CN100437143C - Region satellite navigation system and method thereof - Google Patents
Region satellite navigation system and method thereof Download PDFInfo
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- CN100437143C CN100437143C CNB2007101225040A CN200710122504A CN100437143C CN 100437143 C CN100437143 C CN 100437143C CN B2007101225040 A CNB2007101225040 A CN B2007101225040A CN 200710122504 A CN200710122504 A CN 200710122504A CN 100437143 C CN100437143 C CN 100437143C
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Abstract
The present invention relates to a regional satellite navigation system, which comprises a regional pseudo-satellite and a ground reference station. Each regional pseudo-satellite and each ground reference station are arranged with a transceiver characterized by the same clock precision to eliminate clock error while resolving accurate position of the pseudo-satellite. The present invention also relates to a regional satellite navigation method, which includes steps below: The regional pseudo-satellite broadcasts a positive navigation signal and the ground reference station receives the positive navigation signal. The regional pseudo-satellite position is resolved and the error is eliminated by adopting the same precision clock for the transceiver of the pseudo-satellite and the ground reference station, thus broadcasting position information of the regional pseudo-satellite. Moreover, the regional satellite navigation method and the system can realize automatic navigation. Based on the improved calculating precision of the pseudo-satellite position calculating precision, the present invention improves user equipment positioning precision in the region. The region without the ground reference station can realize navigation by networking the regional satellite navigation system.
Description
Technical field
The present invention relates to a kind of satellite navigation system, particularly a kind of can pinpoint region satellite navigation system in certain area coverage; The invention still further relates to a kind of satellite navigation method, particularly a kind of can pinpoint region satellite navigation method in certain area coverage.
Background technology
Along with GPS (Global positioning system also is satellite navigation system, hereinafter to be referred as: GPS) technology is flourish, and utilizing satellite to navigate becomes a kind of irreversible trend.World many countries also all begins to develop the satellite navigation system of oneself, and Europe, Russia, Japan all resist GPS of USA in the GPS (Global Position System) of developing this country in succession; In China, nineteen eighty-three, the fair scholar of Chen Fang has proposed the Double-Star Positioning System communication system, develops into present dipper system (generation) after repeatedly discuss.At present, China is building navigational system of new generation--" two generations of the Big Dipper " of oneself.
Although each state is all in the navigational system that develops oneself as possible,, just at present, develop the most perfectly, most widely used still is the GPS of USA system.Yet for the user except that the U.S., the gps system of technical comparative maturity is not ensure that U.S. government can stop gps signal broadcasting in particular locality by technological means at any time on policy; And secure autonomous navigation system is immature technically on policy; Also have some small country, geographic areas is very little, does not have ability also to there is no need to set up the satellite navigation system in a whole world.This shows, develop a kind of RNAV system and just become particularly necessary.
Existing region satellite navigation system is to utilize ground reference station and aerial regional pseudo satellite, pseudolite, form gps system, so-called gps system is exactly: gps satellite is used as at the ground reference station, regional pseudo satellite, pseudolite is used as the subscriber equipment of navigator fix, the position that utilizes the signal of ground reference station emission to resolve regional pseudo satellite, pseudolite; After the position of regional pseudo satellite, pseudolite decided, utilize regional pseudo satellite, pseudolite to come again to the subscriber equipment location in the real zone.But, since between the regional pseudo satellite, pseudolite, between pseudo satellite, pseudolite and the ground reference station and the clock that is had between the ground reference station inconsistent, the clock correction problem that causes becomes a bottleneck of this technology clock accurate Calculation pseudo satellite, pseudolite position.What address this problem at present has two kinds of methods:
First kind be the very high regional pseudo satellite, pseudolite of clock accuracy as the reference star, other pseudo satellite, pseudolites all carry out clock correction by this reference star, the advantage of this method is needn't consider orbit error, the atmosphere delay error; All hardware and softwares all are provided with on the ground, and its watt level, volume size and computation burden can solve at an easy rate.But because this reference star near other pseudo satellite, pseudolite calibration accuracy height it, will descend to pseudo satellite, pseudolite calibration accuracy far away, so utilize the shortcoming of this method to be, the position of reference star is low, and poor visibility is difficult to cover very big zone; In addition, the integrity of system can't guarantee, if this breaks down with reference to pseudo satellite, pseudolite, will make troubles to whole RNAV system.
