CN109188356A - A kind of sky wave localization method applied to Loran - Google Patents

A kind of sky wave localization method applied to Loran Download PDF

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Publication number
CN109188356A
CN109188356A CN201811158422.6A CN201811158422A CN109188356A CN 109188356 A CN109188356 A CN 109188356A CN 201811158422 A CN201811158422 A CN 201811158422A CN 109188356 A CN109188356 A CN 109188356A
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sky wave
sky
local
wave
model
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CN109188356B (en
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席晓莉
张恺
张金生
刘江凡
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Xian University of Technology
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Xian University of Technology
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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of sky wave localization methods applied to Loran, are specifically implemented according to the following steps: step 1, according to local arrival time τrecWith emission time τtranFind out the propagation distance d of sky wavebl；Step 2, according to dblSize judge sky wave propagation model for illumination section model or shade section model；Step 3, the pseudo range observed quantity ρ between sky wave receiving point and launch point is solved；Step 4, it receives the sky wave that the n sky wave transmitting station issues simultaneously using local rowland receiving device, forms equation group, obtain sky wave and receive position x=[x, y, z]TWith local clock difference δ t.A kind of sky wave localization method applied to Loran of the invention, solves localization method existing in the prior art and is based on ground wave signals, and the chain of stations is needed to support positioning, and the lesser problem of sphere of action.

