CN109991638A - A kind of band-like domain navigator fix enhancing system - Google Patents
A kind of band-like domain navigator fix enhancing system Download PDFInfo
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- CN109991638A CN109991638A CN201910187182.0A CN201910187182A CN109991638A CN 109991638 A CN109991638 A CN 109991638A CN 201910187182 A CN201910187182 A CN 201910187182A CN 109991638 A CN109991638 A CN 109991638A
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- China
- Prior art keywords
- band
- module
- domain
- station
- navigator fix
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Classifications
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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
- G01S19/38—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
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The present invention discloses a kind of band-like domain navigator fix enhancing system, including peripheral system and core system, the peripheral system includes GNSS satellite navigation and its enhancing system, mobile communication system and fibre-optic transmission system (FOTS), the core system includes miniature base station, joint station, juncture station, terminal and platform, and the GNSS satellite navigation and its enhancing system are connected to the vector terminal by the mobile communication system；The terminal, which is equipped with, can emit and receive the ultra-broadband short distance mobile communication transmission module of signal, the second order difference module that can carry out intelligent navigation positioning calculation and constraint differential processing module.The band-like domain navigator fix enhancing system is provided with joint access bearer module and precision with the setting of inspection module, can be realized and judges whether the terminal accesses navigation signal system, and determines the quality of signal.Band-like domain navigator fix enhancing system of the present invention can make the enhancing system of the navigator fix of belt-like zone acquisition high-precision, high reliability, high availability.
Description
Technical field
The present invention relates to field of navigation technology, belong to a new class of enhancing system in navigator fix field and are suitable for band-like
A kind of domain navigator fix requirement, and in particular to band-like domain navigator fix enhancing system.
Background technique
Satellite navigation reinforcing system is developed from differential technique, attached according to International Civil Aviation Organization ICAO International Civil Aviation pact
The enhancing system of the regulation of GNSS SARPs in part ten, global navigation satellite system GNSS is divided into three classes: Ground-based augmentation system
GBAS (Ground Based Augmentation System), satellite-based augmentation system SBAS (Satellite Based
Augmentation System), Aircraft-based augmentation system ABAS (Aircraft Based Augmentation System).Its
In, GBAS includes wide area enhancement system (wide area augmentation system, WAAS), local enhancing technology
(local area augmentation system, LAAS), SBAS broadcast the integrity of GNSS to user using satellite and repair
GNSS module information and airborne equipment information are carried out enhancing and comprehensive by positive information, and provide distance measuring signal to enhance GNSS, ABAS
It closes, it is ensured that the demand of spacing wave.So far, there are various satellite navigation reinforcing systems.In addition to the WAAS in the U.S. and LAAS,
Other countries or area such as European Union, Japan, India, Canada and country, Australia have also built respective satellite one after another and have led
Navigate enhancing system, including European satellite Navigation Overlay Service (European geostationary navigation
Overlay service, EGNOS) system, Japanese Multifunctional conveying satellite (MTSAT, Multi-functional
Transport Satellite) enhance system (MSAS, satellite based augmentation system) and quasi- day
The GPS for pushing up satellite navigation system (QZSS, Quasi-ZenithSatelliteSystem) and India assists Geo-synchronous rail
Road satellite navigation reinforcing system (GAGAN, GPS Aided GEO Augmented Navigation).
China has also carried out the construction and application of local area DGPS using GPS system earlier, and Beidou regional satellite is led
After boat system is built up, difference and the research and development and application acceleration development for enhancing system, in urban planning, land mapping, land deeds pipe
Reason, town and country construction, environmental monitoring, prevent and reduce natural disasters, traffic monitoring etc. has carried out wide application, the Beidou whole world in 2019
Satellite navigation system will be built up, while global Static Precise Point Positioning system (GPPP, Global Precision Point
Positioning it) will also carry out upper satellite experiment, the high-precision PPP for obtaining wide area positioned.
