CN205643718U - GPSBD -2 high accuracy differential positioning device - Google Patents
GPSBD -2 high accuracy differential positioning device Download PDFInfo
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- CN205643718U CN205643718U CN201620066725.5U CN201620066725U CN205643718U CN 205643718 U CN205643718 U CN 205643718U CN 201620066725 U CN201620066725 U CN 201620066725U CN 205643718 U CN205643718 U CN 205643718U
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- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Abstract
The utility model discloses a GPSBD 2 high accuracy differential positioning device, including a main website and a plurality of vice station that matches with the main website, does the main website include GPSBD 2 antenna, GPSBD 2 receiver and monitor platform, does vice station also include GPSBD 2 antenna and GPSBD 2 the receiver, monitor platform carries out assay and processing to the main website with the data at vice station, provides omnidirectional data acquisition, the differential data resolves and the control management is synthesized to the platform. The utility model discloses be applied to fields such as high accuracy survey and drawing, intelligent transportation, mechanical control, the system integration, precision agriculture, research institutions, universities and colleges, military affairs widely. Wide market potential and fine application prospect have.
Description
Technical field
This utility model belongs to Beidou II field of satellite navigation, is specifically related to a kind of GPS/BD-2 high-precision difference positioner.
Background technology
GPS alignment system is used to be used widely at numerous areas such as mapping, intelligent transportation, Mechanical course, precision agriculture, accurate time transmissions in recent years, development along with China's Beidou satellite navigation technology, use the Big Dipper to carry out hi-Fix to be possibly realized, and obtain continuous popularization.
Existing high-precision difference location equipment deficiency is: major part user still uses external OEM board or equipment, without independent intellectual property right, domestic similar products outward appearance and functionally major part imitate imported product, equipment appearance and internal structure are the most complicated, cost of manufacture is high, personalized customization degree is low, and equipment and software function are partial to mapping specialty, is not suitable for popularizing of other industry.
Utility model content
Goal of the invention: the purpose of this utility model is to solve the deficiencies in the prior art, a kind of GPS/BD-2 high-precision difference positioner is provided, this utility model uses the GPS/BD-2 dual system five high Online Integer engine of frequency, Satellite Observations is received continuously by the main website and three secondary station equipment (≤5min) at short notice being in diverse location, GPS is provided in the PC being connected with main website, BD-2 data acquisition and processing (DAP) software carries out difference resolving, except being provided that main website, relative site Differential positioning between secondary station, also the location, absolute site at each station it is provided that, the longest operation distance is up to 40km, up to Centimeter Level Differential positioning precision, support that overlength baseline E-RTK measures simultaneously, operation distance is the longest up to 300km.
Technical scheme: a kind of GPS/BD-2 high-precision difference positioner of the present utility model, including a main website and some secondary station of matching with main website, described main website includes GPS/BD-2 antenna, GPS/BD-2 receiver and monitor supervision platform, and described secondary station also includes GPS/BD-2 antenna and GPS/BD-2 receiver；Described GPS/BD-2 antenna receives GPS system L1/L2 and the satellite-signal of dipper system B1/B2/B3；And transmit to corresponding GPS/BD-2 receiver；Described GPS/BD-2 receiver tracking resolving GPS system L1/L2 and the satellite-signal of dipper system B1/B2/B3, including radio-frequency channel module, baseband processing module, application processing module and power supply and interface module；Carry out the radio frequency conversion to intermediate frequency after the satellite-signal of described radio-frequency channel module reception GPS/BD-2 antenna transmission, be then input to baseband processing module；Described baseband processing module is in communication with each other with application processing module, and application processing module and power supply and interface module are connected with each other；The data of main website and secondary station are analyzed and process by described monitor supervision platform, and data acquisition, Data Analysis Services, in real time monitoring, diversified alarming processing and intelligent automatic control function are integrated in one, it is provided that omnibearing data acquisition, differential data resolve and platform comprehensive monitoring management.
