CN109975845B - Time service positioning system based on Beidou system and time service positioning method thereof - Google Patents
Time service positioning system based on Beidou system and time service positioning method thereof Download PDFInfo
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- CN109975845B CN109975845B CN201910308816.3A CN201910308816A CN109975845B CN 109975845 B CN109975845 B CN 109975845B CN 201910308816 A CN201910308816 A CN 201910308816A CN 109975845 B CN109975845 B CN 109975845B
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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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- 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
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
Abstract
The invention discloses a time service positioning system based on a Beidou system, which comprises a ranging signal response module, a time service module and a time service module, wherein the ranging signal response module is used for receiving ranging signals transmitted by satellites and sending response signals; the response signal preprocessing module is used for preprocessing the received response signal and improving the signal-to-noise ratio of the response signal; the positioning calculation module is used for calculating position information according to the response signal; the database module is used for recording the operation data of the response signal preprocessing module and the positioning resolving module; and the position calibration module is used for calling the operation data of the last two positioning processes from the database module and calibrating the position information which is subjected to positioning calculation. The invention can improve the defects of the prior art and improve the time service positioning precision of the Beidou navigation system.
Description
Technical Field
The invention relates to the technical field of Beidou system positioning, in particular to a time service positioning system based on a Beidou system and a time service positioning method thereof.
Background
Along with the networking completion of the Beidou navigation system in China, more and more users start to use the Beidou system to carry out navigation and positioning operation. Due to the particularity of the Beidou navigation system in China, various problems can exist when the traditional method for improving the time service positioning accuracy of the navigation system is used in the Beidou navigation system.
Disclosure of Invention
The invention aims to provide a time service positioning system based on a Beidou system and a time service positioning method thereof, which can solve the defects of the prior art and improve the time service positioning precision of the Beidou navigation system.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
A time service positioning system based on a Beidou system comprises,
the ranging signal response module is used for receiving ranging signals forwarded by the satellite and sending response signals;
the response signal preprocessing module is used for preprocessing the received response signal and improving the signal-to-noise ratio of the response signal;
the positioning calculation module is used for calculating position information according to the response signal;
the database module is used for recording the operation data of the response signal preprocessing module and the positioning resolving module;
and the position calibration module is used for calling the operation data of the last two positioning processes from the database module and calibrating the position information which is subjected to positioning calculation.
A time service positioning method of the time service positioning system based on the Beidou system comprises the following steps:
A. the ranging signal response module receives ranging signals forwarded by the satellite and sends response signals;
B. the response signal is transmitted to a response signal preprocessing module through satellite transfer, and the response signal preprocessing module preprocesses the received response signal to improve the signal-to-noise ratio of the response signal;
C. the positioning resolving module is used for resolving position information according to the response signals processed in the step B;
D. the response signal preprocessing module and the positioning resolving module send the operation data to the database module for storage;
E. and the position calibration module calls the operation data of the last two positioning processes from the database module and calibrates the position information which is subjected to positioning calculation.
Preferably, in step B, the preprocessing of the reply signal comprises the steps of,
b1, filtering the response signal to obtain effective data and noise data;
b2, classifying the noise data.
Preferably, in step B1, the filtering process uses a filtering function of,
where m is the number of filter function uses, kiFor the priority parameter of the ith use filter function, α, β, γ are scaling factors.
Preferably, the discrete noise data separated by the filtering process is fitted, the fitting process is supplemented by using adjacent noise data segments to perform linear combination on the missing data part, and then the fitted noise data is smoothed.
Preferably, in step B2, a three-dimensional clustering center is formed from the maximum peak value, the fitting cycle, and the linearity of the noise data, and the noise data is clustered using the three-dimensional clustering center.
Preferably, the step E of calibrating the position information on which the positioning solution is being performed includes the steps of,
e1, respectively comparing the effective data and each type of noise data in the same positioning process, determining the type of noise data with the highest correlation degree with the effective data, and calculating the correlation function of the noise data;
e2, obtaining a transfer function between the correlation functions of the last two positioning processes;
e3, correcting the valid data undergoing positioning calculation by using a transfer function, and then using the corrected valid data to obtain the timing positioning information.
Adopt the beneficial effect that above-mentioned technical scheme brought to lie in: the invention utilizes the time service positioning data which is already calculated to correct the data which is being calculated. In the correction process, the effective data is corrected by using the correlation change state of the noise data and the effective data, the data error is reduced, and the calculation amount of correction can be reduced. The filter function used by the invention can improve the linearity of the separated noise data, thereby facilitating the fitting processing of the noise data. The method has the advantages of no need of additional data support in the correction process, high correction speed, low requirement on hardware and capability of effectively improving the time service positioning precision of the Beidou navigation system.
Drawings
FIG. 1 is a schematic diagram of one embodiment of the present invention.
Detailed Description
Referring to fig. 1, one embodiment of the present invention includes,
the ranging signal response module 1 is used for receiving ranging signals forwarded by a satellite and sending response signals;
the response signal preprocessing module 2 is used for preprocessing the received response signal and improving the signal-to-noise ratio of the response signal;
the positioning calculation module 3 is used for calculating position information according to the response signals;
the database module 4 is used for recording the operation data of the response signal preprocessing module 2 and the positioning resolving module 3;
and the position calibration module 5 is used for calling the operation data of the last two positioning processes from the database module 4 and calibrating the position information which is subjected to positioning calculation.
