CN108267764A - A kind of sea cruise alignment system and its method - Google Patents
A kind of sea cruise alignment system and its method Download PDFInfo
- Publication number
- CN108267764A CN108267764A CN201810067082.XA CN201810067082A CN108267764A CN 108267764 A CN108267764 A CN 108267764A CN 201810067082 A CN201810067082 A CN 201810067082A CN 108267764 A CN108267764 A CN 108267764A
- Authority
- CN
- China
- Prior art keywords
- unit
- cruise
- gps device
- gps
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of sea cruise alignment system and its method, system includes being set to the GPS device on cruise top, and calibrating installation of the vertical range apart from GPS device for setting at L, and the multiple anchor points being correspondingly arranged respectively in the Shang Hechuan storehouses of cruise deck, and it is set to the first R-T unit of cruise stern and is set to the second R-T unit of cruise fore, inertial nevigation apparatus and control processor, GPS device, calibrating installation, multiple anchor points, inertial nevigation apparatus, first R-T unit and the second R-T unit are connect respectively with control processor, it can realize the real-time positioning in cruise and cruise cabin, and calibration update can be carried out in real time, positioning accuracy can be improved, and it can realize seamless positioning, strong applicability, low energy consumption；Compensate for the shortcomings that inertial nevigation apparatus compensation calibration error is big.
Description
Technical field
The present invention relates to radio satellite positioning fields, and in particular to a kind of sea cruise alignment system and its method.
Background technology
At present, it with ocean and maritime travel business is greatly developed, needs to pay attention to pushing cruise transport and overland transport, boat
The scientific and technological content and novelty of harbour and ship is continuously improved in the coordinated development of defeated other means of transportation of grade of air transport.To the year two thousand twenty
Bottom, global cruise tourist are expected to break through 30,000,000 person-times, and with the increase of demand, various countries also constantly increase the investment of cruise industry
Add, also constantly promoted come the cruise industry totality supply level weighed with haulage capacity.
The auxiliary facility of cruise is a huge facility of forming a complete and comprehensive system for collecting real estate fees, collecting and distributing with transport hub center that includes cruise
Auxiliary facility and the mating of service, cruise government affairs and business information platform and service, cruise facility and its information platform etc., it is huge
Big structural framing needs the system of diversification to be completed to coordinate.
The alignment system system important as one, can be periphery other systems and cruise auxiliary facility and its
Staff, passenger etc. provide service in many ways.However, cruise mostly rides the sea for a long time, it is of the prior art mostly to adopt
The positioning of cruise is realized with GPS device or inertial nevigation apparatus.However GPS positioning need meet certain visual field and weather will
It asks, often will appear can not search the problems such as star or position error are big, the time is long, can not simultaneously for the indoor environment in cabin
Positioning in real time.Inertial nevigation apparatus is required for being calibrated greatly, and positioning for a long time then will appear larger error.Also, GPS device or
Person's inertial nevigation apparatus needs constantly to carry out in real time, and energy consumption is big, and the time is long.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of marine cruise alignment system and its method,
It can realize the real-time positioning in cruise and cruise cabin, and can carry out calibration update in real time, can improve positioning accurate
Degree, and can realize seamless positioning, strong applicability, low energy consumption；Compensate for the shortcomings that inertial nevigation apparatus compensation calibration error is big.
The present invention provides a kind of marine cruise alignment system, GPS device and distance including being set to cruise top
The vertical range of GPS device is the calibrating installation set at L and is correspondingly arranged respectively in the Shang Hechuan storehouses of cruise deck described
It multiple anchor points and is set to and the first R-T unit of cruise stern and is set to the second R-T unit of cruise fore, inertial navigation
Device and control processor, GPS device include transmitter；
GPS device, calibrating installation, multiple anchor points, inertial nevigation apparatus, the first R-T unit and the second R-T unit respectively with control
Processor connection processed；Wherein anchor point, the first R-T unit and the relative position information of the second R-T unit and GPS device it is known that
First R-T unit, the second R-T unit and GPS device are located along the same line on a projection plane, and the position of calibrating installation is not
Know；
Control processor calculates the headway v for obtaining cruise by equation below：
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, ts be transmitter simultaneously to the first R-T unit and the second R-T unit emit signal when
It carves, at the time of t receives GPS device for the first R-T unit or the second R-T unit and emits signal, b is GPS device distance the
The vertical range of one R-T unit or the second R-T unit, a are the first R-T unit or the second R-T unit apart from GPS device
Vertical range.