Second kind be an all visible GPS star in all ground reference stations as the reference star, and will be in the said method with the very high regional pseudo satellite, pseudolite of clock accuracy as reference astrology ratio, the advantage of this method is the expense that has reduced high precision clock.But this method has but been introduced orbit error and atmosphere delay error, makes that the pseudo satellite, pseudolite position of calculating is inaccurate, will bring bigger error with it to the subscriber equipment location again; Also there is the problem that satellite-signal is followed the tracks of in this method simultaneously, if because block, the gps satellite failure and other reasons makes when gps satellite can't be followed the tracks of that just can't correct the clock correction of pseudo satellite, pseudolite, total system still is not independent of gps system.
Simultaneously, GPS is as a global satellite navigation system, its weak point is also arranged, need strengthen, the U.S. has developed Wide Area Augmentation System (Wide Area AugmentationSystem for this reason, hereinafter to be referred as: WAAS), this system utilizes two geo-synchronous orbit satellites as telstar, comes to strengthen information to global users broadcasting.Enhancing information comprises integrity (being whether the GPS star the is at a time available) data of GPS ephemeris and star clock correction, difference layback number, ionosphere graticule mesh calculated value, gps satellite.By this WAAS, can make the location of subscriber equipment more accurate.But WAAS is at the whole world, and it still can't satisfy some needs to the very high user of positioning accuracy request.For example: among the WAAS, it carries out the graticule mesh processing to Global Ionospheric, and the graticule mesh step-length in low latitude area is 5 °, graticule mesh step-length in the high-latitude area is 10 °, but low latitude and the ionosphere such for SOUTHERN CHINA change irregular area, and this graticule mesh method is not very suitable; Also out of true of some error correction in the above-mentioned enhancing information.
Summary of the invention
An object of the present invention is, provide a kind of region satellite navigation system, make this region satellite navigation system can overcome above-mentioned shortcoming, make subscriber equipment obtain the higher locating information of precision by some embodiment;
Another object of the present invention is, provides a kind of region satellite navigation method by some embodiment, makes subscriber equipment to obtain the higher locating information of precision by this RNAV system.
In order to realize first purpose of the present invention, the region satellite navigation system that provides comprises:
The zone pseudo satellite, pseudolite is used to broadcast the independent navigation signal;
The ground reference station is used to receive the independent navigation signal of described regional pseudo satellite, pseudolite, resolves the positional information of regional pseudo satellite, pseudolite;
Be respectively equipped with the consistent transceiver of clock accuracy on described regional pseudo satellite, pseudolite and the ground reference station, be used for when resolving the accurate position of pseudo satellite, pseudolite, eliminating the influence of clock correction.
In order to realize second purpose of the present invention, the region satellite navigation method that provides may further comprise the steps:
The zone pseudo satellite, pseudolite is broadcast the independent navigation signal;
The ground reference station receives described independent navigation signal, by the transceiver on described regional pseudo satellite, pseudolite and the ground reference station is adopted the identical clock of precision, resolves the position of regional pseudo satellite, pseudolite and eliminates clock correction;
The positional information of described regional pseudo satellite, pseudolite is broadcast away.
By above technical scheme as can be known, the invention provides a kind of region satellite navigation system, can improve the bearing accuracy of regional pseudo satellite, pseudolite greatly, and then improve the bearing accuracy of subscriber equipment in the zone.The present invention also provides a kind of region satellite navigation method, can improve the bearing accuracy of regional pseudo satellite, pseudolite greatly, and then improves the bearing accuracy of subscriber equipment in the zone; And can be independent of existing Navsat and carry out independent navigation; Also can realize the region satellite navigation of networking.
Also in conjunction with the accompanying drawings the present invention is described in further detail below by specific embodiment.
Description of drawings
Figure 1A is the structural representation of region satellite navigation system embodiment 1 of the present invention;
Figure 1B is region satellite navigation system embodiment 1 a transceiver synoptic diagram of the present invention;
Fig. 2 is region satellite navigation system embodiment 2 structural representations of the present invention;
Fig. 3 is region satellite navigation system embodiment 3 structural representations of the present invention;
Fig. 4 is region satellite navigation method embodiment 1 process flow diagram of the present invention;
Fig. 5 is region satellite navigation method embodiment 2 process flow diagrams of the present invention;
Fig. 6 is region satellite navigation method embodiment 2 transceiver workflow diagrams of the present invention;
Fig. 7 finds the solution process flow diagram for region satellite navigation method embodiment of the present invention 2 pseudo satellite, pseudolite positions;
Fig. 8 is region satellite navigation method embodiment 2 navigation data processing flow charts of the present invention;
Fig. 9 is user facility positioning method process flow diagram in region satellite navigation method embodiment of the present invention 2 zones.
