load
Wave frequency rate generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator is according to the station of setting
Point number, code character and working time slot table generate corresponding pseudo-code sequence, and pseudo-code sequence and the carrier frequency generator of generation generate
Carrier signal and navigation message generation module generation navigation message information be sent into together signal modulation module complete signal
Modulation, the intermediate frequency navigation signal for modulating generation are sent to broadband upconverting unit and complete radio-frequency modulations, the navigation after radio-frequency modulations
The emitted antenna of base station navigation signal is broadcast away.
5. ground high-precision zone location navigation system according to claim 3, it is characterised in that：Base station is right with its
The station code answered, the base station include navigation signal generation unit, time synchronization unit, time and frequency standards unit, GNSS and award
Shi Danyuan, broadband upconverting unit, broadband down-converter unit, transmitting antenna and reception antenna；
The GNSS time service units receive the temporal information of GNSS, and GNSS time service units send the temporal information of GNSS to time-frequency
Reference cell, time and frequency standards unit generate the base station local zone time synchronous with GNSS time and frequency reference；
The time synchronization unit of base station is used to compare with navigation base station progress temporal frequency, and time synchronization unit is by temporal information
Processing module and navigation signal processing module composition；The time and frequency standards unit generates base station local zone time and frequency base
It is accurate；Reception antenna is for receiving the navigation signal that extension base station or/and navigation base station are broadcast, and the navigation signal of reception is via width
Band down-converter unit is converted to intermediate-freuqncy signal, and navigation signal processing module is measured in the navigation signal received and corresponds to website
The time difference measured is sent to navigation signal by the time difference of local zone time and base station local zone time, temporal information processing module
Navigation message generation module generation navigation message in generation unit, is finally sent to navigation base station use in the form of navigation message
In time synchronization；
Navigation signal generation unit generation intermediate frequency navigation signal in base station, navigation signal generation unit are occurred by frequency expansion sequence
Device, carrier frequency generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator is according to setting
Base station site number, code character and working time slot table generate corresponding pseudo-code sequence, the pseudo-code sequence and carrier frequency of generation
The navigation message information for carrier signal and navigation message the generation module generation that generator generates is sent into signal modulation mould together
Block completes signal modulation, and the intermediate frequency navigation signal for modulating generation is sent to broadband upconverting unit completion radio-frequency modulations, radio frequency tune
The emitted antenna of base station navigation signal after system is broadcast away.
6. ground high-precision zone location navigation system according to claim 3, it is characterised in that：The extension base station
With its corresponding station code, extension base station includes navigation signal generation unit, time synchronization unit, time and frequency standards list
Member, broadband upconverting unit, broadband down-converter unit, transmitting antenna and reception antenna；
The time synchronization unit of extension base station have simultaneously with other extension base stations, base station or/and navigation base station when
Between synchronizing function, extend base station time synchronization unit be used for other extension base stations, base station or/and navigation base stations into
Row temporal frequency compares；Time synchronization unit is made of temporal information processing module and navigation signal processing module；When described
Frequency reference cell generates extension base station local zone time and frequency reference；The reception antenna of extension base station is used to receive other expansions
The navigation signal that exhibition base station, base station or/and navigation base station are broadcast, the navigation signal received is via broadband down-converter unit
Be converted to intermediate-freuqncy signal；
Base station is extended same with base station or other extension base stations synchronous with base station deadline progress times
During step, navigation signal processing module measures the base station received or other extensions synchronous with the base station deadline
It is poor that local zone time and the temporal frequency for extending base station local zone time of website are corresponded in the navigation signal that base station is broadcast, time-frequency
Message processing module surveys temporal frequency difference with base station or other extension base stations synchronous with the base station deadline
Local zone times between the extension base station and base station that obtain or other extension base stations synchronous with the base station deadline
Difference generation navigation signal frequency and phase adjustment, and navigation signal frequency and phase adjustment are sent to navigation signal generation
Unit frequency expansion sequence and carrier generator, to adjust the frequency of spreading code and carrier wave and phase；
Base station is extended when to navigation base station time service, and navigation signal processing module measures what the navigation base station received was broadcast
The time difference of the local zone time and extension base station local zone time of website is corresponded in navigation signal, Time-Frequency Information processing module will be surveyed
The time difference obtained is sent to the navigation message generation module generation navigation message in navigation signal generation unit, finally with the electricity that navigates
The form of text is sent to navigation base station for time synchronization；
The navigation signal generation unit generation intermediate frequency navigation signal in base station is extended, navigation signal generation unit is by frequency expansion sequence
Generator, carrier frequency generator, navigation message generation module and signal modulation module composition；Spread Spectrum Number Generator according to
The extension base station site number of setting, code character and working time slot table generate corresponding pseudo-code sequence, the pseudo-code sequence of generation with
The navigation message information for carrier signal and navigation message the generation module generation that carrier frequency generator generates is sent into letter together
Number modulation module completes signal modulation, and the intermediate frequency navigation signal for modulating generation is sent to broadband upconverting unit and completes radio frequency tune
It makes, the extension emitted antenna of base station navigation signal is broadcast away after radio-frequency modulations.