Wherein, main website and secondary station are placed on different location and receive the Satellite Observations of belonging positions point simultaneously, after reaching the time specified, the Satellite Observations of associating main website and secondary station carries out difference resolving, obtain high-precision Differential positioning data, described in check the mark location packet containing the longitude at major and minor station, latitude, highly, the earth's core body-fixed coordinate system, east, north, sky, the information such as the length of base.
Further, described GPS/BD-2 antenna include antenna radiation unit with and the antenna LNA circuit unit that is connected with antenna radiation unit, antenna radiation unit includes axisymmetric four distributing points.
Further, described radio-frequency channel module includes BD2 passage and GPS passage, use the integrated chip of MAX2769 and be integrated with AD on amplifier, frequency mixer, variable gain amplifier, detection controller, phaselocked loop, intermediate-frequency filter and sheet.
Further, described baseband processing module includes BD2 Base-Band Processing passage and GPS Base-Band Processing passage, is in communication with each other with application processing module respectively and is connected.
Further, described power supply and interface module include power module and interface module, the 48V voltage that outside is inputted by power module is converted into the running voltage that each functional module of terminal needs, and realizes isolated from power simultaneously, and uses floated earth-free and Anti-surging process；Receiver and external equipment are carried out information exchange by described interface module, will the positioning result of receiver export to external equipment by the agreement of external equipment requirement, receive auxiliary positioning information and the order of external equipment simultaneously, and interface module is by the signal isolation of receiver with external equipment.
Further, the quantity of described secondary station is 1～50.
Above-mentioned monitor supervision platform is embedded with data acquiring and recording software and difference resolves software
Beneficial effect: this utility model is to main website and the power consumption of secondary station, cost and data transmission rates demands are the most relatively low, serial ports is minimum supports 19200bps, main website and secondary station are managed by administrative center after delivering to administrative center and control by the satellite data gathered, data communication can be realized by data radio station or GSM/3G network, Tong Guo data radio station in 40km transmits data, more than 40km can be transmitted by networks such as GSM/3G, this utility model is that middle and long distance operation provides different solutions, under the pattern of the many secondary station of single main website, realize collection and the resolving of wireless remote satellite data, in the case of main website position determines, each secondary station can obtain the positioning precision of Centimeter Level, high precision position data, services is provided for upper strata sector application.
This utility model uses low power dissipation design, all components and parts all can use domestic high-quality chip substituting import one chip to make the localization rate of parts and components reach more than 95%, and hardware internal structure external structure can be simplified for amateur Surveying and Mapping Industry, use integrated level high, compatible good and undersized board, hardware and software feature uses succinct, efficient design style, reduction technology uses threshold, on apparatus and process and component purchase, is substantially reduced equipment development production cost.
In sum, this utility model is widely used in the fields such as high accuracy mapping, intelligent transportation, Mechanical course, the system integration, precision agriculture, scientific research institutions, universities and colleges, military affairs.There is wide market potential and fine application prospect.
Accompanying drawing explanation
Fig. 1 is the internal composition frame chart of GPS/BD-2 receiver in this utility model；
Fig. 2 is the handling process schematic diagram of this utility model Satellite signal；
Fig. 3 is general frame schematic diagram of the present utility model；
Fig. 4 is the hardware block diagram in this utility model；
Fig. 5 is the circuit diagram of power module in this utility model；
Fig. 6 is voltage and current measuring circuit schematic diagram in this utility model；
Fig. 7 is the board circuit diagram in utility model；
Fig. 8 is Phototube Coupling and level shifting circuit figure in this utility model；
Fig. 9 is single-chip microcomputer and LED light circuit diagram in this utility model；
Figure 10 is embedded software data decoding process flow chart in this utility model；
Figure 11 is the flow chart that in this utility model, part is seen in management；
Figure 12 is that in this utility model, data resolve flow chart.