A time service positioning method of the time service positioning system based on the Beidou system comprises the following steps:
A. the ranging signal response module 1 receives ranging signals forwarded by a satellite and sends response signals;
B. the response signal is transmitted to a response signal preprocessing module 2 through satellite transfer, and the response signal preprocessing module 2 preprocesses the received response signal to improve the signal-to-noise ratio of the response signal;
C. the positioning resolving module 3 is used for resolving position information according to the response signals processed in the step B;
D. the response signal preprocessing module 2 and the positioning resolving module 3 send the operation data to the database module 4 for storage;
E. the position calibration module 5 retrieves the operation data of the last two positioning processes from the database module 4, and calibrates the position information which is being subjected to positioning calculation.
In step B, the step of preprocessing the answer signal comprises the following steps,
b1, filtering the response signal to obtain effective data and noise data;
b2, classifying the noise data.
In step B1, the filtering function used in the filtering process is,
where m is the number of filter function uses, kiFor the priority parameter of the ith use filter function, α, β, γ are scaling factors.
And fitting the discrete noise data separated by the filtering process, supplementing the missing data part by linearly combining adjacent noise data segments in the fitting process, and then smoothing the fitted noise data.
In step B2, a three-dimensional clustering center is formed according to the maximum peak value, the fitting cycle, and the linearity of the noise data, and the noise data is clustered using the three-dimensional clustering center.
In step E, calibrating the position information on which the positioning solution is being performed includes the steps of,
e1, respectively comparing the effective data and each type of noise data in the same positioning process, determining the type of noise data with the highest correlation degree with the effective data, and calculating the correlation function of the noise data;
e2, obtaining a transfer function between the correlation functions of the last two positioning processes;
e3, correcting the valid data undergoing positioning calculation by using a transfer function, and then using the corrected valid data to obtain the timing positioning information.
In addition, in step E1, when comparing the valid data with each type of noise data, comparing the valid data with each type of noise data through a time domain and a frequency domain respectively; and then respectively obtaining a time domain correlation function and a frequency domain correlation function, respectively correcting the effective data in the time domain and the frequency domain, and finally fitting the correction result of the time domain and the correction result of the frequency domain.
By respectively correcting in the time domain and the frequency domain, the deviation of the data can be effectively compensated by utilizing different characteristics of the data in the time domain and the frequency domain, so that the resolving precision is improved.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A time service positioning method of a time service positioning system based on a Beidou system comprises the following steps,
the ranging signal response module (1) is used for receiving ranging signals forwarded by a satellite and sending response signals;
the response signal preprocessing module (2) is used for preprocessing the received response signal and improving the signal-to-noise ratio of the response signal;
the positioning resolving module (3) is used for resolving position information according to the response signal;
the database module (4) is used for recording the operation data of the response signal preprocessing module (2) and the positioning resolving module (3);
the position calibration module (5) is used for calling the operation data of the last two positioning processes from the database module (4) and calibrating the position information which is subjected to positioning calculation;
the method is characterized by comprising the following steps:
A. the ranging signal response module (1) receives ranging signals forwarded by a satellite and sends response signals;
B. the response signal is transmitted to a response signal preprocessing module (2) through satellite transfer, and the response signal preprocessing module (2) preprocesses the received response signal to improve the signal-to-noise ratio of the response signal;
the pre-processing of the reply signal comprises the following steps,
b1, filtering the response signal to obtain effective data and noise data;
b2, classifying the noise data;
C. a positioning calculation module (3) for calculating the position information according to the response signal processed in the step B;
D. the response signal preprocessing module (2) and the positioning resolving module (3) send the operation data to the database module (4) for storage;
E. the position calibration module (5) calls the operation data of the last two positioning processes from the database module (4) and calibrates the position information which is subjected to positioning calculation;
calibrating the position information for which a positioning solution is being performed includes the steps of,
e1, respectively comparing the effective data and each type of noise data in the same positioning process, determining the type of noise data with the highest correlation degree with the effective data, and calculating the correlation function of the noise data;
e2, obtaining a transfer function between the correlation functions of the last two positioning processes;
e3, correcting the valid data undergoing positioning calculation by using a transfer function, and then using the corrected valid data to obtain the timing positioning information.
2. The time service positioning method of the Beidou system-based time service positioning system according to claim 1, characterized in that: in step B1, the filtering function used in the filtering process is,
where m is the number of filter function uses, kiFor the priority parameter of the ith use filter function, α, β, γ are scaling factors.
3. The time service positioning method of the Beidou system-based time service positioning system according to claim 2, characterized in that: and fitting the discrete noise data separated by the filtering process, supplementing the missing data part by linearly combining adjacent noise data segments in the fitting process, and then smoothing the fitted noise data.
4. The time service positioning method of the Beidou system-based time service positioning system according to claim 3, characterized in that: in step B2, a three-dimensional clustering center is formed according to the maximum peak value, the fitting cycle, and the linearity of the noise data, and the noise data is clustered using the three-dimensional clustering center.
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