KR101667331B1 - Apparatus for getting signal quality of base station of plurality satellite navigation - Google Patents

Apparatus for getting signal quality of base station of plurality satellite navigation Download PDF

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KR101667331B1
KR101667331B1 KR1020150145667A KR20150145667A KR101667331B1 KR 101667331 B1 KR101667331 B1 KR 101667331B1 KR 1020150145667 A KR1020150145667 A KR 1020150145667A KR 20150145667 A KR20150145667 A KR 20150145667A KR 101667331 B1 KR101667331 B1 KR 101667331B1
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South Korea
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data
signal quality
error
navigation
observation
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KR1020150145667A
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Korean (ko)
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정진호
박용희
문준철
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주식회사 두시텍
대한민국(국립전파연구원 우주전파센터장)
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment

Abstract

The present invention relates to an apparatus and method for acquiring a reference station signal quality in a quasi-real-time concept for monitoring a plurality of satellite navigation regular station reference station signals, and a data service providing method based thereon.
It is possible to calculate the signal quality information, pseudorange error, and navigation position error by collecting real-time observation data of the satellite navigation system which is distributed all over the whole country in the whole area, and the sunspot explosion such as solar wind, solar radio wave, earth magnetic field, (L1), GPS (L1), and L2 (L2) signal quality of each satellite according to the frequency of the satellite navigation service of each reference country, To provide error data information on station signal quality.

Description

[0001] The present invention relates to an apparatus and method for acquiring a signal quality of a satellite navigation reference station,

The present invention relates to an apparatus and method for acquiring signal quality of a plurality of satellite navigation reference stations, and more particularly, to an apparatus and method for acquiring signal quality information, pseudo range error, (GPS), GPS (Global Positioning System), GPS (Global Positioning System), GPS (Global Positioning System), GPS (Global Positioning System) (L1, L2) signal quality to provide error data information on the reference station signal quality.

In order to obtain geodetic surveying and precise location information, satellite real-time or post-processing data of satellite navigation information observed by National Oceanographic Survey Institute, National Geographic Information Institute, Korea Astronomy Observatory, National Institute of Radiological Research, It is most important to know.

There are several methods to obtain the accurate location of users, such as accessing the National Maritime Position Information Center and the Korea National Geographic Information Center to acquire or correct location information, but they have disadvantages.

In order to obtain precise location information, it is used in geodetic survey and academic research depending on the reference station. However, the signal quality of the reference station may be deteriorated due to malfunction, aging, natural disasters and cosmic disasters in many reference stations.

On the other hand, when relying on precise location information depending on the existing reference station, it is used without any confirmation of the reliability of the signal quality in the case where the position recognition error due to the temporary solar storm and space change occurs, Data service method. However, since the general satellite navigation correction depends on one reference station, satellite navigation data quality is deteriorated due to causes such as satellite navigation receiver failure, antenna failure, cable failure, sunspot explosion, and disturbance of the ionosphere due to geomagnetic disturbance And it is expected that the damage due to errors in the precision position service such as geodesy / surveying will be considerably large.

Therefore, in the actual reference station service, a method of mainly recognizing the signal quality service information of the reference station has been mainly used.

In addition, although a monitoring station monitoring the signal quality of one or two reference stations is separately operated to identify the signal quality of the reference station in each region and provide a data service based on the signal quality, There is a problem that it is difficult to identify the signal quality by operating different satellite navigation equipment in different countries.

Prior art related to the method of providing precise location service using satellite navigation is Korean Patent Application No. 10-2011-0046213 (integrated surveillance enhancement system for monitoring multi-satellite navigation status), Korean Patent Application No. 10- 2011-0046225 (Multi-satellite navigation error detection and analysis apparatus).

The Korean patent application No. 10-2011-0046213 relates to the radio signal quality and monitoring in the reference station with several satellite navigation receivers in the reference station itself.

Korean Patent Application No. 10-2011-0046225 discloses an error detection and analysis method of satellite navigation correction information using the reference station own information.