Embodiment
Some embodiments of the present invention provide a kind of region satellite navigation system, and this system can independent navigation, and for subscriber equipment provides the navigator fix service, and bearing accuracy is very high; Also can assist existing satellite navigation system, broadcast error, ionosphere graticule mesh correction, the troposphere graticule mesh correction that ephemeris correction, star clock correction, relativistic effect and earth rotation effect in this more accurate zone cause for the subscriber equipment in the zone, make the subscriber equipment in the zone obtain more accurate localization information; In addition,, the present invention proposes regional pseudo satellite, pseudolite networking navigation, can come to provide the navigator fix service by the ground reference station and the pseudo satellite, pseudolite of near zone to the subscriber equipment in special area at because cause specific can't be set up the zone at ground reference station.
Need to prove that hereinafter the navigation signal of being mentioned comprises: sign indicating number pseudorange observed reading, carrier phase observation data and navigation message.
Region satellite navigation system embodiment 1
The region satellite navigation system of present embodiment mainly is made up of following two parts, shown in Figure 1A, comprising: regional pseudo satellite, pseudolite 1 and ground reference station 2.Zone pseudo satellite, pseudolite 1 is used to broadcast the independent navigation signal to ground reference station 2 and subscriber equipment 3; Ground reference station 2 is used for the independent navigation signal of receiving area pseudo satellite, pseudolite 1, resolves the positional information of regional pseudo satellite, pseudolite 1.
On each regional pseudo satellite, pseudolite 1 and ground reference station 2 transceiver 4 is housed all, shown in Figure 1B, the clock accuracy of each transceiver is all identical, and transceiver is used for eliminating the influence of clock correction when resolving the accurate position of regional pseudo satellite, pseudolite 1.The receiving antenna 41 of transceiver, be used to receive the signal of this transceiver emission itself, and the signal of other transceiver emission (comprising: the signal that the navigation signal of regional pseudo satellite, pseudolite, the reference station that the ground actual position is known send, and the signal that transmits of floor treatment center); The emitting antenna 42 of transceiver is responsible for the navigation signal (comprising: sign indicating number pseudorange observed reading and carrier phase observation data) that emission transceiver itself produces, and broadcasts the various error corrections that the floor treatment center is transmitted simultaneously.It should be noted that the receiving antenna that only schematically drawn among Figure 1B, use a plurality of antennas in the practical application possibly to receive the signal of different frequency range; In like manner, the emitting antenna that also only schematically drawn among Figure 1B is used the signal of a plurality of antennas with the emission different frequency range possibly in the practical application.
In this system, when existing GPS (Global Position System) is restricted or is unavailable, but this RNAV system independent navigation, broadcast the positional information of the pseudo satellite, pseudolite 1 of independent navigation signal and 2 calculating of ground reference station by regional pseudo satellite, pseudolite 1, resolve its positional information for entering this regional subscriber equipment, owing on each regional pseudo satellite, pseudolite 1 in this system and the ground reference station 2 transceiver 4 is housed all, so the position of pseudo satellite, pseudolite can be calculated accurately, thus improved greatly regional in the bearing accuracy of subscriber equipment.
Region satellite navigation system embodiment 2
In the above-described embodiments, existing GPS (Global Position System) is restricted or is unavailable, and region satellite navigation system can carry out independent navigation.If existing Navsat 5 can be used, be used to broadcast navigation signal to described ground reference station, as shown in Figure 2, then regional pseudo satellite, pseudolite 1 is as the assisting navigation satellite.At this moment, ground reference station 2, except being used for the independent navigation signal of receiving area pseudo satellite, pseudolite 1, resolve outside the positional information of regional pseudo satellite, pseudolite, also be used to receive the navigation signal that Navsat 5 is broadcast, resolve, the process errors correction, described error correction comprises: the error that ephemeris correction, star clock correction, relativistic effect and earth rotation effect cause, ionosphere graticule mesh correction, troposphere graticule mesh correction; Zone pseudo satellite, pseudolite 1 is broadcast the independent navigation signal to ground reference station 2 and subscriber equipment 3 except being used to, and also is used to receive the error correction that ground reference station 2 sends, and broadcasts to subscriber equipment.Then, the positional information and the error correction of the navigation signal that can broadcast according to the Navsat 5 that receives of subscriber equipment and the regional pseudo satellite, pseudolite 1 independent navigation signal of broadcasting, regional pseudo satellite, pseudolite that ground reference station 2 solves resolve the positional information of himself.
