CN111722255A - Space-time modulation-based regional navigation positioning system and method - Google Patents
Space-time modulation-based regional navigation positioning system and method Download PDFInfo
- Publication number
- CN111722255A CN111722255A CN202010518256.7A CN202010518256A CN111722255A CN 111722255 A CN111722255 A CN 111722255A CN 202010518256 A CN202010518256 A CN 202010518256A CN 111722255 A CN111722255 A CN 111722255A
- Authority
- CN
- China
- Prior art keywords
- navigation
- navigation signal
- digital
- signal
- analog
- 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.)
- Granted
Links
Images
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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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 invention provides a method and a system for regional navigation positioning based on space-time modulation, which comprises the following steps: the navigation base station generates a digital navigation signal, after digital-to-analog conversion, up-conversion, filtering and power amplification, the digital navigation signal is subjected to periodic space-time modulation by the modulation switch module and radiated to the space by the antenna array; after receiving the navigation signal at the mobile terminal, converting the navigation signal into a digital navigation signal by an analog-to-digital converter after low-noise amplification, down-conversion, filtering and driving amplification; demodulating the digital navigation signal in a digital domain to acquire the position information of the current navigation base station; analyzing fundamental wave and harmonic wave components in the received digital navigation signal, and calculating an azimuth angle and a pitch angle of the mobile terminal relative to the navigation base station; and acquiring the positions of the plurality of navigation base stations and azimuth angles and pitch angles of the mobile terminal relative to the navigation base stations, and calculating the current three-dimensional coordinate of the mobile terminal. The invention is particularly suitable for a system for simultaneously positioning and navigating a large number of users.
Description
Technical Field
The invention relates to the technical field of radio navigation and positioning engineering, in particular to a regional navigation and positioning system and a regional navigation and positioning method based on space-time modulation, and more particularly to a system for realizing navigation and positioning only by passively receiving radio signals transmitted by a base station end.
Background
Radio navigation and positioning technology has wide application in military defense and national life. Before the advent of the global positioning system, radio navigation was the main navigation mode of airplanes, such as radio loran C, tacan and other navigation systems. After global positioning systems such as GPS and Beidou are deployed, radio navigation is still widely applied in the fields of civil aviation and the like as a safety backup. Such as VOR/DME (pointing instrument) navigation technology, which requires a large loop antenna array to transmit navigation signals, the technology is very complex.
Patent document CN106842263A (application number: 201710046067.2) discloses a satellite navigation method based on the combination of navigation signal space-time processing and vector tracking, which includes the following steps: establishing a coordinate system; the receiver receives the satellite navigation signal; performing space-time processing on the received satellite signals; space-time coherent constraint, namely realizing coherent direction modulation constraint of an array by using coherent local synthesized carrier waves and spread spectrum signals, sending data after the coherent direction modulation constraint to a filter bank, and finally extracting observed quantity and sending the observed quantity to a rear end to realize navigation calculation; the method comprises the steps of acquiring and tracking satellite navigation signals and vector tracking, utilizing space-time joint coherent constraint to obtain satellite signals relative to the origin of a carrier coordinate system, carrying out carrier and code phase demodulation on the signals to obtain ephemeris data of the satellite signals, further obtaining carrier and code phases by utilizing EPL data of a channel to form observed quantity, and realizing positioning operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for regional navigation positioning based on space-time modulation.
The invention provides a space-time modulation based area navigation positioning method, which comprises the following steps:
step M1: the navigation base station generates a digital navigation signal, and the digital navigation signal is subjected to periodical space-time modulation by a modulation switch module after digital-to-analog conversion, driving amplification, up-conversion, filtering and power amplification;
step M2: the navigation signal after periodic space-time modulation is radiated to the space by an antenna array;
step M3: after receiving the navigation signal at the mobile terminal, converting the navigation signal into a digital navigation signal by an analog-to-digital converter after low-noise amplification, down-conversion, filtering and driving amplification;
step M4: demodulating the digital navigation signal in a digital domain to acquire the position information of the current navigation base station; simultaneously analyzing fundamental wave and harmonic wave components in the received digital navigation signal, and estimating an azimuth angle and a pitch angle of the mobile terminal relative to the navigation base station;
step M5: after the positions of a plurality of navigation base stations and the azimuth angles and the pitch angles of the mobile terminal relative to the navigation base stations are obtained, the current three-dimensional coordinates of the mobile terminal are solved through an angle cross positioning method, and navigation and positioning of the mobile terminal are achieved.
Preferably, the step M1 includes: the system comprises an antenna array 1, a modulation switch module 2, a power amplifier 3, a band-pass filter 4, a mixer 5, a radio frequency local oscillator 6, a low-pass filter 7, a digital-to-analog converter 8 and a transmitting end signal processing module 9;
step M1.1: the transmitting terminal signal processing module 9 generates a digital navigation signal;
step M1.2: the digital-to-analog converter 8 converts the digital navigation signal into an analog navigation signal;
step M1.3: filtering out high-frequency components in the analog navigation signal through a low-pass filter 7;
step M1.4: the radio frequency local oscillator 6 is combined with the mixer 5 to convert the intermediate frequency navigation signal in the analog navigation signal to high frequency;
step M1.5: selecting the high-frequency navigation signal after frequency mixing through a band-pass filter 4;
step M1.6: the high-frequency navigation signal is subjected to power amplification through a power amplifier 3;
step M1.7: the transmitting end signal processing module 9 controls the modulation switch module 2 to perform periodic space-time modulation on the power amplified high-frequency navigation signal.
Preferably, the antenna array comprises an antenna array composed of three antenna units or an antenna array composed of a plurality of antenna units; the antenna array formed by the three antenna units is arranged in an L shape; the antenna array formed by the antenna units is circular.