Korean Patent Application No. [10-2011-0046213] (Filing Date: May 17, 2011) Korean Patent Application No. [10-2011-0046225] (Filing Date: May 17, 2011)

The present invention has been devised to solve the above-mentioned problems, and various government agencies and local governments such as the National Maritime Information Center, National Geographic Information Center, Korea Astronomy and Space Science Institute, An object of the present invention is to provide an apparatus and method for acquiring signal quality of a stationary observation reference station in operating a reference station (CORS: Continuously Operating Reference Station)

In addition, the present invention collects observation data of a satellite navigation regular observation station distributed across a large number of organs in real time to calculate signal quality information, a pseudo range error, a navigation position error, and calculates solar wind, solar radio wave, earth magnetic field, The results of the analysis are summarized as follows. First, we analyze the effect of the explosion on the satellite navigation system and analyze the integrated information of each base station. L1, L2) signal quality to provide error data information on the reference station signal quality.

The present invention also relates to a method and apparatus for measuring a real time kirametic (RTK), a reference point for a virtual reference station (VRS), a data postprocessing reference point, an academic research, etc. using a plurality of reference stations If the station is abnormal, it is expected that the damage will be considerable due to signal errors in the utilization of civil engineering, architecture, unmanned mobile object, etc. Therefore, a method of identifying signal quality and data based thereon The purpose of the service is to provide,

A plurality of satellite navigation reference station signal quality acquisition apparatuses according to an embodiment of the present invention includes: a plurality of satellite navigation regular observation signal monitoring stations 100; A data conversion unit 200 for signal quality identification; A data unit 300 and a data service unit 400 for acquiring the converted signal to obtain a signal quality,

The data conversion unit 200 for identifying the signal quality comprises an Ntrip Client for receiving data and acquiring data through a network data transmission Ntrip communication method of a plurality of satellite navigation regular observation signal monitoring stations 100, (RINEX: Receiver Independent EXchange Format (RINEX) protocol), which is different from the RTCM (Radio Technical Commission for Maritime) protocol version, And converts and stores the data for calculating the satellite identification signal quality according to the time synchronization of each satellite navigation standard station,

The data unit 300 for acquiring the signal quality receives data stored in the data conversion unit 200 for signal quality identification and stores the data in a database through an observation signal quality check, a calculation of a pseudorange error, and a satellite navigation process for each user ,

The observation signal quality inspection can be performed by using a GNSS Quality Check (GSSS) in the number of GPS / GLONASS observation data, a multi-path, a cycle-slip, It is calculated through space weather data and information,

In the calculation of the pseudorange error, a plurality of continuous stations accurately know their positions and can calculate the position of the satellite using the ephemeris information, so that the actual distance between the satellite and the receiver can be calculated, The pseudorange error can be calculated using the difference. The pseudorange error is calculated using the absolute position of each station. The calculated value is calculated to be the same as the PRC value of the code DGPS and stored in the database.

The user-specific satellite navigation method calculates the navigation position error of each station using the observation data received from the regular observation station, calculates the navigation error of each user for the analysis of various user-specific positional accuracy for each GNSS receiver, Implement GLONASS L1 and L1 / L2 dual frequency navigation solutions to calculate navigation position errors and include GLONASS using the least squares method used in GPS alone navigation.

Also, a method for acquiring a plurality of satellite navigation reference station signal qualities according to an embodiment of the present invention includes: a plurality of satellite navigation regular observation signal monitoring stations 100; A data conversion unit 200 for signal quality identification; In a device including a data part (300) and a data service part (400) for acquiring the converted signal to obtain signal quality, a method for acquiring a plurality of satellite navigation reference station signal qualities comprises: Receiving the stored data of the conversion unit and performing an observation signal quality check;

A pseudorange error calculation is performed; And a user-specific satellite navigation is performed

The step of performing the observation signal quality inspection may comprise the step of comparing the GNSS Quality Check with the number of GPS / GLONASS observation data, a multi-path, a cycle-slip, The number of observations is the number of GNSS data observed during the predetermined time in the process of interoperating the information of the space weather data when the sunspot explosion occurs, and storing the result in the database. The GPS / GLONASS standard The total number of observation data, the number of complete observation data, the number of deletion data, and the mask angle application data are calculated by inputting RINEX obs and nav file as the number of observation data at a predetermined interval (epoch)

