CN103576176A - Differential positioning method for directly-launched signal differential pseudo satellite and satellite and ground combination - Google Patents

Abstract

The intervention discloses a differential positioning method for a directly-launched signal differential pseudo satellite and satellite and ground combination. The method includes the steps that firstly, a signal transmitter of the pseudo satellite generates positioning signals with trigger pulses as reference, and a synchronous receiver and a user receiver receive the signals and satellite signals of a space satellite navigation system; secondly, the satellite and ground synchronization clock difference between the pseudo satellite and the space satellite navigation system is acquired by the synchronous receiver of the pseudo satellite through calculation according to a measured distance measuring value of the pseudo satellite and a measured distance measuring value of the space satellite navigation system, and the satellite and ground synchronization clock difference is edited into a navigation message and transmitted to the signal transmitter of the pseudo satellite to be broadcasted; thirdly, the user receiver corrects the satellite and ground synchronization clock difference broadcasted by the signal transmitter of the pseudo satellite into a space satellite navigation measuring equation to obtain a corrected space satellite navigation measuring equation; fourthly, the user receiver combines the corrected space satellite navigation measuring equation and a pseudo satellite measuring equation to establish a measuring equation set, and then differential positioning for the satellite and ground combination is carried out through the least square method.

Description

The difference localization method of a kind of straight hair signal differential pseudo satellite, pseudolite and the combination of star ground

Technical field

The present invention relates to the difference localization method that satellite navigation foundation local strengthens technical field, particularly a kind of straight hair signal differential pseudo satellite, pseudolite and the combination of star ground.

Background technology

At present, pseudolite systems is that a kind of important satellite navigation foundation strengthens equipment, mainly comprises straight hair pseudo satellite, pseudolite and synchronous pseudo satellite, pseudolite two classes of reflection.Straight hair pseudo satellite, pseudolite is the navigation signal of directly launching similar spaces satellite, receiver user is just used it as a ground satellite, the effect that distributes, reduces vertical dilution of precision VDOP and increase navigational system availability for how much that can only improve satellite constellation, its shortcoming is not possess the effect of eliminating star clock error, ionospheric error, tropospheric error and ephemeris error, to the positioning precision of receiver user, improves very little.Reflecting synchronous pseudo satellite, pseudolite is that space navigation signal is reflexed to receiver user, receiver user can be eliminated GPS local area differential's effect of star clock error, ionospheric error, tropospheric error and ephemeris error, its shortcoming is that the measurement equation of pseudo satellite, pseudolite can not be used as independent measurement equation, therefore, do not possess the effect that distributes, reduces vertical dilution of precision VDOP, increase availability for how much that improves satellite constellation.

Summary of the invention

The object of the invention is: for satellite navigation system under special geological surrounding or the visual navigation satellite number causing under applied environment is not enough, constellation distributes the defect not good, perpendicular positioning precision is not high for how much, designed straight hair signal differential pseudolite systems, the difference localization method that has proposed a kind of straight hair signal differential pseudo satellite, pseudolite and star and combine, to have improved distributing for how much of satellite navigation system, increase nautical star quantity, improved positioning precision.

In order to achieve the above object, the difference localization method of a kind of straight hair signal differential pseudo satellite, pseudolite and the combination of star ground comprises the following steps:

1. build straight hair signal differential pseudolite systems, comprise straight hair signal differential pseudo satellite, pseudolite, receiver user and Aerospace Satellite navigational system; The signal transmitter of pseudo satellite, pseudolite be take trigger pulse and is generated the poor location sub-signal of pseudo satellite, pseudolite as time reference;

2. the synchrodyne of pseudo satellite, pseudolite receives the signal of Pseudolite signal transmitter transmitting and the signal of Aerospace Satellite navigational system transmitting simultaneously, pseudo satellite, pseudolite synchrodyne according to the pseudo satellite, pseudolite distance measurement value of measuring and Aerospace Satellite navigational system distance measurement value, calculate pseudo satellite, pseudolite and Aerospace Satellite navigational system star synchronize clock correction, the synchronous clock correction layout in star ground is become to navigation message, and this navigation message is sent to Pseudolite signal transmitter in real time; Pseudo satellite, pseudolite transmitter is broadcast navigation message to receiver user;