Preferably, the modulation switch module 2 is composed of a single-pole multi-throw radio frequency switch or a combination of the single-pole single-throw radio frequency switch and a power divider;
the power amplifier 3 is used for carrying out power amplification on the navigation signal;
the band-pass filter 4 selects the high-frequency navigation signal after frequency mixing to suppress an unnecessary sideband;
the mixer 5 converts the intermediate frequency navigation signal to a high frequency;
the radio frequency local oscillator 6 provides a local oscillation signal for the frequency mixer;
the low-pass filter 7 filters out high-frequency components in the pilot signals after digital-to-analog conversion;
the digital-to-analog converter 8 converts the digital navigation signal into an analog navigation signal;
the transmitting end signal processing module 9 generates a digital navigation signal and controls the modulation switch module to perform periodic space-time modulation on the navigation signal.
Preferably, the step M3 includes: a receiving antenna 10, a low noise amplifier 11, a mixer 12, a radio frequency local oscillator 13, a low pass filter 14, a driving amplifier 15 and an analog-to-digital converter 16;
step M3.1: the receiving antenna 10 receives a navigation signal sent by a navigation base station; performing low-noise amplification on the received navigation signal through a low-noise amplifier 11;
step M3.2: the radio frequency local oscillator 13 is combined with the mixer 12 to mix the navigation signal amplified by the low noise amplifier to an intermediate frequency;
step M3.3: filtering out high frequency components in the mixed navigation signal through a low pass filter 14;
step M3.4: the driving amplifier 15 is used for driving and amplifying the navigation signal filtered by the low-pass filter;
step M3.5: the analog-to-digital converter 16 converts the drive amplified analog navigation signal to a digital navigation signal.
Preferably, the receiving antenna 10 is capable of receiving a navigation signal sent by a navigation base station;
the low noise amplifier 11 can perform low noise amplification on the received navigation signal;
the mixer 12 is capable of mixing the radio frequency navigation signal to an intermediate frequency;
the radio frequency local oscillator 13 can provide a local oscillation signal for the receiving mixer;
the low-pass filter 14 can filter out high-frequency components in the navigation signal after frequency mixing;
the driving amplifier 15 can drive and amplify the navigation signal after frequency mixing, so that the output signal meets the input range of the analog-to-digital converter 16;
the digital-to-analog converter 16 is capable of converting the received analog navigation signal to a digital signal.
Preferably, the step M4 includes: demodulating the digital navigation signal in a digital domain by using a mobile terminal signal processing module 17 to acquire the position information of the current navigation base station; simultaneously, fundamental wave and harmonic wave components in the digital navigation signal received by the mobile terminal signal processing module 17 are analyzed, and an azimuth angle and a pitch angle of the mobile terminal relative to the navigation base station are calculated;
preferably, the step M5 includes: the method for realizing angle cross positioning by utilizing a single antenna to carry out radio direction finding on the received navigation signal at a mobile terminal.
The invention provides a space-time modulation based area navigation positioning system, which comprises:
the system comprises an antenna array 1, a modulation switch network 2, a transmitting link 18, a transmitting end signal processing module 9, a receiving antenna 10, a receiving link 19 and a mobile end signal processing module 17;
the transmitting end signal processing module 9 is connected with a transmitting link 18 and a modulation switch module 2, the transmitting link 18 is connected with the modulation switch module 2, and the modulation switch module 2 is connected with the antenna array 1;
the mobile terminal signal processing module 17 is connected with the receiving link 19; the receiving chain 19 is connected with the receiving antenna 10;
the transmitting end signal processing module 9 generates a digital navigation signal and controls the modulation switch module 2 to perform periodic space-time modulation on the analog navigation signal;
the transmit link 18 is capable of converting digital navigation signals to analog navigation signals and performs operations including drive amplification, up-conversion, band-pass filtering, and power amplification;
the modulation switch module 2 can perform periodic space-time modulation on the input analog navigation signal and feed the modulated navigation signal into each unit of the antenna array 1;
the antenna array 1 can radiate a navigation signal subjected to periodic space-time modulation to space;
the receiving antenna 10 can receive a navigation signal sent by a navigation base station;
the receiving link 19 is capable of performing operations including low noise amplification, down conversion, low pass filtering, and analog-to-digital conversion on the received navigation signal, so as to convert the analog navigation signal into a digital navigation signal;
the mobile terminal signal processing module 17 can analyze the harmonic spectrum of the received navigation signal and calculate the direction of the mobile terminal relative to the base station terminal; under the condition that the positions of the base station ends are known, the current position of the mobile end is calculated according to the directions of the mobile end relative to the base station ends, and navigation and positioning are achieved.