7. ground high-precision zone location navigation system according to claim 3, it is characterised in that：Further include monitoring station,
Monitoring station has the assessment of navigation signal quality-monitoring and calibration function；Monitoring station individually set up or monitoring station and base station or/
It is set up with extension base station and location.
8. ground high-precision zone location navigation system according to claim 7, it is characterised in that：Monitoring station and base station
Or/and extension base station and location be when setting up, the base station or/and extension base station includes monitoring and alignment unit；It is described
Monitoring is with alignment unit for the amendment of navigation signal quality-monitoring and navigation signal time-delay deviation, monitoring and alignment unit point
It is not connected with navigation signal generation unit, navigation signal processing module and time and frequency standards unit；
The time and frequency standards unit can generate monitoring and alignment unit work clock；Reception antenna receives what each website was broadcast out
Navigation signal, the navigation signal received are converted to intermediate-freuqncy signal via broadband down-converter unit, and navigation signal processing module is surveyed
The pseudo-code and carrier phase of the navigation signal received are measured, and parses navigation message；Monitoring believes navigation with alignment unit
Navigation message, pseudo-code and the carrier phase of number processing module output are handled, by parse the fine status of navigation message with
And the signal quality of navigation signal of the standard deviation size of phase measurement to receiving makes evaluation, by pseudo-code and carrier wave phase
The mean bias of position generates navigation message as navigation signal time-delay deviation, and by navigation signal generation unit, finally by emitting
Antenna is sent to each website, and each website broadcasts navigation signal quality evaluation situation accordingly, and inclined to existing navigation signal time delay
Difference is corrected, monitoring and calibration function so as to fulfill navigation system.
9. a kind of ground high-precision zone location air navigation aid, which is characterized in that comprise the following steps：
S1：Station layout；
Multiple navigation base stations are set up in coverage, setting up for multiple navigation base stations can realize that receiver user enters service area
After in domain, the signal that the navigation base station more than N number of is sent, N >=4 can be received simultaneously in any position of coverage；
Each navigation base station is equipped with dual-mode antenna, realizes broadcasting and receiving for navigation signal；
S2：Base station and extension base station are set, complete time synchronization between station；
Base station and extension base station are set in coverage, and the setting of base station and extension base station enables to service
The time synchronization of base station can be realized with base station or extended to any one navigation base station in region；Base station or extension base
Precise synchronization between standing is completed using two-way method for synchronizing time between quasi- station and navigation base station；
S3：Navigation base station broadcasts navigation signal；
S4：Receiver user receives the navigation signal that each navigation base station is broadcast, and measures pseudorange and carrier phase respectively；
Pseudo range observed quantityFor：
Carrier phase observed quantityFor：
Wherein, c represents the light velocity,It is the geometric distance between receiver user u to navigation base station i, δ tiIt is time synchronization between standing
The clock correction of navigation base station i afterwards, δ tuIt is receiver user clock correction,It is tropospheric propagation error,It is pseudo range measurement error, λ is
Carrier wavelength,It is complete cycle carrier ambiguities,It is carrier phase measurement error；
S5：Selective calling is completed by principle of optimal geometric dilution of precision, and single poor pseudo range observed quantity is obtained according to single poor mode between station
