CN103148845A - Satellite combined compass and method for measuring and computing azimuth angle and pitch angle - Google Patents
Satellite combined compass and method for measuring and computing azimuth angle and pitch angle Download PDFInfo
- Publication number
- CN103148845A CN103148845A CN2013100665778A CN201310066577A CN103148845A CN 103148845 A CN103148845 A CN 103148845A CN 2013100665778 A CN2013100665778 A CN 2013100665778A CN 201310066577 A CN201310066577 A CN 201310066577A CN 103148845 A CN103148845 A CN 103148845A
- Authority
- CN
- China
- Prior art keywords
- compass
- satellite
- antenna
- data
- angle
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a satellite combined compass comprising a satellite compass and a digital terrestrial magnetic compass, wherein the satellite compass and the digital terrestrial magnetic compass are simultaneously connected with a combined processor which is used for synthesizing data sent by the satellite compass and the digital terrestrial magnetic compass and displaying a result; the satellite compass comprises a first antenna, a first feeder line, a first multichannel receiver and a computing circuit which are connected in sequence, wherein the computing circuit is also connected with a second antenna, a second feeder line and a second multichannel receiver which are connected in sequence, and the computing circuit is also connected with the combined processor; the firs antenna and the second antenna are used for receiving four global navigational satellite signals; and the first multichannel receiver and the second multichannel receiver are used for processing each global navigational satellite signal into a signal phase, global navigational satellite orbital data and position data. The invention also discloses a method for measuring and computing an azimuth angle and a pitch angle by using the satellite combined compass.
Description
Technical field
The present invention relates to a kind of satellite pointing system, particularly a kind of combinations of satellites compass and position angle and the angle of pitch are measured computing method.
Background technology
The measuring accuracy of the compass such as traditional magnetic compass, radio compass and inertia compass changed by the terrestrial magnetic field and the impact of data drift greatly, the magnetic declination of various places is extremely unstable, position angle and elevation measurement error are larger.Although satellite lining precision is higher, there is not the data drift.But the impact that blocked by satellite is being followed the tracks of global navigational satellite quantity when not reaching 4, and it is discontinuous that the satellite compass can't provide position angle and pitch angle data or position angle and pitch angle data.Therefore it is discontinuous that the satellite compass can not provide position angle and pitch angle data or position angle and pitch angle data.
Through retrieval, find to have the patent of three relevant GPS of use or ground magnetic compass.
1 electric trackless telescopic door grounding magnetic navigation system: this patent is only used ground magnetic compass interception, does not use gps satellite information.
2 automatic measurement-report apparatus for all-directional wish ships: this patent only has a gps antenna, is used for receiving and the location.It is to table look-up according to locator data to draw magnetic declination, with the direction finding of magnetic declination correction earth magnetism, thus the course angle of obtaining, rather than use gps antenna and receiver to carry out phase difference direction finding.
3 one kinds of combined navigation devices and implementation method: this patent only has a gps antenna, is used for receiving and the location.When satellite blocks, with cell phone network location replacement GPS location.
Above-mentioned three patents all do not belong to the satellite compass: the electric trackless telescopic door grounding magnetic navigation system patent is not used global navigation satellite antenna at all, does not belong to the satellite compass; Two patents of automatic measurement-report apparatus for all-directional wish ship and a kind of combined navigation device and implementation method are only used a global navigation satellite antenna, are used for the location, look into magnetic declination and revise magnetic declination.
Only have with two global navigation satellite antenna measure phase difference, computer azimuth and the angle of pitch are only the satellite compass.
Summary of the invention
Goal of the invention: technical matters to be solved by this invention is for the deficiencies in the prior art, provides a kind of combinations of satellites compass and position angle and the angle of pitch to measure computing method, and the position angle and the elevation measurement error that solve conventional compass are larger, and unstable; Satellite lining precision is higher, not affected by changes of magnetic field, does not have the data drift, but is easily blocked the technological deficiency of the impact of global navigational satellite.