Preferably, the transmission link 18 comprises a power amplifier 3, a band-pass filter 4, a mixer 5, a radio frequency local oscillator 6, a low-pass filter 7 and a digital-to-analog converter 8;
the digital-to-analog converter 8 is connected with the low-pass filter 7; the low-pass filter 7 is connected to the mixer 5; the frequency mixer 5 is connected with the radio frequency local oscillator 6 and the band-pass filter 4; the band-pass filter 4 is connected with the power amplifier 3; the power amplifier 3 is connected with the modulation switch module 2;
the power amplifier 3 can perform power amplification on the navigation signal;
the band-pass filter 4 selects the high-frequency navigation signal after frequency mixing to suppress an unnecessary sideband;
the mixer 5 converts the intermediate frequency navigation signal to a high frequency;
the radio frequency local oscillator 6 provides a local oscillation signal for the frequency mixer;
the low-pass filter 7 filters out high-frequency components in the pilot signals after digital-to-analog conversion;
the digital-to-analog converter 8 converts the digital navigation signal into an analog navigation signal;
the receiving chain 19 comprises: a low noise amplifier 11, a mixer 12, a radio frequency local oscillator 13, a low pass filter 14, a drive amplifier 15 and an analog-to-digital converter 16;
the analog-to-digital converter 16 is connected with the driving amplifier 15; the driving amplifier 15 is connected with the low-pass filter 14; the low-pass filter 14 is connected to the mixer 12; the mixer 12 is connected with the radio frequency local oscillator 13 and the low noise amplifier 11; the low noise amplifier 11 is connected with the receiving antenna 10;
the low noise amplifier 11 can perform low noise amplification on the received navigation signal;
the mixer 12 is capable of mixing the radio frequency navigation signal to an intermediate frequency;
the radio frequency local oscillator 13 can provide a local oscillation signal for the receiving mixer;
the low-pass filter 14 can filter out high-frequency components in the navigation signal after frequency mixing;
the driving amplifier 15 can drive and amplify the navigation signal after frequency mixing, so that the output signal meets the input range of the analog-to-digital converter 16;
the digital-to-analog converter 16 is capable of converting the received analog navigation signal to a digital signal.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention does not need a large-scale precise navigation base station and does not need two-way communication between the navigation base station and the mobile terminal;
2. compared with the prior two-station VOR direction finding positioning, the two-dimensional direction finding of the mobile terminal relative to the navigation base station only measures a one-dimensional azimuth angle. Therefore, the three-dimensional coordinate measuring device can measure the three-dimensional coordinate of the moving end, and the expected positioning precision is higher;
3. the invention carries out periodic space-time modulation on the navigation at the navigation base station end, so that the transmitted navigation signal carries space direction information, and the direction of the mobile end relative to the navigation base station end can be obtained without adopting multiple antennas to carry out direction measurement at the mobile end;
4. the invention is particularly suitable for a system for simultaneously positioning and navigating a large number of users.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a block diagram of a base station and a mobile station of a regional navigation positioning system according to the present invention;
FIG. 2 is a block diagram of a base station and a mobile station of the area navigation positioning system according to the present invention;
fig. 3 is a frequency spectrum of a navigation signal received by a mobile terminal in embodiment 3;
fig. 4 is the root mean square value of the error between the azimuth angle and the pitch angle of the mobile terminal relative to the base station terminal under different snr conditions in embodiment 3;
fig. 5 is a schematic diagram illustrating a positioning result of a mobile terminal using two navigation base stations in embodiment 2;
fig. 6 shows the positioning error results of 100 positioning operations in example 3.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides a space-time modulation based area navigation positioning method, which comprises the following steps: as shown in figure 1 of the drawings, in which,
step M1: the navigation base station generates a digital navigation signal, and the digital navigation signal is subjected to periodical space-time modulation by a modulation switch module after digital-to-analog conversion, driving amplification, up-conversion, filtering and power amplification;
step M2: the navigation signal after periodic space-time modulation is radiated to the space by an antenna array;
step M3: after receiving the navigation signal at the mobile terminal, converting the navigation signal into a digital navigation signal by an analog-to-digital converter after low-noise amplification, down-conversion, filtering and driving amplification;
step M4: demodulating the digital navigation signal in a digital domain to acquire the position information of the current navigation base station; simultaneously analyzing fundamental wave and harmonic wave components in the received digital navigation signal, and estimating an azimuth angle and a pitch angle of the mobile terminal relative to the navigation base station;
step M5: after the positions of a plurality of navigation base stations and the azimuth angles and the pitch angles of the mobile terminal relative to the navigation base stations are obtained, the current three-dimensional coordinates of the mobile terminal are solved through an angle cross positioning method, and navigation and positioning of the mobile terminal are achieved.
Specifically, the step M1 includes: the system comprises an antenna array 1, a modulation switch module 2, a power amplifier 3, a band-pass filter 4, a mixer 5, a radio frequency local oscillator 6, a low-pass filter 7, a digital-to-analog converter 8 and a transmitting end signal processing module 9;
step M1.1: the transmitting terminal signal processing module 9 generates a digital navigation signal;
step M1.2: the digital-to-analog converter 8 converts the digital navigation signal into an analog navigation signal;
step M1.3: filtering out high-frequency components in the analog navigation signal through a low-pass filter 7;
step M1.4: the radio frequency local oscillator 6 is combined with the mixer 5 to convert the intermediate frequency navigation signal in the analog navigation signal to high frequency;
step M1.5: selecting the high-frequency navigation signal after frequency mixing through a band-pass filter 4;
step M1.6: the high-frequency navigation signal is subjected to power amplification through a power amplifier 3;
step M1.7: the transmitting end signal processing module 9 controls the modulation switch module 2 to perform periodic space-time modulation on the power amplified high-frequency navigation signal.
Specifically, the antenna array comprises an antenna array composed of three antenna units or an antenna array composed of a plurality of antenna units; the antenna array formed by the three antenna units is arranged in an L shape; the antenna array formed by the antenna units is circular.
Specifically, the modulation switch module 2 includes a single-pole multi-throw radio frequency switch or a combination of the single-pole single-throw radio frequency switch and a power divider;
the power amplifier 3 is used for carrying out power amplification on the navigation signal;
the band-pass filter 4 selects the high-frequency navigation signal after frequency mixing to suppress an unnecessary sideband;
the mixer 5 converts the intermediate frequency navigation signal to a high frequency;
the radio frequency local oscillator 6 provides a local oscillation signal for the frequency mixer;
the low-pass filter 7 filters out high-frequency components in the pilot signals after digital-to-analog conversion;
the digital-to-analog converter 8 converts the digital navigation signal into an analog navigation signal;
the transmitting end signal processing module 9 generates a digital navigation signal and controls the modulation switch module to perform periodic space-time modulation on the navigation signal.
Specifically, the step M3 includes: a receiving antenna 10, a low noise amplifier 11, a mixer 12, a radio frequency local oscillator 13, a low pass filter 14, a driving amplifier 15 and an analog-to-digital converter 16;
step M3.1: the receiving antenna 10 receives a navigation signal sent by a navigation base station; performing low-noise amplification on the received navigation signal through a low-noise amplifier 11;
step M3.2: the radio frequency local oscillator 13 is combined with the mixer 12 to mix the navigation signal amplified by the low noise amplifier to an intermediate frequency;
step M3.3: filtering out high frequency components in the mixed navigation signal through a low pass filter 14;
step M3.4: the driving amplifier 15 is used for driving and amplifying the navigation signal filtered by the low-pass filter;
step M3.5: the analog-to-digital converter 16 converts the drive amplified analog navigation signal to a digital navigation signal.