Multipath error is the error that occurs due to the interaction between the signal arriving at the receiver and the signal arriving directly from the satellite to the signal tracker inside the receiver, which is the biggest error factor in the urban area. Pseudo distance and carrier wave observations. Cycle slip calculates the ionospheric delay error using the dual frequency carrier observations. If the rate of change of the ionospheric delay exceeds a certain threshold,

In the step of calculating the pseudorange error, a plurality of continuous stations accurately know their positions and can calculate the position of the satellite using the ephemeris information, so that the actual distance between the satellite and the receiver The pseudorange error can be calculated by using the absolute position of each observing station. The calculated pseudorange error is calculated to be the same as the PRC value of the code DGPS, Lt; / RTI >

The step of performing the user-specific satellite navigation may include calculating a navigation position error of each station using observation data received from a regular observatory, and presently providing a navigation solution for at least one of fields of price, performance, and positioning, In order to analyze various user-specific positional accuracy for various receivers, GPS-based positioning error is calculated. First, GPS / GLONASS L1 and L1 / L2 dual frequency navigation solution are implemented to calculate navigation position error And computing GLONASS using the least squares method used in GPS navigation.

The present invention can provide a data service on the basis of the signal monitoring signal quality identification method of the GNSS continuous observing station operated by government agencies and local autonomous entities as a quasi-real-time concept for monitoring satellite navigation satellite station signals of several tens to several hundred units.

The present invention also provides a method of providing data service software by analyzing a plurality of reference station information by analyzing reference station quality management that can not be predicted by the signal quality of the reference station itself, Monitoring items can monitor satellite positioning information, observation data quality information, pseudorange error, and navigation position error per user.

In addition, the GNSS continuous monitoring station signal monitoring software developed in the present invention can be used to analyze the effect on the domestic satellite navigation system in conjunction with the space weather data when the sunspot explosion occurs, and to monitor real time observation data of the GNSS continuous observation station. It is possible to monitor the data of GNSS observation data of more than 160 regular observation stations in Korea at the completion of construction of satellite navigation data integration center in the future.

In addition, a plurality of satellite navigation reference station signal quality acquisition apparatuses and methods according to an embodiment of acquiring accurate position information, and a user using the data service based on the satellite navigation standard reference station information, It is possible to calculate the accuracy by using more than three proximity reference stations and the user can not recognize the signal quality of the selected reference station in the meantime. However, when receiving the reference station signal quality identification data service, It is possible to selectively obtain the accurate position information by selecting information except for the station or by the information having a poor signal quality due to the space weather.

In addition, it is necessary to provide the reference station service signal quality information of the area where pre-precision positioning is needed, or to provide information such as sunspot explosion and disturbance of the ionosphere due to geomagnetic disturbance, Positioning or precision position information can be provided and used.

1 is a block diagram of an entire system block
Fig. 2 is a block diagram showing the configuration corresponding to each configuration of Fig. 1 and the operations thereof
FIG. 3 shows a first operation flow chart in the data part 300 for obtaining the signal quality in FIG.
FIG. 4 shows a second operation flow chart in the data part 300 for obtaining the signal quality in FIG.
FIG. 5 is a diagram showing the result of monitoring the signal quality of the satellite navigation standard observation reference station by region

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

Also, when a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the present invention will be outlined.

In the present invention, various governmental agencies and local governments such as the National Maritime Position Information Institute, the Korea National Geographic Information Institute, the Korea Astronomy Observatory, the National Institute of Radiological Research and the Seoul Metropolitan Government operate the CORS (Continuously Operating Reference Station) The present invention relates to an apparatus and method for acquiring a reference station signal quality, and to provide a service for signal quality based on the apparatus and method. More particularly, the present invention relates to a method and apparatus for measuring a real time kirametic (RTK) using a plurality of reference stations, a reference standard for a virtual reference station (VRS) If the station is abnormal, it is expected that the damage will be considerable due to signal errors in the utilization of civil engineering, architecture, unmanned mobile body, etc. Therefore, And to provide a data service.