Detailed description of the invention
Below technical solutions of the utility model are combined accompanying drawing to be described in detail.
As shown in Figure 1 and Figure 4, a kind of GPS/BD-2 high-precision difference positioner of the present utility model, including a main website and some secondary station of matching with main website, described main website includes GPS/BD-2 antenna, GPS/BD-2 receiver and monitor supervision platform, and described secondary station also includes GPS/BD-2 antenna and GPS/BD-2 receiver；Described GPS/BD-2 antenna receives GPS system L1/L2 and the satellite-signal of dipper system B1/B2/B3；And transmit to corresponding GPS/BD-2 receiver；Described GPS/BD-2 receiver tracking resolving GPS system L1/L2 and the satellite-signal of dipper system B1/B2/B3, including radio-frequency channel module, baseband processing module, application processing module and power supply and interface module；Carry out the radio frequency conversion to intermediate frequency after the satellite-signal of described radio-frequency channel module reception GPS/BD-2 antenna transmission, be then input to baseband processing module；Described baseband processing module is in communication with each other with application processing module, and application processing module and power supply and interface module are connected with each other；The data of main website and secondary station are analyzed and process by described monitor supervision platform, and data acquisition, Data Analysis Services, in real time monitoring, diversified alarming processing and intelligent automatic control function are integrated in one, it is provided that omnibearing data acquisition, differential data resolve and platform comprehensive monitoring management.
Embodiment 1:
As shown in table 1, the present embodiment is made up of GPS/BD-2 receiver, GPS/BD-2 antenna, data acquiring and recording software, difference resolving software and monitor supervision platform, carry out transmitting satellite data by this utility model with data radio station or GSM/3G network technology, complete the remote high-precision Differential positioning work that control was observed and managed to gathering of the target area location point satellite information to secondary station place, difference resolves synergistically.
Table 1
Main website is made up of GPS/BD-2 receiver and GPS/BD-2 antenna two parts with secondary station core component.GPS/BD-2 receiver can follow the tracks of resolving GPS system L1/L2, dipper system B1/B2/B3 satellite-signal simultaneously, and GPS/BD-2 antenna receives BDS B1/B2/B3 frequency, GPS L1/L2 frequency GNSS satellite semiotic function.
Wherein, BDS B1/B2/B3 frequency, GPS L1/L2 frequency GNSS satellite semiotic function are connect due to this utility model Satellite navigation antenna.Satellite receiver antenna uses BD-2 B1/B2, GPS L1/L2 All-in-One active antenna form, the satellite-signal of 5 frequencies of BD-2/GPS dual system can be received simultaneously and carry out active power filtering, amplification, corresponding band provides gain, ensure the reception of weak navigation satellite-signal, be then transferred to satellite reception machine host by radio-frequency cable.Satellite receiver antenna is made up of antenna radiation unit and circuit unit.
Antenna radiation unit: owing to comprising 5 frequencies of bis-navigation system of BD-2, GPS, and owing to GPS L1 and BD-2 B1 frequency are close, therefore these two frequencies share an aerial radiation sheet, use perturbation method to realize the circular polarization characteristics in wider band section；And other three frequency frequency phase-differences of BD-2 B2/B3, GPS L2 frequency are farther out, the most individually realize with another aerial radiation sheet, the signal that two radiation fins use laminated antenna mode to receive 5 frequencies respectively.
In the present embodiment, for realizing the high stability of satellite navigation aerial phase center, antenna radiation unit had axial symmery shape, the feed point of antenna has axial symmery shape simultaneously, so far-field phase directional diagram of antenna is also axisymmetric, therefore on fixed elevation, the phase center of antenna does not changes with azimuthal change, the phase center of antenna is the most stable, this technology being accomplished by using multiple feeds feed, in general the distributing point of antenna is the most, the phase center of antenna is the most stable, but it is not that feed point is The more the better in practice, this complication that can cause antenna feeding network and unnecessary network differential loss, therefore this utility model uses four feed point feeds, now the Phase center stability of antenna is higher, feeding network the most easily realizes relatively.
