CN113721274B - Beidou-based data processing algorithm for self-adaptive antenna state - Google Patents
Beidou-based data processing algorithm for self-adaptive antenna state Download PDFInfo
- Publication number
- CN113721274B CN113721274B CN202110846502.6A CN202110846502A CN113721274B CN 113721274 B CN113721274 B CN 113721274B CN 202110846502 A CN202110846502 A CN 202110846502A CN 113721274 B CN113721274 B CN 113721274B
- Authority
- CN
- China
- Prior art keywords
- data
- beidou
- antenna
- positioning
- longitude
- 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.)
- Active
Links
- 238000012545 processing Methods 0.000 title claims abstract description 20
- 238000007405 data analysis Methods 0.000 claims abstract description 7
- 238000012216 screening Methods 0.000 claims abstract description 7
- 238000005516 engineering process Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- 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)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a Beidou-based data processing algorithm of a self-adaptive antenna state, which comprises the following steps: data analysis is carried out on the data received by each path of antenna; step two: further analyzing and judging the analyzed data, and screening the RN data and the RD data of the Beidou data; step three: performing corresponding data processing on the data in the second step; step four: the processed data are sent out through a serial port, multiple paths of satellite data are collected and combined with hardware data of the equipment to integrate, one path of data with strong signals is analyzed, the other paths of data are used for compensating the stronger path of data, so that the requirements for positioning and orientation are met, and the positioning and orientation compensation is carried out by combining gesture data acquired from the MEMS chip with an inertial navigation technology under the condition of being in a shielding environment such as a tunnel for a long time.
Description
Technical Field
The invention relates to the technical field of satellite positioning communication, in particular to a Beidou-based data processing algorithm of a self-adaptive antenna state.
Background
The Beidou satellite navigation system is an independently operated satellite navigation system and is a national important space infrastructure for providing all-weather, all-day and high-precision positioning, navigation and time service for global users.
With the development of Beidou system construction and service capability, related products are widely applied to the fields of transportation, marine fishery, hydrologic monitoring, weather forecast, geographical information mapping, forest fire prevention, communication time system, power dispatching, disaster relief, emergency search and rescue and the like, gradually permeate into the aspects of human society production and people living, and inject new vigor into global economy and social development.
At present, the Beidou is widely applied, but the Beidou also has a plurality of application problems, especially the problems of signal shielding, distortion and the like caused by the influence of surrounding complex environmental factors and the change of the orientation of an antenna of the equipment, and the problems directly lead the equipment to fail to achieve the expected effect and influence the user experience.
Disclosure of Invention
The invention aims to provide a Beidou-based data processing algorithm of a self-adaptive antenna state, which integrates multiple paths of satellite data by combining hardware data of equipment, analyzes one path of data with stronger signals, compensates the stronger path of data by the other multiple paths of data, and thus obtains the requirement of meeting positioning and orientation.
The aim of the invention can be achieved by the following technical scheme:
the data processing algorithm of the self-adaptive antenna state based on the Beidou comprises the following steps:
step one: data analysis is carried out on the data received by each path of antenna;
Step two: further analyzing and judging the analyzed data, and screening the RN data and the RD data of the Beidou data;
step three: performing corresponding data processing on the data in the second step;
step four: and sending the processed data through a serial port.
As a further scheme of the invention: the specific process of data analysis in the first step is as follows:
the RN data includes GSV, GGA, GSA, ZDA and RMC;
the data of the GSV message in the RN data is used for judging the satellite quantity data acquired by the antenna;
the GGA in the RN data is used for acquiring the position information of the terminal equipment;
RD data includes BSI, DWA, FKI, ICA, WAA, ICI, TXA and TXR;
the BSI in the RD data is used for storing the beam state of the Beidou satellite, and the strength of RD data signals is judged through the beam state;
the WAA in the RD data is used for transmitting the RN positioning data.
As a further scheme of the invention: and reading data of multiple paths of antennas through a serial port, screening GSV, GGA and BSI data, analyzing the data, and respectively storing the analyzed data.