Summary of the invention
The present invention proposes a kind of multi-functional navigator fix enhancing system that can cover band-like domain, belt-like zone can be made to obtain
In high precision, the enhancing system of the navigator fix of high reliability, high availability, it has, and precision is high, easy to use, applicability is good,
The features such as adaptable.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of band-like domain navigator fix enhances system, including peripheral system and core system, the peripheral system include
GNSS satellite navigation and its enhancing system, mobile communication system and fibre-optic transmission system (FOTS), the core system include being erected at institute
It states the miniature base station intensively laid in band-like domain, the position for approaching the band-like domain is set with the vector terminal to process
Carry out data exchange joint station, be arranged in the band-like domain inlet and outlet position juncture station, be arranged on carrier
Vector terminal and system platform, the GNSS satellite navigation and its enhancing system pass through the miniature base station and mobile communication system
System is connected to the vector terminal, the joint station and the juncture station and the part miniature base station and passes through the optical fiber
Transmission system is connected to the system platform, wherein the sparse laying in joint station；
The vector terminal be equipped with can emit and receive signal ultra-broadband short distance mobile communication transmission module, can
Carry out the second order difference and constraint differential processing module of intelligent navigation positioning calculation.
Further, GNSS satellite navigation and its enhancing system include satellite navigation system and with the satellite navigation
The ground strengthening system of system connection.
Further, the miniature base station includes the day for receiving the satellite navigation and its enhancing system transmission signal
Line, the multiclass navigation receiver module being connect with the antenna, with the vector terminal carry out communications communication transmission module,
It measures the gas pressure sensor module of band-like domain air pressure and measures the temperature sensor module of band-like domain temperature.
Further, the joint station includes implementing broadcast and instruction transmission to the vector terminal on the carrier
Information propagation module and the track data of traveling position fixing process is uploaded and to navigation signal monitoring for receiving the vector terminal
The data reception module of data.
Further, the juncture station includes carrying out the instruction sending module of instruction transmission, to institute to process vector terminal
It states and carries out the information validating module of information veritification by vector terminal and for the police warned by vector terminal
Show module.
Further, the antenna uses narrow beam shaped aerial.
Further, it is also implanted with pseudorange in the miniature base station and receives positioning chip and carrier wave measurement precision positioning core
Piece, the pseudorange receives positioning chip and carrier wave measurement precision positioning chip is all connected to the data of the miniature base station
Processing module.
Further, the navigation letter for detecting the miniature base station position is additionally provided in the miniature base station
The precision of number precision and signal strength is connected to the system platform with inspection module with inspection module, the precision.
Further, the joint station and juncture station further include for judging whether navigation signal intervenes the connection of the terminal
It is defeated with inspection module that splice grafting enters carrier module (United Access Bearer, UAB), the joint access bearer module and precision
Data out are sent to the joint by the fibre-optic transmission system (FOTS) or the ultra-broadband short distance mobile communication transmission module
It stands and/or the juncture station, the joint station and the juncture station is connected to the system platform, can be realized and judge the end
Whether end accesses navigation signal system, and determines the quality of signal, to guarantee the reliability of navigator fix, continuity and intact
Property.
Further, the band-like domain is highway, water route course line, railway, course line, piping lane, tunnel and valley
One kind.
Further, the miniature base station is powered by electric power special line or can also be solar powered using distributing.
Compared with prior art, superior effect of the invention is:
1, band-like domain navigator fix of the present invention enhances system, is navigated by GNSS satellite and its enhances system, moves
Being equipped with for communication system, fibre-optic transmission system (FOTS), miniature base station, joint station, juncture station, terminal and system platform is moved, it is real
The enhancing system of the navigator fix of high-precision, high reliability, high availability is now obtained to the belt-like zone；It realizes by more
Navigation mode positions carrier again, obtains the track of carrier operation.
2, band-like domain navigator fix of the present invention enhances system, passes through ultra-broadband short distance mobile communication transmission module
Setting, realize ranging simultaneously be configured to a kind of dedicated navigator fix means.
3, band-like domain navigator fix of the present invention enhances system, by joint access bearer module and precision with inspection mould
The setting of block can be realized and judge whether the terminal accesses navigation signal system, and determine the reliability of signal, integrity,
Continuity.
Detailed description of the invention
Fig. 1 is the schematic diagram of band-like domain navigator fix enhancing system in the embodiment of the present invention 1；
In figure: 1-GNSS satellite navigation and its enhancing system, 11- satellite navigation system, 12- ground strengthening system, 2- are moved
Dynamic communication system, 3- fibre-optic transmission system (FOTS), the band-like domain 4-, the miniature base station of 5-, 6- vector terminal, 7- juncture station, 8- carrier, 9-
Platform, the joint 10- station.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail, it should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
Embodiment
As shown in Figure 1, the band-like domain navigator fix enhancing system includes peripheral system using highway as band-like domain
And core system, the peripheral system include GNSS satellite navigation and its enhancing system 1, mobile communication system 2 and optical fiber transmission
System 3, the core system include the miniature base station 5 being erected in the band-like domain 4, setting approaching the band-like domain 4
Position the joint station 10 of data exchange is carried out with the vector terminal 6 to process, the inlet and outlet in the band-like domain 4 is set
The juncture station 7 of position, the vector terminal 6 and system platform 9 being arranged on carrier 8, the GNSS satellite navigation and its increasing
Strong system 1 is connected to the vector terminal 6, the part miniature benchmark by the miniature base station 5 and mobile communication system 2
Stand 5, the joint station 10 and the juncture station 7 by the fibre-optic transmission system (FOTS) 3 is connected to the system platform 9.