Antenna LNA circuit unit: consider layered structure antenna radiation unit, antenna is relatively independent in the feed point of BD-2 B1, GPS L1 frequency range and BD-2 B2/B3, GPS L2 frequency range, therefore antenna circuit design is also divided into relatively independent two paths, and two-way merges output after amplifying.Consider that antenna must possess certain capacity of resisting disturbance requirement, add the dielectric filter of filter with low insertion loss in LNA prime, it is ensured that circuit has certain Out-of-band rejection ability, and power supply is by amplifier out feed-in.
As shown in Figures 5 to 9, the internal composition of GPS/BD-2 receiver is as follows:
(1) radio-frequency channel module, the satellite-signal that radio-frequency channel module receiver antenna sends, complete to receive the radio frequency processing function of signal, it is achieved receive the signal RF conversion to intermediate-freuqncy signal, it is provided that the input of baseband processing module.
In order to meet the requirement of system low-power consumption, radio-frequency channel module uses small number of device, GPS_L1, BD2 B1 passage selects this integrated chip of MAX2769, it has been internally integrated on amplifier, frequency mixer, variable gain amplifier, detection controller, phaselocked loop, intermediate-frequency filter, sheet AD etc., can export after adding the peripheral components of necessity after satellite-signal carrying out down coversion and being adjusted to constant power.
(2) baseband processing module, baseband processing module comprises the functions such as A/D conversion, Digital Down Convert, the capture of baseband signal, tracking and text process.
A/D conversion functional module according in design objective to sampled signal and the requirement of signal bandwidth, simultaneously according to sampling precision and the requirement of sampled signal dynamic range, select suitable A/D chip to realize the digital signal conversion of each reception signal.
Digital Down Converter Module carries out down-converted to each baseband signal, is the broadband signal containing multiplex (MUX) owing to receiving signal, and IF process to extract lying in wherein each satellite-signal.
The capture of baseband signal, tracking, be mainly used in realizing this locality by local code generator and local carrier generator and reappear reception pseudo-code and receive carrier signal, it is achieved the solution harmonic solution receiving signal expands function.Acquisition Scheme method based on matched filtering device+FFT realizes, and utilizes Costas ring and DLL ring to complete the continuous tracking to each capture satellite-signal, and then the extraction of the demodulation of complete pair signals, despreading and observation vector after capture.
Text has processed the functions such as the BIT synchronization of satellite message, frame synchronization, completes the extraction of satellite message, is used for follow-up application processing module.
Baseband hardware main circuit in baseband processing module to be made up of parts such as FPGA, DSP, external interface, debugging interface, clock, power supplys.DSP function is realized acquisition and tracking and navigation calculation function by OMAPL138.OMAPL138 is used for the acquisition and tracking assisting FPGA to complete baseband signal；OMAPL138 has been used for the navigation calculation of the various station-keeping modes of GPS, BD-2 system, the function such as communication completing each interface.The M24M01-DFCS6TP/K having selected ST company preserves current almanac, position, temporal information and satellite ephemeris, it is achieved thermal starting, and this chip capacity is 1Mbit, supports the read-write clock of 1MHz.
(3) application processing module, application processing module mainly realizes decoding and navigation calculation two large divisions's function of navigation message.Decoding function module completes the confirmation of the error checking and correction of binary-coded decimal, decoding, parameter configuration, host-host protocol, and navigation message resolves and the parsing of satellite almanac.Navigation calculation functional module has been mainly used in the resolving to receiver real time position and velocity information.
