CN109188356B - Sky wave positioning method applied to Roland system - Google Patents

Sky wave positioning method applied to Roland system Download PDF

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CN109188356B
CN109188356B CN201811158422.6A CN201811158422A CN109188356B CN 109188356 B CN109188356 B CN 109188356B CN 201811158422 A CN201811158422 A CN 201811158422A CN 109188356 B CN109188356 B CN 109188356B
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sky wave
sky
local
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receiving
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CN109188356A (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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    • 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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  • Engineering & Computer Science (AREA)
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  • Radar, Positioning & Navigation (AREA)
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  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a sky wave positioning method applied to a Roland system, which is implemented according to the following steps: step 1, according to local arrival time taurecAnd emission time τtranCalculating the propagation distance d of the antennabl(ii) a In the step 2, the step of mixing the raw materials,according to dblJudging whether the sky wave propagation model is an illumination area model or a shadow area model according to the size of the sky wave propagation model; step 3, solving pseudo-range observed quantity rho between the sky wave receiving point and the launching point; step 4, using local Roland receiving equipment to simultaneously receive the skywaves sent by the n skywave transmitting stations, forming an equation set, and obtaining a skywave receiving position x ═ x, y, z]TAnd a local clock difference t. The sky wave positioning method applied to the Rowland system solves the problems that positioning methods in the prior art are all based on ground wave signals, need station chains to support positioning, and are small in action range.

Description

Sky wave positioning method applied to Roland system
Technical Field
The invention belongs to the technical field of digital signal processing methods, and relates to a sky wave positioning method applied to a Roland system.
Background
The loran system is a ground based long-range wireless navigation system. It adopts the hyperbola location principle, realizes two-dimentional location. However, the environment along the ground wave propagation is complex, and the attenuation of the ground wave propagation amplitude is large, so that the rowland system can only cover the range and the sea area near the rowland station. In recent years, the Roland sky-earth wave separation technology is greatly improved, and meanwhile, the ionosphere model estimation is more accurate, so that a Roland system can use sky waves with longer propagation distance for positioning, and the former Roland positioning is based on earth wave signals, needs a station chain to support positioning, and has a smaller action range.
Disclosure of Invention
The invention aims to provide a sky wave positioning method applied to a Rowland system, and solves the problems that positioning methods in the prior art are all based on ground wave signals, need station chains to support positioning, and are small in action range.
The technical scheme adopted by the invention is that the sky wave positioning method applied to the Roland system is implemented according to the following steps:
step 1, obtaining the local arrival time tau of sky waves by a Roland receiving devicerecAnd emission time τtranThen according to the local arrival time taurecAnd emission time τtranCalculating the propagation distance d of the antennabl；
Step 2, according to dblJudging whether the sky wave propagation model is an illumination area model or a shadow area model according to the size of the sky wave propagation model;
step 3, solving pseudo-range observed quantity rho between the sky wave receiving point and the launching point;
if the sky wave propagation model is the illumination area model, then
Figure BDA0001819462100000021
Wherein theta is the geocentric angle between the sky wave receiving point and the transmitting point,
Figure BDA0001819462100000022
wherein A ═ 2r2+rh)/256，B＝3(h2-rdbl/2)/64，
Figure BDA0001819462100000023
r is the earth radius, h is the ionosphere height;
if the sky wave propagation model is a shadow region model, then
Figure BDA0001819462100000024
Step 4, calculating the local sky wave receiving position x ═ x, y, z]TAnd local clock difference t;
supposing that the coordinate position of the sky wave transmitting station is s ═ xs,ys,zs]TThe linear distance d between the sky wave receiving point and the transmitting pointslExpressed as:
Figure BDA0001819462100000025
dslthe relationship between t and pseudorange observations ρ is expressed by the following equation:
Figure BDA0001819462100000026
wherein, tauionFor ionospheric time delay, τcIn order to achieve a time delay of the second wave,ρthe sky wave emitted by the wave transmitting station is the measurement noise received by the local Rowland receiving equipment, C is the speed of light, and N is the refractive index of air;
note the book
Figure BDA0001819462100000027
Then dslT and pseudorange observations ρShown as
Figure BDA0001819462100000028
Namely:
Figure BDA0001819462100000029
step 5, using local Roland receiving equipment to simultaneously receive the skywaves sent by n skywave sending stations, wherein n is larger than or equal to 4, then sequentially calculating the skywaves sent by each skywave sending station according to steps 1-4 to obtain an equation set formed by n formulas (1), and then solving the equation set by applying a Newton iteration method and a least square method to obtain a skywave receiving position x ═ x [ x, y, z ]]TAnd a local clock difference t.