Further, anchor point, the first R-T unit and the relative position information of the second R-T unit and GPS device are anchor
Air line distance, vertical range and difference in height between point, the first R-T unit and the second R-T unit and GPS device.
Further, the quantity of multiple anchor points being correspondingly arranged respectively in cruise deck Shang Hechuan storehouses is 4.
Further, anchor point sets around GPS device and forms rectangle, and rectangle pair is deviateed in the position of GPS device respectively
The intersection point of linea angulata.
The present invention also provides a kind of localization methods, sequentially include the following steps：
(1) in the case where cruise is static, initial calibration is carried out to alignment system：
(1.1) emit signal to the first R-T unit and the second R-T unit, first in synchronization using transmitter to receive
Transmitting apparatus and the second R-T unit receive transmitting signal respectively, and at the time of record receives transmitting signal respectively；
(1.2) it calculates respectively relative to the transmitting signal moment of the first R-T unit and the second R-T unit and receives signal
The time difference at moment obtains the initial measurement distance of the first R-T unit and the second R-T unit and GPS device respectively；
(1.3) be respectively compared the first R-T unit, the known distance of the second R-T unit and GPS device and initial measurement away from
Difference between：If difference is zero, into next step, if difference is not zero, received based on difference adjustment first
Transmitting apparatus and the second R-T unit relative to GPS device position so that the first R-T unit, the second R-T unit and GPS are filled
The distance put is identical with known distance, return to step (1.1)；
(2) GPS device receives the satellite data from satellite, and the coordinate G of itself is obtained after being resolved by control processor
(x, y, z)；
(3) the coordinate G (x, y, z) based on GPS device utilizes anchor point, the first R-T unit and the second R-T unit, calibration
The relative position information of device and GPS device obtains anchor point, the first R-T unit and the second R-T unit, calibrating installation respectively
Position coordinates；
(4) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and
Vertical range of second R-T unit apart from GPS device is respectively a1 and a2, and GPS device and the first R-T unit and second are received and dispatched
The measurement distance of device is respectively R1 and R2, and d1 and d2 are respectively to be calculated based on the first R-T unit and the second R-T unit
Displacement, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2The headway v=d/c of)/2, then cruise；
(5) inertial navigation of cruise is obtained using inertial nevigation apparatus, the movement of headway v and cruise that step (4) is obtained are joined
Number is compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；It is if discontented
Foot then compensates inertial nevigation apparatus correction, repeats step (1)-(4)；
(6) inertial guidance data is obtained based on inertial nevigation apparatus in real time；
(7) when meeting GPS positioning condition, by the use of GPS device obtain location information as cruise location information；When
When being unsatisfactory for GPS positioning condition, by the use of inertial guidance data as auxiliary positioning information, the history obtained with reference to GPS device positions letter
Breath carries out resolving the location information for obtaining cruise.
Further, GPS positioning condition is met in step (7) and is at least 4 for visible satellite quantity.
Description of the drawings
Fig. 1 is marine cruise positioning system structure schematic diagram.
Fig. 2 is marine cruise alignment system vertical view.
Fig. 3 is that marine cruise alignment system calibrates more new diagram.
Fig. 4 is circuit system structure diagram.
Specific embodiment
The following detailed description of the specific implementation of the present invention, it is necessary to it is indicated herein to be, implement to be only intended to this hair below
Bright further explanation, it is impossible to be interpreted as limiting the scope of the invention, field technology skilled person is according to above-mentioned
Some nonessential modifications and adaptations that invention content makes the present invention, still fall within protection scope of the present invention.