Wherein, ground reference station 2 also comprises: the reference station 21 that actual position is known and a floor treatment center 22; The reference station 21 that actual position is known is used to receive described regional pseudo satellite, pseudolite, or the information of described Navsat and described regional pseudo satellite, pseudolite emission, and resolves the positional information and the error of calculation correction of regional pseudo satellite, pseudolite; Floor treatment center 22 is used to receive the error correction that the known reference station of actual position 21 sends, and handles (generally a plurality of error corrections will be carried out the processing of arithmetic mean), is sent to subscriber equipment 3 in the zone.
This region satellite navigation system can realize that auxiliary existing GPS navigation satellite 5 carries out the location of subscriber equipment in the zone, identical with the foregoing description, on each regional pseudo satellite, pseudolite 1 and the ground reference station 2 transceiver 4 is housed all also in the present embodiment, make that the position calculation of regional pseudo satellite, pseudolite 1 is more accurate, and in the assisting navigation process, this region satellite navigation system has carried out accurate calculating to the error correction, also be that existing region satellite navigation system institute does not have, make that the subscriber equipment in the zone is located more accurate than existing system.
Region satellite navigation system embodiment 3
If ground reference station 2 can't be set up in the subscriber equipment region, to adopt a kind of networked region satellite navigation system, the regional pseudo satellite, pseudolite 1 in the sky, subscriber equipment region and 1 networking of the regional pseudo satellite, pseudolite in the close region sky, the navigation information of close region navigational system is passed to the overhead regional pseudo satellite, pseudolite 1 in zone that can't set up ground reference station 2 by the regional pseudo satellite, pseudolite in this close region sky, the subscriber equipment in this zone 3 is navigated.
The structure of this networking region satellite navigation system, as shown in Figure 3, suppose to make for a certain reason that the regional N at subscriber equipment place can't build ground reference station and processing enter, and near the regional M it can build intact ground reference station 3, for the zone location problem that this situation produced, embodiments of the invention application region pseudo satellite, pseudolite group forms network aloft and solves.For the navigator fix service of using minimum regional pseudo satellite, pseudolite to obtain to satisfy the demands, embodiments of the invention propose to use regular hexagon that the position of pseudo satellite, pseudolite is set, on orthohexagonal each summit, lay a pseudo satellite, pseudolite, and two even a plurality of regular hexagon be connected with each other again, as shown in FIG..
The signal that earlier oneself is sent when the regional pseudo satellite, pseudolite in the regional N sky is passed to the pseudo satellite, pseudolite in the regional M sky, sends to ground reference station among the regional M by the latter again; In like manner, ground reference station among the regional M and floor treatment center also are the regional pseudo satellite, pseudolites of signal being passed to the regional N sky by the regional pseudo satellite, pseudolite in its sky.But the positional information of this time domain pseudo satellite, pseudolite just can not be broadcast to subscriber equipment by the floor treatment center, but will broadcast to subscriber equipment by regional pseudo satellite, pseudolite together with various error corrections.
Present embodiment has been realized the region satellite navigation system of a networking, though the pseudo satellite, pseudolite networking can be caused the decline of bearing accuracy, but can realize that some can not set up the location navigation of the subscriber equipment in zone, ground reference station, effect is very big as emergency system.
Some embodiments of the present invention also provide a kind of method of region satellite navigation, when the GPS navigation satellite is unavailable, can carry out independent navigation in this method, owing to used new method for designing and algorithm, this independent navigation locating accuracy is also very high; But when the GPS navigation satellite time spent, zone satellite assistant GPS satellite navigation, (geometric dilution of precision is a standard weighing the formed geometry quality of satellite position can to improve geometric dilution of precision, in general, as seen star is many more, geometric dilution of precision is more little, and bearing accuracy is high more), broadcast error correction in the more accurate zone to subscriber equipment; In addition,, the present invention proposes networked region satellite navigation system, can come to provide the navigator fix service by the ground reference station and the pseudo satellite, pseudolite of near zone to the subscriber equipment in special area at because cause specific can't be set up the zone at ground reference station.
Region satellite navigation method embodiment 1
In the region satellite navigation method, if existing GPS navigation satellite is unavailable, the zone pseudo satellite, pseudolite will be broadcast the independent navigation signal to ground reference station and subscriber equipment, and the positional information of the regional pseudo satellite, pseudolite that the ground reference station will be found the solution again sends to the subscriber equipment in the zone; Subscriber equipment utilizes this information to resolve the positional information of oneself.This method can not rely on the GPS GPS still can give the zone interior accurate in locating of subscriber equipment.
Concrete grammar is as shown in Figure 4:
At last, the independent navigation signal that the subscriber equipment in the zone is broadcast according to the regional pseudo satellite, pseudolite that receives, and the positional information of the regional pseudo satellite, pseudolite that transmits of ground reference station resolve the positional information of himself.