With single poor carrier phase observed quantity；
Receiver user receives each navigation base station navigation signal, measures and counts the standard deviation of each navigation signal, selection navigation base
The minimum navigation base station i of Plays difference of standing is used as with reference to station, other navigation base station navigation signals that receiver user is received
Pseudorange and the pseudorange of navigation base station i that is received with receiver user of carrier-phase measurement and carrier-phase measurement do
Difference, the poor pseudo range observed quantity of list for the receiver clock-offsets that are eliminated and single poor carrier phase observed quantity：
Single poor pseudo range observed quantityFor：
Single poor carrier phase observed quantityFor：
Wherein,Be receiver user u to navigation base station i, navigation base station j geometric distance it is poor, δ tijIt is navigation base station i, navigation
Clock correction between the j of base station,It is differences of the receiver user u to the tropospheric propagation error of navigate base base station i, navigation base station j,For
Pseudo-code measurement error, λ are carrier wavelengths,It is that receiver user u to navigation base station i, the complete cycle carrier wave of navigation base station j obscure
Degree is poor,It is carrier wave measurement error；
It is represented by：
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</mtd>
</mtr>
</mtable>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, (xu,yu,zu) represent receiver user coordinate, (x (i), y (i), z (i)) represents the position coordinates of navigation base station i,
(x (j), y (j), z (j)) represents the position coordinates of navigation base station j；
It is (x to define receiver initial position co-ordinates0,y0,z0), formula (1) after first order Taylor is unfolded,It is represented by：
<mrow>
<msubsup>
<mi>r</mi>
<mi>u</mi>
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<mi>j</mi>
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<mo>&part;</mo>
<msub>
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<msub>
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</msub>
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</mfrac>
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<mn>0</mn>
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<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula,
S6：Measure initial position co-ordinates；
Receiver user position coordinates is calculated using single poor pseudo range observed quantity, is sat as the initial position of high accuracy positioning
Mark；
Assuming that at a time receiver user u receives the navigation signal of N number of navigation base station simultaneously and N number of navigation base station includes compiling
Number it is i as the navigation base station with reference to station, then receiver user can obtain N-1 singly poor pseudorange observation equation：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>&rho;</mi>
<mi>u</mi>
<mrow>
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<mtr>
<mtd>
<mo>.</mo>
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</mrow>
</msubsup>
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</mtd>
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</mtable>
</mfenced>
In above-mentioned equation, through the modified tropospheric propagation error of the high-precisions Tropospheric Models such as SaastamoinenAnd { the c δ t of range error caused by clock correction after two-way time synchronization between miss the stopi1,cδti2,…,cδtiN}
As pseudo range measurement error, equation unknown number to be solved is only remained represented by formula (2)In user
Receiver coordinate (xu,yu,zu), unknown number number is 3；As N >=4, you can pass through above-mentioned N-1 single poor pseudorange observation equation
Solution obtains receiver user initial position co-ordinates；
S7：Using receiver user initial position co-ordinates and single poor carrier phase observed quantity, carrier ambiguities are calculated, and are obtained
Obtain high accuracy positioning result.