FIG. 2 is a block diagram showing a configuration and operations corresponding to each configuration of FIG. 1, and FIG. 3 is a block diagram illustrating a configuration of the data FIG. 4 is a second operation flow chart in the data part 300 for obtaining the signal quality in FIG. 2, and FIG. 5 is a second operation flow chart in the satellite navigation normal observation reference signal quality monitoring Fig.

In order to accomplish the above object, an apparatus and method for obtaining a plurality of satellite navigation reference station signal qualities according to an embodiment of the present invention are as follows.

As shown in FIGS. 1 - 4, a number of satellite navigation regularly observing signal monitoring stations 100 (CORS); A data conversion unit 200 for signal quality identification; A data portion 300 for acquiring the converted signal to obtain a signal quality; And provides the information to the user by using the data service unit 400.

The data conversion unit 200 for identifying the signal quality includes an Ntrip processing unit for receiving data and acquiring data through a network data transmission Ntrip communication method of a plurality of satellite navigation regular observation signal monitoring stations 100, (RINEX: Receiver Independent EXchange (RINEX)), which is stored in a client (RINEX) and has data formats different from each other, is synchronized with a protocol version of RTCM (Radio Technical Commission for Maritime) Format) protocol, and converts and stores the data so that the satellite identification signal quality algorithm can be easily calculated according to the time synchronization of each satellite navigation standard.

As shown in FIG. 3, the data unit 300 for acquiring the signal quality includes an observation signal quality check (S 303) by receiving stored data of the data conversion unit 200 for signal quality identification; Pseudo range error calculation (S 305); Is stored in the database through the satellite navigation (S307) algorithm for each user (S309).

The observation signal quality inspection (S 303) algorithm includes a GNSS Quality Check (S 301), a GPS / GLONASS observation data count, a multi-path, a cycle sleep Cycle-slip), and space weather data in the event of a sunspot explosion. The results are stored in a database.

The number of observations refers to the number of GNSS data observed during one day. When the response is an epoch of 30 seconds interval based on GPS / GLONASS, the number of observation data is usually from 40,000 to 45,000 RINEX obs, The number of predicted data, the total number of observed data, the number of complete observed data, the number of deleted data, and the number of mask angle applied data were calculated by inputting a nav file.

Multipath error is the error that occurs due to the interaction between the signal arriving at the receiver and the signal arriving directly from the satellite to the signal tracker inside the receiver, which is the biggest error factor in the urban area. Pseudo distance and carrier observations. The cycle slip was calculated by using dual frequency carrier observations and the ionospheric delay error was calculated. If the rate of change of the ionospheric delay exceeded a certain threshold value, it was judged as cycle slip.

The pseudo range error calculation (S 305) algorithm can calculate the position of the satellite using ephemeris information because many regular stations accurately know their position. Using this, the actual distance between the satellite and the receiver can be calculated and the pseudorange error can be calculated through the received pseudorange and the difference. The pseudorange error is calculated using the absolute position of each station. Code DGPS) and stored in the database.

In addition, the user-specific satellite navigation (S 307) algorithm calculates the navigation position error of each station using the observation data received from the regular observation station, and there are various navigation solutions currently providing GNSS receivers according to price, performance, In order to analyze the various user-specific positional accuracy for each receiver, we implemented an algorithm that calculates the navigation error for each user. This method first calculates the navigation position error by implementing general GPS + GLONASS L1 and L1 / L2 dual frequency navigation solution. And using the least squares method used in the GPS navigation system.

For the DGNSS navigation, we select the closest observatory from the observatory to calculate the position using the two regular observation stations data, calculate the satellite navigation correction information (DGNSS), and use the corrected satellite navigation position information (DGNSS Positiong) And stores the signal quality identification information in a database.

4, the data unit 300 for acquiring the signal quality may be a network data transmission Ntrip communication method of a plurality of satellite navigation regular observation signal monitoring stations 100, It stores RTK (Real Time Kinnemetic) position information (Positiong) by processing 2-frequency (L1, L2) raw data information of satellite navigation in the Ntrip Client, The RTK algorithm determines the average error rate of each reference station's high-precision location information and transmits it to the high-precision RTK Positiong data store.