The present invention provides a kind of marine cruise alignment system, as shown in attached drawing 1-4, including being set to cruise top
GPS device 1 (is denoted as G points), further includes the calibrating installation 4 that the vertical range apart from GPS device 1 is L.When meeting GPS positioning item
During part, you can when seeing that number of satellite is at least 4, GPS device 1 receives the satellite data from satellite, passes through control processor
The coordinate G (x, y, z) of itself is obtained after resolving.The Location-Unknown of calibrating installation 4, but as shown in Figure 1, calibrating installation 4 is put down
Areal coordinate and GPS device 1 are identical, and only ordinate has the residual quantity of L, then can directly be calibrated using coordinate G (x, y, z)
The coordinate G ' (x, y, z-L) of device 4.
Alignment system further includes the multiple anchor points 5 being correspondingly arranged respectively in the Shang Hechuan storehouses of cruise deck, and Fig. 2 is cruise deck
On anchor point 5 be set as the situation of 4, certainly in the case that rational, the quantity of anchor point could be provided as according to actual needs
It is multiple, such as with the multiple of web form setting.As shown in Fig. 2, the quantity of anchor point 5 is 4, set respectively around GPS device 1
And form rectangle.The relative position information of anchor point 5 and GPS device 1 it is known that i.e. anchor point 5 to GPS device 1 distance, it is vertical away from
From the location informations such as difference in height are known.Wherein, the cornerwise intersection point of rectangle is deviateed in the position of GPS device 1.In this way, using more
A anchor point 5, utilizes the various ways such as TOA, TDOA, RSSI, it is possible to realize the alignment system inside cruise, and coordinate system and
The coordinate of GPS uses identical coordinate system, and without being converted again, enhanced convenience is intuitive.
Alignment system further includes the first R-T unit 2 for being set to cruise stern and the second transmitting-receiving for being set to cruise fore
Device 3, wherein the first R-T unit 2, the second R-T unit 3 and GPS device 1 are located along the same line on a projection plane.The
One R-T unit 2 and the second R-T unit 3 are relative to known to the location information of GPS device 1.
GPS device 1 includes transmitter, and transmitter is sent out in moment ts to the first R-T unit 2 and the second R-T unit 3 simultaneously
Signal is penetrated, the first R-T unit 2 and the second R-T unit 3 are denoted as t1 and t2 respectively at the time of receiving signal.With reference to Fig. 3 institutes
Show, in the stationary case, for GPS device 1 after G points emit signal, the first R-T unit 2 or the second R-T unit 3 should for cruise
It is received when in P points, the distance of 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3 is respectively r1 and r2.
During navigation there is certain headway v however, as cruise, then can be an actually-received signal
Position there is certain deviation, such as at P ' points.P points and P ' then have certain displacement d, then by calculating
The headway v of cruise is obtained, while can calibration be compensated, in GPS to the position coordinates of anchor point 5 according to headway
During dropout, auxiliary positioning is carried out using the data of this compensation calibration, inertial navigation equipment, calibrating installation 4, first can also be received
2 and second R-T unit 3 of transmitting apparatus etc. compensates calibration, realizes seamless positioning.Specifically：
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, and b is the vertical range of 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3, a
For the vertical range of the first R-T unit 2 or the second R-T unit 3 apart from GPS device 1.In this way, it can be obtained by by calculating
The headway v of cruise.
Similar with the calculating process of the second R-T unit 3 based on the first R-T unit 2, principle is all shown in Fig. 3 such.
In practical position fixing process, cruise in the stationary case, 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3
Distance be respectively r1 and r2,1 distance of GPS device is b in the vertical range of the first R-T unit 2 and the second R-T unit 3, the
The vertical range of one R-T unit 2 and the second R-T unit 3 apart from GPS device 1 is respectively a1 and a2, and GPS device 1 and first is received
The measurement distance of 2 and second R-T unit 3 of transmitting apparatus is respectively R1 and R2, and d1 and d2 are respectively based on 2 He of the first R-T unit
The displacement that second R-T unit 3 is calculated, then for the first R-T unit 2：
R1=(t1-ts) c, R2=(t2-ts)·c；
For normal, the calculated value of d1 and d2 should be identical, but due to the presence of error, two values have partially
Difference, then in order to more objective, elimination fractional error enables d=(d1+d2The headway v=d/c of)/2, then cruise.