Specifically, the receiving antenna 10 can receive a navigation signal sent by a navigation base station;
the low noise amplifier 11 can perform low noise amplification on the received navigation signal;
the mixer 12 is capable of mixing the radio frequency navigation signal to an intermediate frequency;
the radio frequency local oscillator 13 can provide a local oscillation signal for the receiving mixer;
the low-pass filter 14 can filter out high-frequency components in the navigation signal after frequency mixing;
the driving amplifier 15 can drive and amplify the navigation signal after frequency mixing, so that the output signal meets the input range of the analog-to-digital converter 16;
the digital-to-analog converter 16 is capable of converting the received analog navigation signal to a digital signal.
Specifically, the step M4 includes: demodulating the digital navigation signal in a digital domain by using a mobile terminal signal processing module 17 to acquire the position information of the current navigation base station; simultaneously, fundamental wave and harmonic wave components in the digital navigation signal received by the mobile terminal signal processing module 17 are analyzed, and an azimuth angle and a pitch angle of the mobile terminal relative to the navigation base station are calculated;
specifically, the step M5 includes: the method for realizing angle cross positioning by utilizing a single antenna to carry out radio direction finding on the received navigation signal at a mobile terminal.
The invention provides a space-time modulation based area navigation positioning system, which comprises: as shown in figure 2 of the drawings, in which,
the system comprises an antenna array 1, a modulation switch network 2, a transmitting link 18, a transmitting end signal processing module 9, a receiving antenna 10, a receiving link 19 and a mobile end signal processing module 17;
the transmitting end signal processing module 9 is connected with a transmitting link 18 and a modulation switch module 2, the transmitting link 18 is connected with the modulation switch module 2, and the modulation switch module 2 is connected with the antenna array 1;
the mobile terminal signal processing module 17 is connected with the receiving link 19; the receiving chain 19 is connected with the receiving antenna 10;
the transmitting end signal processing module 9 generates a digital navigation signal and controls the modulation switch module 2 to perform periodic space-time modulation on the analog navigation signal;
the transmit link 18 is capable of converting digital navigation signals to analog navigation signals and performs operations including drive amplification, up-conversion, band-pass filtering, and power amplification;
the modulation switch module 2 can perform periodic space-time modulation on the input analog navigation signal and feed the modulated navigation signal into each unit of the antenna array 1;
the antenna array 1 can radiate a navigation signal subjected to periodic space-time modulation to space;
the receiving antenna 10 can receive a navigation signal sent by a navigation base station;
the receiving link 19 is capable of performing operations including low noise amplification, down conversion, low pass filtering, and analog-to-digital conversion on the received navigation signal, so as to convert the analog navigation signal into a digital navigation signal;
the mobile terminal signal processing module 17 can analyze the harmonic spectrum of the received navigation signal and calculate the direction of the mobile terminal relative to the base station terminal; under the condition that the positions of the base station ends are known, the current position of the mobile end is calculated according to the directions of the mobile end relative to the base station ends, and navigation and positioning are achieved.
Specifically, the transmission link 18 includes a power amplifier 3, a band-pass filter 4, a mixer 5, a radio frequency local oscillator 6, a low-pass filter 7 and a digital-to-analog converter 8;
the digital-to-analog converter 8 is connected with the low-pass filter 7; the low-pass filter 7 is connected to the mixer 5; the frequency mixer 5 is connected with the radio frequency local oscillator 6 and the band-pass filter 4; the band-pass filter 4 is connected with the power amplifier 3; the power amplifier 3 is connected with the modulation switch module 2;
the power amplifier 3 can perform power amplification on the navigation signal;
the band-pass filter 4 selects the high-frequency navigation signal after frequency mixing to suppress an unnecessary sideband;
the mixer 5 converts the intermediate frequency navigation signal to a high frequency;
the radio frequency local oscillator 6 provides a local oscillation signal for the frequency mixer;
the low-pass filter 7 filters out high-frequency components in the pilot signals after digital-to-analog conversion;
the digital-to-analog converter 8 converts the digital navigation signal into an analog navigation signal;
the receiving chain 19 comprises: a low noise amplifier 11, a mixer 12, a radio frequency local oscillator 13, a low pass filter 14, a drive amplifier 15 and an analog-to-digital converter 16;
the analog-to-digital converter 16 is connected with the driving amplifier 15; the driving amplifier 15 is connected with the low-pass filter 14; the low-pass filter 14 is connected to the mixer 12; the mixer 12 is connected with the radio frequency local oscillator 13 and the low noise amplifier 11; the low noise amplifier 11 is connected with the receiving antenna 10;
the low noise amplifier 11 can perform low noise amplification on the received navigation signal;
the mixer 12 is capable of mixing the radio frequency navigation signal to an intermediate frequency;
the radio frequency local oscillator 13 can provide a local oscillation signal for the receiving mixer;
the low-pass filter 14 can filter out high-frequency components in the navigation signal after frequency mixing;
the driving amplifier 15 can drive and amplify the navigation signal after frequency mixing, so that the output signal meets the input range of the analog-to-digital converter 16;
the digital-to-analog converter 16 is capable of converting the received analog navigation signal to a digital signal.
Example 2
Example 2 is a modification of example 1
The basic principle of the invention is that the navigation is periodically modulated at the base station end. The navigation signal after periodic space-time modulation contains fundamental wave component and harmonic component, and is radiated to space through an antenna array at the base station end. The fundamental and harmonic components in the received navigation signal are different in spatially different orientations. Therefore, the mobile terminal can estimate the azimuth angle and the pitch angle relative to the navigation base station by analyzing the signals of the fundamental wave component and the harmonic wave component in the received navigation signals. If the mobile terminal simultaneously measures the azimuth angle and the pitch angle of the mobile terminal relative to two or more navigation base stations, the three-dimensional coordinate of the mobile terminal can be measured by using an angle cross positioning method under the condition of knowing the positions of the navigation base stations, and navigation and positioning are realized.