As a further scheme of the invention: the specific process of screening the Beidou data in the second step is as follows:
Judging whether the satellite number and the beam number of the Beidou data reach antenna data meeting the requirements or not:
s1: the number of stars reaches 4 and the number of beams reaches 4, which indicates that one path of antenna has stable data signals and can meet the requirement of positioning communication, and the antenna is used for positioning communication;
S2: the number of stars reaches 4 or the number of beams reaches 4, which indicates that no antenna simultaneously meets the requirement that the number of stars and the number of beams reach 4, namely, the antenna data with strong RN signals are preferentially read, and accurate positioning data are obtained;
s3: the number of the star and the number of the wave beams are not up to 4, which indicates that any single-path antenna can not provide accurate positioning and stable communication conditions;
S4: the number of satellites and the number of beams are 0, which indicates that the antenna cannot acquire any positioning communication data.
As a further scheme of the invention: in the third step, the specific process of data processing in the second step is as follows:
k1: reading out antenna data; according to the Beidou protocol, each protocol starts with $, r\n, positioning data are stored in GGA data packets, a complete packet is judged by judging $and r\n, GGA data packets are screened out, and longitude and latitude data are taken out;
k11: marking the position in the map and converting the coordinate system into a Mars coordinate system:
position=release+ (min 60+sec)/3600.0 < 1>
Wherein, the deviee: a degree; min: dividing; sec: second, substituting the degrees in the longitude and latitude into the formula 1 to obtain the longitude and latitude under the corresponding Mars coordinate system;
k12: location reporting also requires converting longitude and latitude into the format of the protocol WAA:
position=release+min 60+sec/3600.0 <2 >
Wherein, the deviee: a degree; min: dividing; sec: second, substituting the degrees in longitude and latitude into formula 2 respectively;
k2: when the number of stars reaches 4 and the number of beams reaches 4, selecting an antenna with stable data signals to acquire accurate positioning data, and analyzing longitude and latitude according to the steps in K1;
K3: when the number of the star and the number of the wave beams exist but do not reach 4, indicating that the positioning data of each antenna are inaccurate, obtaining positioning data by carrying out data fusion on the RN data of each antenna, and analyzing the longitude and latitude according to the steps in K1;
And K4: under the condition of completely receiving the Beidou signal, the deviation exists in the positioning data acquired by utilizing the inertial navigation technology and the MEMS sensor, and when the Beidou signal is received again, the positioning data are corrected again and screened according to the steps in the step two.
As a further scheme of the invention: and step four, the positioning data is reported through a protocol WAA.
As a further scheme of the invention: the antenna oriented in the equatorial direction is selected for receiving the RD signal.
As a further scheme of the invention: the GSV message in the RN data can realize positioning of the terminal equipment only by three or four satellites.
The invention has the beneficial effects that:
According to the invention, the multipath satellite data are collected and integrated by combining hardware data of the equipment, one path of data with strong signals is analyzed, and the other paths of data are used for compensating the stronger path of data, so that the requirements of positioning and orientation are met, and the positioning and orientation compensation is performed by combining the gesture data obtained from the MEMS chip with the inertial navigation technology under the condition of being in a shielding environment such as a tunnel for a long time.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of the flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention discloses a data processing algorithm of a Beidou-based adaptive antenna state, which comprises the following steps:
step one: data received by each path of antenna is collected and subjected to data analysis, and the specific process of data analysis is as follows:
The RN data includes GSV, GGA, GSA, ZDA and RMC; the data of the GSV message in the RN data is generally used for judging that the equipment can acquire the data of a plurality of satellites at the moment, and the positioning of one terminal equipment can be realized only when 3 to 4 satellites are generally satisfied;
Meanwhile, acquiring position information of equipment through GGA, and obtaining data in a common coordinate information format after acquiring the coordinate information through format conversion;
RD data comprises BSI, DWA, FKI, ICA, WAA, ICI, TXA and TXR, BSI data are used for storing beam states of Beidou satellites, ten beams exist in the second Beidou at present, the number of beams of the third Beidou is more, the strength of Beidou RD data signals is judged according to the beam states, and whether communication modes such as Beidou messages and the like can normally operate is directly influenced;
the WAA is a control center for reporting the positioning data of the RN through a WAA message, and the control center can monitor the position of the terminal equipment;
Step two: the analyzed data are further analyzed and judged, and the RN data and the RD data of the Beidou data are screened, wherein the specific steps are as follows:
Judging whether the satellite number and the beam number of the Beidou data reach antenna data meeting the requirements or not:
S1: the number of stars reaches 4 and the number of beams reaches 4, which indicates that one path of antenna has better data signals, and indicates that the environment where the antenna is positioned is better in Beidou signals at the moment, so that the requirement of positioning communication can be met, and the antenna is used for positioning communication;
s2: the number of stars reaches 4 or the number of beams reaches 4, which indicates that no antenna simultaneously meets the requirement that the number of stars and the number of beams reach 4, namely, the antenna data with strong RN signals are preferentially read, so that more accurate positioning data are obtained;
S3: the number of the satellites and the number of the beams are not up to 4, and the reason for the occurrence of the situation may be that environmental factors such as electromagnetic fields, trees, buildings and the like exist around the satellites, at this time, the single-path antenna cannot provide accurate positioning and stable communication conditions, and therefore, the data of the multiple paths of antennas need to be integrated;
S4: the number of the satellites and the number of the beams are 0, and when the Beidou terminal equipment passes through a tunnel or has high mountain shielding around the tunnel, the Beidou signals are lost completely, and no positioning communication data can be acquired at the moment;
step three: corresponding data processing is carried out on the data in the second step, and the specific steps are as follows:
k1: reading out antenna data; according to the Beidou protocol, each protocol starts with $, r\n, positioning data are stored in GGA data packets, a complete packet is judged by judging $and r\n, GGA data packets are screened out, and longitude and latitude data are taken out;
k11: marking the position in the map and converting the coordinate system into a Mars coordinate system:
position=release+ (min 60+sec)/3600.0 < 1>
Wherein, the deviee: a degree; min: dividing; sec: second, substituting the degrees in the longitude and latitude into the formula 1 to obtain the longitude and latitude under the corresponding Mars coordinate system;
k12: location reporting also requires converting longitude and latitude into the format of the protocol WAA:
position=release+min 60+sec/3600.0 <2 >
Wherein, the deviee: a degree; min: dividing; sec: second, substituting the degrees in longitude and latitude into formula 2 respectively;
k2: when the number of stars reaches 4 and the number of beams reaches 4, selecting an antenna with stable data signals to acquire accurate positioning data, and analyzing longitude and latitude according to the steps in K1;
K3: when the number of the star and the number of the wave beams exist but do not reach 4, indicating that the positioning data of each antenna are inaccurate, obtaining positioning data by carrying out data fusion on the RN data of each antenna, and analyzing the longitude and latitude according to the steps in K1;
And K4: under the condition of completely receiving the Beidou signal, the deviation exists in the positioning data acquired by utilizing the inertial navigation technology and the MEMS sensor, and when the Beidou signal is received again, the positioning data are corrected again and screened according to the steps in the step two.
Step four: the processed data is sent out through a serial port, positioning data is reported through a protocol WAA, meanwhile, an antenna is required to receive RD data signals, the antenna facing the equatorial direction is selected as much as possible, more wave beams can be received by the antenna, and better stability and higher success rate can be achieved during communication.
And reading data of multiple antennae through a serial port, screening GSV, GGA and BSI data, analyzing the data, and respectively storing the analyzed data.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (7)
1. The data processing algorithm of the self-adaptive antenna state based on the Beidou is characterized by comprising the following steps of:
step one: data analysis is carried out on the data received by each path of antenna;
Step two: further analyzing and judging the analyzed data, and screening the RN data and the RD data of the Beidou data;
The specific process of screening the Beidou data in the second step is as follows:
Judging whether the satellite number and the beam number of the Beidou data reach antenna data meeting the requirements or not:
s1: the number of stars reaches 4 and the number of beams reaches 4, which indicates that one path of antenna has stable data signals and can meet the requirement of positioning communication, and the antenna is used for positioning communication;
S2: the number of stars reaches 4 or the number of beams reaches 4, which indicates that no antenna simultaneously meets the requirement that the number of stars and the number of beams reach 4, namely, the antenna data with strong RN signals are preferentially read, and accurate positioning data are obtained;
s3: the number of the star and the number of the wave beams are not up to 4, which indicates that any single-path antenna can not provide accurate positioning and stable communication conditions;
s4: the number of the star and the number of the wave beams are 0, which indicates that the antenna cannot acquire any positioning communication data;
step three: performing corresponding data processing on the data in the second step;
step four: and sending the processed data through a serial port.
2. The data processing algorithm based on the beidou adaptive antenna state of claim 1, wherein the specific process of data analysis in the step one is:
the RN data includes GSV, GGA, GSA, ZDA and RMC;
the data of the GSV message in the RN data is used for judging the satellite quantity data acquired by the antenna;
the GGA in the RN data is used for acquiring the position information of the terminal equipment;
RD data includes BSI, DWA, FKI, ICA, WAA, ICI, TXA and TXR;
the BSI in the RD data is used for storing the beam state of the Beidou satellite, and the strength of RD data signals is judged through the beam state;
the WAA in the RD data is used for transmitting the RN positioning data.
3. The data processing algorithm based on the Beidou self-adaptive antenna state of claim 2, wherein data of multiple paths of antennas are read through a serial port, GSV, GGA and BSI data are screened out and analyzed, and the analyzed data are respectively stored.
4. The data processing algorithm based on the Beidou adaptive antenna state of claim 1, wherein the specific process of the data processing in the second step in the third step is as follows:
k1: reading out antenna data; according to the Beidou protocol, each protocol starts with $, r\n, positioning data are stored in GGA data packets, a complete packet is judged by judging $and r\n, GGA data packets are screened out, and longitude and latitude data are taken out;
k11: marking the position in the map and converting the coordinate system into a Mars coordinate system:
position=release+ (min 60+sec)/3600.0 < 1>
Wherein, the degree; dividing the materials into minutes; second, substituting the degree minute seconds in the longitude and latitude into the formula 1 to obtain the longitude and latitude under the corresponding Mars coordinate system;
k12: location reporting also requires converting longitude and latitude into the format of the protocol WAA:
position=release+min 60+sec/3600.0 <2 >
Wherein, the degree; dividing the materials into minutes; sec, substituting the degrees in longitude and latitude in minutes and seconds into a formula 2 respectively;
k2: when the number of stars reaches 4 and the number of beams reaches 4, selecting an antenna with stable data signals to acquire accurate positioning data, and analyzing longitude and latitude according to the steps in K1;
K3: when the number of the star and the number of the wave beams exist but do not reach 4, indicating that the positioning data of each antenna are inaccurate, obtaining positioning data by carrying out data fusion on the RN data of each antenna, and analyzing the longitude and latitude according to the steps in K1;
And K4: under the condition of completely receiving the Beidou signal, the deviation exists in the positioning data acquired by utilizing the inertial navigation technology and the MEMS sensor, and when the Beidou signal is received again, the positioning data are corrected again and screened according to the steps in the step two.
5. The data processing algorithm based on the beidou adaptive antenna state of claim 1, wherein positioning data in the fourth step is reported through a protocol WAA.
6. The data processing algorithm based on the beidou adaptive antenna state of claim 5, wherein an antenna oriented in the equatorial direction is selected for receiving the RD signal.