The present invention is also characterized in that,
the propagation distance of the antenna in step 1 is: dbl＝(τrec-τtran) × C/N, where C is the speed of light and N is the refractive index of air.
Step 2 according to dblThe sky wave propagation model is judged to be an illumination area model or a shadow area model, and the method specifically comprises the following steps: judgment of dblUltimate propagation distance from sky wave geometric model
Figure BDA0001819462100000031
Wherein r is the earth radius, h is the ionospheric height,
if it is
Figure BDA0001819462100000032
The sky wave propagation model is an illumination area model;
if it is
Figure BDA0001819462100000033
The sky wave propagation model is a shadow region model.
The composition equation set in step 5 is:
Figure BDA0001819462100000034
wherein n is more than or equal to 4, dsl (n)The linear distance between a transmitting point for transmitting the sky wave for the nth sky wave transmitting station and a receiving point of the local Rowland receiving equipment;
Figure BDA0001819462100000035
s(n)＝[xs (n),ys (n),zs (n)]Tis the coordinate position of the nth sky wave transmitting station,
Figure BDA0001819462100000036
where ρ is(n)For the pseudo range observation between the transmitting point of the sky wave sent by the nth sky wave transmitting station and the receiving point of the local Rowland receiving equipment,ρ (n)the measured noise is received by the local Roland receiving equipment for the sky wave sent by the nth sky wave transmitting station.
The invention has the beneficial effects that:
(1) the sky wave positioning method applied to the Rowland system does not depend on the traditional station chain signal positioning, and any 4 sky wave transmitting stations can complete positioning;
(2) the method is directly based on sky wave positioning, the sky wave propagation range is wide, and the use coverage range of the Rowland system is greatly improved.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The invention relates to a sky wave positioning method applied to a Roland system, which is implemented according to the following steps:
step 1, obtaining the local arrival time tau of sky waves by a Roland receiving devicerecAnd emission time τtranThen according to the local arrival time taurecAnd emission time τtranCalculating the propagation distance d of the antennabl，dbl＝(τrec-τtran) × C/N, wherein C is the speed of light and N is the refractive index of air;
step 2, according to dblJudging whether the sky wave propagation model is an illumination area model or a shadow area model according to the size of the sky wave propagation model; judgment of dblLimit transmission with sky wave geometric modelDistance of broadcast
Figure BDA0001819462100000041
Wherein r is the earth radius, h is the ionospheric height,
if it is
Figure BDA0001819462100000042
The sky wave propagation model is an illumination area model;
if it is
Figure BDA0001819462100000043
The sky wave propagation model is a shadow region model;
step 3, solving pseudo-range observed quantity rho between the sky wave receiving point and the launching point;
if the sky wave propagation model is the illumination area model, then
Figure BDA0001819462100000044
Wherein theta is the geocentric angle between the sky wave receiving point and the transmitting point,
Figure BDA0001819462100000045
wherein A ═ 2r2+rh)/256，B＝3(h2-rdbl/2)/64，
Figure BDA0001819462100000046
r is the earth radius, h is the ionosphere height; wherein θ is represented by
Figure BDA0001819462100000047
Deducing;
if the sky wave propagation model is a shadow region model, then
Figure BDA0001819462100000048
Step 4, calculating the local sky wave receiving position x ═ x, y, z]TAnd local clock difference t;
supposing that the coordinate position of the sky wave transmitting station is s ═ xs,ys,zs]TThe sum of the sky wave receiving pointsStraight-line distance d between emission pointsslExpressed as:
Figure BDA0001819462100000049
dslthe relationship between t and pseudorange observations ρ is expressed by the following equation:
Figure BDA00018194621000000410
wherein, tauionFor ionospheric time delay, τcIn order to achieve a time delay of the second wave,ρthe sky wave emitted by the wave transmitting station is the measurement noise received by the local Rowland receiving equipment, C is the speed of light, and N is the refractive index of air; wherein, tauion、τc、ρThe observed quantity can be measured;
note the book
Figure BDA0001819462100000051