In this way, by finally can be obtained by the headway of cruise and the location information of cruise and utilize cruise
Headway information to cruise carry out location information compensation correction and when GPS signal is unavailable, utilize the boat of cruise
The auxiliary positioning of row velocity interpolation and auxiliary positioning for being carried out to the calibration of inertial navigation equipment and with inertial navigation equipment cooperation etc..
In practical position fixing process, localization method sequence includes the following steps：
(1) in the case where cruise is static, initial calibration is carried out to alignment system：
(1.1) emit signal to the first R-T unit and the second R-T unit, first in synchronization using transmitter to receive
Transmitting apparatus and the second R-T unit receive transmitting signal respectively, and at the time of record receives transmitting signal respectively；
(1.2) it calculates respectively relative to the transmitting signal moment of the first R-T unit and the second R-T unit and receives signal
The time difference at moment obtains the initial measurement distance of the first R-T unit and the second R-T unit and GPS device respectively；
(1.3) be respectively compared the first R-T unit, the known distance of the second R-T unit and GPS device and initial measurement away from
Difference between：If difference is zero, into next step, if difference is not zero, received based on difference adjustment first
Transmitting apparatus and the second R-T unit relative to GPS device position so that the first R-T unit, the second R-T unit and GPS are filled
The distance put is identical with known distance, return to step (1.1)；
(2) GPS device receives the satellite data from satellite, and the coordinate G of itself is obtained after being resolved by control processor
(x, y, z)；
(3) the coordinate G (x, y, z) based on GPS device utilizes anchor point, the first R-T unit and the second R-T unit, calibration
The relative position information of device and GPS device obtains anchor point, the first R-T unit and the second R-T unit, calibrating installation respectively
Position coordinates；
(4) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and
Vertical range of second R-T unit apart from GPS device is respectively a1 and a2, and GPS device and the first R-T unit and second are received and dispatched
The measurement distance of device is respectively R1 and R2, and d1 and d2 are respectively to be calculated based on the first R-T unit and the second R-T unit
Displacement, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2The headway v=d/c of)/2, then cruise；
(5) inertial navigation of cruise is obtained using inertial nevigation apparatus, the movement of headway v and cruise that step (4) is obtained are joined
Number is compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；It is if discontented
Foot then compensates inertial nevigation apparatus correction, repeats step (1)-(4)；
(6) inertial guidance data is obtained based on inertial nevigation apparatus in real time；
(7) when meeting GPS positioning condition, i.e., when GPS positioning condition is at least 4 for visible satellite quantity, GPS is utilized
Location information of the location information that device obtains as cruise；When being unsatisfactory for GPS positioning condition, by the use of inertial guidance data as auxiliary
Location information is helped, carries out resolving the location information for obtaining cruise with reference to the history location information that GPS device obtains.
Although for illustrative purposes, it has been described that exemplary embodiments of the present invention, those skilled in the art
Member it will be understood that, can be in form and details in the case of the scope and spirit for not departing from invention disclosed in appended claims
On the change that carry out various modifications, add and replace etc., and all these changes should all belong to appended claims of the present invention
Protection domain, and each step in each department of claimed product and method, can be in any combination
Form is combined.Therefore, to disclosed in this invention the description of embodiment be not intended to limit the scope of the invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (6)
1. a kind of sea cruise alignment system, it is characterised in that：Including being set to the GPS device on cruise top and distance GPS
The vertical range of device is the calibrating installation set at L and is correspondingly arranged respectively in the Shang Hechuan storehouses of cruise deck described more
It a anchor point and is set to the first R-T unit of cruise stern and is set to the second R-T unit of cruise fore, inertial navigation dress
It puts and control processor, GPS device includes transmitter；
GPS device, calibrating installation, multiple anchor points, inertial nevigation apparatus, the first R-T unit and the second R-T unit respectively at control
Manage device connection；Wherein anchor point, the first R-T unit and the relative position information of the second R-T unit and GPS device are it is known that first
R-T unit, the second R-T unit and GPS device are located along the same line on a projection plane, the Location-Unknown of calibrating installation；
Control processor calculates the headway v for obtaining cruise by equation below：
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, and at the time of ts emits signal to the first R-T unit and the second R-T unit simultaneously for transmitter, t is
At the time of first R-T unit or the second R-T unit receive GPS device transmitting signal, b is received and dispatched for GPS device distance first
The vertical range of device or the second R-T unit, a be the first R-T unit or the second R-T unit apart from GPS device it is vertical away from
From.
