CN217425696U - Global satellite navigation device - Google Patents
Global satellite navigation device Download PDFInfo
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- CN217425696U CN217425696U CN202123394458.4U CN202123394458U CN217425696U CN 217425696 U CN217425696 U CN 217425696U CN 202123394458 U CN202123394458 U CN 202123394458U CN 217425696 U CN217425696 U CN 217425696U
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Abstract
The utility model relates to a global satellite navigation device, it includes: a first satellite positioning antenna and a second satellite positioning antenna; the switch assembly is connected with the first satellite positioning antenna and the second satellite positioning antenna; a first satellite positioning receiver coupled to the first satellite positioning antenna; a second satellite positioning receiver connected to the switch assembly; a processing module connected to the first satellite positioning receiver and the second satellite positioning receiver; the switch assembly has a first state and a second state, and when the switch assembly is in the first state, the switch assembly connects the second satellite positioning antenna to the second satellite positioning receiver, and when the switch assembly is in the second state, the switch assembly connects the first satellite positioning antenna to the second satellite positioning receiver. Thus, it can have two modes, which can satisfy more applications.
Description
Technical Field
The utility model relates to a navigation field especially relates to a global satellite navigation device.
Background
Real Time Kinematic (RTK) positioning of a Global Navigation Satellite System (GNSS) is a low-cost and high-precision positioning technology. The global satellite navigation system includes GPS in the united states, GLONASS in russia, BEIDOU in china, GALILEO in the european union. Among them, GPS, BEIDOU and GALILEO navigation signals are based on Code Division Multiple Access (CDMA). Therefore, the frequency of the same frequency band signal is the same for different satellite signals. While GLONASS navigation signals are based on Frequency Division Multiple Access (FDMA).
As shown in fig. 1, signals of different code systems are broadcast simultaneously in multiple frequency bands at the satellite end of a satellite navigation system such as GPS/Beidou/Galileo/GLONASS. The navigation dual-frequency signal band frequency is between L1C/A/L1/E1/B1: 1561.098-1610 MHz, L2C/L2/B3/E6,1227.6-1278.75 MHz, L5/B2I/B2a/E5 a/E5B/L3: 1176.45-1207.14 MHz. Compared with a single-frequency receiver, the double-frequency receiver eliminates an ionosphere through the combination of observation values of different frequency bands, and therefore centimeter-level positioning accuracy is achieved in a long-distance RTK and PPP mode. Compared with a double-frequency receiver, the three-frequency receiver can effectively accelerate ambiguity fixing through combination of more frequency bands under long-distance RTK and PPP modes on one hand, so that RTK/PPP positioning convergence time is reduced, and on the other hand, the diversification of frequency is beneficial to resisting signal interference, so that the positioning reliability is improved. The navigation satellite receiver needs radio frequency to support enough channels and more powerful signal tracking acquisition processing capability if simultaneously receiving signals of multiple frequency bands of multiple satellite navigation systems. Based on the consideration of cost and positioning precision requirements, the GNSS tri-frequency receiver mainly appears in the traditional high-precision positioning application fields of mapping, construction, marine exploration and the like, and GNSS terminal equipment in the mass consumer market mainly takes a single-frequency/double-frequency receiver as a main part. STA8100/9100 chip of Ruyi Semiconductor (ST) supports L1/L2 and L1/L5 schemes, and AG3335 of Unico-launch department (MTK) supports L1/L5 schemes.
The GNSS/INS (inertial navigation system) integrated navigation system can estimate a heading from a difference between an INS solution and a GNSS solution through Kalman filtering in a moving state. However, in the static state, the accuracy of the heading angle mainly depends on the accumulated error of the angular velocity of the gyroscope, so the heading angle error is accumulated along with the time. In addition, when the INS system is initialized, relatively accurate attitude information is needed as an initial value, otherwise, convergence time is too long, and even convergence cannot be achieved. These problems are therefore usually solved by a dual antenna GNSS receiver solution.