Description

A kind of sky wave localization method applied to Loran
Technical field
The invention belongs to digital signal processing method technical fields, are related to a kind of sky wave positioning side applied to Loran Method.
Background technique
Loran is a kind of ground long wave navigation and radio homing.It uses hyperbolic fix principle, realizes two dimension Positioning.But due to the propagation of ground wave on the way environment complexity, propagation of ground wave amplitude fading is big, causes Loran that can only cover rowland Station environs and sea area.In recent years, rowland world wave separation technique was substantially improved, while ionospheric model estimation is more smart Really, so that the farther sky wave of propagation distance can be used to be positioned in Loran, and preceding Loran fix is all based on earthwave Signal needs the chain of stations to support positioning, and sphere of action is smaller.
Summary of the invention
The object of the present invention is to provide a kind of sky wave localization methods applied to Loran, solve and deposit in the prior art Localization method be based on ground wave signals, need the chain of stations to support positioning, and the lesser problem of sphere of action.
The technical scheme adopted by the invention is that a kind of sky wave localization method applied to Loran, specifically according to Lower step is implemented:
Step 1, the local arrival time τ of sky wave is obtained by rowland receiving devicerecWith emission time τtran, then basis Local arrival time τrecWith emission time τtranFind out the propagation distance d of sky wavebl；
Step 2, according to dblSize judge sky wave propagation model for illumination section model or shade section model；
Step 3, the pseudo range observed quantity ρ between sky wave receiving point and launch point is solved；
If sky wave propagation model is illumination section model,Wherein, θ be sky wave receiving point and launch point it Between the earth's core angle,Wherein A=(2r2+ rh)/256, B=3 (h2-rdbl/ 2)/64,R is earth radius, and h is layer height；
If sky wave propagation model is shade section model,
Step 4, it calculates local sky wave and receives position x=[x, y, z]TWith local clock difference δ t；
Assuming that sky wave transmitting station coordinate position is s=[xs,ys,zs]T, then straight between sky wave receiving point and launch point Linear distance dslIt indicates are as follows:
dsl, the relationship between δ t and pseudo range observed quantity ρ indicates with following formula are as follows:Wherein, τionFor ionospheric delay, τcFor secondary wave time delay, ερWhat wave transmitting station issued The measurement noise that sky wave is received by local rowland receiving device, C are the light velocity, and N is air refraction；
NoteThen dsl, the relationship between δ t and pseudo range observed quantity ρ is expressed asIt is exactly:
Step 5, the sky wave that the n sky wave transmitting station issues is received simultaneously using local rowland receiving device, wherein n >=4, Then the sky wave issued for each sky wave transmitting station is successively calculated according to step 1-4 respectively, obtains n formula (1) composition Then equation group applies Newton iteration method and least square method solve system of equation, obtain sky wave and receive position x=[x, y, z]TWith Local clock difference δ t.
It is of the invention to be further characterized in that,
The propagation distance of sky wave in step 1 are as follows: dbl=(τrec-τtran) × C/N, C are the light velocity, and N is air refraction.
Step 2 is according to dblSize judge sky wave propagation model for illumination section model or shade section model, specifically: sentence Disconnected dblWith sky wave geometrical model limited transmission distanceRelationship, wherein r is earth radius, and h is layer height,
IfThen sky wave propagation model is illumination section model；
IfThen sky wave propagation model is shade section model.
Equation group is formed in step 5 are as follows:
Wherein, n >=4, dsl (n)Emit the launch point and local rowland receiving device that the station issues sky wave for n-th of sky wave Linear distance between receiving point；s(n)=[xs (n),ys (n),zs (n)]TFor the coordinate position of n-th of sky wave transmitting station,Wherein, ρ(n)Emit for n-th of sky wave The station issues the pseudo range observed quantity between the launch point of sky wave and the receiving point of local rowland receiving device, ερ (n)It is n-th day The measurement noise that the sky wave that wave transmitting station issues is received by local rowland receiving device.
The beneficial effects of the present invention are:
(1) a kind of sky wave localization method applied to Loran of the invention eliminates the reliance on traditional chain of stations signal framing, Positioning can be completed in any 4 sky waves transmitting station；
(2) the application is directly based upon sky wave positioning, and sky wave propagation range is wide, greatly improves Loran and uses covering model It encloses.
Specific embodiment
The present invention is described in detail With reference to embodiment.
A kind of sky wave localization method applied to Loran of the present invention, is specifically implemented according to the following steps:
Step 1, the local arrival time τ of sky wave is obtained by rowland receiving devicerecWith emission time τtran, then basis Local arrival time τrecWith emission time τtranFind out the propagation distance d of sky wavebl, dbl=(τrec-τtran) × C/N, C are light Speed, N are air refraction；