(4) power module, power module realizes the voltage that outside inputs is converted into the running voltage that each functional module of receiver needs, realizes isolated from power simultaneously.Power module realizes the 48V voltage that outside inputs is converted into the running voltage that each functional module of terminal needs, and realizes isolated from power simultaneously.It has wide input voltage range: 3.4V to 65V, high efficiency simultaneously operating, 2.5 μ A quiescent current synchronous buck type manostat, 3.3v 2A output characteristic to select Linear power supply LT8620, select a piece of LM26480 the most again, this chip can provide 2 road maximum currents to be the voltage of 1.5A, 2 road maximum currents are the voltage of 0.3A, and conversion efficiency higher (about 95%), it is possible to meet the power supply requirement of system 1.2V, 1.8V.
It addition, power module uses floated earth-free and Anti-surging process, the operating that normally works for receiver device provides stability and Reliability Assurance
(5) interface module, interface module for the information exchange of receiver machine and external equipment, the positioning result of receiver will be exported to external equipment by the agreement of external equipment requirement, receives auxiliary positioning information and the order of external equipment simultaneously.Additionally, interface module also realizes the signal isolation of receiver and external equipment.
Receiver comprises two external universal asynchronous receiving-transmitting data communication interfaces (input and output during pulse per second (PPS) pair, GPS/BD-2 satellite data input and output), it is RS422 level standard, data-interface uses JY27466T15F15SN standard aviation plug, completes the temporal information output of GPS (BD-2), One-Point Location data, the output of initial data data.
Power interface in the present embodiment uses J599/20JA98PN standard aviation plug, provides DC+48V to access.
As in figure 2 it is shown, satellite-signal handling process includes successively: capture, follow the tracks of, synchronize, frame extraction, PVT calculating, difference resolving, the flow process such as agreement output.
Signal capture: receiver is before commencing signal is followed the tracks of, it is necessary first to estimate carrier frequency and the code phase the two parameter receiving signal, then initialize track loop according to these signals.The purpose of signal capture is precisely in order to obtain the carrier frequency of all visible satellite signals and the rough estimate value of code phase.
Signal trace: in the signal trace stage, signalling channel from acquisition phase obtain to this satellite signal carrier frequency current and the rough estimate value of code phase, by the track loop progressively fine estimation to the two signal parameter, export the various observed quantities to signal simultaneously.
Synchronize and frame extracts: after signal stabilization is followed the tracks of, it is thus necessary to determine that the bit edge of signal, and then mate corresponding frame head, extract corresponding frame information.
PVT calculates: according to the frame information obtained and original observed quantity, it is possible to establish an equation, solve the information such as the position of user, speed, time.
Difference resolve: receiver by receive base station broadcast difference correction amount, for improving positioning precision.The starting point of differential system essentially consists in elimination satellite clock, satellite ephemeris, ionosphere time delay and to flow process delay time error.
Agreement exports: generate the output of corresponding agreement according to corresponding protocol requirement packing data.
As shown in Figure 10 to Figure 12, in this utility model, software section includes the management software of system embedment formula software and host computer.
This embedded software developing uses IAR Embedded Workbench Evaluation for MSP430 V3 IDE, specifically includes that other process etc. such as satellite data acquisition processes, data decode (resolving) process, the functional configuration of mainboard, control manages, LED state shows.Control radio-frequency channel module for organization and administration and coordination Satellite Observations is acquired, and utilize other functional modules decoding data to collecting and application to process, and sent by interface module and receive data, make system have good instrumentality, stability and autgmentability.
This collection and resolving control programming and use VC++6.0 high-level programming language as developing instrument, its software includes that monitoring center controls interface and initialization program, the acquisition and recording of packet, the transmitting-receiving process of control instruction, data difference resolving process and result output preservation etc..
Software system, the monitoring of perfect whole equipment and management function, it is achieved the data of main website and secondary station are analyzed, process；The multiple functions such as data acquisition, Data Analysis Services, monitoring, diversified alarming processing, intelligent automatic control in real time are concentrated on a unified platform, is provided that omnibearing data acquisition, differential data resolving, platform comprehensive monitoring management.