With different user usage scenarios, the RTK technology is more and more challenging. When the interference affecting the linear transmission of electromagnetic waves exists in the surrounding environment of a user, such as trees, buildings and water surfaces, the transmission of the electromagnetic waves is affected to a certain extent. External interference causes the receiver to track interference with different influences on electromagnetic wave signals transmitted from the satellite segment, and the interference is represented as pseudo range, gross difference of Doppler observed values and cycle slip of carrier observed values on the observed value layer. When interference factors exist in the observed value, the precision and the accuracy of the RTK method are necessarily directly reduced.
Therefore, it is necessary to provide a solution to the above problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a global satellite navigation device, it both can support the satellite navigation location of the three frequencies of single antenna, can also support the satellite navigation location of the double-antenna double-frenquency.
In order to solve the technical problem, according to the utility model discloses an aspect, the utility model provides a global satellite navigation device, it includes: a first satellite positioning antenna and a second satellite positioning antenna; the switch assembly is connected with the first satellite positioning antenna and the second satellite positioning antenna; a first satellite positioning receiver coupled to the first satellite positioning antenna; a second satellite positioning receiver coupled to the switch assembly; a processing module connected to the first satellite positioning receiver and the second satellite positioning receiver; the switch assembly has a first state and a second state, and when the switch assembly is in the first state, the switch assembly connects the second satellite positioning antenna to the second satellite positioning receiver, and when the switch assembly is in the second state, the switch assembly connects the first satellite positioning antenna to the second satellite positioning receiver.
Compared with the prior art, the utility model discloses used two low-cost dual-frenquency satellite positioning receivers, both can support the three-frequency satellite navigation positioning of single antenna, can also support the dual-frenquency satellite navigation positioning of dual-antenna.
Drawings
FIG. 1 shows four satellite-supported frequency bands of a satellite navigation system;
fig. 2 is a schematic structural diagram of a gnss device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a gnss device according to another embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be given with reference to the accompanying drawings and preferred embodiments.
The utility model provides a global satellite navigation device, it has used two low-cost dual-frenquency satellite positioning receivers, both can support the three-frequency satellite navigation positioning of single antenna, can also support the satellite navigation positioning of dual-antenna dual-frenquency.
Fig. 2 is a schematic structural diagram of a gnss apparatus 100 according to an embodiment of the present invention. As shown in fig. 2, the global satellite navigation device 100 includes: a first satellite positioning antenna 110 and a second satellite positioning antenna 120, a switch assembly 130 connected to the first satellite positioning antenna 110 and the second satellite positioning antenna 120, a first satellite positioning receiver 140 connected to the first satellite positioning antenna 110, a second satellite positioning receiver 150 connected to the switch assembly 130, and a processing module 160 connected to the first satellite positioning receiver 140 and the second satellite positioning receiver 150.
The switch assembly 130 has a first state and a second state, the switch assembly 130 connects the second satellite positioning antenna to the second satellite positioning receiver 150 when the switch assembly 130 is in the first state, and the switch assembly connects the first satellite positioning antenna 110 to the second satellite positioning receiver 150 when the switch assembly is in the second state. In one embodiment, the switch assembly 130 includes a first switch coupled between the first satellite positioning antenna 110 and the second satellite positioning receiver 150 and a second switch coupled between the second satellite positioning antenna 120 and the second satellite positioning receiver 150, the second switch being on and the first switch being off when the switch assembly 130 is in the first state and the second switch being off and the first switch being on when the switch assembly 130 is in the second state.
The processing module 160 may control the switching assembly 130 to switch between a first state and a second state.