A regional navigation positioning system based on space-time modulation comprises the working processes of: the navigation base station generates a digital navigation signal, which contains information such as the position of the navigation base station. After digital-to-analog conversion, up-conversion, filtering and power amplification, the modulation switch module performs periodic space-time modulation. The navigation signal after periodic space-time modulation contains fundamental wave component and harmonic component, and is radiated to space by the antenna array. After receiving the navigation signal, the mobile terminal converts the navigation signal into a digital navigation signal through low-noise amplification, down-conversion, filtering and driving amplification. In the digital domain, on one hand, the navigation signal is demodulated to obtain the information such as the position of the current navigation base station; on one hand, fundamental wave and harmonic wave components in the received navigation signals are analyzed, and the azimuth angle and the pitch angle of the mobile terminal relative to the navigation base station are estimated. After the positions of two or more navigation base stations and the azimuth angle and the pitch angle of the mobile terminal relative to the navigation base stations are obtained, the current three-dimensional coordinate of the mobile terminal is solved through the azimuth of angle cross positioning, and navigation and positioning of the mobile terminal are achieved.
Assuming that the navigation base station end adopts a three-unit antenna array and is arranged in an L shape, the analysis navigation and positioning process is as follows:
let three antenna elements of the antenna array be E1, E2, E3, respectively, and their positions are:
E1[D1,0,0],E2[0,0,0],E3[0,D2,0](ii) a The modulation switch network controls the transmitted navigation signal to periodically switch on the three antenna units. In a modulation period TpInner (0, T)p/3]E1 being turned on for a while (T)p/3,2Tp/3]Internal connection E2, (2T)p/3,Tp]Internal connection E3. The transmitted navigation signal has carrier frequency of FcFor the convenience of analysis, the narrowband signal is regarded as a dot frequency signal, and then the transmitted navigation signal is:
wherein, A is the amplitude of the transmitted navigation signal, and m represents the cycle number and is an integer. Delta phiiAnd i is 1,2,3, which is the phase of the navigation signal generated by the space-time modulation, and the value can be calculated by the following formula:
wherein x isi,yi,ziAnd i is the coordinate of three antenna units 1,2 and 3. Theta is the pitch angle of the mobile terminal relative to the navigation base station,
is the azimuth angle. λ represents the wavelength, and at the navigation base station end, the signal transmitted on the ith antenna unit is:
periodic signal Si(t) the Fourier series expansion is used, assuming that the Fourier coefficients of the fundamental component and the first and second harmonic components are ai,0,ai,1,ai,2And i is 1,2 and 3. At the mobile terminal, Fourier transform is carried out on the received navigation signal to obtain a fundamental component gamma in the navigation signal0And the first and second harmonic components gamma1And gamma2. The fundamental component and harmonic component in the received navigation signal can be regarded as the superposition of the fundamental component and harmonic component transmitted on the three antenna units at the navigation base station end in space, so that the following linear equation system exists:
wherein A isrThe amount of loss incurred for the propagation path. Since the matrix to the left of the above equation is a known quantity related to modulation timing, and the vector to the right of the above equation can be found by fourier transforming the received pilot signal, the system of linear equations is solved as follows:
wherein D is1Denotes an antenna element E1Abscissa of (D)2Denotes an antenna element E2The ordinate of (c). The vector on the left of the equation contains azimuth and pitch information; the matrix to the right of the equation can be calculated from the modulation timing as a known quantity; the vector to the right of the equation can be obtained by fourier transforming the received navigation signal. Therefore, by solving the linear equation set shown in the equation, the azimuth angle can be obtained
And the value of the pitch angle theta.
The mobile terminal demodulates the received navigation signal at the same time to obtain the information such as the position of the navigation base station. If the mobile terminal receives signals of two or more groups of navigation base stations, direction finding is carried out to obtain a pitch angle and an azimuth angle of the mobile terminal relative to the navigation base stations. Meanwhile, the mobile terminal demodulates the navigation signal to obtain two or more sets of position energy information of the navigation base stations, i.e., the three-dimensional position coordinates of the mobile terminal can be solved by an angle cross positioning method to realize navigation and positioning of the mobile terminal, as shown in fig. 5.
Example 3
Example 3 is a variation of example 2 and/or example 1
The mobile terminal measures the azimuth angle and the pitch angle relative to the navigation base station
Suppose that the navigation base station transmits a narrowband signal with a carrier frequency of 1 GHz. The antenna array of the navigation base station comprises three antenna units and is distributed in an L shape, and the three antenna units are E1, E2 and E3. The distances between E1 and E2, and between E2 and E3 are all 15cm (half wavelength). The transmitted navigation signal is subjected to periodic space-time modulation and then radiated to the space by the antenna array. Wherein the modulation period is 1us, and in the first third period, the navigation signal is fed into the E1 unit; in the middle third of the cycle, the navigation signal is fed into element E2; the latter third cycle, the navigation signal feeds the E3 element. The navigation signals with 10 modulation periods are radiated to the space in total, and the signal-to-noise ratio is 20 dB.
The azimuth angle of the mobile terminal relative to the base station terminal is 65 degrees, and the pitch angle is 20 degrees. At the mobile end, the antenna receives the space-time modulated pilot signal, and the frequency spectrum is shown in fig. 3. As can be seen, the fundamental component of the received navigation signal is at 1GHz, and the first and second harmonic components are at 1.001GHz and 1.002GHz, respectively. And calculating the azimuth angle and the pitch angle of the mobile terminal relative to the base station terminal by substituting the obtained fundamental component, the first harmonic component and the second harmonic component into a formula, wherein the obtained azimuth angle is 65.05 degrees, and the obtained pitch angle is 20.00 degrees.
The mobile end is still set at an azimuth angle of 65 ° and a pitch angle of 20 ° with respect to the base end. The signal-to-noise ratio is set from-10 dB to +20dB, stepped by 2 dB. Under each signal-to-noise ratio condition, 1000 monte carlo simulations are respectively performed, the mean square error of the estimated azimuth angle and the estimated pitch angle is calculated, and the obtained simulation result is shown in fig. 4. It can be seen from fig. 4 that the mean square estimation error for both azimuth and elevation angles drops from about 1.2 to 0.1 as the signal-to-noise ratio increases from-10 dB to +20 dB.
