CN110068852A - A kind of high-precision assistant positioning system - Google Patents
A kind of high-precision assistant positioning system Download PDFInfo
- Publication number
- CN110068852A CN110068852A CN201910177423.3A CN201910177423A CN110068852A CN 110068852 A CN110068852 A CN 110068852A CN 201910177423 A CN201910177423 A CN 201910177423A CN 110068852 A CN110068852 A CN 110068852A
- Authority
- CN
- China
- Prior art keywords
- navigation
- precision
- tooth trace
- signal
- radio
- 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.)
- Pending
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
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
The present invention relates to technical field of navigation and positioning, especially a kind of high-precision assistant positioning system, it include: wide band radio-frequency technology and inertial navigation ancillary technique, it include radio frequency unit in receiver, receiver receives the relevant optical frequency comb of multiple groups difference by antenna, the tooth trace of the tooth trace of A group optical frequency comb, the tooth trace of B group optical frequency comb and C group optical frequency comb is corresponding, after radio frequency unit obtains broadband rf signal.The present invention is received using wide band radio-frequency technology, is received multiple navigation frequency points simultaneously with radio-frequency devices all the way, is realized more flexible technical solution, while reducing power consumption, area and cost；Using inertial navigation ancillary technique by combining the output of inertial navigation device and satellite receiver, keep the precision of satellite receiver can under various scenes in the normal range, to improve the availability and positioning accurate parasexuality of receiver, navigation accuracy < operating range * 5% target in the case where no GNSS signal is realized.
Description
Technical field
The present invention relates to navigator fix field more particularly to a kind of high-precision assistant positioning systems.
Background technique
Global Satellite Navigation System (the Global Navigation Satellite System), it is also referred to as global
Navigational satellite system, being can at the earth's surface or any place of terrestrial space for user provides round-the-clock 3 dimension coordinate and speed
The space base radio-navigation positioning system of degree and temporal information；Ubiquitous system has GPS, BDS, GLONASS and GALILEO tetra- big
Satellite navigation system occurs that the GPS(Global Positioning System in the U.S. earliest), technology is most complete at this stage
Kind is also GPS system.Complete service with BDS, GLONASS system in recent years in the Asian-Pacific area is opened, especially BDS system
System is getting faster in civil field development.Satellite navigation system aviation, navigation, communication, personnel tracking, consumer entertainment,
Mapping, time service, vehicle monitoring management and auto navigation and information service etc. are widely used, and total development trend be for
Application provides high-precision and services in real time；Traditional satellite navigation and positioning receiver is received using narrow radio frequency technology, advantage
Be individual devices noise coefficient it is lower, performance is easily guaranteed that, and its main feature is that each navigation frequency point is all made of an independence
Radio frequency path handled, thus power consumption, area, cost are all higher, and scheme is not flexible, while the decision of satellite-signal power is defended
The precision of star receiver, signal it is weak or without when can not position in real time, so that the availability of receiver is affected, which greatly limits
The application field of satellite navigation and positioning, so inventing a kind of high-precision assistant positioning system now to solve the above problems.
Summary of the invention
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of high-precision assistant positioning system
Problem.
To achieve the goals above, present invention employs following technical solutions:
Design a kind of high-precision assistant positioning system, comprising: wide band radio-frequency technology and inertial navigation ancillary technique.
Preferably, the wide band radio-frequency technology the following steps are included:
S1: including radio frequency unit in receiver, and receiver receives the relevant optical frequency comb of multiple groups difference by antenna；
The tooth trace of the tooth trace of S2:A group optical frequency comb, the tooth trace of B group optical frequency comb and C group optical frequency comb is corresponding, in radio frequency list
After member obtains broadband rf signal, using A group optical frequency comb as carrier wave, for modulating broadband rf signal, amplified by low noise,
Carrier wave is carried out screening and filtering by filter 1, is transferred into digital signal processor DSP and is carried out at digitlization by AGC and A/D
Reason, treated, and carrier wave is converted by D/A, and power amplification is received by radio frequency unit；It shakes, leads to using B group optical frequency comb as trimmed book
It crosses pumping source to issue through wave filter 2, then carries out power amplification, received by radio frequency unit；C group optical frequency comb passes through filter 3
It is screened, by modulator, power amplification is received by radio frequency unit, each tooth trace phase shaken due to each tooth trace and the trimmed book of carrier wave
It is corresponding, it can be used to represent each different channel；
S3: by A, B, C group trimmed book vibration tooth trace and the trimmed book shake broadband rf signal that the corresponding carrier wave tooth trace of tooth trace is modulated into
Line number word coherent demodulation obtains three tunnel demodulated signals, and as the road, trimmed book shakes the reception signal on corresponding channel；
S4: broadband rf signal is received using each channel, realizes the Digital Channelized Receiving to broadband rf signal, that is, complete
Reception to broadband rf signal can pass through radio-frequency devices all the way and receive multiple navigation frequency points simultaneously.