Then dslT and the pseudorange observations ρ
Figure BDA0001819462100000052
Namely:
Figure BDA0001819462100000053
step 5, using local Rowland receiving equipment to simultaneously receive the skywaves sent by the n skywave sending stations, wherein n is larger than or equal to 4, and then sequentially calculating the skywaves sent by each skywave sending station according to the steps 1-4 to obtain n equations (1) which form an equation set:
Figure BDA0001819462100000054
wherein n is more than or equal to 4, dsl (n)The linear distance between a transmitting point for transmitting the sky wave for the nth sky wave transmitting station and a receiving point of the local Rowland receiving equipment;
Figure BDA0001819462100000055
s(n)＝[xs (n),ys (n),zs (n)]Tis the coordinate position of the nth sky wave transmitting station,
Figure BDA0001819462100000056
where ρ is(n)For the pseudo range observation between the transmitting point of the sky wave sent by the nth sky wave transmitting station and the receiving point of the local Rowland receiving equipment,ρ (n)measuring noise of a sky wave emitted by an nth sky wave transmitting station and received by local Roland receiving equipment, and then solving an equation set by applying a Newton iteration method and a least square method to obtain a sky wave receiving position x ═ x, y, z]TAnd a local clock difference t.
Example (b):
the embodiment provides a sky wave positioning method applied to a rowland system, which is implemented specifically according to the following steps:
step 1: assuming that the radius r of the earth is 6371km, the height h of the ionosphere is 70km, the speed of light C is 299792458m/s, and the refractive index N of air is 1.0003, the coordinates of four sky-wave launching stations in roughe, honor, xuan and hao are shown in table 1 below:
TABLE 1
Station name Longitude (G) Latitude Height (unit m)
Xuan city 138°09′53″ 09°32′45″ 400
Rong Cheng (a Chinese character) 122°19′26″ 37°03′52″ 400
Coiled flat 116°53′45″ 23°43′26″ 400
Congratulation county 111°43′10″ 23°58′03″ 400
The rowland signals from the station of rouge, honor, xuan and he state were received and observed to be at the time of reception:
Figure BDA0001819462100000061
10.00333404798551371s，10.00393025351481085s]local reception of time of day τtran10 s; from the formula dbl＝(τrec-τtran) × C/N calculating out the propagation distance of the sky wave between the transmitting point of the sky wave transmitted by several sky wave transmitting stations and the receiving point of the local Roland receiving equipment
Figure BDA0001819462100000062
999522.440667103m，1178260.36176828m]；
Step 2, according to dbl (n)Respectively judging whether the sky wave propagation model is an illumination area model or a shadow area model; judgment of dbl (n)Extreme propagation with sky wave geometric modelDistance between two adjacent plates
Figure BDA0001819462100000063
If the models are found to be smaller than 1900km, the models belong to the illumination area models;
step 3, according to
Figure BDA0001819462100000064
Solving the geocentric included angle theta between the transmitting point of the n-th sky wave transmitting station for transmitting the sky waves and the sky wave receiving point of the local Roland equipment(n)，
θ(n)＝[θ(1),θ(2),θ(3),θ(4)]＝[0.219342387904837rad，0.195550137556422rad，0.155828182424111rad，0.183754903257357rad]Then according to the formula
Figure BDA0001819462100000065
Calculating rho(n)＝[ρ(1),ρ(2),ρ(3),ρ(4)]＝[1394630.70888377m，1243865.82824839m，991777.191059593m，1169056.10946699m]；
Step 4, ionospheric time delay correction and quadratic time delay correction (tau)ion+τc)＝1μs，ρ (n)Neglect, p calculated from step 3(n)＝[ρ(1),ρ(2),ρ(3),ρ(4)]Then according to the formula
Figure BDA0001819462100000066
Calculating rhoc (n)＝[ρc (1),ρc (2),ρc (3),ρc (4)]In the unit of m;
step 5, the rho obtained by the calculation in the step 4c (n)＝[ρc (1),ρc (2),ρc (3),ρc (4)]And converting the coordinates of the four sky wave transmitting stations into coordinates under a rectangular coordinate system, then substituting the coordinates into an equation set (3), and solving a local sky wave receiving position x as [ x, y, z ═]TBook and bookAnd (3) converting the rectangular coordinate system into an angle and height value under a spherical coordinate system to obtain coordinate positions of [108.98994597 degrees, 34.25518452 degrees and 405m]. The embodiment shows that the sky wave positioning algorithm applied to the Roland system has correct and effective results.