The mobile terminal utilizes the signals of the two navigation base stations to realize navigation and positioning
The positions of two navigation base stations are set as [0, -500m,0], [0,500m,0], and the real positions of the mobile stations are [100m,200m,80m ]. The antenna array of the first navigation base station is in an L shape with three units, the distance between the units is half wavelength, and the carrier frequency of the transmitted narrow-band navigation signal is 1 GHz. The modulation switch network controls the navigation signal to periodically switch on the three antenna units, and the modulation period of the three antenna units is 1 us. Within the front 1/3us, the navigation signal switches on antenna element 1; in the middle 1/3us, the navigation signal switches on the antenna element 2; in the rear 1/3us, the navigation signal switches on the antenna element 3. And co-location, namely encoding the position signal of the navigation base station, and carrying out BPSK modulation, wherein the symbol period is 10 us. A total of 10 modulation periods of the navigation signal are transmitted during one symbol period.
Similarly, for the second navigation base station, the antenna array configuration, the transmitted navigation signal and the modulation mode are all the same as those of the first navigation base station, except that the carrier frequency of the transmitted navigation signal is 1.1GHz, and the second navigation base station is used for realizing frequency division simultaneous reception at the mobile terminal.
And setting the signal-to-noise ratio of the received navigation signals to be 20dB, carrying out spectrum analysis on the received pilot signals, and calculating the azimuth angle and the pitch angle of the mobile terminal relative to the two navigation base stations, wherein the obtained simulation result is as follows. The true values of the pitch angle and the azimuth angle of the mobile terminal relative to the first navigation base station are (83.55 degrees, 81.87 degrees), and the measured values are (83.91 degrees, 81.86 degrees); the true values of pitch and azimuth with respect to the second navigation basestation are (75.80 °, -71.57 °), and the measured values are (75.87 °, -71.59 °). Assuming that the mobile terminal can correctly demodulate to obtain the positions of two navigation base stations, the three-dimensional coordinates of the current mobile terminal are [99.67m,203.84m,77.13m ] can be obtained by calculation through the angular cross positioning azimuth. The spatial distance error is 4.8m compared to the true value.
Under the above conditions, 100 Monte Carlo simulations were performed. The resulting positioning error is shown in fig. 6. The root mean square value of the positioning error is calculated to be 2.55 m.
In the description of the present application, it is to be understood that the terms "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, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A space-time modulation based area navigation positioning method is characterized by comprising the following steps:
step M1: the navigation base station generates a digital navigation signal, and the digital navigation signal is subjected to periodical space-time modulation by a modulation switch module after digital-to-analog conversion, driving amplification, up-conversion, filtering and power amplification;
step M2: the navigation signal after periodic space-time modulation is radiated to the space by an antenna array;
step M3: after receiving the navigation signal at the mobile terminal, converting the navigation signal into a digital navigation signal by an analog-to-digital converter after low-noise amplification, down-conversion, filtering and driving amplification;
step M4: demodulating the digital navigation signal in a digital domain to acquire the position information of the current navigation base station; simultaneously analyzing fundamental wave and harmonic wave components in the received digital navigation signal, and estimating an azimuth angle and a pitch angle of the mobile terminal relative to the navigation base station;
step M5: after the positions of a plurality of navigation base stations and the azimuth angles and the pitch angles of the mobile terminal relative to the navigation base stations are obtained, the current three-dimensional coordinates of the mobile terminal are solved through an angle cross positioning method, and navigation and positioning of the mobile terminal are achieved.
2. A space-time modulation based area navigation positioning method according to claim 1, wherein said step M1 includes: the antenna array (1), the modulation switch module (2), the power amplifier (3), the band-pass filter (4), the frequency mixer (5), the radio frequency local oscillator (6), the low-pass filter (7), the digital-to-analog converter (8) and the transmitting end signal processing module (9);
step M1.1: the transmitting terminal signal processing module (9) generates a digital navigation signal;
step M1.2: the digital-to-analog converter (8) converts the digital navigation signal into an analog navigation signal;
step M1.3: filtering out high frequency components in the analog navigation signal by a low pass filter (7);
step M1.4: the radio frequency local oscillator (6) is combined with the mixer (5) to convert the intermediate frequency navigation signal in the analog navigation signal to high frequency;
step M1.5: selecting the high-frequency navigation signal after frequency mixing through a band-pass filter (4);
step M1.6: the high-frequency navigation signal is subjected to power amplification through a power amplifier (3);
step M1.7: the transmitting end signal processing module (9) controls the modulation switch module (2) to carry out periodic space-time modulation on the high-frequency navigation signal amplified by power.
3. A space-time modulation based area navigation positioning method according to claim 1, wherein the antenna array comprises an antenna array composed of three antenna elements or an antenna array composed of a plurality of antenna elements; the antenna array formed by the three antenna units is arranged in an L shape; the antenna array formed by the antenna units is circular.
4. A space-time modulation-based regional navigation and positioning method according to claim 2, wherein the modulation switch module (2) is composed in a single-pole multi-throw radio frequency switch or a combination of a single-pole single-throw radio frequency switch and a power divider;
the power amplifier (3) is used for carrying out power amplification on the navigation signal;
the band-pass filter (4) selects the high-frequency navigation signal after frequency mixing to inhibit an unnecessary sideband;
the mixer (5) converts the intermediate frequency navigation signal to a high frequency;
the radio frequency local oscillator (6) provides a local oscillation signal for the frequency mixer;
the low-pass filter (7) filters out high-frequency components in the pilot signals after digital-to-analog conversion;
the digital-to-analog converter (8) converts the digital navigation signal into an analog navigation signal;
and the transmitting end signal processing module (9) generates a digital navigation signal and controls the modulation switch module to perform periodic space-time modulation on the navigation signal.