Utilize this method that the subscriber equipment in the zone is positioned, can be independent of global gps satellite navigational system, subscriber equipment can only utilize regional pseudo satellite, pseudolite to produce and the sign indicating number pseudorange observed reading and the carrier phase observation data of broadcasting resolve the positional information of oneself.And, owing to used new thinking--on ground reference station and regional pseudo satellite, pseudolite, transceiver is installed all, method by the internal system difference, introducing under the very little prerequisite of error, solved between the regional pseudo satellite, pseudolite and and the ground reference station between clock synchronization issue, finally improved the bearing accuracy of subscriber equipment greatly.
Region satellite navigation method embodiment 2
This region satellite navigation system also can be used as the auxiliary of GPS navigation, relies on the GPS navigation satellite to navigate.In the pseudo satellite, pseudolite secondary navigation system of zone, also introduced transceiver at regional pseudo satellite, pseudolite and ground reference station, by between the regional pseudo satellite, pseudolite, between the ground reference station and the mutual difference between regional pseudo satellite, pseudolite and the ground reference station, the clock correction of the radiating portion that is installed in the transceiver on each regional pseudo satellite, pseudolite and the ground reference station and the clock correction of receiving unit are eliminated fully, solve one of regional pseudo satellite, pseudolite position more accurately, and it is passed to regional pseudo satellite, pseudolite.In this secondary navigation system, the navigation signal that also broadcast by existing Navsat at the ground reference station, comprising: P sign indicating number (sign indicating number pseudorange), C/A sign indicating number (carrier phase), D sign indicating number (navigation message, wherein comprise ephemeris parameter), try to achieve in the zone than GPS (Global Position System) error correction more accurately.
As shown in Figure 5, the concrete navigation step of region satellite navigation system is as follows:
Subscriber equipment in step 205, the zone is according to the independent navigation signal that receives and the positional information of regional pseudo satellite, pseudolite, and the error correction resolves its positional information.
Described navigation signal comprises: sign indicating number pseudorange observed reading and carrier phase observation data; Described independent navigation signal comprises: the sign indicating number pseudorange observed reading and the carrier phase observation data of pseudo satellite, pseudolite; Described error correction comprises: the error that ephemeris correction, star clock correction, relativistic effect and earth rotation effect cause, ionosphere graticule mesh correction, troposphere graticule mesh correction.
For the ease of regional pseudo satellite, pseudolite assisting navigation in the present embodiment is described, at first the principle of work that is installed in the transceiver on each ground reference station and the regional pseudo satellite, pseudolite is simply introduced.As shown in Figure 6, this transceiver to the data processing procedure is:
Information after step 307, the processing is delivered to navigation overall treatment unit, after this navigation overall treatment cell processing, and the position of exporting a series of error correction and pseudo satellite, pseudolite; Simultaneously, information generator produces C/A sign indicating number and carrier phase signal;
The signal that signal after step 308, the overall treatment cell processing of will navigating and information generator produce is gone out by transmission antennas transmit.
After the principle of work explanation of transceiver, specify below and how to resolve the position of regional pseudo satellite, pseudolite, as shown in Figure 7 by it.In this algorithm, think that the transceiver clock jitter is time-independent, ignore the error that thermonoise and multipath bring simultaneously, it is as follows specifically to resolve step:
The navigation signal of step 404, regional pseudo satellite, pseudolite j receiving area pseudo satellite, pseudolite k emission is set up the pseudorange model, comprising the clock correction of regional pseudo satellite, pseudolite k transceiver radiating portion and regional pseudo satellite, pseudolite j transceiver receiving unit, produces pseudorange equation 2;
The navigation signal of step 407, regional pseudo satellite, pseudolite k receiving area pseudo satellite, pseudolite j emission is set up the pseudorange model, comprising the clock correction of regional pseudo satellite, pseudolite j transceiver radiating portion and regional pseudo satellite, pseudolite k transceiver receiving unit, produces pseudorange equation 4;
Repeating step 401 is to the algorithmic procedure of step 409 between step 411, ground reference station and the ground reference station;
Repeating step 401 is to the algorithmic procedure of step 409 between step 412, ground reference station and the regional pseudo satellite, pseudolite;
After the position of regional pseudo satellite, pseudolite was determined, a series of processing just can be carried out to navigation data in the floor treatment center, as shown in Figure 8:
Known true reference by location station i receives the navigation signal that existing Navsat is broadcast in step 501, the ground reference station, comprising: sign indicating number pseudorange observed reading, carrier phase observation data and pseudorange rate of change, carrier phase rate of change;
The data that step 506, reference station i integrating step 404 and step 405 are tried to achieve are found the solution the vertical breakthrough point in ionosphere and are postponed;
The breakthrough point position, ionosphere that step 509, the regional graticule mesh that is provided with according to step 508 and step 507 obtain is found the solution contiguous graticule mesh breakthrough point and is selected;
The reference station repeating step 501 to 510 of known actual position in step 511, other the ground reference station;
Handle the various errors that transmit in step 513, step 515, the step 516 at step 518, floor treatment center, for example: ephemeris error, processing procedure is, if certain Navsat at a plurality of ground references station all as seen, then the error that a plurality of ground references station is obtained is carried out the ephemeris error of arithmetic mean as this Navsat; If certain star only at a ground reference station as seen, just the error that this ground reference station is transmitted is as the ephemeris error of this Navsat.