3. receiver user receives the signal of Pseudolite signal transmitter transmitting and the signal of Aerospace Satellite navigational system transmitting simultaneously, receiver user is broadcast navigation message by the pseudo satellite, pseudolite distance measurement value of measurement, Aerospace Satellite navigational system distance measurement value and the pseudo satellite, pseudolite transmitter that receives and is carried out the processing of local signal differential, be about to pseudo satellite, pseudolite and broadcast the synchronous clock correction in star ground in navigation message and be adapted to Aerospace Satellite navigation and measure in equation, obtain revised Aerospace Satellite navigation and measure equation;

4. receiver user is measured equation by the navigation of revised Aerospace Satellite and is measured system of equations with pseudo satellite, pseudolite and build the vertical system of equations of measuring jointly, and the difference of utilizing least square method to realize star to combine is located.

Wherein, step 2. in star between pseudo satellite, pseudolite and Aerospace Satellite navigational system synchronize the computing method of clock correction and be:

$c\×{\mathrm{dt}}^m=(P_i^m-P_i^j)-({\mathrm{\ρ}}_i^m-{\mathrm{\ρ}}_i^j)+c\×{\mathrm{dt}}^j-{\mathrm{d\ρ}}_R-{\mathrm{d\ρ}}_I-{\mathrm{d\ρ}}_T$

Wherein: dt ^mfor synchronizeing clock correction in the star ground between pseudo satellite, pseudolite m and Aerospace Satellite navigational system;

for the geometric distance between synchrodyne i and pseudo satellite, pseudolite m;

for the geometric distance between synchrodyne i and Aerospace Satellite navigational system satellite j, j=1,2 ..., j; for the satellite j distance measurement value of the Aerospace Satellite navigational system of synchrodyne i, j=1,2 ..., j; pseudo satellite, pseudolite m distance measurement value for synchrodyne i; Dt ^jfor the star clock deviation of Aerospace Satellite navigational system satellite j, j=1,2 ..., j; D ρ _rfor ephemeris error; D ρ _ifor ionospheric error; D ρ _tfor tropospheric error; C is the light velocity.

Wherein, step is broadcast the synchronous clock correction in star in navigation message ground by pseudo satellite, pseudolite in 3. and is adapted to Aerospace Satellite navigation and measures in equation, obtains revised Aerospace Satellite navigation and measures equation and be specially:

$\begin{array}{c}{\mathrm{\ρ}}_k^j+c\×{\mathrm{dt}}^m=P_k^j+c\×({\mathrm{dt}}_k-{\mathrm{dt}}^j)+{\mathrm{d\ρ}}_{\mathrm{Rk}}+{\mathrm{d\ρ}}_{\mathrm{Ik}}+{\mathrm{d\ρ}}_{\mathrm{Tk}}\\ +(P_i^m-P_i^j)-({\mathrm{\ρ}}_i^m-{\mathrm{\ρ}}_i^j)+c\×{\mathrm{dt}}^j-{\mathrm{d\ρ}}_R-{\mathrm{d\ρ}}_I-{\mathrm{d\ρ}}_T\end{array}$

Wherein:

for the satellite j distance measurement value of the Aerospace Satellite navigational system of receiver user k, j=1,2 ..., j; Dt ^mfor synchronizeing clock correction in the star ground of pseudo satellite, pseudolite and Aerospace Satellite navigational system;

receiver user is to the geometric distance of the satellite j of Aerospace Satellite navigational system, j=1, and 2 ..., j; Dt _klocal clock deviation for receiver user k; D ρ _rkfor region ephemeris error; D ρ _ikfor region ionospheric error; D ρ _tfor region tropospheric error;

for the geometric distance between synchrodyne and pseudo satellite, pseudolite;

for the geometric distance between synchrodyne and Aerospace Satellite navigational system; for the satellite j distance measurement value of the Aerospace Satellite navigational system of synchrodyne i, j=1,2 ..., j;

pseudo satellite, pseudolite m distance measurement value for synchrodyne i; Dt ^jfor the satellite j star clock deviation of Aerospace Satellite navigational system, j=1,2 ..., j; D ρ _rfor ephemeris error; D ρ _ifor ionospheric error; D ρ _tfor tropospheric error; C is the light velocity.