In order to solve the problems of the technologies described above, the invention discloses a kind of combinations of satellites compass, comprise satellite compass and Numerical Geomagnetic compass and combining processor.Described combining processor is used for the data of satellite compass and Numerical Geomagnetic compass are made up calculating and determine the output data and show;
Described satellite compass comprises the first antenna, the first feeder line, the first multichannel receiver and the counting circuit that connects successively, described counting circuit also connects with the second antenna that is connected successively, the second feeder line and the second multichannel receiver, and described counting circuit connects combining processor simultaneously;
Described the first antenna and the second antenna are used for receiving 4 global navigational satellite signals;
Described the first multichannel receiver and the second multichannel receiver are used for every global navigational satellite signal is processed into signal phase and global navigational satellite orbital data and position data;
Described counting circuit is used for calculating every global navigational satellite arrival first antenna and the phase differential of the second antenna and position data, the global navigational satellite of this global navigational satellite and is blocked data, is the azimuth angle alpha of baseline with respect to the first antenna and the second antenna
1With angle of pitch ε
1
Described Numerical Geomagnetic compass is used for the output azimuth angle alpha
2With angle of pitch ε
2
In the present invention, described Numerical Geomagnetic compass comprises geomagnetic sensor.
The performance of combinations of satellites compass of the present invention is far above satellite compass, Numerical Geomagnetic compass performance separately.
Counting circuit of the present invention calculates 4 global navigational satellites, and GPS, GLONASS, Galileo and the global Big Dipper etc. arrive the phase differential of two cover antennas and the position of global navigational satellite, and can to obtain with respect to two cover antennas be the azimuth angle alpha of baseline through further resolving
1With angle of pitch ε
1Counting circuit is that (model is as the model of the general single card microcomputer of Motorola: CompactPCI etc.) for general single card microcomputer.In general single card microcomputer, azimuth angle alpha is housed
1With angle of pitch ε
1Calculate, eliminate 2 π fuzzy technologys and satellite preferable procedure.General single card microcomputer has two ports that are connected with satellite receiver output, and azimuth angle alpha is arranged
1With angle of pitch ε
1Output port.
The hardware of combining processor of the present invention is that (model is as the model of the general single card microcomputer of Motorola: CompactPCI etc.) for general single card microcomputer.The in-built combination of the general single card microcomputer of combining processor is calculated and definite output data software.
Combining processor guarantees to give full play to satellite compass and Numerical Geomagnetic compass advantage separately, reaches mutual supplement with each other's advantages; Overcome simultaneously the weak point separately of satellite compass and Numerical Geomagnetic compass.
Counting circuit and combining processor structurally can adopt a single card microcomputer to complete two kinds of functions, also can adopt two single card microcomputers to complete separately separately function.
The position angle and the angle of pitch that the invention also discloses a kind of combinations of satellites compass are measured computing method,
When the global navigational satellite signal does not block, comprise the following steps:
Step 11, the first antenna, the first feeder line, the first multichannel receiver receive signal and the data of 4 global navigational satellites, and give counting circuit;
Step 12, the second antenna, the second feeder line, the second multichannel receiver receive signal and the data of 4 global navigational satellites, and give counting circuit;
Step 13, process in counting circuit obtain the satellite compass without wander azimuth angle α
1With angle of pitch ε
1, process rear output as the combinations of satellites compass by combining processor;
When the global navigational satellite signal blocks, comprise the following steps:
Step 21, the first antenna, the first feeder line, the first multichannel receiver receive signal and the data of 4 global navigational satellites, and give counting circuit;
Step 22, the second antenna, the second feeder line, the second multichannel receiver receive signal and the data of 4 global navigational satellites, and give counting circuit;
Step 23 is processed the azimuth angle alpha that obtains the satellite compass in counting circuit
1With angle of pitch ε
1, give combining processor;
Step 24, the azimuth angle alpha that drift is arranged that the Numerical Geomagnetic compass will collect
2With angle of pitch ε
2Data send to combining processor;
Step 25 is used unobstructed last group of combining processor correction t
0Moment data: with azimuth angle alpha=α
1With angle of pitch ε=ε
1Output data as the combinations of satellites compass;
Step 26 is at t
0Constantly, with azimuth angle alpha=α
2-Δ α
2With angle of pitch ε=ε
2-Δ ε
2As the output data of combinations of satellites compass, Δ α
2With Δ ε
2Be respectively the Numerical Geomagnetic compass at t
0Constantly later extrapolation drift error.
The present invention has used two antennas of satellite compass and two receivers, is used for phase differential and surveys course angle and the angle of pitch; Simultaneously, the earth magnetism digital compass replaces the satellite compass through the Static and dynamic calibration when satellite is blocked at short notice.Through combination, form high precision combinations of satellites compass, without fixed error magnetic declination and drift error, with the prior art essential distinction.
Beneficial effect: combinations of satellites compass of the present invention has the following advantages: 1. the present invention is not subjected to the impact of magnetic field and variation thereof, and the impact that is not subjected to the iron and steel environment, does not have the data drift; 2. the present invention is that information receives and digital computation, there is no the high speed machine parts, and reliability is higher; 3. to measure the Precision Potential of position angle and the angle of pitch larger in the present invention, longer apart from baseline between two antennas, and the precision of measuring position angle and the angle of pitch is higher; 4. the present invention has the ability that the rolling of anti-mobile platform or barrier block the global navigational satellite impact; 5. the present invention launches direction finding to weapon, the radar interception, and Laser Measuring orientation, weapon aiming, aviation and navigation march etc. are of great importance; 6. the present invention has higher economic benefit and social benefit.
Description of drawings
Below in conjunction with the drawings and specific embodiments, the present invention is done further illustrating, above-mentioned and/or otherwise advantage of the present invention will become apparent.
Fig. 1 is combinations of satellites compass structure schematic diagram of the present invention.
Fig. 2 is the phase differential schematic diagram of global navigational satellite to two an of the present invention receiving antenna.
Embodiment
As shown in Figure 1, the present invention is comprised of satellite compass 1, Numerical Geomagnetic compass 2 and combining processor 3.The present invention adopts the reception global navigational satellite, GPS, GLONASS, Galileo and the global Big Dipper etc., and lower same signal and data are carried out accurate Calculation and obtained position angle and pitch angle data, and are fully irrelevant with the impact in magnetic field.Two cover antenna 4a, 4b, feeder line 5a, 5b, multichannel receiver 6a, 6b and a counting circuit 7 are housed in satellite compass 1.Two cover antennas 4, feeder line 5, multichannel receiver 6 receive 4 global navigational satellite signals; Each multichannel receiver 6a, 6b are processed into every global navigational satellite signal the position data of signal phase and global navigational satellite orbital data and multichannel receiver 6a, 6b, and global navigational satellite is blocked data; With signal phase and various data input counting circuit 7.Calculate every global navigational satellite and arrive two cover antenna 4a, the phase differential of 4b and the position data of this global navigational satellite in counting circuit 7; Obtaining with respect to two cover antennas through further processing is the azimuth angle alpha of baseline
1With angle of pitch ε
1, as output data azimuth angle alpha and the angle of pitch ε of combinations of satellites compass.Numerical Geomagnetic compass 2 is comprised of geomagnetic sensor and digitizer.Numerical Geomagnetic compass 2 output azimuth angle alpha
2With angle of pitch ε
2When global navigational satellite is blocked, the azimuth angle alpha of the Numerical Geomagnetic compass 2 that process is revised
2With angle of pitch ε
2, as output data azimuth angle alpha and the angle of pitch ε of combinations of satellites compass.Combining processor 3 is used for output data azimuth angle alpha and the angle of pitch ε of combined treatment, compass, and display orientation angle α and angle of pitch ε data.In the present embodiment, counting circuit 7 and combining processor 3 adopt respectively a cover general single card microcomputer CompactPCI of Motorola, to reduce the phase mutual interference, improve precision.
The principle of work of satellite compass 1 is as follows: two cover antenna 4a, 4b, feeder line 5a, 5b, multichannel receiver 6a, 6b and a counting circuit 7 are housed in satellite compass 1.Two cover antenna 4a, 4b, feeder line 5 and multichannel receiver 6a, 6b receive 4 global navigational satellite signals; Multichannel receiver 6a, 6b are processed into the fraction part of signal phase, the orbital data of global navigational satellite and the position data of two cover antenna 4a, 4b with the global navigational satellite signal; Fraction part and the various data of signal phase are inputed to counting circuit 7; The fraction part of signal phase and data draw as calculated every global navigational satellite and arrive the fraction part δ of phase differential of two cover antenna 4a, 4b and the position data of this satellite in counting circuit 7; According to the position datas of the distance L between the fraction part of signal phase, two cover antenna 4a, 4b, satellite position data and two cover antenna 4a, 4b can calculate every global navigational satellite arrive two cover antenna 4a, 4b phase differential complete cycle issue N to eliminate 2 π fuzzy.Phase differential between two cover antenna 4a, 4b
N=rounds (l/ λ).