This utility model main feature is as follows:
Support GPS L1/L2, BDII B1/B2/B3, double star five frequency；Support single system location-independent and multisystem combined location；Data format compatibilities: the industry standard formats such as NMEA, RTCM, RINEX；Support 1PPS output；Support short, in, Long baselines, single base station operation distance is the longest up to 40km；Supporting that overlength baseline E-RTK measures, operation distance is the longest up to 300km；Intelligent Dynamic sensitivity signal tracking technique, adapts to the conversion of various environment, adapts to more badly, more remote localizing environment；Highly reliable carrier tracking technique, substantially increases carrier wave precision, provides the user high-quality original observed data；The compatible physical size of import board, electric interfaces and instruction message, alternative import board；Volume is little, lightweight, low in energy consumption；Device hardware structure and software function are succinct, efficient, are suitable to sector application and promote；Self-defined high-precision bulletin literary composition, it is easy to data transmission and the application and development of software kit；Support to customize service, the specific demand of different industries application can be met.Monitoring and control management software in this utility model can use existing software system to be managed monitoring.
This utility model major function is as follows:
(1) gather and process function: mainly current location information residing for each website detected, sample and the pretreatment of necessity, difference resolving process, and with certain form output, such as storage or printing data report form, display real time data information etc..High-precision difference is provided to position data, for further analyzing and calling process for management personnel.
(2) supervisory role: by the real time data detected, also have field personnel to be analyzed in the situation data of actually used operation, conclude, arrange, the secondary operations such as calculating, exercise supervision management.
(3) management function: utilize effective data that oneself has, form, Data Quality Analysis module etc. that working condition is analyzed, fault diagnosis, alarm.
(4) application function: provide each website high-precision difference location data file query, derive, the function such as issue, and third party's interface and agreement call, for transferring, inquire about and analyzing, for native system and tension management application etc..
(5) control function: on the basis of monitoring, carry out Information procession, formed according to the control strategy being determined in advance and control output, directly act on control management.
(6) can realize automatically gathering, record, analyze, process, control, alarm etc. function.
Claims (6)
1. a GPS/BD-2 high-precision difference positioner, it is characterized in that: include a main website and the some secondary station matched with main website, main website and secondary station are placed on different location and receive the Satellite Observations of belonging positions point simultaneously, after reaching the time specified, the Satellite Observations of associating main website and secondary station carries out difference resolving, obtains high-precision Differential positioning data；Described main website includes GPS/BD-2 antenna, GPS/BD-2 receiver and monitor supervision platform, and described secondary station also includes GPS/BD-2 antenna and GPS/BD-2 receiver；
Described GPS/BD-2 antenna receives GPS system L1/L2 and the satellite-signal of dipper system B1/B2/B3；And transmit to corresponding GPS/BD-2 receiver；
Described GPS/BD-2 receiver tracking resolving GPS system L1/L2 and the satellite-signal of dipper system B1/B2/B3, including radio-frequency channel module, baseband processing module, application processing module and power supply and interface module；Carry out the radio frequency conversion to intermediate frequency after the satellite-signal of described radio-frequency channel module reception GPS/BD-2 antenna transmission, be then input to baseband processing module；Described baseband processing module is in communication with each other with application processing module, and application processing module and power supply and interface module are connected with each other；
The data of main website and secondary station are analyzed and process by described monitor supervision platform, and data acquisition, Data Analysis Services, in real time monitoring, diversified alarming processing and intelligent automatic control function are integrated in one, it is provided that omnibearing data acquisition, differential data resolve and platform comprehensive monitoring management.
GPS/BD-2 high-precision difference positioner the most according to claim 1, it is characterized in that: described GPS/BD-2 antenna include antenna radiation unit with and the antenna LNA circuit unit that is connected with antenna radiation unit, antenna radiation unit includes axisymmetric four distributing points.
