RU2649628C1 - Precision navigation system for mobile objects using glonass ground infrastructure data - Google Patents

Abstract

FIELD: radio engineering and communications.

SUBSTANCE: invention relates to radio engineering and can be used for navigation of mobile objects in real time mode. System of precise navigation of mobile objects using GLONASS ground infrastructure includes satellites of global navigation systems (GLONASS, GPS, GALILEO), a dispatching station containing a geographic information system, a base station, mobile objects equipped with telemetry terminals on which telecommunications equipment is installed, providing a connection of the base station with mobile objects by means of broadband radio access, a unit for processing the joint information coming from the base station and the mobile object. As a base station, the virtual base station generated by the network software is used based on GLONASS ground infrastructure data. As a telemetric terminal, a precise navigation device is used in the system, created on the basis of a single-frequency two-system code-phase chip, which receives signals from global navigation satellite systems connected to a small atomic frequency standard, also regional ionosphere and troposphere models created in real time, generated by network software based on GLONASS ground infrastructure data, are introduced. In this case, transponders are installed on the coast and in the water area, and the transponder installed on the shore is located in the depth of the shore, and transponders in the water area are located at a distance of 50 km from the shore along the coast. When transmitting information from the base station to the transponders, code measurements with a duration of 20–30 seconds are used. Transponder installed in the water area is made in the form of a buoy, the body of which is made of stressed reinforced concrete and has a surface part on which the telecommunication equipment is located.

EFFECT: technical result of the claimed invention consists in increasing the accuracy and reliability of locating mobile objects in real time.

1 cl, 1 dwg

Description

The invention relates to the field of radio engineering and can be used for navigation of moving objects in real time.

A known monitoring system for moving objects (A. Rushkevich, V. Osadchiy. Monitoring of moving objects: Russian realities and technical innovations [Text] / A. Rushkevich, V. Osadchiy // Wireless technologies. - 2010. - No. 3. - P. 56- 60 [1]), consisting of a telemetry terminal that performs the following functions:

- determining the coordinates of a moving object in an autonomous (absolute) method using a satellite GLONASS / GPS receiver,

- collecting information from on-board equipment and additional sensors,

- Forwarding information via communication channels to the dispatch server.

In addition to the telemetry terminal, the proposed system includes a dispatch server, which is software, to provide customers with objective information about the location of a moving object at a given time.

This system has the following disadvantages:

- in the monitoring system of moving objects, a single-frequency two-system code GLONASS / GPS module acts as a telemetry terminal, receiving only standard-accuracy signals from satellites of global navigation systems (GLONASS / GPS), therefore, the error in determining the location of a moving object in this system is 5-10 m in coordinate system WGS-84 (Antonovich K.M. Use of satellite radio navigation systems in geodesy [Text] / K.M. Antonovich // GOU VPO Siberian State Geodetic Academy ". - M: FSUE" Kartgeocenter ", 2006. - 360 p. [2]),

- in the monitoring system of moving objects, corrective information received from the base station having the exact coordinates in the coordinate system WGS-84 is not entered into the location of the moving object,

- in the monitoring system of moving objects there is no block for processing joint information coming from the base station and the moving object.

A known system for determining the location of moving objects in real time (patent RU No. 2444705, 03/10/2012 [3]).

Real-time positioning system for moving objects, consisting of satellites of global navigation systems, a control station containing a geographic information system, a base station, mobile objects equipped with telemetry terminals, on which telecommunication equipment is installed, which provides connection of the base station with moving objects via broadband radio access , a processing unit for joint information from the base station and the mobile unit.

The disadvantages of this technical solution are:

- in the monitoring system of moving objects, a single-frequency two-system code GLONASS / GPS module acts as a telemetry terminal, receiving only standard-accuracy signals from satellites of global navigation systems (GLONASS / GPS), therefore, the error in determining the location of a moving object using corrective information from a control station having the exact coordinates in the WGS-84 coordinate system will have a value of 1-2 m (Antonovich K.M. Use of satellite radio navigation systems topics in geodesy [Text] / KM Antonovich // GOU VPO “Siberian State Geodesic Academy.” - M .: FSUE “Kartgeocenter”, 2006. - 360 p.);

- as the base stations in the system for determining the location of moving objects in real time are the base stations of cell towers, the coordinates of which are determined in the coordinate system WGS-84 with an error of 1 m (patent RU No. 2331082, 08/10/2008 [4]) therefore, the decimeter accuracy of determining the location of a moving object by refining it by the method of triangulation from at least three base stations of cell towers cannot be achieved;

- the regional models of the ionosphere and troposphere are not introduced in the processing unit for the joint information coming from the base station and the moving object. Similar disadvantages have similar technical solutions (patents RU No. 2465729 C2, 10.27.2012 [5], RU No. 2469890 C2, 12.20.2012 [6], RU No. 2365061 C2, 08.20.2009 [7], RU No. 2164694 C2, 27.03 .2001 [8]).

The technical problem, also solved by the well-known accurate navigation system for moving objects using GLONASS ground infrastructure data, is to increase the accuracy and reliability of determining the location (coordinates) of moving objects in real time (patent RU 2582595 C1, 04/27/2016 [9]).

At the same time, the task is achieved by the fact that in the system for the accurate navigation of moving objects using data from the ground-based GLONASS infrastructure, including satellites of global navigation systems (GLONASS, GPS, GALILEO), a control station containing a geographic information system, base station, mobile objects equipped with telemetry terminals on which telecommunication equipment is installed that provides the connection of the base station with mobile objects via broadband radio access, the unit processing the joint information coming from the base station and the mobile unit, according to the invention, it uses as the base station a virtual base station generated by network software based on GLONASS ground infrastructure data located at a distance of 4 km 300 m from the corresponding moving object, as the above telemetry terminal, the system uses an accurate navigation device, created on the basis of a single-frequency two-system code-phase chip, take Signals of the aforementioned global navigation satellite systems connected to the small atomic frequency standard, in the aforementioned unit for processing joint information from the base station and the moving object, regional models of the ionosphere and troposphere, created in real time, generated by network software based on data, are introduced GLONASS ground infrastructure.

A disadvantage of the known system is that it uses real time, i.e. the base station determines the corrections to the phases of the signals of navigation spacecraft (NSC) and transmits them via VHF communication to consumers who have receivers measuring the phases of the same NSC. This method is limited by the horizon visibility of 15-20 km, because The frequency of the VHF band is used. Base stations require guaranteed power, therefore they are located in places where this is provided, which significantly reduces the radius of their action. A feature of the real-time mode is that the real period of validity of amendments is only 3-5 seconds. Another drawback is the use of a virtual base station, since there is a susceptibility to tampering and radio interference.

The objective of the proposed technical solution is to increase the range of the satellite navigation system when used in marine conditions while expanding the functionality of the system in terms of marine mobile satellite communications.

The problem is solved due to the fact that in the system of accurate navigation of moving objects using data from the ground-based GLONASS infrastructure, including satellites of global navigation systems (GLONASS, GPS, GALILEO), a control station containing a geographic information system, base station, mobile objects equipped with telemetry terminals on which telecommunication equipment is installed that provides the connection of the base station with mobile objects via broadband radio access, the image processing unit The tabs of the joint information received from the base station and the moving object, as the aforementioned telemetry terminal, the system uses an accurate navigation device created on the basis of a single-frequency two-system code-phase chip that receives signals from the aforementioned global navigation satellite systems connected to a small-sized atomic frequency standard, in the aforementioned unit for processing joint information from the base station and the mobile unit, regional models have been introduced and real-time nospheres and tropospheres generated by network software based on GLONASS ground-based infrastructure data; additional transponders are installed on the coast and in the water, with the transponder installed on the coast located in the depth of the coast, and the transponders in the water are located at a distance of 50 km from the coast along the coast, while the transmission of information from the base station to the transponders use code measurements lasting 20-30 seconds. The repeater installed in the water area is made in the form of a buoy, the body of which is made of stressed reinforced concrete and has a surface part on which telecommunication equipment is installed.

The introduction of new elements allows to increase the range and increase the reliability of the known system, as well as expand its functionality through the implementation of a mobile communication channel.