N
max=round (L/ λ),
In formula, l is the progressive error of satellite to two cover antenna 4a, 4b, as shown in Figure 2; L is two distances between antenna; λ is the wavelength of the frequency of operation of global navigational satellite.Ask the method for complete cycle issue N a lot, the present invention advises the population fast search process of usage comparison maturation.Through preferred satellite, the calculating of many satellites, anti-occlusion test, can obtain with respect to two cover antenna 4a, 4b is the azimuth angle alpha of baseline
1With angle of pitch ε
1Azimuth angle alpha
1With angle of pitch ε
1As output data azimuth angle alpha and the angle of pitch ε of combinations of satellites compass of the present invention, and be presented in digital form on combining processor 3.
Numerical Geomagnetic compass 2: formed by geomagnetic sensor and digitizer.Numerical Geomagnetic compass 2 output azimuth angle alpha
2With angle of pitch ε
2When global navigational satellite is blocked, use the azimuth angle alpha through the Numerical Geomagnetic compass 2 of revising
2With angle of pitch ε
2, as output data azimuth angle alpha and the angle of pitch ε of combinations of satellites compass.
Combining processor 3: (the global navigational satellite number is no less than 4) combining processor 3 is controlled the output data azimuth angle alpha of combinations of satellites compass when satellite compass 1 is working properly
1With angle of pitch ε
1Output data azimuth angle alpha and angle of pitch ε as the combinations of satellites compass.Carry out simultaneously the extrapolation of data drift error and calculate, prepare to revise the azimuth angle alpha of Numerical Geomagnetic compass 2 when satellite compass 1 is blocked
2With angle of pitch ε
2When tracking global navigational satellite number blocked less than 4, combining processor 3 was with Numerical Geomagnetic compass 2 azimuth angle alpha of revising
2 repairWith angle of pitch ε
2 repair, as output data azimuth angle alpha and the angle of pitch ε of combinations of satellites compass.
The extrapolation of combining processor 3 is calculated: do not having under the satellite circumstance of occlusion, the output data of establishing satellite compass 1 and Numerical Geomagnetic compass 2 position angles and the angle of pitch are respectively y
w(α
1, or ε
1) and y
s(α
2, or ε
2), data output period is h(h=50ms or 10ms) be per second output 20 times or 100 secondary data.Because there is not the data drift error in satellite compass 1, and there is the data drift error in Numerical Geomagnetic compass 2, therefore x=y
s-y
wData drift error Δ α for Numerical Geomagnetic compass 2
2And Δ ε
2X is not the fast stochastic error that changes, but changes very slow error.When satellite compass 1 and Numerical Geomagnetic compass 2 all work (unobstructed), each data output period will record x, and obtain the running parameter of x, reduce the data drift error of Numerical Geomagnetic compass 2 when being blocked (four Navsats of less than) at satellite compass 1.At first with the bearing data drift error Δ α of measurements and calculations Numerical Geomagnetic compass 2
2Be example.The data drift error x that supposes Numerical Geomagnetic compass 2 is quafric curve (also can be as required cubic curve or biquadratic curve) in the regular hour section:
x=Δα
2=a
0+a
1(t-t
0)+a
2(t-t
0)
2 （1）
Wherein, a
0, a
1, a
2Be the multinomial coefficient of Numerical Geomagnetic compass 2 data drift error x, i.e. Numerical Geomagnetic compass 2 data drift error x Varying parameters; T is the time of recording drift error; t
0Headed by the group record drift error time.
If Δ t polynomial time interval, Δ t can be tens of minutes.