In the present embodiment, the miniature base station 5 joint station 10 is intensively laid；The joint station 10 is relatively described
The sparse laying of miniature base station 5.
The vector terminal 6 is equipped with the ultra-broadband short distance mobile communication transmission module that can emit and receive signal
(vwb), the second order difference module and constraint differential processing module of intelligent navigation positioning calculation can be carried out.
In the present embodiment, most of miniature base station 5 is by the ultra-broadband short distance mobile communication transmission module
The system platform 9 is connected to through the joint station 10 or the juncture station 7.
In the present embodiment: the mobile communication system 2 uses 5G or 4G communication system；5 conduct of miniature base station
Monitoring station in the band-like domain 4；The miniature base station 5 also has reception for broadcasting broadcasts navigation positioning enhancing text
The vector terminal 6 returns the ability of low information rate information.
In the present embodiment, the ultra-broadband short distance mobile communication transmission module (vwb) receives the GNSS satellite and leads
Boat and its signal of the enhancing transmission of system 1 are simultaneously demodulated, obtain position error information, are compiled into second order difference enhancing text,
For further improving navigator fix performance.
In the present embodiment, the fibre-optic transmission system (FOTS) 3 can use expressway construction when pre-plugged optical cable or
Aim at the band-like domain navigator fix enhancing inbuilt optical cable of system support.
In the present embodiment, the enhancing text includes 5 actual position information of miniature base station, a few quasi-representative navigation
6 real-time measurement of positioning carrier terminal calculates the road surface elevation of the station heart position location information or error amount, the band-like domain 4 that obtain
Information data, difference barometric information, and make to interfere adjacent to the vector terminal 6 of the carrier 8 to the miniature base station 5
The data of measuring carrier phase measurement.
GNSS satellite navigation and its enhancing system 1 include satellite navigation system 11 and with the satellite navigation system 11
The ground strengthening system 12 of connection.
The miniature base station 5 include receive GNSS satellite navigation and its enhancing system 1 send signal antenna, with
The multiclass navigation receiver module of the antenna connection, the communication that short distance mobile communication transmission is carried out with the vector terminal 6 pass
The temperature sensor mould of defeated module, the gas pressure sensor module of measurement band-like 4 air pressure of domain and measurement band-like 4 temperature of domain
Block.
Between the miniature base station 5 along the band-like domain 4, using their carrier-phase measurement, each other
Interference processing, acquisition centimetre or grade Measurement Resolution are periodically carried out, it can be to detect the express highway roadbed sliding
With sedimentation, realize the band-like domain 4 and its along the band-like domain 4 various kinds of equipment safety monitoring and monitoring.
The joint station 10 includes that the vector terminal 6 on the carrier 8 to the process implements broadcast and instruction
The information propagation module sent and the data for uploading the track data of traveling position fixing process for receiving the vector terminal 6
Receiving module.
In the present embodiment, the joint station 10 can according to the traffic conditions and demand of the carrier 8 of the process,
The different grades of joint station 10 of different capabilities is set, and the clothes that the band-like domain 4 is concentrated can be arranged in the joint station 10 of large capacity
It is engaged in area or on important position.
The vector terminal 6 can carry out information bidirectional alternating transmission with the joint station 10, and the vector terminal 6 can be in time
A variety of broadcast messages such as traffic information, weather information are received, the vector terminal 6 also can be the positioning track number of the carrier 8
According to being uploaded to the joint station 10.
The juncture station 7 includes the instruction sending module for carrying out instruction transmission to process carrier 8, passes through carrier 8 to described
Carry out the information validating module of information veritification and for the alarm module warned by the carrier 8, the police
Show that module can verify the information of the carrier 8, including insurance information, such as detects and do not enter guarantor or the carrier of other irregularities
8, instruction or warning are issued to it.
