WO2004042418A1 - Systeme et procede de suivi de position d'un aeronef a partir d'une base terrestre - Google Patents

Systeme et procede de suivi de position d'un aeronef a partir d'une base terrestre Download PDF

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Publication number
WO2004042418A1
WO2004042418A1 PCT/US2003/003894 US0303894W WO2004042418A1 WO 2004042418 A1 WO2004042418 A1 WO 2004042418A1 US 0303894 W US0303894 W US 0303894W WO 2004042418 A1 WO2004042418 A1 WO 2004042418A1
Authority
WO
WIPO (PCT)
Prior art keywords
airplane
position signals
satellite network
intermediary
land base
Prior art date
Application number
PCT/US2003/003894
Other languages
English (en)
Inventor
Gerald T. Neale
Original Assignee
Neale Gerald T
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Neale Gerald T filed Critical Neale Gerald T
Priority to AU2003215122A priority Critical patent/AU2003215122A1/en
Publication of WO2004042418A1 publication Critical patent/WO2004042418A1/fr

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Classifications

    • 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
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/19—Sporting applications
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • 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
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/17—Emergency applications
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft

Definitions

  • the present invention relates to a system and method for monitoring position of an airplane. More particularly, the present invention relates to a system and method for monitoring position of an airplane from a land base.
  • a FIRST EXAMPLE U.S. Patent No. 4,833,477 to Tendler teaches an omega, loran or satellite navigation receiver that is provided with a speech synthesizer coupled to its latitude/longitude output which is in turn coupled to a transmitter which transmit the latitude and longitude along with a "mayday" indication on an emergency button is depressed on the unit.
  • the emergency button turns the power on for the navigation unit and bypasses all functions except those relating to the production of a lat./lon. signal.
  • the emergency button also activates the synthesizer after determining that the navigation unit has obtained lock.
  • a repeat timer produces repeated dump pulses to the speech synthesizer which modulates the transmitter to transmit the "mayday" indication plus an indication of the latitude and longitude of the vessel.
  • the vessel name, type and color may be entered into a memory for the speech synthesizer so that the identity of the vessel and its type and color may be ascertained.
  • the unit is provided with a receiver tuned to a special channel utilized by the Coast Guard or other authorities to disable the transmitter remotely. A manual disable from with the vessel is also provided.
  • a SECOND EXAMPLE U.S. Patent No. 5,351,194 to Ross et al . teaches an apparatus and method of cancelling a flight plan of an aircraft to facilitate release of an IFR airspace to other aircraft and for communicating the location of a downed aircraft during emergencies.
  • a controller receives and analyzes positioning signals transmitted from know locations to determining the location of the aircraft periodically. Upon arrival of the aircraft at its destination, the controller calls the air traffic controllers to cancel the flight plan. In the event of an emergency, the controller calls the air traffic control center to report the emergency and the location of the aircraft with high accuracy to improve search and rescue operations .
  • a THIRD EXAMPLE U.S. Patent No. 5,410,739 to Hart teaches an apparatus that causes variable data messages to be transmitted automatically following transmission of voice signals over a given communication channel.
  • the apparatus includes a microprocessor for processing variable data to generate a variable data to generate a variable data message, and is adapted to be coupled between a radio interface circuit and a microphone handset having a momentary push-to-talk switch in such a manner so as to be transparent during transmission of voice signals while the momentary PTT switch is being actuated.
  • the microprocessor detects deactuation of the PTT switch and responds thereto by providing the variable data message to the radio for transmission.
  • a GPS navigational computer and receiver processes received variable GPS position data to determine the position of the vehicle in which the apparatus is located, and generates a variable position data message component.
  • the microprocessor processes physiological condition data representative of one or more monitored physiological conditions of a person located in common with the apparatus, such as a pilot in an airplane having a two-way radio, and generates a variable physiological status data message component indicative of a given physiological status, such as stress, of said person.
  • U.S. Patent No. 5,541,845 to Klein teaches a method for monitoring the movement of a vehicle along a selected route R to determine whether the vehicle is (i) adhering to that route and/or (ii) adhering to a selected time schedule along that route.
  • Adherence to the route R requires that the vehicle travel within a corridor of selected positive width that surrounds a path defining the route R.
  • Adherence to the time schedule require that the vehicle move past one or more specified locations along or adjacent to the route R within a specified time interval .
  • the method provides an electronic map with a visually perceptible display that indicates the present location of the vehicle and allows implementation of a snap-to-route command that displays the location on the route R that is closest to the present location of the vehicle.
  • U.S. Patent No. 5,574,649 to Levy teaches a method and apparatus for navigation of a vehicle travelling over a terrain in which the changes in elevation of the vehicle are continuously measured, in addition, to the distance and heading.
  • the distance measurements are continuously corrected by the changes in elevation in determining the instantaneous location of the vehicle with respect to a known point.
  • the approximate location can also be obtained from a satellite GPS (global positioning system) .
  • the measured elevation may also be compared with the elevation in reference data, such as data in a three-dimensional map of the area to prevent the accumulation of errors or to make the determined location more precise.
  • U.S. Patent No. 6,285,281 Bl to Gatto teaches a fail safe marine locator system for vessels equipped with a marine radio having a dial arrangement for selecting an emergency broadcast frequency upon which a verbal distress call can be transmitted through a radio microphone having a transmit button and including an interface unit having a microprocessor that is coupled to a GPS interface terminal board that will download data from a GPS satellite via a GPS receiver. The downloaded data will be processed by the microprocessor circuit board to transmit a digital data signal representative of the vessels location onto a verbal distress call when the microprocessor determines that the dial arrangement is set on an emergency broadcast frequency and the transmit button on the microphone has been depressed.
  • a SEVENTH EXAMPLE U.S. Patent No. 6,353,796 Bl to Schipper et al . teaches a system for monitoring location and speed of a vehicle, using a location determination system such as GPS, GLONASS or LORAN and an optional odometer or speedometer, for determining and recording the locations and times at which vehicle speed is less than a threshold speed for at least a threshold time (called a "vehicle arrest event”) . Vehicle arrest event locations, times and time intervals are stored and/or printed to provide trip and mileage records and for efficiency monitoring. A vehicle odometer and/or speedometer can also be calibrated and/or corrected using this approach.
  • a location determination system such as GPS, GLONASS or LORAN and an optional odometer or speedometer
  • ACCORDINGLY, AN OBJECT of the present invention is to provide a system and method for monitoring position of an airplane from a land base that avoids the disadvantages of the prior art.
  • ANOTHER OBJECT of the present invention is to provide a system and method for monitoring position of an airplane from a land base that is simple to use.
  • the BRIEFLY STATED, STILL ANOTHER OBJECT of the present invention is to provide a system for monitoring position of an airplane from a land base.
  • the system includes a global positioning satellite network, a relay satellite network, an intermediary, and a terminal.
  • the intermediary is positioned in the airplane and the terminal is positioned in the land base.
  • the intermediary includes a global positioning device and a transmitter.
  • the global positioning device receives airplane position signals from the global positioning satellite network and the transmitter transmits the aircraft position signals to the relay satellite network.
  • the relay satellite network has receivers and transmitters.
  • the receivers receive the airplane position signals from the intermediary and the transmitters transmit the airplane position signals to the terminal.
  • the terminal has a receiver and a recorder. The receiver receives the airplane position signals from the relay satellite network and the recorder records the airplane position signals so as to monitor the position of the airplane from the land base.
  • FIGURE 1 is a diagrammatic perspective view of the present invention in use
  • FIGURE 2 is a block diagram of the present invention
  • FIGURE 3 is a chart of the parameters received by the land base.
  • FIGURES 4A-4E are a flow chart of the method of the present invention.
  • system of present invention for monitoring position of airplane 12 from land base 14 airplane land base global positioning satellite network relay satellite network intermediary for positioning in airplane 12 terminal for positioning in land base 14 airplane position signals global positioning device of intermediary 20 transmitter of intermediary 20 receivers of relay satellite network 18 transmitters of relay satellite network 18 receiver of terminal 21 recorder of terminal 21 longitude of airplane position signals 22 latitude of airplane position signals 22 altitude of airplane position signals 22 airplane ID number of airplane position signals 22 time of transmission of airplane position signals 22 time at land base of airplane position signals 22
  • the system of the present invention is shown generally at 10 for monitoring position of an airplane 12 from a land base 14.
  • the system 10 comprises a global positioning satellite network 16, a relay satellite network 18, an intermediary 20, and a terminal 21.
  • the terminal 21 is for positioning in the land base 14, and the intermediary 20 is for positioning in the airplane 12.
  • the intermediary 20 receives airplane position signals 22 from the global positioning satellite network 16, and in response thereto, transmits the aircraft position signals 22 to the relay satellite network 18, which in response thereto, transmits the aircraft position signals 22 to the terminal 21 of the land base 14, which in response thereto, monitors the airplane position signals 22, and in doing so, allows the position of the airplane 12 to be monitored from the land base 14.
  • the intermediary 20 receives the airplane position signals 22 from the global positioning satellite network 16 at predetermined times.
  • the intermediary 20 transmits the aircraft position signals 22 to the relay satellite network 18 at predetermined times.