Preferably, the inertial navigation ancillary technique the following steps are included:
B1: gyroscope combination and accelerometer combination are mounted on special " gyro-stabilized platform ", gyroscope is combined by three
A orthogonal single-degree-of-freedom gyro composition, accelerometer combination are made of three orthogonal accelerometers, and measurement axis and platform are sat
Mark system is consistent；
B2: the initial velocity that inertial measuring unit will measure, initial position, the gravity field parameters of mission area, time reference
And the signals such as posture are transferred in navigational computer and are focused on, navigational computer is completed navigation and is calculated, and tracking is formed
Navigation system；
B3: the alignment software in navigational computer is initially directed at inertial navigation system, using technological means by the coordinate of platform
System is adjusted to the state being overlapped with navigational coordinate system, is fast and accurately aligned in two indexs of speed and precision, establishes
Navigational coordinate system；
B4: after establishing navigational coordinate system, data resolve navigational parameter by navigation software, position for carrier；
B5: signal passes to control system by interface circuit, carries out Navigation Control to object.
Preferably, the resolving navigational parameter in the B4 is positioned as PVT resolving for carrier, comprising the following steps:
C1: the observation moment is determined；
C2: navigation message is extracted；
C3: satellite position, speed, the elevation angle and the inclination angle at calculating observation moment；
C4: pseudo-range measurements are obtained；
C5: positioning equation is utilized, each user location, speed and time are calculated；
C6: the longitude and latitude conversion of user location.
Preferably, the filter can use high low-impedance line structure.
One kind proposed by the present invention, beneficial effect are:
1. the present invention is received using wide band radio-frequency technology, multiple navigation frequency points are received simultaneously with radio-frequency devices all the way, are realized
More flexible technical solution, while reducing power consumption, area and cost；
2. the present invention, by combining the output of inertial navigation device and satellite receiver, makes to defend using inertial navigation ancillary technique
The precision of star receiver can be kept in the normal range under various scenes, to improve the availability and positioning accurate of receiver
Parasexuality realizes navigation accuracy < operating range * 5% target in the case where no GNSS signal.
Detailed description of the invention
Fig. 1 is wide band radio-frequency technical principle structural schematic diagram of the present invention；
Fig. 2 is inertial navigation ancillary technique theory structure schematic diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-2, a kind of high-precision assistant positioning system, the location technology include: wide band radio-frequency technology and inertial navigation
Ancillary technique；
The wide band radio-frequency technology includes: including radio frequency unit in receiver referring to Fig.1, and receiver receives multiple groups not by antenna
With relevant optical frequency comb, the tooth trace of the tooth trace of A group optical frequency comb, the tooth trace of B group optical frequency comb and C group optical frequency comb is corresponding,
After radio frequency unit obtains broadband rf signal, pass through using A group optical frequency comb as carrier wave for modulating broadband rf signal
Low noise amplification, carrier wave carries out screening and filtering by filter 1, by AGC and A/D be transferred into digital signal processor DSP into
Digitized processing, treated, and carrier wave is converted by D/A, and power amplification is received by radio frequency unit；Using B group optical frequency comb as
Trimmed book vibration, is issued through wave filter 2 by pumping source, then carries out power amplification, received by radio frequency unit；C group light frequency combs
Wave filter 3 is screened, and the filter can use high low-impedance line structure, and by modulator, power amplification is by radio frequency
Unit receives, and since each tooth trace of carrier wave is corresponding with each tooth trace that trimmed book shakes, can be used to represent each different channel, will
A, the broadband rf signal that B, C group trimmed book vibration tooth trace carrier wave tooth trace corresponding with trimmed book vibration tooth trace are modulated carries out digital coherent
Demodulation, obtains three tunnel demodulated signals, and as the road, trimmed book shakes the reception signal on corresponding channel, utilizes each channel to receive wide
Band radiofrequency signal, realizes the Digital Channelized Receiving to broadband rf signal, that is, complete the reception to broadband rf signal, energy
It is enough to receive multiple navigation frequency points simultaneously by radio-frequency devices all the way；
The inertial navigation ancillary technique referring to described in Fig. 2 includes: that gyroscope combination and accelerometer combination are mounted on special " top
On spiral shell stabilized platform ", gyroscope combination is made of three orthogonal single-degree-of-freedom gyros, and accelerometer combination is orthogonal by three
Accelerometer is constituted, and measurement axis is consistent with platform coordinate system, the initial velocity that inertial measuring unit will measure, initial bit
It sets, the gravity field parameters of mission area, the signals such as time reference and posture, which are transferred in navigational computer, to be focused on,
Navigational computer is completed navigation and is calculated, and track navigation system is formed, and the alignment software in navigational computer carries out just inertial navigation system
Begin alignment, the coordinate system of platform is adjusted to the state being overlapped with navigational coordinate system using technological means, in speed and precision two
It is fast and accurately aligned in item index, establishes navigational coordinate system, after establishing navigational coordinate system, data pass through navigation software
Navigational parameter is resolved, is positioned for carrier, the resolving navigational parameter, is positioned as PVT resolving for carrier, process is when determining observation
It carves, extracts navigation message, satellite position, speed, the elevation angle and the inclination angle at calculating observation moment obtain pseudo-range measurements, using calmly
Azimuth equation calculates each user location, speed and time, and the longitude and latitude conversion of user location, then signal is passed by interface circuit
Control system is passed, Navigation Control is carried out to object.