5. A space-time modulation based area navigation positioning method according to claim 1, wherein said step M3 includes: the device comprises a receiving antenna (10), a low noise amplifier (11), a mixer (12), a radio frequency local oscillator (13), a low pass filter (14), a driving amplifier (15) and an analog-to-digital converter (16);
step M3.1: a receiving antenna (10) receives a navigation signal sent by a navigation base station; low-noise amplification is carried out on the received navigation signal through a low-noise amplifier (11);
step M3.2: the radio frequency local oscillator (13) is combined with the mixer (12) to mix the navigation signal amplified by the low noise amplifier to an intermediate frequency;
step M3.3: filtering out high frequency components in the mixed navigation signal by a low pass filter (14);
step M3.4: the driving amplifier (15) is used for driving and amplifying the navigation signal filtered by the low-pass filter;
step M3.5: an analog-to-digital converter (16) converts the drive amplified analog navigation signal to a digital navigation signal.
6. A space-time modulation-based regional navigation and positioning method according to claim 5, characterized in that the receiving antenna (10) is capable of receiving a navigation signal from a navigation base station;
the low noise amplifier (11) can perform low noise amplification on the received navigation signal;
the mixer (12) is capable of mixing a navigation signal of a radio frequency to an intermediate frequency;
the radio frequency local oscillator (13) can provide a local oscillation signal for the receiving mixer;
the low-pass filter (14) can filter out high-frequency components in the navigation signal after frequency mixing;
the driving amplifier (15) can drive and amplify the navigation signal after frequency mixing, so that an output signal meets the input measuring range of the analog-to-digital converter (16);
the digital-to-analog converter (16) is capable of converting the received analog navigation signal to a digital signal.
7. A space-time modulation based area navigation positioning method according to claim 1, wherein said step M4 includes: demodulating the digital navigation signal in a digital domain by using a mobile terminal signal processing module (17) to acquire the position information of the current navigation base station; and simultaneously, fundamental wave and harmonic wave components in the digital navigation signals received by the mobile terminal signal processing module (17) are analyzed, and the azimuth angle and the pitch angle of the mobile terminal relative to the navigation base station are calculated.
8. A space-time modulation based area navigation positioning method according to claim 1, wherein said step M5 includes: the method for realizing angle cross positioning by utilizing a single antenna to carry out radio direction finding on the received navigation signal at a mobile terminal.
9. A space-time modulation based regional navigation positioning system, comprising:
the system comprises an antenna array (1), a modulation switch network (2), a transmitting link (18), a transmitting end signal processing module (9), a receiving antenna (10), a receiving link (19) and a mobile end signal processing module (17);
the transmitting end signal processing module (9) is connected with a transmitting link (18) and a modulation switch module (2), the transmitting link (18) is connected with the modulation switch module (2), and the modulation switch module (2) is connected with the antenna array (1);
the mobile terminal signal processing module (17) is connected with the receiving link (19); the receiving chain (19) is connected with the receiving antenna (10);
the transmitting end signal processing module (9) generates a digital navigation signal and controls the modulation switch module (2) to perform periodic space-time modulation on the analog navigation signal;
the transmission link (18) is capable of converting digital navigation signals into analog navigation signals and performing operations including drive amplification, up-conversion, band-pass filtering, and power amplification;
the modulation switch module (2) can perform periodic space-time modulation on an input analog navigation signal and feed the modulated navigation signal into each unit of the antenna array (1);
the antenna array (1) can radiate a navigation signal subjected to periodic space-time modulation to space;
the receiving antenna (10) can receive a navigation signal sent by a navigation base station;
the receiving chain (19) can perform operations including low noise amplification, down conversion, low pass filtering and analog-to-digital conversion on the received navigation signal, so that the analog navigation signal is converted into a digital navigation signal;
the mobile terminal signal processing module (17) can analyze the harmonic spectrum of the received navigation signal and calculate the direction of the mobile terminal relative to the base station terminal; under the condition that the positions of the base station ends are known, the current position of the mobile end is calculated according to the directions of the mobile end relative to the base station ends, and navigation and positioning are achieved.
10. A space-time modulation based regional navigation and positioning system according to claim 9, characterized in that the transmission chain (18) comprises a power amplifier (3), a band-pass filter (4), a mixer (5), a radio frequency local oscillator (6), a low-pass filter (7) and a digital-to-analog converter (8);
the digital-to-analog converter (8) is connected with the low-pass filter (7); the low-pass filter (7) is connected with the mixer (5); the frequency mixer (5) is connected with the radio frequency local oscillator (6) and the band-pass filter (4); the band-pass filter (4) is connected with the power amplifier (3); the power amplifier (3) is connected with the modulation switch module (2);
the power amplifier (3) can perform power amplification on the navigation signal;
the band-pass filter (4) selects the high-frequency navigation signal after frequency mixing to inhibit an unnecessary sideband;
the mixer (5) converts the intermediate frequency navigation signal to a high frequency;
the radio frequency local oscillator (6) provides a local oscillation signal for the frequency mixer;
the low-pass filter (7) filters out high-frequency components in the pilot signals after digital-to-analog conversion;
the digital-to-analog converter (8) converts the digital navigation signal into an analog navigation signal;
the receiving chain (19) comprises: the device comprises a low noise amplifier (11), a mixer (12), a radio frequency local oscillator (13), a low pass filter (14), a drive amplifier (15) and an analog-to-digital converter (16);
the analog-to-digital converter (16) is connected with the driving amplifier (15); the drive amplifier (15) is connected with the low-pass filter (14); the low-pass filter (14) is connected to the mixer (12); the mixer (12) is connected with the radio frequency local oscillator (13) and the low noise amplifier (11); the low noise amplifier (11) is connected with the receiving antenna (10);
the low noise amplifier (11) can perform low noise amplification on the received navigation signal;
the mixer (12) is capable of mixing a navigation signal of a radio frequency to an intermediate frequency;
the radio frequency local oscillator (13) can provide a local oscillation signal for the receiving mixer;
the low-pass filter (14) can filter out high-frequency components in the navigation signal after frequency mixing;
the driving amplifier (15) can drive and amplify the navigation signal after frequency mixing, so that an output signal meets the input measuring range of the analog-to-digital converter (16);
the digital-to-analog converter (16) is capable of converting the received analog navigation signal to a digital signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010518256.7A CN111722255B (en) | 2020-06-09 | 2020-06-09 | Space-time modulation-based regional navigation positioning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010518256.7A CN111722255B (en) | 2020-06-09 | 2020-06-09 | Space-time modulation-based regional navigation positioning system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111722255A true CN111722255A (en) | 2020-09-29 |
| CN111722255B CN111722255B (en) | 2022-08-26 |
Family
ID=72567702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010518256.7A Active CN111722255B (en) | 2020-06-09 | 2020-06-09 | Space-time modulation-based regional navigation positioning system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111722255B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635243A (en) * | 2015-01-29 | 2015-05-20 | 陕西强星信息科技有限公司 | Battlefield rescue searching system based on beidou navigation and positioning |
| CN105717504A (en) * | 2015-08-11 | 2016-06-29 | 王宗博 | Unmanned aerial vehicle 360-degree electronic scanning obstacle avoidance radar |
| EP2216968B1 (en) * | 2009-02-06 | 2017-05-31 | BlackBerry Limited | A mobile device with enhanced telephone call information and a method of using same |
| WO2017137878A1 (en) * | 2016-02-05 | 2017-08-17 | ЧЕРНЯКОВСКИЙ, Николай | Multi-channel multi-system radio frequency unit of a satellite navigation receiver |
| WO2018032998A1 (en) * | 2016-08-16 | 2018-02-22 | 大唐移动通信设备有限公司 | Signal interference apparatus and method |
| CN107728172A (en) * | 2017-09-08 | 2018-02-23 | 南京理工大学 | A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method |
| CN107861095A (en) * | 2017-10-10 | 2018-03-30 | 上海交通大学 | A kind of single radio-frequency channel two dimensional wireless electricity direction-finding system |
| CN108519608A (en) * | 2018-03-09 | 2018-09-11 | 中国航天电子技术研究院 | A kind of satellite navigation based on array antenna is anti-interference and surveys attitude positioning method |
-
2020
- 2020-06-09 CN CN202010518256.7A patent/CN111722255B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2216968B1 (en) * | 2009-02-06 | 2017-05-31 | BlackBerry Limited | A mobile device with enhanced telephone call information and a method of using same |
| CN104635243A (en) * | 2015-01-29 | 2015-05-20 | 陕西强星信息科技有限公司 | Battlefield rescue searching system based on beidou navigation and positioning |
| CN105717504A (en) * | 2015-08-11 | 2016-06-29 | 王宗博 | Unmanned aerial vehicle 360-degree electronic scanning obstacle avoidance radar |
| WO2017137878A1 (en) * | 2016-02-05 | 2017-08-17 | ЧЕРНЯКОВСКИЙ, Николай | Multi-channel multi-system radio frequency unit of a satellite navigation receiver |
| WO2018032998A1 (en) * | 2016-08-16 | 2018-02-22 | 大唐移动通信设备有限公司 | Signal interference apparatus and method |
| CN107728172A (en) * | 2017-09-08 | 2018-02-23 | 南京理工大学 | A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method |
| CN107861095A (en) * | 2017-10-10 | 2018-03-30 | 上海交通大学 | A kind of single radio-frequency channel two dimensional wireless electricity direction-finding system |
| CN108519608A (en) * | 2018-03-09 | 2018-09-11 | 中国航天电子技术研究院 | A kind of satellite navigation based on array antenna is anti-interference and surveys attitude positioning method |
Non-Patent Citations (2)
| Title |
|---|
| JOHANNES HERRNSDORF ET.AL: "《Positioning and Space-Division Multiple Access》", 《JOURNAL OF LIGHTWAVE TECHNOLOGY》 * |
| 王运东等: "GPS接收机系统的抗干扰技术", 《舰船电子工程》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111722255B (en) | 2022-08-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110515050B (en) | Satellite-borne SAR real-time echo simulator based on GPU | |
| CN100578252C (en) | Location method and apparatus | |
| CN103837867B (en) | A kind of AIS of utilization information carries out the method for higher-frequency radar antenna channels correction | |
| CN103116170B (en) | Indoor testing system of antenna array based interference rejection module of global navigation satellite system (GNSS) | |
| CN110596657B (en) | Device for testing operation of distance measuring machine/Takang | |
| CN111308530A (en) | Short wave multi-station and single-satellite cooperative direct positioning method based on two-dimensional direction of arrival | |
| CN103983967A (en) | Multi-target micro-distortion time-sharing telemetering method and system | |
| CN111736129B (en) | Space-time modulation bistatic radar system, implementation method and medium thereof | |
| CN111722255B (en) | Space-time modulation-based regional navigation positioning system and method | |
| CN210323343U (en) | Ultrashort wave binary channels broadband direction finding system | |
| CN104407326A (en) | Radio-frequency autonomous relative attitude measurement system applied between cluster objects | |
| CN208691245U (en) | A kind of ultra-broadband digital satellite beacon receiver based on software radio | |
| CN115308707B (en) | Low-frequency expansion measuring device and method for indoor RCS test field | |
| Yang et al. | A novel land-based high-frequency geolocation system | |
| CN104678078B (en) | A kind of soil moisture calibration measuring method based on GPS reflected signal | |
| CN112197694A (en) | Departure angle measuring device and method | |
| CN111526477B (en) | Radio positioning method and system based on starting angle | |
| US20100091820A1 (en) | Position Indicating Process | |
| CN114115328A (en) | Unmanned aerial vehicle, positioning device and positioning system | |
| Kelner et al. | The empirical verification of the location method based on the Doppler effect | |
| CN102466790B (en) | Centrifugal acceleration measurement method for airborne electronic support measures (ESM) system | |
| Zheng et al. | Enhancing mmWave Radar Sensing Using a Phased-MIMO Architecture | |
| RU40679U1 (en) | MOBILE THREE-YEAR RADAR STATION | |
| Grundhöfer et al. | Low Cost SDR Receiver for Medium Frequency R-Mode | |
| CN217820884U (en) | Positioning device and positioning system based on low-power-consumption Bluetooth |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |