CN115079225A - Navigation positioning method and device of marine receiver - Google Patents
Navigation positioning method and device of marine receiver Download PDFInfo
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- 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
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Abstract
The invention belongs to the technical field of maritime communication positioning, and provides a navigation positioning method and a navigation positioning device of a maritime receiver d Ionospheric delay d ion Tropospheric delay d trop Residual error delta of satellite clock t The method comprises the steps of obtaining a pseudo range from a receiver to a satellite, adding L-band differential modification data to the pseudo range to obtain a modified pseudo range, carrying out filtering operation on the modified pseudo range through a Kalman filtering algorithm to obtain a smooth pseudo range, and calculating to obtain the coordinate of the receiver according to the satellite data and the smooth pseudo range, so that delay is reduced, signal fluctuation is reduced, and the technical effect of improving the navigation positioning precision of the offshore receiver is achieved.
Description
Technical Field
The invention relates to the technical field of marine communication positioning, in particular to a navigation positioning method and a navigation positioning device of a marine receiver.
Background
In the prior art, the navigation positioning technology is mainly realized by satellite positioning and a ground common point together. For example, in terrestrial navigation technology, data is generally transmitted to a receiver through a satellite, and the receiver performs position calculation after receiving the data, so as to realize positioning navigation of the receiver. However, in the prior art, the receiver position calculation method has large delay and signal fluctuation, and further improvement is needed.
In summary, the receiver position calculation method in the prior art has the technical problems of large time delay and large signal fluctuation.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides the following solutions.
In one aspect, the present invention provides a navigation positioning method for a marine receiver, including:
acquiring satellite data from a satellite, and erecting a reference station according to the satellite data;
receiving L-band differential modification data from the reference station and a maritime satellite data chain, the L-band differential modification data including a orbital error d d Ionospheric delay d ion Tropospheric delay d trop Residual error of satellite clock delta t ；
Acquiring a pseudo range from a receiver to a satellite, and adding L-band differential modification data to the pseudo range to obtain a modified pseudo range;
carrying out filtering operation on the corrected pseudo range through a Kalman filtering algorithm to obtain a smooth pseudo range;
and calculating the coordinates of the receiver according to the satellite data and the smoothed pseudo range.
In one aspect, the present invention provides an apparatus for navigation positioning of a marine receiver, comprising:
the satellite data acquisition module is used for acquiring satellite data from a satellite and erecting a reference station according to the satellite data;
an L-band differential modification data receiving module, configured to receive L-band differential modification data from the reference station and a maritime satellite data chain, where the L-band differential modification data includes a track error d d Ionospheric delay d ion Tropospheric delay d trop Wei and WeiResidual delta of star clock t ；
The pseudo-range acquisition and correction module is used for acquiring a pseudo-range from a receiver to a satellite, and adding L-band differential modification data to the pseudo-range to obtain a corrected pseudo-range;
the pseudo-range filtering module is used for carrying out filtering operation on the corrected pseudo-range through a Kalman filtering algorithm to obtain a smooth pseudo-range;
and the coordinate positioning module is used for calculating the coordinates of the receiver according to the satellite data and the smoothed pseudo range.
In one aspect, the invention provides a computer apparatus comprising: the system comprises a processor and a memory, wherein the memory stores a program module, and the program module runs on the processor to realize the method.
In one aspect, the invention provides a readable storage medium storing program modules, which when executed on a processor, implement the above-described method.
Compared with the prior art, the invention has the beneficial effects that:
the navigation positioning method of the maritime receiver provided by the invention comprises the steps of acquiring satellite data from a satellite, erecting a reference station according to the satellite data, and receiving L-band differential modification data from the reference station and a maritime satellite data chain, wherein the L-band differential modification data comprises an orbit error d d Ionospheric delay d ion Tropospheric delay d trop Residual error delta of satellite clock t The method comprises the steps of obtaining a pseudo range from a receiver to a satellite, adding L-band differential modification data to the pseudo range to obtain a modified pseudo range, carrying out filtering operation on the modified pseudo range through a Kalman filtering algorithm to obtain a smooth pseudo range, and calculating to obtain the coordinate of the receiver according to the satellite data and the smooth pseudo range, so that delay is reduced, signal fluctuation is reduced, and the technical effect of improving the navigation positioning precision of the offshore receiver is achieved.
Drawings
FIG. 1 is a schematic flow diagram of a navigational positioning method for a marine receiver;
FIG. 2 is a schematic diagram of an architecture of a navigational positioning device of the marine receiver;
FIG. 3 is an architectural diagram of a computer device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
It should be understood that, in various embodiments of the present invention, the sequence numbers of the processes do not mean the execution sequence, and the execution sequence of the processes should be determined by the functions and the internal logic of the processes, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
It should be understood that in the present application, "comprising" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that, in the present invention, "a plurality" means two or more. "and/or" is merely an association describing an associated object, meaning that three relationships may exist, for example, and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "comprises A, B and C" and "comprises A, B, C" means that all three of A, B, C comprise, "comprises A, B or C" means that one of A, B, C comprises, "comprises A, B and/or C" means that any 1 or any 2 or 3 of A, B, C comprises.
It should be understood that in the present invention, "B corresponding to a", "a corresponds to B", or "B corresponds to a" means that B is associated with a, and B can be determined from a. Determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information. And the matching of A and B means that the similarity of A and B is greater than or equal to a preset threshold value.
As used herein, "if" may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Example one
Referring to fig. 1, the present embodiment provides a navigation positioning method for a marine receiver.
It should be noted that the execution subject of the method shown in fig. 1 may be a software and/or hardware device. The execution subject of the present application may include, but is not limited to, at least one of: user equipment, network equipment, etc. The user equipment may include, but is not limited to, a computer, a smart phone, a Personal Digital Assistant (PDA), the above mentioned electronic equipment, and the like. The network device may include, but is not limited to, a single network server, a server group of multiple network servers, or a cloud of numerous computers or network servers based on cloud computing, wherein cloud computing is one type of distributed computing, a super virtual computer consisting of a cluster of loosely coupled computers. The present embodiment does not limit this.
The navigation and positioning method of the marine receiver provided by the embodiment includes steps S101 to S105, which are specifically as follows:
s101, acquiring satellite data from a satellite, and erecting a reference station according to the satellite data;
step S102, receiving L-band differential modification data from the reference station and a maritime satellite data chain, wherein the L-band differential modification data comprise a track error d d Ionospheric delay d ion Tropospheric delay d trop Residual error delta of satellite clock t ；
Step S103, acquiring a pseudo range from a receiver to a satellite, and adding L-band differential modification data to the pseudo range to obtain a corrected pseudo range;
step S104, carrying out filtering operation on the corrected pseudo range through a Kalman filtering algorithm to obtain a smooth pseudo range;
and S105, calculating to obtain the coordinates of the receiver according to the satellite data and the smoothed pseudorange.
It should be noted that the execution subject of steps S101 to S105 may be a server.
On the other hand, step S101 needs to be described below.
The satellite data is acquired from the satellite, and the acquisition can be carried out through GNSS. GNSS refers to global navigation satellite system. Exemplarily, the GNSS may include: global navigation satellite systems such as GPS, BDS, GLONSS, and GALILEO.
It should be noted that, acquiring satellite data from a satellite preferably includes:
and simultaneously receiving satellite raw data of GPS, BDS, GLONSS and GALILEO.
Note that the multi-system fused pseudorange differential operation can be performed by simultaneously receiving the GPS satellite raw data, the BDS satellite raw data, the GLONSS satellite raw data, and the GALILEO satellite raw data.
It is also noted that satellite data, including but not limited to: mean angular velocity n, normalized time of satellite operation
Mean angle of approach of satellite at time t
The off-near angle Es of the satellite at time t, the true-near angle
Angle of lift and cross
Perturbation and correction item (
，
，
) Perturbation correction (
，
，
) The position of the satellite in the orbital plane coordinate system (
，
) The satellite has spatial rectangular coordinates (X, Y, Z) in the earth-centered coordinate system.
In a further example, the average angular velocity n is calculated by the following equation:
GM is the Earth's gravitational constant, defined in WGS84 as:
Δ n is the average angular velocity change amount, a s Is a satellite orbit long semi-axis.
In a further example, the time is normalized
Mean angle of approach of satellite at time t
The off-near angle Es of the satellite at time t, the true-near angle
Angle of lift and cross
Calculated by the following formula:
t oe is an epoch; m 0 For reference time t given in broadcast ephemeris oe Mean angle of approach e s Is the eccentricity of the Kepler ellipse, e is the orbital eccentricity, ω 0 Latitude, omega, of orbital plane descent in this cycle s Is a near-to-location angle.
In a further example, a perturbation correction term (b: memberswith the drug-a drug-type of drugs, and/drug, and drugs, and methods of drugs, and drugs
，
，
) Comprises the following steps:
In a further example, perturbation correction (
，
，
) Comprises the following steps:
the spatial rectangular coordinates (X, Y, Z) of the satellite in the geocentric coordinate system are as follows:
wherein the content of the first and second substances,
；Ω 0 = Ωt oe - GAST；Ω(t)=Ωt oe +Ω *（t - toe）；t oe for the value of the reference time, GAST is the true constancy of Greenwich at the start of the week, Ω is the angular velocity, Ω 0 Is omega t oe And the difference between the GAST and the GAST,
is the difference between Ω and GAST.
Further, the reference station can be set up by the satellite in the spatial rectangular coordinates (X, Y, Z) in the geocentric coordinate system.
On the other hand, steps S102 and S103 need to be described below.
In step S102, L-band differential modified data is received from the reference station and the maritime satellite data chain, and may be used to modify a pseudorange from a receiver to a satellite to obtain a modified pseudorange, thereby improving positioning accuracy.
Wherein the L-band differential modification data includes, but is not limited to, a track error d d Ionospheric delay d ion Tropospheric delay d trop Residual error delta of satellite clock t ；
In step S103, the pseudoranges from the receiver to the satellites are obtained as follows.
Calculating a pseudo range between each millisecond satellite and a receiver in a certain time range containing a certain positioning time point to obtain a plurality of original pseudo ranges; the certain time range comprises a starting time point to an ending time point; the positioning time point, the start time point and the end time point are different from each other;
filtering operation is carried out on a plurality of original pseudo ranges within a period of time by using a Kalman filtering algorithm, and stably output pseudo ranges are obtained;
let the value vector of the k-th received pseudorange be R n Such that:
a is a state transition matrix, R n (k | k-1) is the pseudorange obtained at the kth time, R n (k-1| k-1) is the pseudorange of the k-1 th measurement; b is a pseudo range speed change matrix, and U (k) is a control quantity of the current state;
predicting a system for a next state using a process model of the system; assuming that the current system state is k, the current state is predicted based on the last state of the system according to the model of the system:
p (k | k-1) is R n (k | k-1) is the corresponding covariance matrix, P (k-1| k-1) is R n (k-1| k-1) corresponding covariance matrix,
a transposed matrix representing a, Q is a covariance matrix of the system process;
collecting the measured value of the current state, and combining the predicted value and the measured value to obtain the optimized estimated value R of the current state k n (k|k)：
H is a parameter of the measuring system, where K g For the kalman gain:
r is the covariance matrix of the system measurements; updating R in the k state n Covariance matrix of (k | k):
e is an identity matrix; when the system enters the k +1 state, P (k | k) is assigned to P (k-1| k-1).
In the pseudo-range calculation, the pseudo-range from the receiver to the satellite may be set as R, and a calculation model is constructed through the pseudo-range observed quantity ρ, the pseudo-range from the receiver to the satellite R, and the receiver clock error τ, and satisfies the following formula:
xs, Ys, Zs are the computed satellite coordinates, and Xp, Yp, Zp are the observation station coordinates.
It should also be noted that the receiver measures pseudoranges comprising 3 coordinate component unknowns and 1 clock error unknowns. In order to solve for these 4 unknowns in real time to achieve an absolute position fix, pseudorange observations must be observed and obtained for at least 4 satellites simultaneously.
It should be noted that the numerical vector of the k-th received pseudorange is X. Here, X has pseudo range information of 4 satellites at the same time, and thus is a 4-dimensional vector, which includes:
in the above formula, the process model of the system is used to predict the system in the next state. Assuming that the present system state is k, according to the model of the system, the present state can be predicted based on the last state of the system:
now there is a prediction of the current state, and we then collect the measurements of the current state. Combining the predicted value and the measured value to obtain the optimized estimated value R of the current state (k) n (k|k)：
Up to now, the optimum estimated value R in the k state has been obtained n (k | k), but in order to keep the Kalman filter running until the system process is finished, R in the k state is updated n Covariance matrix of (k | k):
when the system enters the k +1 state, P (k | k) is assigned to P (k-1| k-1). Thus, the algorithm can be operated by autoregressive operation, namely, an always-on loop is formed, and stable data output of the pseudo range is continuously provided.
It should be noted that adding the L-band differential modification data to the pseudoranges to obtain the corrected pseudoranges can improve the positioning accuracy with less reception time.
On the other hand, steps S104 and S105 need to be described below.
In step S104, the modified pseudorange is subjected to filtering operation by using a kalman filtering algorithm to obtain a smoothed pseudorange, so that the positioning accuracy can be improved.
In step S105, coordinates of the receiver are calculated from the satellite data and the smoothed pseudorange.
It should be noted that, the position coordinates of the positioning time point corresponding to each satellite are obtained through ephemeris data that each satellite has; and calculating the position coordinates of the receiver at the positioning time point by using the position coordinates of at least four satellites at the positioning time point and at least four average pseudo ranges.
In an improved embodiment, original satellite data of GPS, BDS, GLONSS and GALILEO are acquired simultaneously, and pseudo-range differential calculation is carried out according to L-band differential modification data issued by a maritime satellite to obtain a first group of positioning information;
processing the satellite original data and the L-band differential modifier through an existing receiver positioning chip to obtain a second group of positioning information;
and comparing the first group of positioning information with the second group of positioning information, and selecting a group of data with high fixed rate and high signal-to-noise ratio as a navigation data source of the maritime receiver.
Example two
Referring to fig. 2, on the basis of the above embodiment, the present embodiment provides a navigation positioning device of a marine receiver, including:
the satellite data acquisition module 101 is used for acquiring satellite data from a satellite and erecting a reference station according to the satellite data;
an L-band differential modification data receiving module 102, configured to receive L-band differential modification data from the reference station and a maritime satellite data chain, where the L-band differential modification data includes a track error d d Ionospheric delay d ion Tropospheric delay d trop Residual error delta of satellite clock t ；
A pseudo-range acquisition and correction module 103, configured to acquire a pseudo-range from a receiver to a satellite, and add L-band differential modification data to the pseudo-range to obtain a corrected pseudo-range;
a pseudo-range filtering module 104, configured to perform filtering operation on the modified pseudo-range through a kalman filtering algorithm to obtain a smoothed pseudo-range;
and a coordinate positioning module 105, configured to calculate coordinates of the receiver according to the satellite data and the smoothed pseudorange.
It should be noted that the apparatus provided in this embodiment may be a result of modularization corresponding to the method described above, and may be implemented by a program module or a circuit module corresponding to the method described above. The technical problems solved by the device and the technical effects achieved by the device correspond to the method, and will not be described in detail herein.
EXAMPLE III
Referring to fig. 3, the present embodiment provides a computer apparatus 40 including: a processor 41, a memory 42 and a computer program.
A memory 42 for storing a computer program, which may also be a flash memory (flash). The computer program is, for example, an application program, a functional module, or the like that realizes the above method.
A processor 41 for executing the computer program stored in the memory to implement the steps performed by the apparatus in the above method. Reference may be made in particular to the description relating to the previous method embodiments.
Alternatively, the memory 42 may be separate or integrated with the processor 41.
When the memory 42 is a device separate from the processor 41, the apparatus may further include:
a bus 43 for connecting the memory 42 and the processor 41.
The present invention also provides a readable storage medium, in which a computer program is stored, and the computer program is used for implementing the method provided by the above-mentioned various embodiments when being executed by a processor.
The readable storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, a readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Additionally, the ASIC may reside in user equipment. Of course, the processor and the readable storage medium may also reside as discrete components in a communication device. The readable storage medium may be a read-only memory (ROM), a random-access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The present invention also provides a program product comprising execution instructions stored in a readable storage medium. The at least one processor of the device may read the execution instructions from the readable storage medium, and the execution of the execution instructions by the at least one processor causes the device to implement the methods provided by the various embodiments described above.
In the above embodiments of the apparatus, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for navigational positioning of a maritime receiver, comprising:
acquiring satellite data from a satellite, and erecting a reference station according to the satellite data;
receiving L-band differential modification data from the reference station and a maritime satellite data chain, the L-band differential modification data including a orbital error d d Ionospheric delay d ion Tropospheric delay d trop Residual error of satellite clock delta t ；
Acquiring a pseudo range from a receiver to a satellite, and adding L-band differential modification data to the pseudo range to obtain a corrected pseudo range;
carrying out filtering operation on the corrected pseudo range through a Kalman filtering algorithm to obtain a smooth pseudo range;
and calculating the coordinates of the receiver according to the satellite data and the smoothed pseudo range.
2. The method of claim 1, wherein said satellite data comprises: mean angular velocity n, normalized time of satellite operation
Mean angle of approach of satellite at time t
The off-near angle Es of the satellite at time t, the true-near angle
Angle of lift and cross
Perturbation and correction item (
，
，
) Perturbation correction (
，
，
) The position of the satellite in the orbital plane coordinate system (
，
) The satellite has spatial rectangular coordinates (X, Y, Z) in the earth-centered coordinate system.
3. The method of claim 2, wherein the average angular velocity n is calculated by the formula:
GM is the Earth's gravitational constant, defined in WGS84 as:
Δ n is the change in the average angular velocity, a s Is a satellite orbit long semi-axis.