  • the relay satellite network 18 transmits the aircraft position signals 22 to the land base 14 at predetermined times.
  • the land base 14 receives the airplane position signals 22 from the relay satellite network 18 at predetermined times.
  • the intermediary 20 comprises a global positioning device 23 and a transmitter 24.
  • the global positioning device 23 of the intermediary 20 receives the airplane position signals 22 from the global positioning satellite network 16.
  • the transmitter 24 of the intermediary 20 transmits the aircraft position signals 22 to the relay satellite network 18.
  • the global positioning device 23 of the intermediary 20 receives the airplane position signals 22 from the global positioning satellite network 16 at predetermined times.
  • the transmitter 24 of the intermediary 20 transmits the aircraft position signals 22 to the relay satellite network 18 at predetermined times .
  • the relay satellite network 18 has receivers 26 and transmitters 28.
  • the receivers 26 of the relay satellite network 18 receive the airplane position signals 22 from the transmitter 24 of the intermediary 20.
  • the transmitters 28 of the relay satellite network 18 transmit the airplane position signals 22 to the terminal 21.
  • the receivers 26 of the relay satellite network 18 receive the airplane position signals 22 from the transmitter 24 of the intermediary 20 at predetermined times.
  • the transmitters 28 of the relay satellite network 18 transmit the airplane position signals 22 to the terminal 21 at predetermined times.
  • the terminal 21 comprises a receiver 30 and a recorder 31.
  • the receiver 30 of the terminal 21 receives the airplane position signals 22 from the transmitters 28 of the relay satellite network 18.
  • the recorder 31 of the terminal 21 records the airplane position signals 22 so as to monitor the position of the airplane 12 from the land base 14.
  • the receiver 30 of the terminal 21 receives the airplane position signals 22 from the transmitters 28 of the relay satellite network 18 at predetermined times.
  • the recorder 31 of the terminal 21 records the airplane position signals 22 at predetermined times.
  • the airplane position signals 22, by the time they are received by the land base 14, include longitude 32, latitude 34, altitude 36, airplane ID number 38, time of transmission 40, and time at land base 42.
  • STEP 1 Establish the global positioning satellite network 16.
  • STEP 2 Establish the relay satellite network 18 having the receivers 26 and the transmitters 28.
  • STEP 3 Provide the intermediary 20 having the global positioning device 23 and the transmitter 24, in the airplane 12.
  • STEP 4 Provide the terminal 21 having the receiver 30 and the recorder 31, in the land base 14.
  • STEP 5 Transmit, by the global positioning satellite network
  • the airplane position signals 22 the airplane position signals 22.
  • STEP 6 Receive at predetermined times, by the global positioning device 23 of the intermediary 20 in the airplane 12, the airplane position signals 22, from the global positioning satellite network 16.
  • STEP 7 Transmit at predetermined times, by the transmitter 24 of the intermediary 20 in the airplane 12, the airplane position signals 22 to the receivers 26 of the relay satellite network 18.
  • STEP 8 Receive at predetermined times, by the receivers 26 of the relay satellite network 18, the airplane position signals 22, from the transmitter 24 of the intermediary
  • STEP 9 Transmit at predetermined times, by the transmitters 28 of the relay satellite network 18, the airplane position signals 22 to the receiver 30 of the terminal
  • STEP 10 Receive at predetermined times, by the receiver 30 of the terminal 21 in the land base 14, the airplane position signals 22, from the transmitters 28 of the relay satellite network 18.
  • STEP 11 Record at predetermined times, by the recorder 31 of the terminal 21 in the land base 14, the airplane position signals 22.
  • STEP 12 Monitor, by the land base 14, the airplane position signals 22 so as to monitor the position of the airplane 12 from the land base 14.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un système de suivi de la position (10) d'un aéronef (12) à partir d'une base terrestre (14). Le système comprend un réseau de positionnement global par satellites (16), un réseau de satellites relais (18), un dispositif intermédiaire (20), et un terminal (21). Le dispositif intermédiaire (20) est positionné dans l'aéronef (12) et le terminal (21) est positionné dans la base terrestre (14). Le dispositif intermédiaire (20) comprend un dispositif de positionnement global (23) et un émetteur (24). Le dispositif de positionnement global (23) reçoit les signaux de position de l'aéronef (22) du réseau de positionnement global par satellites (16) et l'émetteur envoie (24) les signaux de position de l'aéronef (22) au réseau de satellites relais (18). Le réseau de satellites relais (18) contient des récepteurs (26) et des émetteurs (28). Les récepteurs (26) reçoivent les signaux de position de l'aéronef (22) provenant du dispositif intermédiaire (20) et les émetteurs (24) envoient ces signaux (22) au terminal (21). Le terminal (21) contient un récepteur (30) et un enregistreur (31). Le récepteur (30) reçoit les signaux de position de l'aéronef (12) provenant du réseau de satellites relais (18) et l'enregistreur (31) enregistre ces signaux (22) de façon à suivre la position de l'aéronef (12) à partir de la base terrestre (14).
PCT/US2003/003894 2002-10-30 2003-02-07 Systeme et procede de suivi de position d'un aeronef a partir d'une base terrestre WO2004042418A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003215122A AU2003215122A1 (en) 2002-10-30 2003-02-07 System and method for monitoring position of an airplane from a land base