10. ground high-precision zone location air navigation aid according to claim 9, it is characterised in that：The implementation method of S7
It is as follows：
Receiver user at a certain observation position point of coverage, when receiver user persistently receive and tenacious tracking it is N number of
The navigation signal of navigation base station, single poor carrier phase observational equation are：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>&phi;</mi>
<mi>u</mi>
<mrow>
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<mn>1</mn>
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<mi>T</mi>
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<msubsup>
<mi>B</mi>
<mi>u</mi>
<mrow>
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<mn>2</mn>
</mrow>
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<msubsup>
<mi>&xi;</mi>
<mi>u</mi>
<mrow>
<mi>i</mi>
<mn>2</mn>
</mrow>
</msubsup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mo>.</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<mo>.</mo>
</mtd>
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<mtr>
<mtd>
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</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>&phi;</mi>
<mi>u</mi>
<mrow>
<mi>i</mi>
<mi>N</mi>
</mrow>
</msubsup>
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<msup>
<mi>&lambda;</mi>
<mrow>
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</mrow>
</msup>
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<msubsup>
<mi>r</mi>
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<mrow>
<mi>i</mi>
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</mrow>
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<mi>T</mi>
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<mrow>
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</mrow>
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<msubsup>
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<mrow>
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</mrow>
</msubsup>
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<msubsup>
<mi>&xi;</mi>
<mi>u</mi>
<mrow>
<mi>i</mi>
<mi>N</mi>
</mrow>
</msubsup>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein,Receiver user u to navigation base station i is represented respectively and the list of other each navigation base stations is poor floating
Point carrier ambiguities；Through the modified tropospheric propagation error of the high-precisions Tropospheric Models such as SaastamoinenAs measurement error, then, unknown number to be solved will include 3 in single poor carrier phase observational equation
Receiver coordinate (xu,yu,zu) and N-1 single poor floating-point carrier ambiguities, it has been more than equation quantity, equation is caused to owe fixed；
Increase observation position point of the receiver user in coverage, when M observation bit of the receiver user in coverage
Putting can a little continue to receive and the navigation signal of the N number of navigation base station of tenacious tracking, at the M observation position point established respectively pair
The poor carrier phase observational equation of list answered, at this time the quantity of unknown number to be solved become 3M+N-1, single poor carrier phase observation side
The number of journey is also accordingly increased to (N-1) M, and singly poor carrier phase observational equation can be asked when meeting (N-1) M >=3M+N-1
Solution；
Using the receiver user initial position co-ordinates obtained in step S6 as the iteration of single poor carrier phase observational equation equation
Initial value (x0,y0,z0), computing is iterated, when single poor carrier phase observational equation convergence can obtain single poor floating-point carrier wave mould
Paste degreeAnd then solve the high accuracy positioning coordinate of receiver user.
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| CN108957501A (en) * | 2018-06-04 | 2018-12-07 | 北京因子图导航技术有限公司 | A kind of ground base navigation localization method and system that digital ground multimedia broadcast is synchronous |
| CN109358487A (en) * | 2018-10-10 | 2019-02-19 | 武汉大学 | A kind of pseudolite systems and method based on GNSS accurate time transmission |
| CN110505685A (en) * | 2019-08-29 | 2019-11-26 | 成都精位科技有限公司 | Base station calibration method and device based on global position system |
| CN110531381A (en) * | 2019-08-23 | 2019-12-03 | 桂林电子科技大学 | A kind of GNSS signal availability and integrity monitoring system |
| CN110730498A (en) * | 2019-10-23 | 2020-01-24 | 深圳市慧宇系统有限公司 | Navigation positioning time service synchronization system and synchronization method thereof |
| CN111103609A (en) * | 2019-12-31 | 2020-05-05 | 中国人民解放军国防科技大学 | Navigation signal monitoring system with distributed acquisition and centralized processing |