The antenna uses narrow beam shaped aerial, and the gain of the narrow beam shaped aerial can be significantly improved, can compare
The gain that omnidirectional covers beam antenna improves 10dB or more, can significantly affect the performance of the vector terminal 6, advantageously reduce institute
The power consumption for stating vector terminal 6, improves the capacity and transmission rate of transmission, and the antenna should also be made to have low sidelobe, low noise, good
Polarization isolation etc. require, influencing each other between other system electromagnetic energies can be reduced in this way, be conducive to protect dedicated system
The signal-to-noise ratio of system signal, and received external electromagnetic environment condition can be improved.
It is also implanted with pseudorange in the miniature base station 5 and receives positioning chip and carrier wave measurement precision positioning chip, it is described
Pseudorange receives positioning chip and carrier wave measurement precision positioning chip is all connected to the data processing mould of the miniature base station
Block, due to the position of the miniature base station 5 be it is known, the error correction values of the positioning chip can be acquired, utilize increasing
These error correction values are broadcast to the vector terminal 6 by strong transmitting text, realize 6 location error of vector terminal again
The method of double differences point, it will be able to further promote the positioning accuracy of the vector terminal 6.
The signal accuracy and letter for detecting 5 position of miniature base station are additionally provided in the miniature base station 5
For the precision of number intensity with inspection module, the precision being capable of signal accuracy and signal strength of the real-time detection at the station with inspection module
And variation obtains all kinds of credible monitoring data, or be transmitted to through joint station 10, juncture station 7, fibre system by analyzing and determining
System platform processing.
The joint station 10 further includes for judging whether navigation signal intervenes the joint access bearer of the vector terminal 6
Module (United Access Bearer, UAB) introduces the information that the joint station 10 obtains by UAB to judge the load
Whether body terminal 6 accesses navigation signal system, or the feedback channel of the vector terminal 6 is established by the joint station 10,
Transmission network connection is formed, so that the navigation signal of broadcast nature is transmitted the backward linkage having between signal system, can pass through
Communication system and server calculate and judge whether signal is normal.
The band-like domain 4 can also be water route course line, one kind of railway, course line, piping lane, tunnel and valley.
The miniature base station 5 is powered by electric power special line or can also be solar powered using distributing.
The system platform 9 is the data backstage of the band-like domain navigator fix enhancing system, the system as needed
Platform 9 can be by proprietary communication system and the juncture station 7, the joint station 10, the miniature base station 5 to the load
Body terminal 6 sends instructions；The vector terminal 6, the juncture station 7, the joint station 10 can be the traveling positioning rails of the carrier 8
Mark data etc. are uploaded to the system platform 9, and the system platform 9 can receive aggregation process Various types of data and information and handle
It is handled in relation to data and information, and is distributed to relevant department.As an improvement of this embodiment, the system platform 9
It is additionally provided with charge auditing system, the system platform 9 calculates stroke charge by disengaging station location, additionally it is possible to utilize navigation path
Climb displacement is carried out, the function of charge is completed.
The band-like domain navigator fix enhancing system has multiple navigation locating function: first layer is sufficiently to have used to have
Satellite navigation and location system and its enhancing system carry out navigator fix, and using micro benchmark station issue second order difference information
Further increase positioning accuracy；The second layer is to carry out short distance using the original measurement value of the satellite navigation systems such as BDS/GPS
Relevant localization process, can resolve to obtain the precise measurement positional value of decimeter grade or Centimeter Level in 6 side of vector terminal；Third layer
It is the signal sent using the miniature base station 5, other than completing data-transformation facility, is also carried out using transmission signal
Pseudo range measurement after carrying out dimension-reduction treatment using road surface elevation data, is intersected using two sections or two sections or more pseudoranges, is able to achieve 1 meter
Class precision positioning, merge sensor part, moreover it is possible to realize that positioning is owed at single station, accordingly even when satellite navigation system breaks down
When, it still can guarantee that vector terminal 6 is still able to achieve 1 meter level navigator fix.
There are many navigation and positioning accuracies of grade for the band-like domain navigator fix enhancing system: useful micro benchmark station signal
Pseudo range measurement calculates the navigator fix of the meter accuracy of stroke；There is the Centimeter Level grade for using carrier phase coherent to cross acquisition
The navigator fix of precision: once difference enhancing positioning, there are also second order difference enhancings to position.
The present invention is not limited to the above embodiments, and the above embodiments and description only describe of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is defined by the following claims.