The present invention is received using wide band radio-frequency technology, receives multiple navigation frequency points simultaneously with radio-frequency devices all the way, real
Now more flexible technical solution, while reducing power consumption, area and cost；Using inertial navigation ancillary technique by by inertial navigation
The output of device and satellite receiver combine, and make the precision of satellite receiver that can be maintained at normal model under various scenes
In enclosing, to improve the availability and positioning accurate parasexuality of receiver, navigation accuracy < traveling in the case where no GNSS signal is realized
The target of distance * 5%.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of high-precision assistant positioning system, which is characterized in that the high-precision assistant positioning system includes wide band radio-frequency skill
Art and inertial navigation ancillary technique.
2. a kind of high-precision assistant positioning system according to claim 1, it is characterised in that: the wide band radio-frequency technology packet
Include following steps:
S1: including radio frequency unit in receiver, and receiver receives the relevant optical frequency comb of multiple groups difference by antenna；
The tooth trace of the tooth trace of S2:A group optical frequency comb, the tooth trace of B group optical frequency comb and C group optical frequency comb is corresponding, in radio frequency list
After member obtains broadband rf signal, using A group optical frequency comb as carrier wave, for modulating broadband rf signal, amplified by low noise,
Carrier wave is carried out screening and filtering by filter 1, is transferred into digital signal processor DSP and is carried out at digitlization by AGC and A/D
Reason, treated, and carrier wave is converted by D/A, and power amplification is received by radio frequency unit；It shakes, leads to using B group optical frequency comb as trimmed book
It crosses pumping source to issue through wave filter 2, then carries out power amplification, received by radio frequency unit；C group optical frequency comb passes through filter 3
It is screened, by modulator, power amplification is received by radio frequency unit, each tooth trace phase shaken due to each tooth trace and the trimmed book of carrier wave
It is corresponding, it can be used to represent each different channel；
S3: by A, B, C group trimmed book vibration tooth trace and the trimmed book shake broadband rf signal that the corresponding carrier wave tooth trace of tooth trace is modulated into
Line number word coherent demodulation obtains three tunnel demodulated signals, and as the road, trimmed book shakes the reception signal on corresponding channel；
S4: broadband rf signal is received using each channel, is realized to broadband rf signal
Digital Channelized Receiving, that is, the reception to broadband rf signal is completed, it can be received simultaneously by radio-frequency devices all the way
Multiple navigation frequency points.
3. a kind of high-precision assistant positioning system according to claim 1, it is characterised in that: the inertial navigation ancillary technique packet
Include following steps:
B1: gyroscope combination and accelerometer combination are mounted on special " gyro-stabilized platform ", gyroscope is combined by three
A orthogonal single-degree-of-freedom gyro composition, accelerometer combination are made of three orthogonal accelerometers, and measurement axis and platform are sat
Mark system is consistent；
B2: the initial velocity that inertial measuring unit will measure, initial position, the gravity field parameters of mission area, time reference
And the signals such as posture are transferred in navigational computer and are focused on, navigational computer is completed navigation and is calculated, and tracking is formed
Navigation system；
B3: the alignment software in navigational computer is initially directed at inertial navigation system, using technological means by the coordinate of platform
System is adjusted to the state being overlapped with navigational coordinate system, is fast and accurately aligned in two indexs of speed and precision, establishes
Navigational coordinate system；
B4: after establishing navigational coordinate system, data resolve navigational parameter by navigation software, position for carrier；
B5: signal passes to control system by interface circuit, carries out Navigation Control to object.
4. a kind of high-precision assistant positioning system according to claim 3, it is characterised in that: the resolving navigation in the B4
Parameter is positioned as PVT resolving for carrier, comprising the following steps:
C1: the observation moment is determined；
C2: navigation message is extracted；
C3: satellite position, speed, the elevation angle and the inclination angle at calculating observation moment；
C4: pseudo-range measurements are obtained；
C5: positioning equation is utilized, each user location, speed and time are calculated；
C6: the longitude and latitude conversion of user location.