GPS/BD-2 high-precision difference positioner the most according to claim 1, it is characterized in that: described radio-frequency channel module includes BD2 passage and GPS passage, use the integrated chip of MAX2769 and be integrated with AD on amplifier, frequency mixer, variable gain amplifier, detection controller, phaselocked loop, intermediate-frequency filter and sheet.
GPS/BD-2 high-precision difference positioner the most according to claim 1, it is characterised in that: described baseband processing module includes BD2 Base-Band Processing passage and GPS Base-Band Processing passage, is in communication with each other with application processing module respectively and is connected.
GPS/BD-2 high-precision difference positioner the most according to claim 1, it is characterized in that: described power supply and interface module include power module and interface module, the 48V voltage that outside is inputted by power module is converted into the running voltage that each functional module of terminal needs, realize isolated from power simultaneously, and use floated earth-free and Anti-surging process；Receiver and external equipment are carried out information exchange by described interface module, will the positioning result of receiver export to external equipment by the agreement of external equipment requirement, receive auxiliary positioning information and the order of external equipment simultaneously, and interface module is by the signal isolation of receiver with external equipment.
GPS/BD-2 high-precision difference positioner the most according to claim 1, it is characterised in that: the quantity of described secondary station is 1～50.
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| CN201620066725.5U CN205643718U (en) | 2016-01-22 | 2016-01-22 | GPSBD -2 high accuracy differential positioning device |
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| CN201620066725.5U CN205643718U (en) | 2016-01-22 | 2016-01-22 | GPSBD -2 high accuracy differential positioning device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106872998A (en) * | 2017-04-26 | 2017-06-20 | 成都国星通信有限公司 | A kind of difference GNSS positioning and communicating devices based on RDSS |
| CN107991697A (en) * | 2016-10-26 | 2018-05-04 | 杭州中科微电子有限公司 | A kind of multi-frequency multi-mode RTK alignment systems |
| CN108594276A (en) * | 2018-05-02 | 2018-09-28 | 北京七维航测科技股份有限公司 | Positioning and orientation system |
| CN109031369A (en) * | 2018-08-01 | 2018-12-18 | 河北森茂电子科技有限公司 | Data-encoding scheme and device suitable for Beidou GPS dual system differential data format |
| CN109581418A (en) * | 2018-12-18 | 2019-04-05 | 上海申贝科技发展有限公司 | A kind of arc sag on-line detecting system and detection method based on Differential positioning |
| CN109856661A (en) * | 2018-12-18 | 2019-06-07 | 中国电子科技集团公司第五十四研究所 | A kind of decentralization multistation high-precision relative position acquisition methods |
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2016
- 2016-01-22 CN CN201620066725.5U patent/CN205643718U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107991697A (en) * | 2016-10-26 | 2018-05-04 | 杭州中科微电子有限公司 | A kind of multi-frequency multi-mode RTK alignment systems |
| CN107991697B (en) * | 2016-10-26 | 2021-08-03 | 杭州中科微电子有限公司 | Multi-frequency multi-mode RTK positioning system |
| CN106872998A (en) * | 2017-04-26 | 2017-06-20 | 成都国星通信有限公司 | A kind of difference GNSS positioning and communicating devices based on RDSS |
| CN108594276A (en) * | 2018-05-02 | 2018-09-28 | 北京七维航测科技股份有限公司 | Positioning and orientation system |
| CN109031369A (en) * | 2018-08-01 | 2018-12-18 | 河北森茂电子科技有限公司 | Data-encoding scheme and device suitable for Beidou GPS dual system differential data format |
| CN109581418A (en) * | 2018-12-18 | 2019-04-05 | 上海申贝科技发展有限公司 | A kind of arc sag on-line detecting system and detection method based on Differential positioning |
| CN109856661A (en) * | 2018-12-18 | 2019-06-07 | 中国电子科技集团公司第五十四研究所 | A kind of decentralization multistation high-precision relative position acquisition methods |
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