Because d is ρ _rk≈ d ρ _r, d ρ _ik≈ d ρ _iwith d ρ _tk≈ d ρ _t, obtain revised space navigation satellite and measure equation and be:

${\mathrm{\ρ}}_k^j=P_k^j+c\×({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^j)-({\mathrm{\ρ}}_i^m-{\mathrm{\ρ}}_i^j)$

Wherein, step in 4. revised Aerospace Satellite navigation measure equation and pseudo satellite, pseudolite and measure system of equations and build vertical measurement system of equations jointly and be specially:

$\left\{\begin{array}{c}{\mathrm{\&rho;}}_k^1=P_k^1+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^1)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^1)\\ {\mathrm{\&rho;}}_{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000411705970000021.png"\; state="\{\{state\}\}">k</figure-callout>}}^2={{\mathrm{<figure-callout\; id="2"\; label="P\; k"\; filenames="HDA0000411705970000021.png"\; state="\{\{state\}\}">P</figure-callout>}}_k^{}+}^{}c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^2)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^2)\\ .........\\ {\mathrm{\&rho;}}_k^j=P_k^j+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)\\ {\mathrm{\&rho;}}_k^m=P_k^m+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)\end{array}\right.$

Wherein,

for the satellite j distance measurement value of the Aerospace Satellite navigational system of receiver user k, j=1,2 ..., j;

receiver user k is to the geometric distance of the satellite j of Aerospace Satellite navigational system, j=1, and 2 ..., j; Dt _klocal clock deviation for receiver user k; Dt ^mfor synchronizeing clock correction in the star ground of pseudo satellite, pseudolite and Aerospace Satellite navigational system; for the geometric distance between synchrodyne i and pseudo satellite, pseudolite m;

for the satellite j distance measurement value of the Aerospace Satellite navigational system of synchrodyne i, j=1,2 ..., j;

pseudo satellite, pseudolite distance measurement value for synchrodyne i;

for the Aerospace Satellite navigational system satellite j distance measurement value of synchrodyne i, j=1,2 ..., j; pseudo satellite, pseudolite m distance measurement value for receiver user k;

for the geometric distance between receiver user k and pseudo satellite, pseudolite m; C is the light velocity.

The technology of the present invention tool has the following advantages:

(i) the present invention proposes a kind of Pseudolite signal difference method, can effectively eliminate star clock error, orbit error, ionospheric error and the tropospheric error of space navigation satellite, there is hi-Fix feature.

(ii) the present invention proposes a kind of localization method of realizing pseudo satellite, pseudolite and the combination of Aerospace Satellite navigational system, distribute for how much that have effectively improved Aerospace Satellite navigational system constellation, greatly reduced vertical dilution of precision VDOP value, had advantages of that vertical direction positioning precision is high.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of straight hair signal differential pseudolite systems;

Fig. 2 be pseudo satellite, pseudolite with Aerospace Satellite navigational system between star ground synchronize clock correction calculating schematic diagram;

Fig. 3 be pseudo satellite, pseudolite and Aerospace Satellite navigational system star combine difference location schematic diagram.