Maritime mobile satellite communications are currently not widespread compared with land-based cellular communications for a number of reasons, mainly due to the high cost of equipment and tariffs for services and the limited volume of services provided. The cost of devices and tariffs for satellite and cellular communication systems differ by about a hundred times, and bulky equipment is required to ensure high-speed reception and transmission via satellites, which significantly reduces communication mobility. At the same time, the network of land mobile communications (fourth generation) provides almost the same level of services as fixed cable networks.

The deployment of network communications in offshore areas is difficult due to the lack of reliable floating carriers of relay equipment. The moored buoys currently used for offshore operations are subject to the strong influence of waves, wind and currents, do not have sufficiently powerful power sources, and therefore cannot be used to accommodate basic cellular broadcast equipment. At the same time, there is experience in creating and operating the so-called stationary stabilized sea buoys. These buoys were used in the 60s - 80s of the last century mainly for solving defense problems and were vertical steel cylinders with a length of about 50 m and a weight of up to 100 tons, with a special system of anchors that excluded rotation around the axis. Such buoys had high stability and served as a good basis for various equipment, mainly hydroacoustic.

The signs of the restrictive part of the claims can be implemented similarly to the prototype [9], by the following means and elements: satellites of global navigation systems (GLONASS, GPS, GALILEO); dual-frequency multisystem GNSS receivers receiving satellite signals from global navigation systems (GLONASS, GPS, GALILEO); fiber optic communication channels; LAN Internet; a server for collecting information from dual-frequency multisystem GNSS receivers that receive signals from satellites of global navigation systems (GLONASS, GPS, GALILEO); a personal computer with network software; GLONASS ground infrastructure; single-frequency two-system code-phase chip, receiving signals from satellites of global navigation systems (GLONASS, GPS, GALILEO); a processing unit for information received from the ground-based GLONASS infrastructure and a single-frequency two-system code-phase chip connected to a small-sized atomic frequency standard; small atomic frequency standards; telecommunication equipment for receiving and transmitting data between an accurate navigation device and GLONASS ground infrastructure; telecommunication equipment for data transmission between an accurate navigation device and a control station; precision navigation devices; dispatch station server; a personal computer with a geographic information system; dispatch station; regional models of the troposphere and ionosphere generated by network software.

In addition, transponders are installed on the coast and in the water area, and the transponder installed on the coast is located in the depths of the coast, and the transponders in the water area are located 50 km from the coast along the coast. In this case, when transmitting information from the base station to the transponders, code measurements of 20 -30 sec The repeater installed in the water area is made in the form of a buoy, the body of which is made of stressed reinforced concrete and has a surface part on which telecommunication equipment is installed. The repeater installed in the water area is made in the form of a buoy, the casing of which is made of reinforced concrete and has a surface part on which telecommunication equipment is located.

The appearance of the repeater installed in the water area is shown in the drawing.

 Total buoy length 45 m.

Underwater: length 30 m; diameter 2.4 m. Above-water part: body length 3 m; mast 12 m. The size of the mast in the plan in the axes: 1.6 m × 1.6 m. The total mass of the buoy 103.6 tons. Mast weight 6.1 tons. Buoyancy 31 tons; the distance between the centers of buoyancy and mass is 3 m. The height of the ballast column (water) ≈ 10 m. Natural frequencies of the buoy:

vertical 0.09 Hz; inclined 0.05 Hz. Natural frequencies of deformation of the entire structure (instrument load 400 kg), 1, 2) 5.73 Hz; 3, 4) 11.7 Hz; 5) 17.98 Hz; 6, 7) 23.82 Hz; 8) 25.52 Hz; 9, 10) 33.22 Hz. Fatigue load of the buoy (term 10 years):

2.5⋅10 ⁶ cycles with a security of 0.995 for the surface part and 0.999 for the underwater part.

The proposed system works as follows.

Each of the accurate navigation devices installed on a moving object receives satellite signals from global navigation systems (GLONASS, GPS, GALILEO) using a single-frequency two-system code-phase chip connected to a small atomic frequency standard. Received by a single-frequency two-system code-phase chip connected to a small atomic frequency standard, the signals of the satellites of global navigation systems (GLONASS, GPS, GALILEO) are sent to the information processing unit, in which the approximate coordinates of the moving object in the WGS-84 system are calculated based on the absolute GNSS method - positioning by solving inverse linear notches. These coordinates are transmitted using telecommunication equipment installed on a moving object via broadband radio access to a server for collecting information from dual-frequency multisystem GNSS receivers receiving signals from satellites of global navigation systems (GLONASS, GPS, GALILEO), and GLONASS ground-based infrastructure.