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US28452502A 2002-10-30 2002-10-30
US10/284,525 2002-10-30

Publications (1)

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WO2004042418A1 true WO2004042418A1 (fr) 2004-05-21

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AU (1) AU2003215122A1 (fr)
WO (1) WO2004042418A1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1793237A1 (fr) * 2005-12-01 2007-06-06 Eurocopter Deutschland GmbH Système de localisation
US7667647B2 (en) 1999-03-05 2010-02-23 Era Systems Corporation Extension of aircraft tracking and positive identification from movement areas into non-movement areas
US7739167B2 (en) 1999-03-05 2010-06-15 Era Systems Corporation Automated management of airport revenues
US7777675B2 (en) 1999-03-05 2010-08-17 Era Systems Corporation Deployable passive broadband aircraft tracking
US7782256B2 (en) 1999-03-05 2010-08-24 Era Systems Corporation Enhanced passive coherent location techniques to track and identify UAVs, UCAVs, MAVs, and other objects
US7889133B2 (en) 1999-03-05 2011-02-15 Itt Manufacturing Enterprises, Inc. Multilateration enhancements for noise and operations management
US7908077B2 (en) 2003-06-10 2011-03-15 Itt Manufacturing Enterprises, Inc. Land use compatibility planning software
US7965227B2 (en) 2006-05-08 2011-06-21 Era Systems, Inc. Aircraft tracking using low cost tagging as a discriminator
US8072382B2 (en) 1999-03-05 2011-12-06 Sra International, Inc. Method and apparatus for ADS-B validation, active and passive multilateration, and elliptical surveillance
US8203486B1 (en) 1999-03-05 2012-06-19 Omnipol A.S. Transmitter independent techniques to extend the performance of passive coherent location
US8446321B2 (en) 1999-03-05 2013-05-21 Omnipol A.S. Deployable intelligence and tracking system for homeland security and search and rescue
CN103278836A (zh) * 2013-05-31 2013-09-04 中国科学院光电研究院 基于两次转发体制的飞行器定位方法