Embodiment

Below in conjunction with specific embodiments and the drawings, the present invention will be further described:

1. build straight hair signal differential pseudolite systems, comprise straight hair signal differential pseudo satellite, pseudolite, receiver user and Aerospace Satellite navigational system; The signal transmitter of pseudo satellite, pseudolite be take trigger pulse and is generated the poor location sub-signal of pseudo satellite, pseudolite as time reference;

2. the synchrodyne of pseudo satellite, pseudolite receives the signal of Pseudolite signal transmitter transmitting and the signal of Aerospace Satellite navigational system transmitting simultaneously, pseudo satellite, pseudolite synchrodyne calculates star between pseudo satellite, pseudolite and Aerospace Satellite navigational system and synchronizes clock correction according to the pseudo satellite, pseudolite distance measurement value of measuring and Aerospace Satellite navigational system distance measurement value, the synchronous clock correction layout in star ground is become to navigation message, and this navigation message is sent to Pseudolite signal transmitter in real time; Pseudo satellite, pseudolite transmitter is broadcast navigation message to receiver user;

Fig. 2 be pseudo satellite, pseudolite with Aerospace Satellite navigational system between star ground synchronize clock correction calculating schematic diagram, comprise the following steps:

(201) set up the pseudo satellite, pseudolite range finding equation of synchrodyne of pseudo satellite, pseudolite m as follows:

${\mathrm{\&rho;}}_i^m=P_i^m+c\&times;({\mathrm{dt}}_i-{\mathrm{dt}}^m)$

Wherein:

for the distance measurement value of synchrodyne i to Pseudolite signal transmitter m, by synchrodyne observed quantity, obtained; $P_i^m=\sqrt{{(x_i-x^m)}^2+{(y_i-y^m)}^2+{(z_i-z^m)}^2}$ For the geometric distance between synchrodyne i and pseudo satellite, pseudolite m; Dt _ilocal clock deviation for synchrodyne i; Dt ^mfor the time deviation of pseudolite systems with respect to Aerospace Satellite navigational system, clock correction is synchronizeed on the ground of the star between pseudo satellite, pseudolite and Aerospace Satellite navigational system; C is the light velocity.

(202) it is as follows that the Aerospace Satellite navigational system pseudorange of setting up the synchrodyne of pseudo satellite, pseudolite m is measured equation:

${\mathrm{\&rho;}}_i^j=P_i^j+c\&times;({\mathrm{dt}}_i-{\mathrm{dt}}^j)+{\mathrm{d\&rho;}}_R+{\mathrm{d\&rho;}}_I+{\mathrm{d\&rho;}}_T$

Wherein:

for the distance measurement value of synchrodyne i to Aerospace Satellite navigational system satellite j, by navigation neceiver observed quantity, obtained, j=1,2,3 ..., j. $P_i^j=\sqrt{{(x_i-x^j)}^2+{(y_i-y^j)}^2+{(z_i-z^j)}^2}$ For the geometric distance between synchrodyne i and Aerospace Satellite navigational system satellite j; (x ^j, y ^j, z ^j) be the position of satellite j, (x _i, y _i, z _i) be the position of synchrodyne i; D ρ _rfor ephemeris error; D ρ _ifor ionospheric error; D ρ _tfor tropospheric error; Dt _ifor synchrodyne time deviation; Dt ^jfor the star clock deviation of Aerospace Satellite navigational system satellite j, by navigation message gain of parameter; C is the light velocity.

(203) calculate star between pseudo satellite, pseudolite and Aerospace Satellite navigational system and synchronize clock correction.According to the Aerospace Satellite navigational system range finding equations simultaneousness system of equations in the pseudo satellite, pseudolite range finding equation in (201) and (202), by offseting processing, obtain new accounting equation and be

${\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j=P_i^m-P_i^j-c\&times;{\mathrm{dt}}^m+c\&times;{\mathrm{dt}}^j-d{\mathrm{\&rho;}}_R-d{\mathrm{\&rho;}}_I-d{\mathrm{\&rho;}}_T$

Ignore the impact of multipath and synchrodyne thermonoise, step 3. in star between pseudo satellite, pseudolite and Aerospace Satellite navigational system synchronize clock correction and be specially:

$c\&times;{\mathrm{dt}}^m=(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)+c\&times;{\mathrm{dt}}^j-{\mathrm{d\&rho;}}_R-{\mathrm{d\&rho;}}_I-{\mathrm{d\&rho;}}_T$