| CN111175797A (en) * | 2020-02-02 | 2020-05-19 | 上海交通大学 | Multi-GNSS receiver collaborative navigation method based on virtual centroid |
| CN111258210A (en) * | 2020-02-28 | 2020-06-09 | 中国民用航空总局第二研究所 | Clock synchronization and correction method and device for self-complete distributed positioning system |
| CN111693973A (en) * | 2020-05-25 | 2020-09-22 | 北京理工大学 | Distributed system frequency synchronization method based on frequency ratio bidirectional transmission |
| CN112083451A (en) * | 2020-10-13 | 2020-12-15 | 北京首科信通科技有限责任公司 | Indoor positioning method and device |
| CN112213746A (en) * | 2020-10-13 | 2021-01-12 | 北京首科信通科技有限责任公司 | Positioning method and device |
| CN112540389A (en) * | 2020-12-25 | 2021-03-23 | 北京无线电计量测试研究所 | Time synchronization method and device by using satellite almanac |
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| CN109358487A (en) * | 2018-10-10 | 2019-02-19 | 武汉大学 | A kind of pseudolite systems and method based on GNSS accurate time transmission |
| CN110531381A (en) * | 2019-08-23 | 2019-12-03 | 桂林电子科技大学 | A kind of GNSS signal availability and integrity monitoring system |
| CN110505685A (en) * | 2019-08-29 | 2019-11-26 | 成都精位科技有限公司 | Base station calibration method and device based on global position system |
| JP7338691B2 (en) | 2019-09-19 | 2023-09-05 | 日本電信電話株式会社 | SIGNAL RECEIVING DEVICE, SIGNAL PROCESSING METHOD AND PROGRAM |
| WO2021054067A1 (en) * | 2019-09-19 | 2021-03-25 | 日本電信電話株式会社 | Signal receiving apparatus, signal processing method, and program |
| WO2021053796A1 (en) * | 2019-09-19 | 2021-03-25 | 日本電信電話株式会社 | Signal reception device, signal processing method, and program |
| CN110730498A (en) * | 2019-10-23 | 2020-01-24 | 深圳市慧宇系统有限公司 | Navigation positioning time service synchronization system and synchronization method thereof |
| CN111103609A (en) * | 2019-12-31 | 2020-05-05 | 中国人民解放军国防科技大学 | Navigation signal monitoring system with distributed acquisition and centralized processing |
| CN111103609B (en) * | 2019-12-31 | 2022-07-12 | 中国人民解放军国防科技大学 | Navigation signal monitoring system with distributed acquisition and centralized processing |
| CN111175797B (en) * | 2020-02-02 | 2023-11-03 | 上海交通大学 | Virtual centroid-based multi-GNSS receiver collaborative navigation method |
| CN111175797A (en) * | 2020-02-02 | 2020-05-19 | 上海交通大学 | Multi-GNSS receiver collaborative navigation method based on virtual centroid |
| CN111258210A (en) * | 2020-02-28 | 2020-06-09 | 中国民用航空总局第二研究所 | Clock synchronization and correction method and device for self-complete distributed positioning system |
| CN111693973A (en) * | 2020-05-25 | 2020-09-22 | 北京理工大学 | Distributed system frequency synchronization method based on frequency ratio bidirectional transmission |
| CN113762558B (en) * | 2020-06-03 | 2023-07-11 | 千寻位置网络有限公司 | Station selection model optimization method and station selection method based on foundation enhancement system |
| CN113762558A (en) * | 2020-06-03 | 2021-12-07 | 千寻位置网络有限公司 | Station selection model optimization method and station selection method based on foundation enhancement system |
| RU2746218C1 (en) * | 2020-08-24 | 2021-04-09 | Федеральное государственное казенное военное образовательное учреждение высшего профессионального образования "Михайловская военная артиллерийская академия" Министерства Обороны Российской Федерации | Radionavigation multi-position differential distance system |
| CN112213746A (en) * | 2020-10-13 | 2021-01-12 | 北京首科信通科技有限责任公司 | Positioning method and device |
| CN112083451A (en) * | 2020-10-13 | 2020-12-15 | 北京首科信通科技有限责任公司 | Indoor positioning method and device |
| CN112540389A (en) * | 2020-12-25 | 2021-03-23 | 北京无线电计量测试研究所 | Time synchronization method and device by using satellite almanac |
| CN112540389B (en) * | 2020-12-25 | 2024-01-02 | 北京无线电计量测试研究所 | Time synchronization method and device utilizing satellite almanac |
| CN113064182A (en) * | 2021-03-16 | 2021-07-02 | 湖南矩阵电子科技有限公司 | Pseudo satellite navigation signal enhancement system and method |
| CN113064182B (en) * | 2021-03-16 | 2024-05-28 | 湖南矩阵电子科技有限公司 | Pseudo satellite navigation signal enhancement system and method |
| CN113507742A (en) * | 2021-07-09 | 2021-10-15 | 电子科技大学 | Time synchronization method for ground-based navigation positioning system |
| CN115267830A (en) * | 2022-09-27 | 2022-11-01 | 中国电建集团西北勘测设计研究院有限公司 | GNSS emergency monitoring error suppression method for complex environment of high mountain canyon |
| CN115267834A (en) * | 2022-09-29 | 2022-11-01 | 北京星天科技有限公司 | Wide area navigation signal quality monitoring system |
| CN115267834B (en) * | 2022-09-29 | 2022-12-09 | 北京星天科技有限公司 | Wide area navigation signal quality monitoring system |
| CN115774272A (en) * | 2023-02-13 | 2023-03-10 | 中国人民解放军国防科技大学 | Land-air combined synchronous area positioning system, method and equipment |
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