7. The data processing algorithm based on the beidou self-adaptive antenna state of claim 1, wherein GSV messages in RN data need to reach three or four satellites to realize positioning of terminal equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110846502.6A CN113721274B (en) | 2021-07-26 | 2021-07-26 | Beidou-based data processing algorithm for self-adaptive antenna state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110846502.6A CN113721274B (en) | 2021-07-26 | 2021-07-26 | Beidou-based data processing algorithm for self-adaptive antenna state |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113721274A CN113721274A (en) | 2021-11-30 |
| CN113721274B true CN113721274B (en) | 2024-04-26 |
Family
ID=78674018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110846502.6A Active CN113721274B (en) | 2021-07-26 | 2021-07-26 | Beidou-based data processing algorithm for self-adaptive antenna state |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113721274B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205539995U (en) * | 2016-01-28 | 2016-08-31 | 安徽四创电子股份有限公司 | Multimode high accuracy time service system |
| CN207133437U (en) * | 2017-08-21 | 2018-03-23 | 吉林省北斗导航位置服务有限公司 | A kind of high-precision aviation Big Dipper+ADS B dual-mode terminals |
| CN109787678A (en) * | 2019-01-30 | 2019-05-21 | 西安寰宇赛特信息科技有限公司 | A kind of communication positioning integrated terminal leading to satellite based on Beidou and day |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101047419B (en) * | 2006-06-21 | 2011-05-18 | 华为技术有限公司 | Method and device for transmitting data at transmission network |
| US8730101B2 (en) * | 2010-05-13 | 2014-05-20 | Qualcomm Incorporated | High sensitivity satellite positioning system receiver |
-
2021
- 2021-07-26 CN CN202110846502.6A patent/CN113721274B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205539995U (en) * | 2016-01-28 | 2016-08-31 | 安徽四创电子股份有限公司 | Multimode high accuracy time service system |
| CN207133437U (en) * | 2017-08-21 | 2018-03-23 | 吉林省北斗导航位置服务有限公司 | A kind of high-precision aviation Big Dipper+ADS B dual-mode terminals |
| CN109787678A (en) * | 2019-01-30 | 2019-05-21 | 西安寰宇赛特信息科技有限公司 | A kind of communication positioning integrated terminal leading to satellite based on Beidou and day |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113721274A (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Fargas et al. | GPS-free geolocation using LoRa in low-power WANs | |
| US10461815B2 (en) | Multi-input and multi-output satellite service terminal | |
| US20080008118A1 (en) | System and method of gathering wlan packet samples to improve position estimates of wlan positioning device | |
| US20170070971A1 (en) | Methods and systems for collaborative global navigation satellite system (gnss) diagnostics | |
| US7714784B2 (en) | Base station and mobile terminal for location detection, and location detecting method | |
| JP2023534104A (en) | Passive positioning with sidelink assistance | |
| US20100020701A1 (en) | Method and apparatus for determining coupled path loss | |
| EP2486423A1 (en) | Improvements relating to navigation systems | |
| JP2003527567A (en) | High-speed location reporting system | |
| US10877127B2 (en) | System and method for dismounted assured position, navigation and timing (DAPNT) | |
| CN111741431B (en) | Indoor positioning method and device, terminal and storage medium | |
| WO2004070513A2 (en) | Method and system for monitoring mobile communication terminal position determination performance by using wireless communication network and a-gps | |
| US9743264B2 (en) | Systems and methods for space-based digital selective calling | |
| CN111033293B (en) | System and method for satellite optical terrestrial radio hybrid lightning location | |
| US20210318451A1 (en) | High-accuracy satellite positioning method, positioning terminal, and positioning system | |
| US20220357464A1 (en) | Determining position information of mobile devices | |
| CN113721274B (en) | Beidou-based data processing algorithm for self-adaptive antenna state | |
| CN113068127A (en) | Positioning method of NB-IoT terminal | |
| CN115632700A (en) | Beidou navigation and aerial base station combined topology drawing method and system | |
| CN104956745B (en) | The method of positioning user terminal based on small base station and small base station controller | |
| CN106332278A (en) | Positioning method and apparatus | |
| Shinozaki et al. | Experimental analysis of positioning accuracy of GPS/BeiDou on elevation mask | |
| US11989853B2 (en) | Higher-resolution terrain elevation data from low-resolution terrain elevation data | |
| WO2000075685A1 (en) | Method and arrangement for correcting positioning information | |
| US20240036185A1 (en) | Reported mobile device location assessment |
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 |