3. receiver user receives the signal of Pseudolite signal transmitter transmitting and the signal of Aerospace Satellite navigational system transmitting simultaneously, receiver user is broadcast navigation message by the pseudo satellite, pseudolite distance measurement value of measurement, Aerospace Satellite navigational system distance measurement value and the pseudo satellite, pseudolite transmitter that receives and is carried out the processing of local signal differential, be about to pseudo satellite, pseudolite and broadcast the synchronous clock correction in star ground in navigation message and be adapted to Aerospace Satellite navigation and measure in equation, obtain revised Aerospace Satellite navigation and measure equation;

Fig. 3 be pseudo satellite, pseudolite and Aerospace Satellite navigational system star combine difference location, comprise the following steps:

(301) set up the Aerospace Satellite navigational system range finding equation of receiver user as follows:

${\mathrm{\&rho;}}_k^j=P_k^j+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^j)+{\mathrm{d\&rho;}}_{\mathrm{Rk}}+{\mathrm{d\&rho;}}_{\mathrm{Ik}}+{\mathrm{d\&rho;}}_{\mathrm{Tk}}$

Wherein: for the pseudo-range measurements of receiver user k to Aerospace Satellite navigational system satellite j, j=1,2 ..., j, is obtained by receiver user observed quantity. $P_k^j=\sqrt{{(x_k-x^j)}^2+{(y_k-y^j)}^2+{(z_k-z^j)}^2}$ For the geometric distance between receiver user k and Aerospace Satellite navigational system satellite j; (x ^j, y ^j, z ^j) be the position of satellite j, (x _k, y _k, z _k) be the position of receiver user k; D ρ _rkfor ephemeris error; D ρ _ikfor ionospheric error; D ρ _tkfor tropospheric error; Dt _klocal clock deviation for receiver user; Dt ^jfor a time deviation of satellite navigation system satellite j, by navigation message gain of parameter; C is the light velocity.

(302) set up the pseudo satellite, pseudolite Pseudo-range Equation of receiver user as follows:

${\mathrm{\&rho;}}_k^m=P_k^m+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)$

Wherein:

for the distance measurement value of receiver user k to pseudo satellite, pseudolite m, by receiver user observed quantity, obtained. $P_k^m=\sqrt{{(x_k-x^m)}^2+{(y_k-y^m)}^2+{(z_k-z^m)}^2}$ For the geometric distance between receiver user and pseudo satellite, pseudolite; (x ^m, y ^m, z ^m) be the position of pseudo satellite, pseudolite m, (x _k, y _k, z _k) be the position of receiver user k; Dt _klocal clock deviation for receiver user k; Dt ^mfor synchronizeing clock correction in the star ground between pseudo satellite, pseudolite and Aerospace Satellite navigational system; C is the light velocity.

(303) the synchronous clock correction in star ground of pseudo satellite, pseudolite being broadcast in navigation message is adapted in Aerospace Satellite navigation measurement equation:

$\begin{array}{c}{\mathrm{\&rho;}}_k^j+c\&times;{\mathrm{dt}}^m=P_k^j+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^j)+{\mathrm{d\&rho;}}_{\mathrm{Rk}}+{\mathrm{d\&rho;}}_{\mathrm{Ik}}+{\mathrm{d\&rho;}}_{\mathrm{Tk}}\\ +(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)+c\&times;{\mathrm{dt}}^j-{\mathrm{d\&rho;}}_R-{\mathrm{d\&rho;}}_I-{\mathrm{d\&rho;}}_T\end{array}$

Because signal differential pseudo satellite, pseudolite belongs to local system, so d ρ _rk≈ d ρ _r, d ρ _ik≈ d ρ _iwith d ρ _tk≈ d ρ _t.The revised space navigation satellite measurement equation that obtains receiver user is:

${\mathrm{\&rho;}}_k^j=P_k^j+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)$

4. receiver user is measured equation by the navigation of revised Aerospace Satellite and is measured system of equations with pseudo satellite, pseudolite and build the vertical system of equations of measuring jointly, and the difference of utilizing least square method to realize star to combine is located.