2. the system as claimed in claim 1, it is characterised in that：Anchor point, the first R-T unit and the second R-T unit and GPS are filled
The relative position information put is anchor point, the air line distance between the first R-T unit and the second R-T unit and GPS device, vertical
Distance and difference in height.
3. the system as claimed in claim 1, it is characterised in that：The multiple anchors being correspondingly arranged respectively in the Shang Hechuan storehouses of cruise deck
The quantity of point is 4.
4. system as claimed in claim 3, it is characterised in that：Anchor point sets around GPS device and forms rectangle respectively, and
Deviate the cornerwise intersection point of rectangle in the position of GPS device.
5. a kind of localization method using such as the claims 1-4 any one of them sea cruise alignment system, feature
It is, sequentially includes the following steps：
(1) in the case where cruise is static, initial calibration is carried out to alignment system：
(1.1) emit signal to the first R-T unit and the second R-T unit, the first transmitting-receiving dress in synchronization using transmitter
It puts and receives transmitting signal respectively with the second R-T unit, and at the time of record receives transmitting signal respectively；
(1.2) it calculates respectively relative to the transmitting signal moment of the first R-T unit and the second R-T unit and receives the signal moment
Time difference, obtain the initial measurement distance of the first R-T unit and the second R-T unit and GPS device respectively；
(1.3) the first R-T unit, the known distance of the second R-T unit and GPS device and initial measurement are respectively compared apart from it
Between difference：If difference is zero, into next step, if difference is not zero, based on difference adjustment the first transmitting-receiving dress
Put the position relative to GPS device with the second R-T unit so that the first R-T unit, the second R-T unit and GPS device
Distance is identical with known distance, return to step (1.1)；
(2) GPS device receive the satellite data from satellite, obtained after being resolved by control processor itself coordinate G (x, y,
z)；
(3) the coordinate G (x, y, z) based on GPS device, utilizes anchor point, the first R-T unit and the second R-T unit, calibrating installation
With the relative position information of GPS device, anchor point, the first R-T unit and the second R-T unit, the position of calibrating installation are obtained respectively
Put coordinate；
(4) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and second
Vertical range of the R-T unit apart from GPS device is respectively a1 and a2, GPS device and the first R-T unit and the second R-T unit
Measurement distance be respectively R1 and R2, d1 and d2 are respectively the position being calculated based on the first R-T unit and the second R-T unit
It moves, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2The headway v=d/c of)/2, then cruise；
(5) inertial guidance data of cruise is obtained using inertial nevigation apparatus, the movement of headway v and cruise that step (4) is obtained are joined
Number is compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；It is if discontented
Foot then compensates inertial nevigation apparatus correction, repeats step (1)-(4)；
(6) inertial guidance data is obtained based on inertial nevigation apparatus in real time；
(7) when meeting GPS positioning condition, by the use of GPS device obtain location information as cruise location information；When discontented
During sufficient GPS positioning condition, by the use of inertial guidance data as auxiliary positioning information, with reference to the history location information that GPS device obtains into
Row resolves the location information for obtaining cruise.