Claims (10)
1. a kind of band-like domain navigator fix enhances system, including peripheral system and core system, the peripheral system include GNSS
Satellite navigation and its enhancing system, mobile communication system and fibre-optic transmission system (FOTS), the core system include being erected at the band
The miniature base station intensively laid in shape domain is arranged in and approaches the position in the band-like domain and carried out with the vector terminal to process
The joint station of data exchange, the juncture station of inlet and outlet position that the band-like domain is set, the carrier that is arranged on carrier
Terminal and system platform, the GNSS satellite navigation and its enhancing system are connected by the miniature base station and mobile communication system
It is connected to the vector terminal, the joint station, the juncture station and the part miniature base station are transmitted by the optical fiber
System is connected to the system platform, wherein the sparse laying in joint station；It is characterized in that, the vector terminal is equipped with energy
The ultra-broadband short distance mobile communication transmission module of enough transmittings and reception signal can carry out the secondary of intelligent navigation positioning calculation
Difference block and constraint differential processing module.
2. band-like domain navigator fix according to claim 1 enhances system, which is characterized in that the GNSS satellite navigation and
Its enhancing system includes satellite navigation system and the ground strengthening system that connect with the satellite navigation system.
3. band-like domain navigator fix according to claim 1 enhances system, which is characterized in that the miniature base station includes
Receive the satellite navigation and its enhance system send signal antenna, connect with the antenna multiclass navigation receiver module,
Communication transmission module, the gas pressure sensor module for measuring band-like domain air pressure and the measurement of communications are carried out with the vector terminal
The temperature sensor module of band-like domain temperature.
4. band-like domain navigator fix according to claim 1 enhances system, which is characterized in that the joint station includes to institute
It states the vector terminal on carrier and implements the information propagation module of broadcast and instruction transmission and for receiving the vector terminal
Upload the track data of traveling position fixing process and the data reception module to navigation signal monitoring data.
5. band-like domain navigator fix according to claim 1 enhances system, which is characterized in that the juncture station includes to warp
Cross the information core that vector terminal carries out the instruction sending module of instruction transmission, carries out information veritification to the vector terminal of the process
Real module and for the alarm module warned by vector terminal.
6. band-like domain navigator fix according to claim 3 enhances system, which is characterized in that the antenna uses narrow beam
Shaped aerial.
7. band-like domain navigator fix according to claim 3 enhances system, which is characterized in that in the miniature base station also
It is implanted with pseudorange and receives positioning chip and carrier wave measurement precision positioning chip, the pseudorange receives positioning chip and the carrier wave is surveyed
Amount precision positioning chip is all connected to the data processing module of the miniature base station.
8. band-like domain navigator fix according to claim 3 enhances system, which is characterized in that in the miniature base station also
Precision equipped with navigation signal precision and signal strength for detecting the miniature base station position is described with inspection module
Precision is connected to the system platform with inspection module.
9. band-like domain navigator fix according to claim 4 enhances system, which is characterized in that the joint station and juncture station
It further include for judging whether navigation signal intervenes the joint access bearer module of terminal, the joint access bearer module and essence
Degree is passed with the data of inspection module output by the fibre-optic transmission system (FOTS) or the ultra-broadband short distance mobile communication transmission module
It send to the joint station and/or the juncture station, the joint station and the juncture station are connected to the system platform.
10. band-like domain navigator fix according to claim 1 enhances system, which is characterized in that the band-like domain is high speed
Highway, water route course line, railway, course line, piping lane, tunnel and valley one kind.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187182.0A CN109991638A (en) | 2019-03-13 | 2019-03-13 | A kind of band-like domain navigator fix enhancing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910187182.0A CN109991638A (en) | 2019-03-13 | 2019-03-13 | A kind of band-like domain navigator fix enhancing system |
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| CN104749595A (en) * | 2015-03-19 | 2015-07-01 | 上海北伽导航科技有限公司 | Positioning service method and system based on high-precision base reinforcing system |
| CN104794898A (en) * | 2015-04-30 | 2015-07-22 | 山东大学 | Special-region band-type private network transportation communication navigation monitoring and warning device and working method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102215558A (en) * | 2010-04-07 | 2011-10-12 | 中国科学院国家天文台 | Ground mobile communication network positioning method assisted by communication broadcast satellite signal |
| CN103236180A (en) * | 2013-01-21 | 2013-08-07 | 杭州路享科技有限公司 | Vehicular information interactive interface method |
| CN104749595A (en) * | 2015-03-19 | 2015-07-01 | 上海北伽导航科技有限公司 | Positioning service method and system based on high-precision base reinforcing system |
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Application publication date: 20190709 |