Solution formula (2) can get multinomial coefficient a
0, a
1, a
2
The correction of Numerical Geomagnetic compass 2 output data: in (four Navsats of the less than) situation that is blocked at satellite compass 1, the output data of combinations of satellites compass are used the output data position angle a of Numerical Geomagnetic compass 2 through revising
2And angle of pitch ε
2Formula (3) is to calculate under satellite compass 1 and the equal normal operation of Numerical Geomagnetic compass 2, and is that each data output period (h) calculates.T=t when finding that Navsat is blocked
0+ 3 Δ t use last group multinomial coefficient a
0, a
1, a
2I (i=1,2,3,4 after if be blocked ...) the time t=t of data output period
0The corrected azimuth output data of the Numerical Geomagnetic compass 2 of+3 Δ t+ih are
α
2 repair=α
2-Δ α
2=α
2-a
0-a
1(3 Δ t+ih)-a
2(3 Δ t+ih)
2
Until satellite blocks end, recover satellite compass output data α
1
As mentioned above, can obtain Numerical Geomagnetic compass 2 pitch angle data ε
2Drift error polynomial expression Δ ε
2=b
0+ b
1(t-t
0)+b
2(t-t
0)
2B
0, b
1, b
2, to the correction angle of pitch output data of Numerical Geomagnetic compass 2 be:
ε
2 repair=ε
2-Δ ε
2=ε
2-b
0-b
1(3 Δ t+ih)-b
2(3 Δ t+ih)
2
Above-mentioned explanation requires in the situation that do not block satellite, and satellite compass 1 and Numerical Geomagnetic compass 2 each data output period all will calculate a
0, a
1, a
2And b
0, b
1, b
2With the arriving of preparing to block satellite.
Combinations of satellites compass general structure form of the present invention: two cover antenna 4a, 4b are erected on microscler support.Two cover antenna 4a, 4b are connected with two multi-taps of multichannel receiver 6a, 6b and counting circuit 7 casings by two feeder line 5a, 5b respectively.The another end of two multi-taps is connected with two multichannel receivers 5 respectively.Two multichannel receiver 6a, 6b are connected with counting circuit 7.Numerical Geomagnetic compass 2 can be fixed on antenna holder, is connected with indicating circuit with processing through cable.Structurally can counting circuit 7 and combining processor 3 designs is as a whole.
Angle α is relevant with the size of the spacing baseline of two antenna 4a, 4b with angle of pitch ε precision for the institute's interception of New Satellite combination compass.The spacing of two antenna 4a, 4b is larger, and the precision of interception angle α and angle of pitch ε is higher.
If the spacing of two antenna 4a, 4b is less for example less than 0.5 meter, antenna 4a, 4b and support thereof can be placed on combining processor 3 above, namely be connected as a single entity with combinations of satellites compass combining processor 3.If the spacing of two antenna 4a, 4b more for example greater than 5 meters, is the decay of offseting signal in feeder line on the one hand, must install low noise amplifier additional between antenna 4a, 4b and feeder line 5.On the other hand for avoiding antenna holder long, use inconveniently, can select as required on mobile platform at 2 as antenna 4a, 4b position, and measure the distance between 2.In spacing data input combining processor 3 with two antenna 4a, 4b.
The invention provides a kind of thinking and method of combinations of satellites compass; method and the approach of this technical scheme of specific implementation are a lot; the above is only the preferred embodiment of the present invention; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.In the present embodiment not clear and definite each ingredient all available prior art realized.
Claims (3)
1. combinations of satellites compass, it is characterized in that, comprise satellite compass and Numerical Geomagnetic compass, described satellite compass is connected with the Numerical Geomagnetic compass and is connected combining processor, and the data that described combining processor is sent for the synthesis of satellite compass and Numerical Geomagnetic compass process and display;
Described satellite compass comprises the first antenna, the first feeder line, the first multichannel receiver and the counting circuit that connects successively, described counting circuit also connects with the second antenna that is connected successively, the second feeder line and the second multichannel receiver, and described counting circuit connects combining processor simultaneously;
Described the first antenna and the second antenna are used for receiving 4 global navigational satellite signals;
Described the first multichannel receiver and the second multichannel receiver are used for every global navigational satellite signal is processed into signal phase and global navigational satellite orbital data and position data;
Described counting circuit is used for calculating every global navigational satellite arrival first antenna and the phase differential of the second antenna and position data, the global navigational satellite of this global navigational satellite and is blocked data, is the azimuth angle alpha of baseline with respect to the first antenna and the second antenna
1With angle of pitch ε
1
Described Numerical Geomagnetic compass is used for the output azimuth angle alpha
2With angle of pitch ε
2
2. a kind of combinations of satellites compass according to claim 1, is characterized in that, described Numerical Geomagnetic compass comprises geomagnetic sensor.
