RU96120079A

RU96120079A - SATELLITE NAVIGATION METHOD

Info

Publication number: RU96120079A
Application number: RU96120079/09A
Authority: RU
Inventors: Гу Ксиаоганг
Original assignee: НФС Навигационс-унд Флугфюрунгс-Сюстеме ГмбХ.
Priority date: 1994-04-12
Filing date: 1995-04-12
Publication date: 1998-11-27

Claims

1. The method of satellite navigation using a mobile user receiver and a reference station, the position of which is known, moreover, the signals sent by several satellites are received and processed in the user receiver and the reference station and the position of the user receiver is determined from them, while in the user receiver and at the reference station (Ref) received by several satellites (S _i , S _j ) and / or equivalent pseudosatellites, the signals are processed by measuring the carrier phases according to the formula
f

\binom{S}{E}

= (1 / λ) • (R

\binom{S}{E}

+ ΔR ^S + ΔR _E + ε

\binom{S}{E}

) + N

\binom{S}{E}

where f

\binom{S}{E}

- measured carrier phase;
λ is the wavelength of the sent carrier signal of the GNSS system;
R

\binom{S}{E}

- geometric distance from the satellite to the receiver;
ΔR ^S - errors correlated between satellites;
ΔR _E - errors correlated between receivers;
ε

\binom{S}{E}

- errors, for example, the effects of multipath propagation and dynamic influences;
N

\binom{S}{E}

- phase ambiguity at the initial time t ₀ time,
and from the carrier phases calculated at the initial instant of time (t ₀ ) and the actual instant of time t (t> t ₀ ), form a triple difference by the formula

where f is the carrier phase;
Δ is the difference enclosed in square brackets;
▽ is the difference enclosed in braces;
δ is the difference between braces;
t is the actual time;
t ₀ is the initial moment of time;
f

\binom{i}{R}

(t) is the carrier phase of the satellite S _i measured at time t at the reference station Ref;
f

\binom{i}{F}

(t) is the carrier phase of satellite S _i measured at time t at user receiver F,
f

\binom{j}{R}

(t) is the carrier phase of the satellite S _j measured at time t at the reference station Ref;
f

\binom{j}{F}

(t) is the satellite carrier phase S _j measured at time t at user receiver F;
f

\binom{i}{R}

(t ₀ ) is the carrier phase of the satellite S _i measured at time t ₀ at the reference station Ref;
f

\binom{i}{F}

(t ₀ ) is the carrier phase of satellite S _i measured at time t ₀ at user receiver F;
f

\binom{j}{R}

(t ₀ ) is the carrier phase of the satellite S _j measured at time t ₀ at the reference station Ref;
f

\binom{j}{F}

(t ₀ ) is the carrier phase of the satellite S _j measured at time t ₀ at user receiver F, characterized in that the positions of the user receiver at times t and t _{0 are} determined from the triple difference using an analytical method with at least six the equations of triple differences linearized around the evaluation point, and the position of the user receiver at the initial time (t ₀ ) is statistically estimated based on its characteristics that have not changed over time, the position value at the initial time Rates (t ₀ ) calculated using a solution with six unknowns are smoothed out using a low-pass filter, the statistically estimated position of the user receiver at the initial moment of time (t ₀ ) is included as a known position in the observation equations, and then at the set real time moment ( t) determine only the actual position of the user receiver.

2. The method according to claim 1, characterized in that the reference station (Ref) determine the correction value f _korr (t) by the formula
φ _korr (t) = [R

\binom{i}{R}

(t) -R

\binom{i}{R}

(t _Anf )] - λ [f

\binom{i}{R}

(t) -f

\binom{i}{R}

(t _Anf )]
where t _anf is the initial time at the reference station;
λ is the wavelength of the sent signal of the GNSS system;
R

\binom{i}{R}

(t) is the geometric distance from the satellite S _i to the reference station at time t;
R

\binom{i}{R}

(t _Anf ) is the geometric distance from satellite S _i to the reference station at time t _anf ;
f

\binom{i}{R}

\binom{i}{R}

(t _Anf ) is the carrier phase of the satellite S _i measured at time t _anf at the reference station Ref;
the phase correction value is transmitted to the user receiver via the data line in the user receiver, the carrier phase calculated therein is corrected depending on the phase correction value, and the position of the user receiver is determined from the corrected carrier phase.

3. The method according to claims 1 and 2, characterized in that to determine the initial position of the user receiver, use the evaluation value.

4. The method according to PP. 1-3, characterized in that the user receiver is mounted on a flying vehicle.

5. The method according to PP. 1-4, characterized in that as an auxiliary landing device for aircraft near the landing strip, at least one fixed reference station (Ref) is installed, the position of which is known.

6. The method according to PP. 1-5, characterized in that in addition to the reference station (Ref) near the landing strip, at least one pseudo-satellite station is installed.