After the processing more than ground reference station and processing enter have been carried out various data, the end user device in the zone just can position.User facility positioning method in the following declare area, as shown in Figure 9:
Step 601, subscriber equipment receive the navigation signal that existing Navsat is broadcast;
The error correction that step 602, subscriber equipment receiving area pseudo satellite, pseudolite are broadcast;
The independent navigation signal that step 603, subscriber equipment receiving area pseudo satellite, pseudolite are broadcast, i.e. the sign indicating number pseudorange and the carrier phase observation data of pseudo satellite, pseudolite;
The positional information of the regional pseudo satellite, pseudolite that step 604, subscriber equipment receiving area pseudo satellite, pseudolite are broadcast;
Step 605, subscriber equipment utilize the position of the resulting data solver of step 601～step 604 oneself.
In step 605, the observed quantity that can supply subscriber equipment to resolve own positional information has two groups: the independent navigation signal that the navigation signal of the existing Navsat in the step 601, the pseudo satellite, pseudolite in the step 603 are broadcast.Subscriber equipment at first carries out pre-service according to the every error correction in the step 602 to sign indicating number pseudo range observed quantity in the navigation signal of step 601 gained and carrier phase observed quantity, and then the observed quantity of the sign indicating number pseudo range observed quantity in the pretreated step 601 and carrier phase observed quantity and step 603 gained united, with weighted least-squares or Kalman filtering method it is found the solution, thereby obtain the positional information of subscriber equipment oneself.
The regional pseudo satellite, pseudolite assistant GPS air navigation aid that present embodiment provides can be improved the geometric dilution of precision of navigational system.Owing to transceiver all has been installed at each reference station and regional pseudo satellite, pseudolite, used a kind of new regional pseudo satellite, pseudolite location algorithm step 401～step 413 simultaneously, it is inconsistent and location that cause is inaccurate to have overcome clock in the existing RNAV system, and the problems of bringing in order to improve clock accuracy such as other inconvenience, improved the bearing accuracy of regional pseudo satellite, pseudolite greatly.Broadcast the correction of error more accurately of broadcasting in can also be at the regional level than WAAS, ephemeris correction, star clock correction, ionosphere graticule mesh correction have been asked among the WAAS, but, WAAS is the subscriber equipment broadcast message of giving the whole world by two geosynchronous satellites, because graticule mesh is very big, so the error of information is also just very big like this, and the error that troposphere graticule mesh correction, relativistic effect and earth rotation effect cause is not asked in WAAS yet; In an embodiment of the present invention the error correction is separated, utilized with WAAS in the essentially identical algorithm of algorithm solved ephemeris correction, star clock correction, ionosphere graticule mesh correction, but in an embodiment of the present invention, owing to be in the zone more much smaller, to carry out graticule mesh than global range, and the step-length of graticule mesh is also much smaller than WAAS, and therefore the error of the error correction of broadcasting is just very little; The error that relativistic effect and earth rotation effect cause is that ready-made algorithm is arranged, and calculates in certain zone; Tropospheric error also is to be calculated by ready-made algorithm, again it is carried out graticule mesh, is fitted on the ionosphere delay error.By this new error correction method for solving, and eliminate the method that transceiver clock correction is asked the pseudo satellite, pseudolite positional information, make the zone interior that subscriber equipment can obtain accurate more positional information.
Region satellite navigation method embodiment 3
If or in particular cases at some in some special area, the ground reference station can't be set up in some areas, can use a kind of networked region satellite navigation system, make the information of close region ground reference station and processing enter pass to the overhead pseudo satellite, pseudolite in zone that to build a station by its overhead pseudo satellite, pseudolite, and then broadcast to subscriber equipment, to guarantee the navigation Service of some special areas, special circumstances.