Citations (8)

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US5119504A (en) * 1990-07-19 1992-06-02 Motorola, Inc. Position aided subscriber unit for a satellite cellular system
US5392052A (en) * 1993-04-28 1995-02-21 Eberwine; Mark A. Position reporting emergency location system
CA2133673A1 (fr) * 1994-10-05 1996-04-06 Daniel Bouliane Systeme de transmission de signaux d'urgence
US6092008A (en) * 1997-06-13 2000-07-18 Bateman; Wesley H. Flight event record system
US6147644A (en) * 1996-12-30 2000-11-14 Southwest Research Institute Autonomous geolocation and message communication system and method
US6456941B1 (en) * 2001-03-26 2002-09-24 William Gutierrez System and method for aircraft and watercraft control and collision prevention
US20020173888A1 (en) * 2001-05-21 2002-11-21 Shelton Robert Leo Aircraft location and tracking system
US20030067409A1 (en) * 2001-10-05 2003-04-10 Murphy Timothy A. Method and apparatus for providing an integrated communications, navigation and surveillance satellite system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5119504A (en) * 1990-07-19 1992-06-02 Motorola, Inc. Position aided subscriber unit for a satellite cellular system
US5392052A (en) * 1993-04-28 1995-02-21 Eberwine; Mark A. Position reporting emergency location system
CA2133673A1 (fr) * 1994-10-05 1996-04-06 Daniel Bouliane Systeme de transmission de signaux d'urgence
US6147644A (en) * 1996-12-30 2000-11-14 Southwest Research Institute Autonomous geolocation and message communication system and method
US6092008A (en) * 1997-06-13 2000-07-18 Bateman; Wesley H. Flight event record system
US6456941B1 (en) * 2001-03-26 2002-09-24 William Gutierrez System and method for aircraft and watercraft control and collision prevention
US20020173888A1 (en) * 2001-05-21 2002-11-21 Shelton Robert Leo Aircraft location and tracking system
US20030067409A1 (en) * 2001-10-05 2003-04-10 Murphy Timothy A. Method and apparatus for providing an integrated communications, navigation and surveillance satellite system

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7667647B2 (en) 1999-03-05 2010-02-23 Era Systems Corporation Extension of aircraft tracking and positive identification from movement areas into non-movement areas
US7739167B2 (en) 1999-03-05 2010-06-15 Era Systems Corporation Automated management of airport revenues
US7777675B2 (en) 1999-03-05 2010-08-17 Era Systems Corporation Deployable passive broadband aircraft tracking
US7782256B2 (en) 1999-03-05 2010-08-24 Era Systems Corporation Enhanced passive coherent location techniques to track and identify UAVs, UCAVs, MAVs, and other objects
US7889133B2 (en) 1999-03-05 2011-02-15 Itt Manufacturing Enterprises, Inc. Multilateration enhancements for noise and operations management
US8072382B2 (en) 1999-03-05 2011-12-06 Sra International, Inc. Method and apparatus for ADS-B validation, active and passive multilateration, and elliptical surveillance
US8203486B1 (en) 1999-03-05 2012-06-19 Omnipol A.S. Transmitter independent techniques to extend the performance of passive coherent location
US8446321B2 (en) 1999-03-05 2013-05-21 Omnipol A.S. Deployable intelligence and tracking system for homeland security and search and rescue
US7908077B2 (en) 2003-06-10 2011-03-15 Itt Manufacturing Enterprises, Inc. Land use compatibility planning software
EP1793237A1 (fr) * 2005-12-01 2007-06-06 Eurocopter Deutschland GmbH Système de localisation
US7965227B2 (en) 2006-05-08 2011-06-21 Era Systems, Inc. Aircraft tracking using low cost tagging as a discriminator
CN103278836A (zh) * 2013-05-31 2013-09-04 中国科学院光电研究院 基于两次转发体制的飞行器定位方法

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