5. a kind of high-precision assistant positioning system according to claim 1, it is characterised in that: the filter can use
High low-impedance line structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910177423.3A CN110068852A (en) | 2019-03-09 | 2019-03-09 | A kind of high-precision assistant positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910177423.3A CN110068852A (en) | 2019-03-09 | 2019-03-09 | A kind of high-precision assistant positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110068852A true CN110068852A (en) | 2019-07-30 |
Family
ID=67365214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910177423.3A Pending CN110068852A (en) | 2019-03-09 | 2019-03-09 | A kind of high-precision assistant positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110068852A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101978285A (en) * | 2008-02-20 | 2011-02-16 | 天宝导航有限公司 | Sample decimation in a gnss receiver |
| CN102638302A (en) * | 2012-03-20 | 2012-08-15 | 北京邮电大学 | Coherent light frequency comb based channelized broadband multi-frequency measuring system |
| CN105044461A (en) * | 2015-06-18 | 2015-11-11 | 魏腾飞 | Broadband radio frequency spectrum analysis structure |
| CN106842255A (en) * | 2015-12-04 | 2017-06-13 | 北京自动化控制设备研究所 | A kind of configurable multisystem satellite navigation method of reseptance |
| CN107689807A (en) * | 2017-10-23 | 2018-02-13 | 北京邮电大学 | A kind of broadband rf signal method of reseptance and receiver device |
| CN109257105A (en) * | 2018-10-08 | 2019-01-22 | 南京航空航天大学 | Broadband signal method of reseptance, device and EW receiver |
-
2019
- 2019-03-09 CN CN201910177423.3A patent/CN110068852A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101978285A (en) * | 2008-02-20 | 2011-02-16 | 天宝导航有限公司 | Sample decimation in a gnss receiver |
| CN102638302A (en) * | 2012-03-20 | 2012-08-15 | 北京邮电大学 | Coherent light frequency comb based channelized broadband multi-frequency measuring system |
| CN105044461A (en) * | 2015-06-18 | 2015-11-11 | 魏腾飞 | Broadband radio frequency spectrum analysis structure |
| CN106842255A (en) * | 2015-12-04 | 2017-06-13 | 北京自动化控制设备研究所 | A kind of configurable multisystem satellite navigation method of reseptance |
| CN107689807A (en) * | 2017-10-23 | 2018-02-13 | 北京邮电大学 | A kind of broadband rf signal method of reseptance and receiver device |
| CN109257105A (en) * | 2018-10-08 | 2019-01-22 | 南京航空航天大学 | Broadband signal method of reseptance, device and EW receiver |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10371806B2 (en) | Doppler aided inertial navigation | |
| ES2355188T3 (en) | SYSTEM FOR FOLLOWING THE GPS-BASED TRAJECTORY. | |
| Fernandez-Prades et al. | Satellite radiolocalization from GPS to GNSS and beyond: Novel technologies and applications for civil mass market | |
| US7171303B1 (en) | Navigation method and apparatus | |
| US9791572B2 (en) | Batch processing for improved georeferencing | |
| JP2000502802A (en) | Improved vehicle navigation system and method utilizing GPS speed | |
| WO2011120029A2 (en) | Pedal navigation using leo signals and body-mounted sensors | |
| US20220236425A1 (en) | Detection of spoofing attacks on satellite navigation systems | |
| CN110174104A (en) | A kind of Combinated navigation method, device, electronic equipment and readable storage medium storing program for executing | |
| Štern et al. | Positioning performance assessment of geodetic, automotive, and smartphone gnss receivers in standardized road scenarios | |
| Shen et al. | A DSRC Doppler/IMU/GNSS tightly-coupled cooperative positioning method for relative positioning in VANETs | |
| TW201027105A (en) | Using magnetometer with a positioning system | |
| CN106455046B (en) | satellite-WiFi flight time combined positioning system and method thereof | |
| JP2014228537A (en) | Receivers and methods for multi-mode navigation | |
| JP2006242911A (en) | Position detector | |
| CN103900580A (en) | Compass/GPS (global positioning system) and INS (inertial navigation system) combination vehicle navigation positioning system based on GIS (geographic information system) technology | |
| TWI528045B (en) | Positioning modules, positioning devices and methods for satellite positioning thereof | |
| CN109725284A (en) | For determining the method and system of the direction of motion of object | |
| CN113671598A (en) | Combined high-altitude wind detection method | |
| CN110068852A (en) | A kind of high-precision assistant positioning system | |
| CN113281796B (en) | Position determining method, speed determining method, device, equipment and storage medium | |
| KR20140142610A (en) | Location measurement device and method | |
| Sandru et al. | Kalman and Butterworth filtering for GNSS/INS data | |
| El-Khalea et al. | Loosely coupled GNSS/INS for Android platforms | |
| Dabove et al. | Inertial sensors strapdown approach for hybrid cameras and MEMS positioning |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190730 |