Claims (3)

1. A sky wave positioning method applied to a Rowland system is characterized by being implemented according to the following steps:
step 1, obtaining the local arrival time tau of sky waves by a Roland receiving devicerecAnd emission time τtranThen according to the local arrival time taurecAnd emission time τtranCalculating the propagation distance d of the antennabl；
Step 2, according to dblJudging whether the sky wave propagation model is an illumination area model or a shadow area model according to the size of the sky wave propagation model;
the method specifically comprises the following steps: judgment of dblUltimate propagation distance from sky wave geometric model
Figure FDA0002496849600000011
Wherein r is the earth radius, h is the ionospheric height,
if it is
Figure FDA0002496849600000012
The sky wave propagation model is an illumination area model;
if it is
Figure FDA0002496849600000013
The sky wave propagation model is a shadow region model;
step 3, solving pseudo-range observed quantity rho between the sky wave receiving point and the launching point;
if the sky wave propagation model is the illumination area model, then
Figure FDA0002496849600000014
Wherein theta is the geocentric angle between the sky wave receiving point and the transmitting point,
Figure FDA0002496849600000015
wherein A ═ 2r2+rh)/256，B＝3(h2-rdbl/2)/64，
Figure FDA0002496849600000016
r is the earth radius, h is the ionosphere height;
if the sky wave propagation model is a shadow region model, then
Figure FDA0002496849600000017
Step 4, calculating the local sky wave receiving position x ═ x, y, z]TAnd local clock difference t;
supposing that the coordinate position of the sky wave transmitting station is s ═ xs,ys,zs]TThe linear distance d between the sky wave receiving point and the transmitting pointslExpressed as:
Figure FDA0002496849600000021
dslthe relationship between t and pseudorange observations ρ is expressed by the following equation:
Figure FDA0002496849600000022
wherein, tauionFor ionospheric time delay, τcIn order to achieve a time delay of the second wave,ρthe sky wave emitted by the wave transmitting station is the measurement noise received by the local Rowland receiving equipment, C is the speed of light, and N is the refractive index of air;
note the book
Figure FDA0002496849600000023
Then dslT and the pseudorange observations ρ
Figure FDA0002496849600000024
(1) Namely:
Figure FDA0002496849600000025
(2)；
step 5, using local Roland receiving equipment to simultaneously receive the skywaves sent by n skywave sending stations, wherein n is larger than or equal to 4, then sequentially calculating the skywaves sent by each skywave sending station according to steps 1-4 to obtain an equation set formed by n formulas (1), and then solving the equation set by applying a Newton iteration method and a least square method to obtain a skywave receiving position x ═ x [ x, y, z ]]TAnd a local clock difference t.
2. The sky wave positioning method as claimed in claim 1, wherein the propagation distance of the sky wave in step 1 is: dbl＝(τrec-τtran) × C/N, where C is the speed of light and N is the refractive index of air.
3. The sky wave positioning method applied to the loran system according to claim 1, wherein the equation set formed in step 5 is:
Figure FDA0002496849600000031
wherein n is more than or equal to 4, dsl (n)The linear distance between a transmitting point for transmitting the sky wave for the nth sky wave transmitting station and a receiving point of the local Rowland receiving equipment;
Figure FDA0002496849600000032
s(n)＝[xs (n),ys (n),zs (n)]Tis the coordinate position of the nth sky wave transmitting station,
Figure FDA0002496849600000033
where ρ is(n)For the pseudo range observation between the transmitting point of the sky wave sent by the nth sky wave transmitting station and the receiving point of the local Rowland receiving equipment,ρ (n)the sky wave emitted by the nth sky wave emitting station is locally connected with the RolandAnd receiving the measurement noise received by the equipment.
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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
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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