The concrete steps of this air navigation aid are: can't set up the regional overhead pseudo satellite, pseudolite at ground reference station and the pseudo satellite, pseudolite networking in the close region sky; The RNAV system of close region is passed to the overhead pseudo satellite, pseudolite in zone that can't set up the ground reference station with navigation information by the regional pseudo satellite, pseudolite in this close region sky, broadcasts to the subscriber equipment in this zone again and resolves its positional information.
Can realize to set up the location of the regional subscriber equipment at ground reference station by this method of transmitting once more; Equally, in this case, if when existing Navsat is unavailable, subscriber equipment also is the position of only finding the solution oneself with the independent navigation of regional pseudo satellite, pseudolite transmission, and specific practice illustrates in the above-described embodiment.
The RNAV system that this is networked not only can also enlarge the coverage of RNAV system simultaneously so that RNAV system still can carry out normal navigator fix under special situation and condition; But the scope that this RNAV system covers is big more, and then bearing accuracy is low more, so under the situation of conditions permit, still should guarantee to set up this RNAV system in suitable regional extent.
It should be noted that at last: above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (15)
1, a kind of region satellite navigation system comprises:
The zone pseudo satellite, pseudolite is used to broadcast the independent navigation signal;
The ground reference station is used to receive the independent navigation signal of described regional pseudo satellite, pseudolite, resolves the positional information of regional pseudo satellite, pseudolite;
It is characterized in that: be respectively equipped with the consistent transceiver of clock accuracy on described regional pseudo satellite, pseudolite and the ground reference station, be used for when resolving the accurate position of pseudo satellite, pseudolite, eliminating the influence of clock correction.
2, region satellite navigation system according to claim 1 is characterized in that: also comprise subscriber equipment, be used for resolving the positional information of self according to the described independent navigation signal that receives and the positional information of described regional pseudo satellite, pseudolite.
3, region satellite navigation system according to claim 1 is characterized in that: also comprise Navsat, be used to broadcast navigation signal.
4, region satellite navigation system according to claim 3, it is characterized in that: also comprise subscriber equipment, be used for resolving its positional information according to the positional information and the error correction of the described navigation signal that receives and independent navigation signal, described regional pseudo satellite, pseudolite, described error correction is resolved, is handled by described ground reference station, and is sent to described subscriber equipment.
According to claim 3 or 4 described systems, it is characterized in that 5, described ground reference station comprises:
The reference station that actual position is known is used to receive the information of described regional pseudo satellite, pseudolite or described Navsat and described regional pseudo satellite, pseudolite emission, and resolves the positional information and the error of calculation correction of regional pseudo satellite, pseudolite;
The floor treatment center is used to receive the described error correction that the known reference station of actual position sends, and handles, and is sent to subscriber equipment in the zone.
6, according to the described arbitrary system of claim 1-4, it is characterized in that: also comprise networked region satellite navigation system, be used for the navigation information of a RNAV system is transmitted to by the regional pseudo satellite, pseudolite in this sky, zone the regional pseudo satellite, pseudolite in the regional sky that does not have the ground reference station.
7, region satellite navigation system according to claim 6 is characterized in that: the regional pseudo satellite, pseudolite in the described networked region satellite navigation system adopts the regular hexagon mode of interconnecting to arrange, and a regional pseudo satellite, pseudolite is set on each hexagonal summit.
8, a kind of region satellite navigation method is characterized in that: comprise the steps:
The zone pseudo satellite, pseudolite is broadcast the independent navigation signal;
The ground reference station receives described independent navigation signal, by the transceiver on described regional pseudo satellite, pseudolite and the ground reference station is adopted the identical clock of precision, resolves the position of regional pseudo satellite, pseudolite and eliminates clock correction;
The positional information of described regional pseudo satellite, pseudolite is broadcast away.
9, region satellite navigation method according to claim 8, it is characterized in that: after described positional information with described regional pseudo satellite, pseudolite is broadcast away, also comprise: the described independent navigation signal that subscriber equipment receiving area pseudo satellite, pseudolite is broadcast, and the positional information of the regional pseudo satellite, pseudolite that transmits of ground reference station, resolve the positional information of this subscriber equipment.