Receiving the stored data of the data conversion unit 200 for identifying the signal quality, and checking the observation signal quality (S 303); In order to analyze the RTK navigation position error for the accurate positioning information acquisition through the same process as the pseudo range error calculation (S 305), RTK is performed by receiving the observation data and the VRS observation data in the real time NTRIP method, Calculate and store the result in the database;

In addition, the analysis data stored in the data unit 300 for acquiring the signal quality is loaded and served as a Web service so that the analysis data can be displayed to the user. The stored analysis data is stored in real time by the ETRIP method and the data processing module is updated by the FTP method in 5 minute increments in accordance with the RINEX data update cycle. The module (signal quality information, pseudorange error, navigation The user GUI and the web server load the stored analysis data by calculating the signal quality information, the pseudorange error, and the navigation position error of the observation data at the regular observation station displayed on the screen (FIG. 5, So that it can be served to the user.

The algorithm for the operation of the present invention is stored in a memory unit (not shown), and each operation is implemented under the control of a control unit (not shown).

As described above, the present invention relates to an apparatus and method for acquiring signal quality of a plurality of satellite navigation reference stations, and more particularly, , Pseudo range error, and navigation position error and analyzes the effect of sunspot explosion on satellite navigation system such as solar wind, solar radio wave, earth magnetic field, ionosphere, (GPS) elite L1 and a GPS elite L1 and L2 signal quality to provide error data information on the reference station signal quality.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: Many satellite navigation regular observation signal monitoring stations
200: Data conversion unit for signal quality identification
300: data part for obtaining signal quality
400: Data service department

Claims (3)