The star ground multiple measurement system of equations of setting up pseudo satellite, pseudolite and Aerospace Satellite navigational system is as follows:

$\left\{\begin{array}{c}{\mathrm{\&rho;}}_k^1=P_k^1+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^1)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^1)\\ {\mathrm{\&rho;}}_{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000411705970000021.png"\; state="\{\{state\}\}">k</figure-callout>}}^2={\mathrm{<figure-callout\; id="2"\; label="P\; k"\; filenames="HDA0000411705970000021.png"\; state="\{\{state\}\}">P</figure-callout>}}_k^{}+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^2)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^2)\\ .........\\ {\mathrm{\&rho;}}_k^j=P_k^j+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)\\ {\mathrm{\&rho;}}_k^m=P_k^m+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)\end{array}\right.$

Wherein,

for the satellite j distance measurement value of the Aerospace Satellite navigational system of receiver user k, j=1,2 ..., j;

receiver user k is to the geometric distance of the satellite j of Aerospace Satellite navigational system, j=1, and 2 ..., j; Dt _klocal clock deviation for receiver user k; Dt ^mfor synchronizeing clock correction in the star ground of pseudo satellite, pseudolite and Aerospace Satellite navigational system;

for the geometric distance between synchrodyne i and pseudo satellite, pseudolite m;

for the satellite j distance measurement value of the Aerospace Satellite navigational system of synchrodyne i, j=1,2 ..., j;

pseudo satellite, pseudolite distance measurement value for synchrodyne i; for the Aerospace Satellite navigational system satellite j distance measurement value of synchrodyne i, j=1,2 ..., j;

pseudo satellite, pseudolite m distance measurement value for receiver user k;

for the geometric distance between receiver user k and pseudo satellite, pseudolite m; C is the light velocity.

Utilize least square method location algorithm to carry out the Position-Solving of receiver user, can obtain the difference positioning result that not affected by star clock error, orbit error, ionospheric error and tropospheric error.

Claims (4)

1. the difference localization method that straight hair signal differential pseudo satellite, pseudolite and star ground combine, is characterized in that comprising the following steps:

1. build straight hair signal differential pseudolite systems, comprise straight hair signal differential pseudo satellite, pseudolite, receiver user and Aerospace Satellite navigational system; The signal transmitter of pseudo satellite, pseudolite be take trigger pulse and is generated the poor location sub-signal of pseudo satellite, pseudolite as time reference;

2. the synchrodyne of pseudo satellite, pseudolite receives the signal of Pseudolite signal transmitter transmitting and the signal of Aerospace Satellite navigational system transmitting simultaneously, pseudo satellite, pseudolite synchrodyne calculates star between pseudo satellite, pseudolite and Aerospace Satellite navigational system and synchronizes clock correction according to the pseudo satellite, pseudolite distance measurement value of measuring and Aerospace Satellite navigational system distance measurement value, the synchronous clock correction layout in star ground is become to navigation message, and this navigation message is sent to Pseudolite signal transmitter in real time; Pseudo satellite, pseudolite transmitter is broadcast navigation message to receiver user;

3. receiver user receives the signal of Pseudolite signal transmitter transmitting and the signal of Aerospace Satellite navigational system transmitting simultaneously, receiver user is broadcast navigation message by the pseudo satellite, pseudolite distance measurement value of measurement, Aerospace Satellite navigational system distance measurement value and the pseudo satellite, pseudolite transmitter that receives and is carried out the processing of local signal differential, be about to pseudo satellite, pseudolite and broadcast the synchronous clock correction in star ground in navigation message and be adapted to Aerospace Satellite navigation and measure in equation, obtain revised Aerospace Satellite navigation and measure equation;

4. receiver user is measured equation by the navigation of revised Aerospace Satellite and is measured system of equations with pseudo satellite, pseudolite and build the vertical system of equations of measuring jointly, and the difference of utilizing least square method to realize star to combine is located.