When the satellite positioning system is in the second state, the first satellite positioning receiver receives satellite positioning signals of a first frequency band and a second frequency band, the second satellite positioning receiver receives satellite positioning signals of a second frequency band and a third frequency band, the first satellite positioning antenna receives the satellite positioning signals of the first frequency band, the second frequency band and the third frequency band, the satellite positioning signals received by the first satellite positioning receiver and the second satellite positioning receiver form the satellite positioning signals of the first frequency band, the second frequency band and the third frequency band, and the processing module controls the satellite positioning signals based on the first frequency band, the second frequency band and the third frequency band to perform positioning, namely satellite navigation positioning with single antenna and three frequencies.
In the first state, the first satellite positioning receiver receives satellite positioning signals of a first frequency band and a second frequency band, the second satellite positioning receiver receives satellite positioning signals of the first frequency band and the second frequency band, the first satellite positioning receiver receives satellite positioning signals of the first frequency band and the second frequency band from the first satellite positioning antenna, the second satellite positioning receiver receives satellite positioning signals of the first frequency band and the second frequency band from the second satellite positioning antenna, and the processing module performs positioning based on the satellite positioning signals of the first frequency band and the second frequency band from the first satellite positioning antenna and the satellite positioning signals of the first frequency band and the second frequency band from the second satellite positioning antenna, namely dual-antenna dual-frequency satellite navigation positioning.
Thus, when the switch assembly 130 is in the first state, the gnss device 100 has two satellite positioning antennas, and can support dual-antenna dual-frequency satellite navigation positioning. When the switch assembly 130 is in the second state, the two satellite navigation receivers of the gnss apparatus 100 are connected to the same satellite navigation antenna, and can support single-antenna tri-band satellite navigation positioning.
The single-antenna tri-band satellite navigation positioning can be realized by adopting the prior art. The following scheme can also be adopted.
1. The same antenna, i.e. the first satellite based positioning antenna, is connected.
2. The satellite positioning receiver 1 receives L1/L2 frequency band signals, and the receiver 2 receives L1/L5 frequency band signals
3. And calculating to obtain satellite orbit clock error based on the satellite navigation data, and calculating a single-point positioning solution by combining with the observation data of the navigation satellite.
4. And sending the GNSS single-point solution to a navigation server according to a GPS0183 protocol GGA format, and providing an RTK correction number by the navigation server according to the position.
5. The receiver clock error and the clock error change rate are calculated by the difference of the L1 and L2 frequency range observed values of the satellite positioning receivers 1 and 2.
6. And correcting the receiver clock error and the clock error change rate of the L5 frequency range observed value of the receiver 2, and forming an L1/L2/L5 observed value with the L1/L2 frequency range observed value of the receiver 1.
7. And solving a baseline between the two antennae based on the data of the satellite positioning receivers 1 and 2, and determining an error sigma0 in unit weight of the navigation satellite observation value according to the calculated length of the baseline and the difference of the measured length.
8. And calculating the base line distance between the satellite positioning receiver and the base station, detecting the cycle slip of the navigation observation data, and determining a random noise model of the navigation satellite observation value.
9. And when the base line is less than 25 kilometers, forming a single-difference observation value based on the rover observation data and RTK correction, and estimating parameters such as position, speed, receiver clock error, ambiguity and the like by using Kalman filtering.
10. And when the base line is more than 25 kilometers, forming a single difference observation value based on the observation data of the mobile station and RTK correction, and fixing the ambiguity by using a three-frequency combined fixed ambiguity strategy so as to fix the ambiguities of a super-wide lane, a wide lane and a narrow lane.
The dual-antenna dual-frequency satellite navigation positioning can be realized by adopting the prior art. The following scheme can also be adopted.
1. Two antennas, a first satellite positioning antenna and a second satellite positioning antenna are connected.
2. And calculating to obtain satellite orbit clock error based on the satellite navigation data, and calculating a single-point positioning solution by combining with the observation data of the navigation satellite.
3. And sending the single-point solution to a navigation server according to a GPS0183 protocol GGA format, and providing an RTK correction number by the navigation server according to the sending position.
4. And detecting cycle slip of the navigation observation data, and determining a random model of the navigation satellite observation value noise.