4. The method of claim 3, in which the time of regression
Mean angle of approach of satellite at time t
The off-near angle Es of the satellite at time t, the true-near angle
Angle of lift and cross
Calculated by the following formula:
t oe is an epoch; m 0 For reference time t given in broadcast ephemeris oe Mean angle of approach, e s Is the eccentricity of the Kepler ellipse, e is the orbital eccentricity, ω 0 Latitude, omega, for orbital plane descent during the cycle s Is a near-to-location angle.
5. The method of claim 4, wherein the perturbation correction term (A: (B))
，
，
) Comprises the following steps:
6. The method of claim 5, wherein said perturbation correction (A), (B), or (C)
，
，
) Comprises the following steps:
the spatial rectangular coordinates (X, Y, Z) of the satellite in the geocentric coordinate system are as follows:
wherein the content of the first and second substances,
；Ω 0 = Ωt oe - GAST；Ω(t)=Ωt oe +Ω *（t - toe）；t oe for the value of the reference time, GAST is the true constancy of Greenwich at the start of the week, Ω is the angular velocity, Ω 0 Is omega t oe And the difference between the GAST and the GAST,
is the difference between Ω and GAST.
7. The method of claim 6, wherein said obtaining pseudoranges from the receiver to the satellites comprises:
calculating a pseudo range between each millisecond satellite and a receiver in a certain time range containing a certain positioning time point to obtain a plurality of original pseudo ranges; the certain time range comprises a starting time point to an ending time point; the positioning time point, the start time point and the end time point are different from each other;
filtering operation is carried out on a plurality of original pseudo ranges within a period of time by using a Kalman filtering algorithm, and stably output pseudo ranges are obtained;
let the value vector of the k-th received pseudorange be R n Such that:
a is a state transition matrix, R n (k | k-1) is the pseudorange obtained at the kth time, R n (k-1| k-1) is the pseudorange of the k-1 th measurement; b is a pseudo range speed change matrix, and U (k) is a control quantity of the current state;
predicting a system for a next state using a process model of the system; assuming that the current system state is k, the current state is predicted based on the previous state of the system according to the model of the system:
p (k | k-1) is R n (k | k-1) is the corresponding covariance matrix, P (k-1| k-1) is R n (k-1| k-1) corresponding covariance matrix,
a transposed matrix representing a, Q is a covariance matrix of the system process;
collecting the measured value of the current state, and combining the predicted value and the measured value to obtain the optimized estimated value R of the current state k n (k|k)：
H is a parameter of the measuring system, where K g For the kalman gain:
r is the covariance matrix of the system measurements; updating R in the k state n Covariance matrix of (k | k):
e is an identity matrix; when the system enters the k +1 state, P (k | k) is assigned to P (k-1| k-1).
8. An apparatus for navigational positioning of a marine receiver, comprising:
the satellite data acquisition module is used for acquiring satellite data from a satellite and erecting a reference station according to the satellite data;
an L-band differential modification data receiving module, configured to receive L-band differential modification data from the reference station and a maritime satellite data chain, where the L-band differential modification data includes a track error d d Ionospheric delay d ion Tropospheric delay d trop Residual error delta of satellite clock t ；
The pseudo-range acquisition and correction module is used for acquiring a pseudo-range from a receiver to a satellite, and adding L-band differential modification data to the pseudo-range to obtain a corrected pseudo-range;
the pseudo-range filtering module is used for carrying out filtering operation on the corrected pseudo-range through a Kalman filtering algorithm to obtain a smooth pseudo-range;
and the coordinate positioning module is used for calculating the coordinates of the receiver according to the satellite data and the smoothed pseudo range.
9. A computer device, comprising: a processor and a memory, the memory storing program modules, wherein the program modules, when executed on the processor, implement the method of any of claims 1-7.
10. A readable storage medium storing a program module, characterized in that the program module realizes the method according to any one of claims 1-7 when run on a processor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210795279.1A CN115079225A (en) | 2022-07-07 | 2022-07-07 | Navigation positioning method and device of marine receiver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210795279.1A CN115079225A (en) | 2022-07-07 | 2022-07-07 | Navigation positioning method and device of marine receiver |
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Cited By (2)
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| CN116520367A (en) * | 2023-07-04 | 2023-08-01 | 深圳市天龙世纪科技发展有限公司 | Satellite positioning security method and device based on Internet of things, electronic equipment and medium |
| CN117761740A (en) * | 2024-02-22 | 2024-03-26 | 开普勒卫星科技(武汉)有限公司 | precision desensitization algorithm for multi-system reference station receiver |
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| CN117761740A (en) * | 2024-02-22 | 2024-03-26 | 开普勒卫星科技(武汉)有限公司 | precision desensitization algorithm for multi-system reference station receiver |
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