Network software installed on a personal computer via the Internet is connected to a server for collecting information from two-frequency multisystem GNSS receivers that receive signals from satellites of global navigation systems (GLONASS, GPS, GALILEO) to obtain approximate coordinates of a moving object in real time. The network software installed on a personal computer, based on the approximate coordinates of the moving object and the GLONASS ground infrastructure data, including repeaters, calculates for each moving object corrective information and regional models of the troposphere and ionosphere.

To calculate the corrective information and the regional model of the troposphere and ionosphere using the GLONASS ground-based infrastructure, the network software from the information collection server receives measurement information obtained by means of a fiber-optic communication channel from dual-frequency multisystem GNSS receivers that receive signals from satellites of global navigation systems (GLONASS, GPS , GALILEO).

Corrective information and regional models of the troposphere and ionosphere generated by network software are transmitted to an accurate navigation device, where they are recorded by telecommunication equipment installed on a moving object. Then, the correcting information from the base station, transmitted through repeaters, regional models of the troposphere and ionosphere, as well as measuring information from a single-frequency two-system code-phase chip connected to a small-sized atomic frequency standard, enter the information processing unit, in which the exact coordinates of the moving object are calculated in the WGS-84 system. The exact coordinates of the moving object calculated by the information processing unit in the WGS-84 system are transmitted using telecommunication equipment to the dispatch station. The exact coordinates of the moving object in the WGS-84 system are stored on the dispatch station server. The exact coordinates are transmitted from the dispatch station server to a geographic information system installed on a personal computer, in which the location of the moving object is visualized.

The technical result achieved by the claimed system for the accurate navigation of moving objects using data from the ground-based GLONASS infrastructure is to increase the reliability of information about the location of a moving object in real time.

Information sources

Rushkevich A., Osadchiy V. Monitoring of moving objects: Russian realities and technical innovations [Text] / A. Rushkevich, V. Osadchiy // Wireless technologies. - 2010. - No. 3. - From 56-60.

K.M. Antonovich // GOU VPO "Siberian State Geodetic Academy". - M: FSUE “Kartgeocenter”, 2006. - 360 p.

Patent RU No. 2444705, 03/10/2012.

Patent RU No. 2331082, 08/10/2008.

Patent RU No. 2465729 C2, 10.27.2012.

Patent RU No. 2469890 C2, 12.20.2012.

Patent RU No. 2365061 C2, 08.20.2009.

Patent RU No. 2164694 C2, 03/27/2001.

Patent RU 2582595 C1, 04/27/2016.

Claims (2)

1. A system for the accurate navigation of moving objects using GLONASS ground-based infrastructure data, including global navigation system satellites (GLONASS, GPS, GALILEO), a control station containing a geographic information system, a base station, mobile objects equipped with telemetry terminals on which telecommunication equipment is installed, providing the connection of the base station with mobile objects via broadband radio access, a unit for processing joint information from the bases station and mobile object, as the aforementioned telemetry terminal, the system uses an accurate navigation device created on the basis of a single-frequency two-system code-phase chip that receives signals from the aforementioned global navigation satellite systems connected to a small atomic frequency standard in the aforementioned joint information processing unit, coming from the base station and the moving object, introduced regional models of the ionosphere and troposphere, created in real mode time generated by network software based on GLONASS ground-based infrastructure data, characterized in that additional transponders are installed on the coast and in the water, with the transponder installed on the coast located in the depth of the coast, and the transponders in the water are located at a distance of 50 km from the coast along the coast, while the transmission of information from the base station to the relays use code measurements lasting 20-30 seconds. 2. The system for the accurate navigation of moving objects using the GLONASS ground infrastructure data according to claim 1, characterized in that the repeater installed in the water area is made in the form of a buoy whose body is made of reinforced concrete and has a surface part on which telecommunication equipment is located.

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