6. system as claimed in claim 5, it is characterised in that：Meet GPS positioning condition in step (7) for visible satellite quantity
At least 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810067082.XA CN108267764B (en) | 2018-01-23 | 2018-01-23 | A kind of sea cruise positioning system and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810067082.XA CN108267764B (en) | 2018-01-23 | 2018-01-23 | A kind of sea cruise positioning system and its method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108267764A true CN108267764A (en) | 2018-07-10 |
| CN108267764B CN108267764B (en) | 2019-11-12 |
Family
ID=62776518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810067082.XA Expired - Fee Related CN108267764B (en) | 2018-01-23 | 2018-01-23 | A kind of sea cruise positioning system and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108267764B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103791916A (en) * | 2014-01-28 | 2014-05-14 | 北京融智利达科技有限公司 | Combined vehicle navigation system based on micro-electromechanical system (MEMS) inertial navigation |
| US20170078897A1 (en) * | 2015-09-14 | 2017-03-16 | Red Point Positioning Corporation | Method to estimate and compensate for nlos bias in time difference of arrival estimate |
| CN106525044A (en) * | 2016-10-18 | 2017-03-22 | 天津大学 | Person positioning navigation system and method of large naval ship based on ship structure chart |
| CN107179420A (en) * | 2017-07-13 | 2017-09-19 | 赵辰 | A kind of use directional ultrasonic measurement ship speed through water and the method in direction |
-
2018
- 2018-01-23 CN CN201810067082.XA patent/CN108267764B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103791916A (en) * | 2014-01-28 | 2014-05-14 | 北京融智利达科技有限公司 | Combined vehicle navigation system based on micro-electromechanical system (MEMS) inertial navigation |
| US20170078897A1 (en) * | 2015-09-14 | 2017-03-16 | Red Point Positioning Corporation | Method to estimate and compensate for nlos bias in time difference of arrival estimate |
| CN106525044A (en) * | 2016-10-18 | 2017-03-22 | 天津大学 | Person positioning navigation system and method of large naval ship based on ship structure chart |
| CN107179420A (en) * | 2017-07-13 | 2017-09-19 | 赵辰 | A kind of use directional ultrasonic measurement ship speed through water and the method in direction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108267764B (en) | 2019-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105842724B (en) | A kind of ship auxiliary anchors alongside the shore method and system | |
| US20130070097A1 (en) | Video with Map Overlay on Pedestrian Carried Device | |
| US7990263B2 (en) | Vector-based harbor scheduling | |
| CN104764447B (en) | In the method and apparatus close to vertical guide aircraft during landing runway | |
| US8350753B2 (en) | Methods and systems for displaying an object having an associated beacon signal | |
| US7098846B2 (en) | All-weather precision guidance and navigation system | |
| US20180043976A1 (en) | Maritime navigation assistance server system and maritime navigation assistance method | |
| US20110029234A1 (en) | Threat Analysis Toolkit | |
| CN111077556A (en) | Airport luggage tractor positioning device and method integrating Beidou and multiple sensors | |
| CN103900609B (en) | The course precision real-time detecting system of a kind of marine aided inertial navigation system and detection method | |
| CN104614750A (en) | Method for determining location of vehicle | |
| CN108459539A (en) | Flight deck display system for executing glide-path verification procedure and method | |
| CN104807456A (en) | Method for automatic return flight without GPS (global positioning system) signal | |
| CN105116390A (en) | Marine radar calibration-oriented measured value and AIS truth value dot pair construction method | |
| CN108398706B (en) | A kind of cruise dispatching management information system and its method | |
| CN107430004A (en) | Method for the method for the water surface speed of at least one ship of calculating and for deriving the shift vectors on the path of the ship at each point | |
| KR102283968B1 (en) | System and method for generating and sharing visibility observation information based on image learning | |
| EP3392615A1 (en) | Seamless indoor-outdoor mapping and navigation inside vehicles, with navigation to an in-vehicle location in relation to an external object | |
| KR20150073278A (en) | The Method of Automatic Vessel Tracking and fusion based on fishing boat Target Information with wireless Korea Coast Guard maritime data communication In Radar Tracking System | |
| CN108267764B (en) | A kind of sea cruise positioning system and its method | |
| CN109471102A (en) | A kind of used grouping error modification method | |
| CN115202383A (en) | Multi-dimensional track expression and generation method for unmanned aerial vehicle | |
| CN108226984B (en) | A kind of long-range cruise monitoring system and its method | |
| JP3012398B2 (en) | Positioning method for multiple moving objects | |
| CN111044033A (en) | Fusion position path fitting method and system based on video and microcellular network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191112 Termination date: 20220123 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |