CN112255646A - Anti-multipath effect synthetic aperture GNSS mobile carrier - Google Patents
Anti-multipath effect synthetic aperture GNSS mobile carrier Download PDFInfo
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- CN112255646A CN112255646A CN202011489229.8A CN202011489229A CN112255646A CN 112255646 A CN112255646 A CN 112255646A CN 202011489229 A CN202011489229 A CN 202011489229A CN 112255646 A CN112255646 A CN 112255646A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a synthetic aperture GNSS mobile carrier platform resisting multipath effect, and relates to the field of Global Navigation Satellite Systems (GNSS). The mobile carrier can realize circular rotation motion of the GNSS receiver with the radius as one satellite signal wavelength, or lifting motion of the GNSS receiver with the lifting range from zero to two satellite signal wavelengths, or motion formed by the circular rotation motion of the GNSS receiver with the radius as one satellite signal wavelength and the lifting motion of the lifting range from zero to two satellite signal wavelengths. The mobile carrier can realize the motions of single antenna rotation, lifting and the like, and realize the equivalent result of virtual array element space sampling through signal sampling at different moments and positions, thereby realizing the weakening of the GNSS synthetic aperture and resisting the multipath effect. The device has only one receiver, thus having higher portability and mobility.
Description
Technical Field
The invention relates to the field of Global Navigation Satellite Systems (GNSS), in particular to a synthetic aperture GNSS mobile carrier platform capable of resisting multipath effect.
Background
Gnss (global navigation satellite system) is a short term for global navigation satellite system, including the united states global positioning system, russian glonass, european galileo, and chinese beidou satellite navigation system. The GNSS system can provide all-weather high-precision positioning, speed measurement and time service for global users, is widely applied to numerous fields such as engineering practice, scientific research and the like, and generates great economic value and social effect.
When receiving direct signals from satellites, GNSS receivers also receive reflected signals from other objects around the antenna, which causes systematic bias to pseudorange and phase observations, and this error is generally referred to as multipath error. Multipath effect errors are one of the major error sources affecting GNSS positioning efficiency and accuracy and must be eliminated or attenuated.
At present, methods for weakening multipath effects mainly include increasing the satellite cut-off altitude, adding devices such as a choke coil and a suppression plate, and adopting a receiver with an antenna array.
Disclosure of Invention
Research shows that the current methods for weakening the multipath effect mainly include the steps of increasing the satellite cut-off height angle, adding a choke coil, a suppression plate and other devices for a receiver antenna, adopting a receiver with an antenna array and the like. The influence of multipath effect can be restrained to a certain extent by increasing the satellite cut-off altitude, but the method shields a certain number of available satellites, so that the geometric configuration of the satellites is changed, the positioning accuracy is possibly reduced, and even the GNSS cannot work under the condition of less visible satellites. The choke coil antenna device is added to the receiver, so that the volume and the quality of the whole receiver device are increased, the choke coil antenna device is mainly used for a static observation station, and the choke coil antenna device is too heavy, inconvenient to carry and limited in influence of weakening multipath effect under the condition of dynamic measurement. The receiver device with the antenna array is heavy and high in cost, which is also a main reason that the current multi-antenna receiver is not practically applied to the field of real-time dynamic positioning.
In view of the above, in the field of Global Navigation Satellite System (GNSS), a set of portable and efficient multipath-resistant receiver equipment needs to be provided. Therefore, the invention provides a synthetic aperture GNSS mobile carrier with multipath effect resistance, which solves the problems by the following technical points:
a synthetic aperture GNSS mobile carrier resisting multipath effect comprises a base and a GNSS receiver and is characterized in that the mobile carrier can realize circular rotation motion of the GNSS receiver with the radius as one satellite signal wavelength, or the mobile carrier can realize lifting motion of the GNSS receiver with the lifting range from zero to two satellite signal wavelengths, or the mobile carrier can realize motion formed by the circular rotation motion of the GNSS receiver with the radius as one satellite signal wavelength and the lifting motion of the lifting range from zero to two satellite signal wavelengths.
As described above, the mobile carrier provided by the invention can realize the motions of single antenna rotation, lifting and the like, and realize the equivalent result of virtual array element space sampling by signal sampling at different times and positions, thereby realizing the weakening of GNSS synthetic aperture and the resistance to multipath effect. The device has only one receiver, thus having higher portability and mobility.
The further technical scheme is as follows:
the base top is provided with the base, the base is provided with centering eyepiece, spirit level pipe and horizontal angle spiral, the base is the tripod. In this technical feature, the arrangement of the centering eyepiece, the level vial and the horizontal angle screw is used for position calibration of the base to ensure the accuracy of signal reception. The base is a tripod and can improve the portability of the movable carrying platform.
The mobile carrying platform further comprises a rotating unit used for realizing the circular rotating motion of the GNSS receiver, the rotating unit is fixedly arranged on the base and comprises a rotating motor, a rotating control module and a rotating platform power supply. The rotation control module can control the speed and frequency of the rotation unit during rotation operation, can control the on and off of the rotation unit, and can select a gear control button as the rotation control module.
The rotary unit bottom is provided with the head rod, pass through bolted connection between head rod and the base, the fixed rotating electrical machines and the rotation control module of being provided with in top of head rod, the rotating electrical machines drive has the rotation axis, rotation axis top fixed connection rotary platform, the last receiver base that is used for installing the GNSS receiver that is provided with of rotary platform, the position relation between receiver base and the rotation axis should satisfy the radius of GNSS receiver circular motion and be a satellite signal wavelength, rotary platform still is provided with the balancing piece. In the present technical feature, the structure of the rotation unit is specifically defined. The rotary unit is installed through a first connecting rod arranged at the bottom in a bolt connection mode and a base, and the bolt connection facilitates the assembly and disassembly of the rotary unit. The arrangement of the balance weight can enable the rotary platform bearing the GNSS receiver to keep dynamic balance in the working process, and the equal-weight can be selected as the balance weight.
The mobile carrier further comprises a lifting unit used for realizing the lifting motion of the GNSS receiver, the lifting unit is fixedly arranged on the base, and the lifting unit comprises a lifting motor, a lifting control module and a lifting power supply. The lifting unit can ensure that the influence of multipath is weakened in the vertical direction under the condition that the horizontal position is unchanged. The lifting control module can control the speed and frequency of the lifting unit during lifting operation, can also control the on and off of the lifting unit, and can select a gear control button as the lifting control module.
The lifting unit bottom is provided with the second connecting rod, pass through bolted connection between second connecting rod and the base, fixed elevator motor and the lift control module of being provided with in top of second connecting rod, the elevator motor drive has the lifter, lifter top fixed mounting has the GNSS receiver, the structural dimension of lifter satisfies the lifting motion scope of GNSS receiver and is zero to two satellite signal wavelength. In this technical feature, the structure of the lifting unit is specifically defined. The lifting unit is installed through a second connecting rod arranged at the bottom in a bolt connection mode and a base, and the bolt connection facilitates the assembly and disassembly of the lifting unit.
In order to realize the spiral synthetic motion of the GNSS receiver, the mobile carrier further comprises a combined unit for realizing the lifting and rotating synthetic motion of the GNSS receiver, the combined unit is fixedly arranged on the base and comprises a lifting motor, a combined control module, a lifting power supply, a rotating motor and a rotating platform power supply.
The combined unit is characterized in that a second connecting rod is arranged at the bottom of the combined unit and connected with the base through a bolt, a lifting motor and a combined control module are fixedly arranged at the top end of the second connecting rod, the lifting motor drives a lifting rod, the structural size of the lifting rod meets the requirement that the lifting motion range of the GNSS receiver is zero to two satellite signal wavelengths, a third connecting rod is arranged at the top of the lifting rod and connected with the lifting rod through a bolt, a rotating motor is fixedly arranged at the top end of the third connecting rod and driven by the rotating motor, a rotating platform is fixedly connected with the top of the rotating shaft, a receiver base used for installing the GNSS receiver is arranged on the rotating platform, and the position relation between the receiver base and the rotating shaft meets the requirement that the radius of the circular motion of the GNSS receiver is one satellite signal wavelength, the rotating platform is also provided with a balance block.
The lifting motor is matched with the lifting rod through a screw nut. The screw nut has the advantages of high transmission efficiency, high positioning precision and high repeated positioning precision, and can convert the rotary motion of the lifting motor into the linear motion of the lifting rod.
Compared with the prior art, the invention has the beneficial effects that:
the invention has scientific and reasonable structure. Compared with the prior art, the synthetic aperture GNSS mobile carrier with multipath effect resistance, provided by the invention, is provided with the rotating unit, the lifting unit and the combining unit, can realize the motions of single antenna rotation, translation, spiral movement and the like of a GNSS receiver, realizes the equivalent result of virtual array element space sampling by signal sampling at different moments and positions, and realizes the weakening of the GNSS synthetic aperture and multipath effect resistance. The device has only one receiver, so the device has the advantages of low cost, high portability and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic diagram illustrating the multipath effect principle;
FIG. 2 is a schematic view of a rotary unit mounting structure according to the present invention;
FIG. 3 is a schematic view of the mounting structure of the lifting unit of the present invention;
FIG. 4 is a schematic view of the assembly structure of the rotating unit and the lifting unit according to the present invention;
in the figure: 1. a tripod; 2. a horizontal angular helix; 3. a base; 4. centering the ocular lens; 5. a level tube; 6. a first connecting rod; 7. a rotating electric machine; 8. a rotating table power supply; 9. a rotating shaft; 10. rotating the platform; 11. a counterbalance; 12. a receiver base; 13. a GNSS receiver; 14. a second connecting rod; 15. a lifting motor; 16. a lifting power supply; 17. a lifting rod; 18. a combination control module; 19. a third connecting rod; 20. a rotation control module; 21. and a lifting control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Referring to fig. 1 to 4, the present invention provides a technical solution:
a synthetic aperture GNSS mobile carrier resisting multipath effect comprises a base and a GNSS receiver 13, and is characterized in that the mobile carrier can realize circular rotation motion of the GNSS receiver 13 with the radius of one satellite signal wavelength, or the mobile carrier can realize lifting motion of the GNSS receiver 13 with the lifting range of zero to two satellite signal wavelengths, or the mobile carrier can realize motion of the GNSS receiver 13 by jointly synthesizing the circular rotation motion with the radius of one satellite signal wavelength and the lifting motion with the lifting range of zero to two satellite signal wavelengths.
As described above, the present invention provides a synthetic aperture GNSS mobile stage that is resistant to multipath effect, and can implement rotation, lifting or synthetic motion of a GNSS receiver, where the circular motion and the lifting motion are determined by the wavelength, and the principle is as follows:
fig. 1 shows a schematic diagram of the multipath effect of a single reflection element, from which:
wherein the content of the first and second substances,
to fix the multipath phase of the antenna reflected signal, in radians,
the length of a path along which a reflected signal received by the antenna travels more than a direct signal, H is a fixed vertical distance between the fixed antenna and the reflecting surface, theta is an included angle between the direct signal and the reflecting surface, and lambda is the wavelength of the signal. For a fixed antenna, the multipath phase changes only depending on the change of the satellite signal incident angle, and the multipath effect has a long phase change period due to the extremely slow change of the satellite incident angle (the satellite incident angle change rate is typically 0.00007 rad/sec). If the vertical distance between the antenna and the reflecting surface is periodically and rapidly changed, the vertical distance is set as the vertical movement distance
Let us order
Then, the multipath phase of the reflected signal of the moving antenna is:
wherein the content of the first and second substances,
for the multipath phase of the reflected signal from a moving antenna,
the multipath phase of the reflected signal of the fixed antenna in the formula (1), R is the radius of the antenna rotation motion (as shown in FIG. 1), t is the time, and f is the vertical distance of the motion
The frequency of change of (c). In order to generate complete periodic phase change of multipath from large reflection element
If the cutoff height angle is set to be more than 13 degrees, the distance between the antenna and the tall vertical surface is limited to be more than 15 meters, and then the requirement can be met by taking the longest observation signal wavelength of R.
The device can be used for enabling the antenna to periodically and rapidly move and carrying out high-frequency sampling, accurately constraining the dynamic position of the antenna through a designed track to form a synthetic aperture GNSS antenna, remarkably reducing the time correlation of the phase and the pseudo-range multipath effect through the synthetic aperture GNSS, greatly weakening the multipath effect in a short time through filtering, and achieving the purpose of rapid and accurate positioning.
More specifically, the wavelength calculation formula is:
where λ is the wavelength in meters (m) and c is the speed of light, is taken
And f is the electromagnetic wave frequency in hertz (Hz). Aiming at different frequencies of the existing navigation systems, the wavelength of different navigation systems can be calculated. The corresponding signal frequencies of the four navigation systems are detailed in the following table:
the maximum value of the wavelength is 25.5cm according to the frequency table and the wavelength calculation formula corresponding to the four navigation systems in the table. And as mentioned above, the parameter R, i.e. the radius of the antenna rotation motion, is the longest observed signal wavelength. Therefore, under the existing navigation system, the radius of the rotational movement of the antenna is selected to be one wavelength, namely R =25.5 +/-0.5 cm, and the variation range of the vertical lifting vertical movement displacement is zero to two wavelengths, namely h epsilon (0,51 +/-0.5) cm. If the navigation system is updated and the frequency changes, the wavelength length also changes, and the sizes of the circular motion and the lifting motion corresponding to the wavelength also change.
The base top is provided with base 3, base 3 is provided with centering eyepiece 4, spirit level pipe 5 and horizontal angle spiral 2, the base is tripod 1. In this embodiment, the centering eyepiece 4, the level vial 5 and the horizontal angle screw 2 are provided for the positional alignment of the base 3 to ensure the accuracy of the signal reception. The base is a tripod 1, which can improve the portability of the mobile carrier.
The mobile carrier further comprises a rotation unit for realizing the circular rotation motion of the GNSS receiver 13, the rotation unit is fixedly mounted on the base 3, and the rotation unit comprises a rotation motor 7, a rotation control module 20 and a rotation table power supply 8. The rotation control module 20 can control the speed and frequency of the rotation operation of the rotation unit, can control the on/off operation of the rotation unit, and can select a shift position control button as the rotation control module 20.
The rotary unit bottom is provided with head rod 6, pass through bolted connection between head rod 6 and the base 3, fixed rotating electrical machines 7 and the rotation control module 20 of being provided with in top of head rod 6, the rotating electrical machines 7 drive has rotation axis 9, rotation axis 9 top fixed connection rotary platform 10, be provided with the receiver base 12 that is used for installing the GNSS receiver on the rotary platform 10, the position relation between receiver base 12 and the rotation axis 9 should satisfy the radius that 13 circular motion of GNSS receiver is a satellite signal wavelength, rotary platform 10 still is provided with balancing piece 11. In the present technical feature, the structure of the rotation unit is specifically defined. The rotary unit is installed with the base 3 through the first connecting rod 6 arranged at the bottom in a bolt connection mode, and the bolt connection facilitates assembly and disassembly of the rotary unit. The balance weight 11 is arranged to keep the rotating platform 10 carrying the GNSS receiver 13 in dynamic balance during operation, and an equal weight can be selected as the balance weight 11.
The mobile carrier further comprises a lifting unit for realizing the lifting motion of the GNSS receiver 13, the lifting unit is fixedly mounted on the base 3, and the lifting unit comprises a lifting motor 15, a lifting control module 21 and a lifting power supply 16. The lifting unit can ensure that the influence of multipath is weakened in the vertical direction under the condition that the horizontal position is unchanged. The lifting control module 21 can control the speed and frequency of the lifting unit during lifting operation, can also control the on/off of the lifting unit, and can select a gear control button as the lifting control module 21.
Lifting unit bottom is provided with second connecting rod 14, pass through bolted connection between second connecting rod 14 and the base 3, fixed elevator motor 15 and the lift control module 21 of being provided with in top of second connecting rod 14, elevator motor 15 drives has lifter 17, lifter 17 top fixed mounting has the GNSS receiver, lifter 17's structural dimension satisfies the lifting motion scope of GNSS receiver 13 and is zero to two satellite signal wavelength. In this technical feature, the structure of the lifting unit is specifically defined. The lifting unit is mounted with the base 3 through a second connecting rod 14 arranged at the bottom, and the bolt connection is beneficial to assembly and disassembly of the lifting unit.
In order to realize the spiral synthetic motion of the GNSS receiver 13, it is configured that the mobile carrier further includes a combination unit for realizing the combined motion of the GNSS receiver 13 in a lifting and rotating manner, the combination unit is fixedly mounted on the base 3, and the combination unit includes a lifting motor 15, a combination control module 18, a lifting power supply 16, a rotating motor 7, and a rotating table power supply 8.
The combined unit is provided with a second connecting rod 14 at the bottom, the second connecting rod 14 is connected with the base 3 through a bolt, the top end of the second connecting rod 14 is fixedly provided with a lifting motor 15 and a combined control module 18, the lifting motor 15 drives a lifting rod 17, the structural size of the lifting rod 17 meets the requirement that the lifting motion range of the GNSS receiver 13 is zero to two satellite signal wavelengths, the top of the lifting rod 17 is provided with a third connecting rod 19, the third connecting rod 19 is connected with the lifting rod 17 through a bolt, the top end of the third connecting rod 19 is fixedly provided with a rotating motor 7, the rotating motor 7 drives a rotating shaft 9, the top of the rotating shaft 9 is fixedly connected with a rotating platform 10, the rotating platform 10 is provided with a receiver base 12 for installing the GNSS receiver, and the position relation between the receiver base 12 and the rotating shaft 9 meets the requirement that the radius of the circular motion of the receiver 13 is one satellite signal wavelength, the rotary platform 10 is also provided with a counterweight 11.
The lifting motor 15 is matched with the lifting rod 17 through a screw nut. The lead screw nut has the advantages of high transmission efficiency, high positioning precision and high repeated positioning precision, and can convert the rotary motion of the lifting motor 15 into the linear motion of the lifting rod 17.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A synthetic aperture GNSS mobile carrier resisting multipath effect comprises a base and a GNSS receiver (13), and is characterized in that the mobile carrier can realize circular rotation motion of the GNSS receiver (13) with a radius of one satellite signal wavelength, or the mobile carrier can realize lifting motion of the GNSS receiver (13) with a lifting range of zero to two satellite signal wavelengths, or the mobile carrier can realize motion formed by the circular rotation motion of the GNSS receiver (13) with a radius of one satellite signal wavelength and the lifting motion of the lifting range of zero to two satellite signal wavelengths.
2. A synthetic aperture GNSS mobile stage resistant to multipath effects, according to claim 1, characterized in that said base top is provided with a base (3), said base (3) being provided with a centering eyepiece (4), a level tube (5) and a horizontal angular screw (2), said base being a tripod (1).
3. The synthetic aperture GNSS mobile stage of claim 2, characterized in that it further comprises a rotation unit for realizing a circular rotation motion of the GNSS receiver, said rotation unit being fixedly mounted on the base (3), said rotation unit comprising a rotation motor (7), a rotation control module (20) and a rotation stage power supply (8).
4. The synthetic aperture GNSS mobile stage of claim 3 that is resistant to multipath effects, it is characterized in that the bottom of the rotating unit is provided with a first connecting rod (6), the first connecting rod (6) is connected with the base (3) through a bolt, the top end of the first connecting rod (6) is fixedly provided with a rotating motor (7) and a rotating control module (20), the rotating motor (7) drives a rotating shaft (9), the top of the rotating shaft (9) is fixedly connected with a rotating platform (10), a receiver base (12) for mounting a GNSS receiver is arranged on the rotating platform (10), the position relation between the receiver base (12) and the rotating shaft (9) meets the requirement that the radius of the circular motion of the GNSS receiver (13) is one satellite signal wavelength, and the rotating platform (10) is also provided with a balance block (11).
5. The synthetic aperture GNSS mobile stage of claim 2, characterized in that it further comprises a lifting unit for performing a lifting motion of the GNSS receiver, said lifting unit being fixedly mounted on the base (3), said lifting unit comprising a lifting motor (15), a lifting control module (21) and a lifting power supply (16).
6. The synthetic aperture GNSS mobile carrier of claim 5, wherein a second connecting rod (14) is disposed at the bottom of the lifting unit, the second connecting rod (14) is connected to the base (3) through a bolt, a lifting motor (15) and a lifting control module (21) are fixedly disposed at the top end of the second connecting rod (14), the lifting motor (15) drives a lifting rod (17), a GNSS receiver is fixedly mounted at the top of the lifting rod (17), and the lifting rod (17) has a structural size that satisfies a lifting motion range of the GNSS receiver (13) of zero to two satellite signal wavelengths.
7. A synthetic aperture GNSS mobile stage resistant to multipath effects as claimed in claim 2, characterized in that the mobile stage further comprises a combination unit for implementing a combined up-and-down, rotational movement of the GNSS receiver, the combination unit being fixedly mounted on the base (3), the combination unit comprising an up-and-down motor (15), a combination control module (18) and an up-and-down power supply (16), and a rotation motor (7) and a rotation stage power supply (8).
8. The synthetic aperture GNSS mobile carrier of claim 7, wherein a second connecting rod (14) is disposed at the bottom of the combination unit, the second connecting rod (14) is connected with the base (3) through a bolt, a lifting motor (15) and a combination control module (18) are fixedly disposed at the top end of the second connecting rod (14), the lifting motor (15) drives a lifting rod (17), the lifting rod (17) has a structural size which satisfies the lifting motion range of the GNSS receiver (13) from zero to two satellite signal wavelengths, a third connecting rod (19) is disposed at the top of the lifting rod (17), the third connecting rod (19) is connected with the lifting rod (17) through a bolt, a rotating motor (7) is fixedly disposed at the top end of the third connecting rod (19), and the rotating shaft (9) is driven by the rotating motor (7), the GNSS receiver is characterized in that the top of the rotating shaft (9) is fixedly connected with a rotating platform (10), a receiver base (12) used for installing the GNSS receiver is arranged on the rotating platform (10), the radius of the circumferential motion of the GNSS receiver (13) is a satellite signal wavelength when the position relation between the receiver base (12) and the rotating shaft (9) is met, and the rotating platform (10) is further provided with a balance block (11).
9. The anti-multipath synthetic aperture GNSS mobile stage of claim 6 or 8, characterized in that the lifting motor (15) and the lifting rod (17) are engaged by a lead screw nut.
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| CN113324482B (en) * | 2021-02-04 | 2022-06-14 | 长沙理工大学 | Indirect rapid measuring device and method for three-dimensional coordinates |
| CN113985452A (en) * | 2021-09-14 | 2022-01-28 | 中国科学院国家授时中心 | Multipath effect weakening device for GNSS tracking station |
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