5. And forming a single-difference observation value based on the rover observation data and RTK correction, and estimating parameters such as position, speed, receiver clock error, ambiguity and the like by using Kalman filtering.
6. And searching the integer ambiguity and verifying the correctness, and if the integer ambiguity passes the verification, substituting the integer ambiguity into filtering to obtain a fixed solution.
7. A baseline between the two antennas is resolved based on the satellite positioning receiver 1 and 2 data.
8. And determining the sigma0 in the unit weight of the navigation satellite observation value according to the baseline calculation length and the measurement length difference, and re-determining the random model of the navigation observation value noise.
9. And calculating the course according to the components in three directions of resolving the baseline north, east and elevation, and constraining course parameters in the integrated navigation filtering.
10. And combining Kalman filtering and IMU data to obtain the information of the position, the speed, the attitude and the like of the rover station.
In another embodiment, the switch assembly 130 further includes a third state, wherein the second switch is open and the first switch is open when the switch assembly is in the third state, wherein only the first satellite positioning antenna and the second satellite positioning receiver are operational. In this case, the global navigation satellite system 100 is used as the most common global navigation satellite system, and performs satellite navigation positioning with a single antenna and dual frequencies.
In one embodiment, the global satellite navigation device further comprises: an inertial sensing unit 170 connected to the processing module; and a wireless transmission module 180 for receiving and transmitting data.
The three-frequency RTK system and the dual-antenna dual-frequency RTK receiver are realized by combining two low-cost dual-frequency satellite positioning receivers. Compared with the prior art, the system has the following advantages:
when the base line between the rover station and the base station is short, the user can configure the dual-antenna dual-frequency RTK system, and more reliable attitude information can be provided.
When the base lines of the mobile station and the base station are longer, the combination of double-frequency and three-frequency observed values can be fully utilized, thereby fixing the ambiguity of ultra-wide lanes, wide lanes and narrow lanes, and improving the ambiguity fixing rate and the positioning accuracy.
And determining the post-test sigma0 of the observation value of the navigation satellite according to the baseline calculation length and the measurement length difference, and re-observing the random model of the observation value, so that the random model of the observation value is more consistent with the actual condition of the observation value.
Compared with the existing three-frequency RTK receiver and the existing double-antenna RTK system, the system can achieve similar performance but the cost is far lower than that of the existing three-frequency RTK receiver and the existing double-antenna RTK system.
Fig. 3 is a schematic structural diagram of a gnss device according to another embodiment of the present invention. As shown in fig. 3, the global satellite navigation device comprises: a satellite positioning antenna 110; a first satellite positioning receiver 140 connected to the satellite positioning antenna 110; a second satellite positioning receiver 150 connected to the satellite positioning antenna 110; a processing module 160 connected to the first satellite positioning receiver and the second satellite positioning receiver. The first satellite positioning receiver 140 receives satellite positioning signals of a first frequency band and a second frequency band, the second satellite positioning receiver 150 receives satellite positioning signals of a second frequency band and a third frequency band, the satellite positioning antenna 110 receives satellite positioning signals of the first frequency band, the second frequency band and the third frequency band, the satellite positioning signals received by the first satellite positioning receiver 140 and the second satellite positioning receiver 150 form satellite positioning signals of the first frequency band, the second frequency band and the third frequency band, and the processing module 160 controls positioning based on the satellite positioning signals of the first frequency band, the second frequency band and the third frequency band.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (9)
1. A global navigation satellite system, comprising:
a first satellite positioning antenna and a second satellite positioning antenna;
the switch assembly is connected with the first satellite positioning antenna and the second satellite positioning antenna;
a first satellite positioning receiver coupled to the first satellite positioning antenna;
a second satellite positioning receiver coupled to the switch assembly;
a processing module connected to the first satellite positioning receiver and the second satellite positioning receiver;
the switch assembly has a first state and a second state, and when the switch assembly is in the first state, the switch assembly connects the second satellite positioning antenna to the second satellite positioning receiver, and when the switch assembly is in the second state, the switch assembly connects the first satellite positioning antenna to the second satellite positioning receiver.