Step 2, according to dblSize judge sky wave propagation model for illumination section model or shade section model；Judge dbl With sky wave geometrical model limited transmission distanceRelationship, wherein r is earth radius, and h is layer height,
IfThen sky wave propagation model is illumination section model；
IfThen sky wave propagation model is shade section model；
Step 3, the pseudo range observed quantity ρ between sky wave receiving point and launch point is solved；
If sky wave propagation model is illumination section model,Wherein, θ be sky wave receiving point and launch point it Between the earth's core angle,Wherein A=(2r2+ rh)/256, B=3 (h2-rdbl/ 2)/64,R is earth radius, and h is layer height；Wherein, θ byIt is derived from；
If sky wave propagation model is shade section model,
Step 4, it calculates local sky wave and receives position x=[x, y, z]TWith local clock difference δ t；
Assuming that sky wave transmitting station coordinate position is s=[xs,ys,zs]T, then straight between sky wave receiving point and launch point Linear distance dslIt indicates are as follows:
dsl, the relationship between δ t and pseudo range observed quantity ρ indicates with following formula are as follows:Wherein, τionFor ionospheric delay, τcFor secondary wave time delay, ερWhat wave transmitting station issued The measurement noise that sky wave is received by local rowland receiving device, C are the light velocity, and N is air refraction；Wherein, τion、τc、ερAll It can be measured for observed quantity；
NoteThen dsl, the relationship between δ t and pseudo range observed quantity ρ is expressed asIt is exactly:
Step 5, the sky wave that the n sky wave transmitting station issues is received simultaneously using local rowland receiving device, wherein n >=4, Then the sky wave issued for each sky wave transmitting station is successively calculated according to step 1-4 respectively, obtains n formula (1) composition Equation group:
Wherein, n >=4, dsl (n)Emit the launch point and local rowland receiving device that the station issues sky wave for n-th of sky wave Linear distance between receiving point；s(n)=[xs (n),ys (n),zs (n)]TFor the coordinate position of n-th of sky wave transmitting station,Wherein, ρ(n)Emit for n-th of sky wave The station issues the pseudo range observed quantity between the launch point of sky wave and the receiving point of local rowland receiving device, ερ (n)It is n-th day Then the measurement noise that the sky wave that wave transmitting station issues is received by local rowland receiving device applies Newton iteration method and minimum Square law solve system of equation obtains sky wave and receives position x=[x, y, z]TWith local clock difference δ t.
Embodiment:
The present embodiment provides a kind of sky wave localization methods applied to Loran, are specifically implemented according to the following steps:
Step 1: assuming that earth radius r=6371km, layer height h=70km, light velocity C=299792458m/s is empty Gas refractive index N=1.0003, as shown in table 1 below with Raoping, Rongcheng, Xuancheng and four, He Prefecture sky wave transmitting platform coordinate:
Table 1
Station title Longitude Latitude Highly (unit m)
Xuancheng 138°09′53″ 09°32′45″ 400
Rongcheng 122°19′26″ 37°03′52″ 400
Raoping 116°53′45″ 23°43′26″ 400
He County 111°43′10″ 23°58′03″ 400
It receives from Raoping, Rongcheng, the roland signal of Xuancheng and the He Prefecture rowland station, observes in a few days second time of reception It is respectively as follows:
10.00333404798551371s 10.00393025351481085s], local reception in a few days second τtran=10s； By formula dbl=(τrec-τtranThe launch point that several sky wave transmitting platform transmitting sky waves are calculated in) × C/N connects to local rowland The propagation distance of sky wave between the receiving point of receiving unit
999522.440667103m 1178260.36176828m]；
Step 2, according to dbl (n)Size judge sky wave propagation model for illumination section model or shade section model respectively；Sentence Disconnected dbl (n)With sky wave geometrical model limited transmission distanceRelationship, discovery is respectively less than 1900km, then model Belong to illumination section model；
Step 3, according toSolve the transmitting of n-th of sky wave transmitting platform transmitting sky wave The earth's core angle theta of point and local rowland equipment sky wave receiving point(n),
θ(n)=[θ(1),θ(2),θ(3),θ(4)]=[0.219342387904837rad, 0.195550137556422rad, 0.155828182424111rad, 0.183754903257357rad], then according to formulaCalculate ρ(n)= [ρ(1),ρ(2),ρ(3),ρ(4)]=[1394630.70888377m, 1243865.82824839m, 991777.191059593m, 1169056.10946699m]；
Step 4, ionospheric delay amendment and secondary wave time delay correct (τion+τcThe μ s of)=1, ερ (n)Ignore, is counted according to step 3 The ρ of calculation(n)=[ρ(1),ρ(2),ρ(3),ρ(4)], then according to formulaCalculate ρc (n)=[ρc (1), ρc (2),ρc (3),ρc (4)], unit m；
Step 5, ρ step 4 being calculatedc (n)=[ρc (1),ρc (2),ρc (3),ρc (4)] and four sky wave transmitting stations Coordinate brings equation group (3) into after being converted to the coordinate under rectangular coordinate system, solves local sky wave and receives position x=[x, y, z]T With local clock difference δ t, the angle and height value being then again converted into rectangular coordinate system under spherical coordinate system obtain coordinate position For [108.98994597 °, 34.25518452 °, 405m].Sky wave it can be seen from the embodiment applied to Loran is determined Position arithmetic result is correctly effective.