A plurality of satellite navigation regular observation signal monitoring stations 100; A data conversion unit 200 for signal quality identification; A data unit 300 and a data service unit 400 for acquiring the converted signal to obtain a signal quality,
The data conversion unit 200 for identifying the signal quality comprises an Ntrip Client for receiving data and acquiring data through a network data transmission Ntrip communication method of a plurality of satellite navigation regular observation signal monitoring stations 100, (RINEX: Receiver Independent EXchange Format (RINEX) protocol), which is different from the RTCM (Radio Technical Commission for Maritime) protocol version, And converts and stores the data for calculating the satellite identification signal quality according to the time synchronization of each satellite navigation standard station,
The data unit 300 for obtaining the signal quality receives the data stored in the data conversion unit 200 for signal quality identification and stores the data in a database through an observation signal quality check, a calculation of a pseudorange error, ,
The observation signal quality inspection can be performed by using a GNSS Quality Check (GSSS) in the number of GPS / GLONASS observation data, a multi-path, a cycle-slip, It is calculated through space weather data and information,
In the calculation of the pseudorange error, a plurality of continuous stations accurately know their positions and can calculate the position of the satellite using the ephemeris information, so that the actual distance between the satellite and the receiver can be calculated, The pseudorange error can be calculated using the difference. The pseudorange error is calculated using the absolute position of each station. The calculated value is calculated to be the same as the PRC value of the code DGPS and stored in the database.
The user-specific satellite navigation method calculates the navigation position error of each station using the observation data received from the regular observation station, calculates the navigation error of each user for the analysis of various user-specific positional accuracy for each GNSS receiver, The navigation system calculates the navigation position error by implementing the GLONASS L1 and L1 / L2 dual frequency navigation solution, and includes the GLONASS using the least squares method used in the GPS alone navigation. Acquisition device. A plurality of satellite navigation regular observation signal monitoring stations 100; A data conversion unit 200 for signal quality identification; A data unit 300 and a data service unit 400 for acquiring the converted signal to obtain a signal quality,
The data unit 300 for acquiring the signal quality includes an Ntrip client for receiving data through a network data transmission Ntrip communication method of a plurality of satellite navigation regular observation signal monitoring stations 100 RTK (Real Time Kinnemetic) location information (Positiong) is calculated by processing the satellite navigation 2-frequency source data information, and the average error rate of each reference station is determined by RTK algorithm using common reference information of multiple reference stations To a high-precision RTK Positiong data storage unit,
The data unit 300 for acquiring the signal quality receives the stored data of the data converter 200 for signal quality identification and stores the received data in a database through an observation signal quality check, a pseudorange error calculation, and an RTK positioning process.
The observation signal quality inspection can be performed by using a GNSS Quality Check (GSSS) in the number of GPS / GLONASS observation data, a multi-path, a cycle-slip, In conjunction with the space weather data,
In the calculation of the pseudorange error, a plurality of continuous stations accurately know their positions and can calculate the position of the satellite using the ephemeris information, so that the actual distance between the satellite and the receiver can be calculated, The pseudorange error can be calculated using the difference. The pseudorange error is calculated using the absolute position of each station. The calculated value is calculated to be the same as the PRC value of the code DGPS and stored in the database.
And the RTK is performed by receiving the observation station and the VRS observation data in the real time NTRIP method for RTK navigation position error analysis for obtaining the accurate positioning information, calculating the navigation for each user, and storing the result in the database Satellite navigation reference station signal quality acquisition device. A plurality of satellite navigation regular observation signal monitoring stations 100; A data conversion unit 200 for signal quality identification; A method for obtaining a plurality of satellite navigation reference station signal qualities in an apparatus including a data unit (300) and a data service unit (400) for acquiring the converted signal to obtain signal quality,
Receiving the stored data of the data conversion unit for signal quality identification and performing an observation signal quality check;
A pseudorange error calculation is performed; And
And a step of performing satellite navigation for each user
The step of performing the observation signal quality inspection may comprise the step of comparing the GNSS Quality Check with the number of GPS / GLONASS observation data, a multi-path, a cycle-slip, The number of observations is the number of GNSS data observed during the predetermined time in the process of interoperating the information of the space weather data when the sunspot explosion occurs, and storing the result in the database. The GPS / GLONASS standard The total number of observation data, the number of complete observation data, the number of deletion data, and the mask angle application data are calculated by inputting RINEX obs and nav file as the number of observation data at a predetermined interval (epoch)
Multipath error is the error that occurs due to the interaction between the signal arriving at the receiver and the signal arriving directly from the satellite to the signal tracker inside the receiver, which is the biggest error factor in the urban area. Pseudo distance and carrier wave observations. Cycle slip calculates the ionospheric delay error using the dual frequency carrier observations. If the rate of change of the ionospheric delay exceeds a certain threshold,
In the step of calculating the pseudorange error, a plurality of continuous stations accurately know their positions and can calculate the position of the satellite using the ephemeris information, so that the actual distance between the satellite and the receiver The pseudorange error can be calculated by using the absolute position of each observing station. The calculated pseudorange error is calculated to be the same as the PRC value of the code DGPS, Lt; / RTI >
The step of performing the user-specific satellite navigation may include calculating a navigation position error of each station using observation data received from a regular observatory, and presently providing a navigation solution for at least one of fields of price, performance, and positioning, In order to analyze various user-specific positional accuracy for various receivers, GPS-based positioning error is calculated. First, GPS / GLONASS L1 and L1 / L2 dual frequency navigation solution are implemented to calculate navigation position error And computing GLONASS using the least squares method used in the GPS navigation system.
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CN111323791A (en) * 2020-04-10 2020-06-23 航天恒星科技有限公司 Quality evaluation method and device of navigation enhancement product
CN112307981A (en) * 2020-10-29 2021-02-02 西北工业大学 Feature information transmission and cooperative tracking method in space rolling non-cooperative target observation process
CN115047494A (en) * 2022-07-28 2022-09-13 国网思极位置服务有限公司 Calculation service operation monitoring system of foundation enhancement system
US20220326390A1 (en) * 2019-10-30 2022-10-13 Qualcomm Incorporated Multipath mitigation for multiband gnss receiver
CN116346205A (en) * 2023-03-28 2023-06-27 北京讯腾智慧科技股份有限公司 Satellite navigation positioning reference station data transmission system and method
CN117202346A (en) * 2023-09-11 2023-12-08 自然资源部大地测量数据处理中心 Scheduling and broadcasting method and system for high-precision positioning service

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