10, region satellite navigation method according to claim 8 is characterized in that: the described concrete steps of resolving the positional information of regional pseudo satellite, pseudolite are:
On each described regional pseudo satellite, pseudolite and ground reference station, be provided with the consistent transceiver of clock accuracy;
Receive independent navigation signal that the other side sends and the independent navigation signal of self between the described regional pseudo satellite, pseudolite, between the ground reference station and between regional pseudo satellite, pseudolite and the ground reference station mutually;
Each regional pseudo satellite, pseudolite and ground reference station are set up the pseudorange equation respectively according to the independent navigation signal of its other side who receives transmission and the independent navigation signal of self, comprise the clock correction of transceiver radiating portion and receiving unit in the described pseudorange equation;
Utilize the clock correction of transceiver radiating portion and receiving unit on the pseudo satellite, pseudolite of described pseudorange equation cancellation zone;
The positional information of zoning pseudo satellite, pseudolite.
11, according to Claim 8 or 10 described region satellite navigation methods, it is characterized in that: before described regional pseudo satellite, pseudolite is broadcast the independent navigation signal, also comprise:
Navsat is broadcast navigation signal;
Described ground reference station receives the navigation signal that described Navsat is broadcast, and resolves, the process errors correction;
Described regional pseudo satellite, pseudolite receives the error correction that described ground reference station sends, and broadcasts away.
12, region satellite navigation method according to claim 11 is characterized in that also comprising: subscriber equipment is according to the described independent navigation signal that receives and the positional information of described regional pseudo satellite, pseudolite, and the error correction resolves its positional information.
13, region satellite navigation method according to claim 11 is characterized in that: described error correction comprises ionosphere graticule mesh correction, and the solution procedure of described ionosphere graticule mesh correction is:
According to ionospheric distributed intelligence and the running parameter thereof in the zone, the graticule mesh segmentation is carried out in ionosphere;
Use the ionosphere delay tupe of Wide Area Augmentation System and find the solution described ionosphere graticule mesh correction.
14, region satellite navigation method according to claim 11 is characterized in that: described error correction comprises troposphere graticule mesh correction, and the solution procedure of described troposphere graticule mesh correction is:
Calculate tropospheric delay;
Described tropospheric delay is sent;
The described tropospheric delay that the ground reference station will receive is fit in the described graticule mesh of segmentation, described fitting to: the tropospheric delay of several points that site out of place is near counts on average, as the tropospheric delay correction of this grid points.
15, according to Claim 8 to 10,12 to 14 described arbitrary region satellite navigation methods, it is characterized in that: the step of subscriber equipment being navigated in the zone that does not have the ground reference station is:
There is not the overhead overhead pseudo satellite, pseudolite networking of pseudo satellite, pseudolite and another zone in zone at ground reference station;
Described another regional RNAV system is passed to the described overhead pseudo satellite, pseudolite in zone that does not have the ground reference station with navigation information by the regional pseudo satellite, pseudolite in this sky, zone, broadcasts to the subscriber equipment in the zone that does not have the ground reference station again and resolves its positional information.
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| CN101900802B (en) * | 2009-05-26 | 2012-06-27 | 大唐移动通信设备有限公司 | Anti-interference method, system and device based on timing and positioning system |
| CN102118847B (en) * | 2009-12-31 | 2013-06-26 | 北京控制工程研究所 | Satellite clock and ground clock unifying method and device for ground test |
| CN103076615B (en) * | 2011-12-27 | 2015-09-23 | 泰斗微电子科技有限公司 | A kind of triones navigation system ionosphere delay method of estimation and corresponding receiving trap |
| CN103777209A (en) * | 2012-10-22 | 2014-05-07 | 中兴通讯股份有限公司 | Ionosphere delay correction parameter configuration method and device and mobile communication network |
| CN104122567B (en) * | 2014-07-29 | 2017-02-15 | 中国电子科技集团公司第五十四研究所 | Positioning method with combination of pseudolites, GPS (global positioning system) and Beidou Navigation System |
| CN104392108B (en) * | 2014-11-03 | 2018-05-01 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | A kind of long-range positioning system (Loran) and method using iteration difference algorithm |
| DE102017206262A1 (en) * | 2017-04-12 | 2018-10-18 | Robert Bosch Gmbh | A method of operating a correction service system, a correction service system, a method of operating a satellite-based navigation system, and a satellite-based navigation system |
| DE102017206275A1 (en) * | 2017-04-12 | 2018-10-18 | Robert Bosch Gmbh | A method of operating a correction service system and correction service system |
| CN109471135A (en) * | 2019-01-11 | 2019-03-15 | 西安雷擎电子科技有限公司 | A kind of real simulation method of satellite-signal |
| CN114270222A (en) * | 2020-07-16 | 2022-04-01 | 北京小米移动软件有限公司 | Position determination method, position determination device, electronic equipment and computer-readable storage medium |
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