3. the position angle of a combinations of satellites compass and the angle of pitch are measured computing method, it is characterized in that,
When the global navigational satellite signal does not block, comprise the following steps:
Step 11, the first antenna, the first feeder line, the first multichannel receiver receive signal and the data of 4 global navigational satellites, and give counting circuit;
Step 12, the second antenna, the second feeder line, the second multichannel receiver receive signal and the data of 4 global navigational satellites, and give counting circuit;
Step 13, process in counting circuit obtain the satellite compass without wander azimuth angle α
1With angle of pitch ε
1, process rear output as the combinations of satellites compass by combining processor;
When the global navigational satellite signal blocks, comprise the following steps:
Step 21, the first antenna, the first feeder line, the first multichannel receiver receive signal and the data of 4 global navigational satellites, and give counting circuit;
Step 22, the second antenna, the second feeder line, the second multichannel receiver receive signal and the data of 4 global navigational satellites, and give counting circuit;
Step 23 is processed the azimuth angle alpha that obtains the satellite compass in counting circuit
1With angle of pitch ε
1, give combining processor;
Step 24, the azimuth angle alpha that drift is arranged that the Numerical Geomagnetic compass will collect
2With angle of pitch ε
2Data send to combining processor;
Step 25 is used unobstructed last group of combining processor correction t
0Moment data: with azimuth angle alpha=α
1With angle of pitch ε=ε
1Output data as the combinations of satellites compass;
Step 26 is at t
0Constantly, with azimuth angle alpha=α
2-Δ α
2With angle of pitch ε=ε
2-Δ ε
2As the output data of combinations of satellites compass, Δ α
2With Δ ε
2Be respectively the Numerical Geomagnetic compass at t
0Constantly later extrapolation drift error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100665778A CN103148845A (en) | 2013-03-01 | 2013-03-01 | Satellite combined compass and method for measuring and computing azimuth angle and pitch angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100665778A CN103148845A (en) | 2013-03-01 | 2013-03-01 | Satellite combined compass and method for measuring and computing azimuth angle and pitch angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103148845A true CN103148845A (en) | 2013-06-12 |
Family
ID=48547057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013100665778A Pending CN103148845A (en) | 2013-03-01 | 2013-03-01 | Satellite combined compass and method for measuring and computing azimuth angle and pitch angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103148845A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106052633A (en) * | 2016-07-01 | 2016-10-26 | 西安华讯天基通信技术有限公司 | Device and method for determining sector azimuth in radio station |
| WO2017211177A1 (en) * | 2016-06-08 | 2017-12-14 | 京信通信技术(广州)有限公司 | Azimuth measurement device, antenna, azimuth measurement system, and measurement method |
| CN108431633A (en) * | 2016-01-08 | 2018-08-21 | 康普技术有限责任公司 | Azimuth, which is improved, using multiple GNSS antennas determines accuracy |
| CN108592859A (en) * | 2018-01-26 | 2018-09-28 | 东莞市日天通信科技有限公司 | A kind of antenna for base station attitude measurement method based on global position system |
| CN108710145A (en) * | 2018-04-26 | 2018-10-26 | 武汉天图地信科技有限公司 | A kind of unmanned plane positioning system and method |
| JP2020008286A (en) * | 2018-07-02 | 2020-01-16 | 日立建機株式会社 | Work machine |
| CN111862474A (en) * | 2020-05-20 | 2020-10-30 | 北京骑胜科技有限公司 | Shared vehicle processing method, device, equipment and computer readable storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202109915U (en) * | 2011-05-12 | 2012-01-11 | 褚人乾 | Automatic calibration digital converter of magnetic compass errors related to position |
| CN202563089U (en) * | 2012-05-03 | 2012-11-28 | 上海圆舟电子科技有限公司 | Novel high-performance magnetic-compass combined satellite compass |
-
2013
- 2013-03-01 CN CN2013100665778A patent/CN103148845A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202109915U (en) * | 2011-05-12 | 2012-01-11 | 褚人乾 | Automatic calibration digital converter of magnetic compass errors related to position |
| CN202563089U (en) * | 2012-05-03 | 2012-11-28 | 上海圆舟电子科技有限公司 | Novel high-performance magnetic-compass combined satellite compass |
Non-Patent Citations (2)
| Title |
|---|
| 徐金华等: "GPS/磁罗经导航***应用研究", 《海洋测绘》 * |
| 王博雄: "船用GPS平台罗经***研究与开发", 《中国优秀硕士学位论文全文数据库基础科学辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108431633A (en) * | 2016-01-08 | 2018-08-21 | 康普技术有限责任公司 | Azimuth, which is improved, using multiple GNSS antennas determines accuracy |
| WO2017211177A1 (en) * | 2016-06-08 | 2017-12-14 | 京信通信技术(广州)有限公司 | Azimuth measurement device, antenna, azimuth measurement system, and measurement method |
| CN106052633A (en) * | 2016-07-01 | 2016-10-26 | 西安华讯天基通信技术有限公司 | Device and method for determining sector azimuth in radio station |
| CN108592859A (en) * | 2018-01-26 | 2018-09-28 | 东莞市日天通信科技有限公司 | A kind of antenna for base station attitude measurement method based on global position system |
| CN108710145A (en) * | 2018-04-26 | 2018-10-26 | 武汉天图地信科技有限公司 | A kind of unmanned plane positioning system and method |
| JP2020008286A (en) * | 2018-07-02 | 2020-01-16 | 日立建機株式会社 | Work machine |
| JP7009323B2 (en) | 2018-07-02 | 2022-01-25 | 日立建機株式会社 | Work machine |
| CN111862474A (en) * | 2020-05-20 | 2020-10-30 | 北京骑胜科技有限公司 | Shared vehicle processing method, device, equipment and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103148845A (en) | Satellite combined compass and method for measuring and computing azimuth angle and pitch angle | |
| CN105849589B (en) | Global Navigation Satellite System, positioning terminal, localization method and recording medium | |
| US7855683B2 (en) | Methods and apparatuses for GPS coordinates extrapolation when GPS signals are not available | |
| US8125379B2 (en) | Position measurement results by a surveying device using a tilt sensor | |
| US20120182837A1 (en) | Systems and methods of locating weapon fire incidents using measurements/data from acoustic, optical, seismic, and/or other sensors | |
| CN1967282B (en) | Total station and GPS single-frequency real-time dynamic combined measuring method and system | |
| CN103293550B (en) | Utilize the real-time high-precision earthquake deformation monitoring method of single-frequency GNSS receiver | |
| CN101446634A (en) | Combination measurement method for high precision position, azimuth angle and pitch angle, and device thereof | |
| US7269512B2 (en) | Information processing apparatus and GPS positioning method | |
| EP2549287A1 (en) | Positioning system for geostationary artificial satellite | |
| CN103235321A (en) | GPS (global positioning system) pseudo-range positioning precision timing method | |
| CN105510945A (en) | PPP positioning method applied to satellite navigation landing outfield detection | |
| CN108983268A (en) | A kind of localization method based on virtual reference station, positioning system and relevant apparatus | |
| JP4498399B2 (en) | Positioning system and positioning method | |
| Houlié et al. | New approach to detect seismic surface waves in 1Hz-sampled GPS time series | |
| Ning et al. | Single-frequency precise point positioning enhanced with multi-GNSS observations and global ionosphere maps | |
| US6542121B1 (en) | Sensor system | |
| US20120112960A1 (en) | Access point, mobile terminal, global navigation satellite system using the access point, and method of providing position information using the access point | |
| KR20010097597A (en) | Navigation system using pseudolites | |
| CN209802285U (en) | Monitoring system for deformation of communication base station antenna | |
| Dan et al. | On use of low cost, compact GNSS receiver modules for ionosphere monitoring | |
| CN102769910B (en) | A kind of terminal and autonomic positioning method thereof | |
| KR20140142610A (en) | Location measurement device and method | |
| EP2748634B1 (en) | Single receiver gps pointing vector sensing | |
| JPH04315076A (en) | Gps local position measuring apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C05 | Deemed withdrawal (patent law before 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130612 |