2. The global satellite navigation device of claim 1, wherein the switch assembly includes a first switch connected between the first satellite positioning antenna and the second satellite positioning receiver and a second switch connected between the second satellite positioning antenna and the second satellite positioning receiver, the second switch being on and the first switch being off when the switch assembly is in the first state, and the second switch being off and the first switch being on when the switch assembly is in the second state.
3. The global satellite navigation device of claim 1, wherein the switch assembly further comprises a third state, wherein the second switch is open and the first switch is open when the switch assembly is in the third state.
4. The global satellite navigation device of claim 1, further comprising:
and the inertial sensing unit is connected with the processing module.
5. The global satellite navigation device of claim 1, wherein in the second state, the first satellite positioning receiver receives satellite positioning signals of a first frequency band and a second frequency band, the second satellite positioning receiver receives satellite positioning signals of a second frequency band and a third frequency band, the first satellite positioning antenna receives satellite positioning signals of the first frequency band, the second frequency band and the third frequency band, the satellite positioning signals received by the first satellite positioning receiver and the second satellite positioning receiver constitute satellite positioning signals of the first frequency band, the second frequency band and the third frequency band, and the processing module controls positioning based on the satellite positioning signals of the first frequency band, the second frequency band and the third frequency band.
6. The global satellite navigation device of claim 1, wherein in the first state, the first satellite positioning receiver receives satellite positioning signals of a first frequency band and a second frequency band, the second satellite positioning receiver receives satellite positioning signals of the first frequency band and the second frequency band, the first satellite positioning receiver receives satellite positioning signals of the first frequency band and the second frequency band from the first satellite positioning antenna, the second satellite positioning receiver receives satellite positioning signals of the first frequency band and the second frequency band from the second satellite positioning antenna, and the processing module performs positioning based on the satellite positioning signals of the first frequency band and the second frequency band from the first satellite positioning antenna and the satellite positioning signals of the first frequency band and the second frequency band from the second satellite positioning antenna.
7. The global satellite navigation device of claim 1, wherein the processing module controls the switch assembly to switch between a first state and a second state.
8. The global navigation satellite system of claim 1, further comprising:
and the wireless transmission module is used for receiving and transmitting data.
9. A global navigation satellite system, comprising:
a satellite positioning antenna;
a first satellite positioning receiver coupled to the satellite positioning antenna;
a second satellite positioning receiver coupled to the satellite positioning antenna; a processing module connected to the first satellite positioning receiver and the second satellite positioning receiver;
wherein the satellite positioning signal of first frequency channel and second frequency channel is received to first satellite positioning receiver, and the satellite positioning signal of second frequency channel and third frequency channel is received to second satellite positioning receiver, the satellite positioning signal of first frequency channel, second frequency channel and third frequency channel is received to the satellite positioning antenna, and the satellite positioning signal of first frequency channel, second frequency channel and third frequency channel is constituteed to the satellite positioning signal that first satellite positioning receiver and second satellite positioning receiver received, the satellite positioning signal based on first frequency channel, second frequency channel and third frequency channel of processing module control fixes a position.
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| CN202123394458.4U CN217425696U (en) | 2021-12-30 | 2021-12-30 | Global satellite navigation device |
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| CN202123394458.4U CN217425696U (en) | 2021-12-30 | 2021-12-30 | Global satellite navigation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116338747A (en) * | 2023-03-14 | 2023-06-27 | 中国铁塔股份有限公司 | Positioning method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116338747A (en) * | 2023-03-14 | 2023-06-27 | 中国铁塔股份有限公司 | Positioning method and device |
| CN116338747B (en) * | 2023-03-14 | 2023-07-21 | 中国铁塔股份有限公司 | Positioning method and device |
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