Claims (4)

1. a kind of sky wave localization method applied to Loran, which is characterized in that be specifically implemented according to the following steps:
Step 1, the local arrival time τ of sky wave is obtained by rowland receiving devicerecWith emission time τtran, then arrived according to local Up to time instant τrecWith emission time τtranFind out the propagation distance d of sky wavebl；
Step 2, according to dblSize judge sky wave propagation model for illumination section model or shade section model；
Step 3, the pseudo range observed quantity ρ between sky wave receiving point and launch point is solved；
If sky wave propagation model is illumination section model,Wherein, θ is between sky wave receiving point and launch point The earth's core angle,Wherein A=(2r2+ rh)/256, B=3 (h2-rdbl/ 2)/64,R is earth radius, and h is layer height；
If sky wave propagation model is shade section model,
Step 4, it calculates local sky wave and receives position x=[x, y, z]TWith local clock difference δ t；
Assuming that sky wave transmitting station coordinate position is s=[xs,ys,zs]T, then the linear distance between sky wave receiving point and launch point dslIt indicates are as follows:
dsl, the relationship between δ t and pseudo range observed quantity ρ indicates with following formula are as follows:Its In, τionFor ionospheric delay, τcFor secondary wave time delay, ερThe sky wave that wave transmitting station issues is received by local rowland receiving device Measurement noise, C is the light velocity, and N is air refraction；
NoteThen dsl, the relationship between δ t and pseudo range observed quantity ρ is expressed asIt is exactly:
Step 5, the sky wave that the n sky wave transmitting station issues is received simultaneously using local rowland receiving device, wherein n >=4, then The sky wave issued for each sky wave transmitting station is successively calculated according to step 1-4 respectively, obtains n formula (1) composition equation Then group applies Newton iteration method and least square method solve system of equation, obtain sky wave and receive position x=[x, y, z]TThe local and Clock difference δ t.
2. a kind of sky wave localization method applied to Loran according to claim 1, which is characterized in that the step The propagation distance of sky wave in 1 are as follows: dbl=(τrec-τtran) × C/N, C are the light velocity, and N is air refraction.
3. a kind of sky wave localization method applied to Loran according to claim 1, which is characterized in that the step 2 according to dblSize judge sky wave propagation model for illumination section model or shade section model, specifically: judge dblWith sky wave Geometrical model limited transmission distanceRelationship, wherein r is earth radius, and h is layer height,
IfThen sky wave propagation model is illumination section model；
IfThen sky wave propagation model is shade section model.
4. a kind of sky wave localization method applied to Loran according to claim 1, which is characterized in that the step Equation group is formed in 5 are as follows:
Wherein, n >=4, dsl (n)Emit the reception that the station issues the launch point and local rowland receiving device of sky wave for n-th of sky wave Linear distance between point；
s(n)=[xs (n),ys (n),zs (n)]TFor the coordinate position of n-th of sky wave transmitting station,Its In, ρ(n)Emit the pseudorange between the launch point of station sending sky wave and the receiving point of local rowland receiving device for n-th of sky wave Observed quantity, ερ (n)The measurement noise received for the sky wave that n-th of sky wave transmitting station issues by local rowland receiving device.
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CN112198537A (en) * 2020-09-22 2021-01-08 中国科学院国家授时中心 Rowland high-precision positioning resolving method based on difference
CN113644999A (en) * 2021-06-18 2021-11-12 西安理工大学 Loran sky and ground wave separation method based on Levenberg-Marquart algorithm

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111965672A (en) * 2020-07-24 2020-11-20 西安理工大学 Signal processing method based on Rowland-C signal simulator under complex terrain
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CN112198537A (en) * 2020-09-22 2021-01-08 中国科学院国家授时中心 Rowland high-precision positioning resolving method based on difference
CN112198537B (en) * 2020-09-22 2024-02-13 中国科学院国家授时中心 Luo Langao precision positioning resolving method based on difference
CN113644999A (en) * 2021-06-18 2021-11-12 西安理工大学 Loran sky and ground wave separation method based on Levenberg-Marquart algorithm
CN113644999B (en) * 2021-06-18 2024-01-30 西安理工大学 Luo Lantian ground wave separation method based on Levenberg-Marquart algorithm

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