According to a kind of straight hair signal differential pseudo satellite, pseudolite described in claim 1 and star the difference localization method that combines, it is characterized in that: step 2. in star between pseudo satellite, pseudolite and Aerospace Satellite navigational system synchronize the computing method of clock correction and be:

$c\&times;{\mathrm{dt}}^m=(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)+c\&times;{\mathrm{dt}}^j-{\mathrm{d\&rho;}}_R-{\mathrm{d\&rho;}}_I-{\mathrm{d\&rho;}}_T$

Wherein: dt ^mfor synchronizeing clock correction in the star ground between pseudo satellite, pseudolite m and Aerospace Satellite navigational system; for the geometric distance between synchrodyne i and pseudo satellite, pseudolite m;

for the geometric distance between synchrodyne i and Aerospace Satellite navigational system satellite j, j=1,2 ..., j;

for the satellite j distance measurement value of the Aerospace Satellite navigational system of synchrodyne i, j=1,2 ..., j; pseudo satellite, pseudolite m distance measurement value for synchrodyne i; Dt ^jfor the star clock deviation of Aerospace Satellite navigational system satellite j, j=1,2 ..., j; D ρ _rfor ephemeris error; D ρ _ifor ionospheric error; D ρ _tfor tropospheric error; C is the light velocity.

According to a kind of straight hair signal differential pseudo satellite, pseudolite described in claim 1 and star the difference localization method that combines, it is characterized in that: step is broadcast the synchronous clock correction in star in navigation message ground by pseudo satellite, pseudolite in 3. and is adapted to Aerospace Satellite navigation and measures in equation, obtain revised Aerospace Satellite navigation and measure equation and be specially:

$\begin{array}{c}{\mathrm{\&rho;}}_k^j+c\&times;{\mathrm{dt}}^m=P_k^j+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^j)+{\mathrm{d\&rho;}}_{\mathrm{Rk}}+{\mathrm{d\&rho;}}_{\mathrm{Ik}}+{\mathrm{d\&rho;}}_{\mathrm{Tk}}\\ +(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)+c\&times;{\mathrm{dt}}^j-{\mathrm{d\&rho;}}_R-{\mathrm{d\&rho;}}_I-{\mathrm{d\&rho;}}_T\end{array}$

Wherein:

for the satellite j distance measurement value of the Aerospace Satellite navigational system of receiver user k, j=1,2 ..., j; Dt ^mfor synchronizeing clock correction in the star ground of pseudo satellite, pseudolite and Aerospace Satellite navigational system;

receiver user is to the geometric distance of the satellite j of Aerospace Satellite navigational system, j=1, and 2 ..., j; Dt _klocal clock deviation for receiver user k; D ρ _rkfor region ephemeris error; D ρ _ikfor region ionospheric error; D ρ _tfor region tropospheric error;

for the geometric distance between synchrodyne and pseudo satellite, pseudolite;

for the geometric distance between synchrodyne and Aerospace Satellite navigational system;

for the satellite j distance measurement value of the Aerospace Satellite navigational system of synchrodyne i, j=1,2 ..., j;

pseudo satellite, pseudolite m distance measurement value for synchrodyne i; Dt ^jfor the satellite j star clock deviation of Aerospace Satellite navigational system, j=1,2 ..., j; D ρ _rfor ephemeris error; D ρ _ifor ionospheric error; D ρ _tfor tropospheric error; C is the light velocity.

Because d is ρ _rk≈ d ρ _r, d ρ _ik≈ d ρ _iwith d ρ _tk≈ d ρ _t, obtain revised space navigation satellite and measure equation and be:

${\mathrm{\&rho;}}_k^j=P_k^j+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)$

According to a kind of straight hair signal differential pseudo satellite, pseudolite described in claim 1 and star the difference localization method that combines, it is characterized in that: step 4. in revised Aerospace Satellite navigation measure equation and pseudo satellite, pseudolite and measure system of equations and build vertical measurement system of equations jointly and be specially:

$\left\{\begin{array}{c}{\mathrm{\&rho;}}_k^1=P_k^1+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^1)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^1)\\ {\mathrm{\&rho;}}_k^2=P_k^2+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^2)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^2)\\ .........\\ {\mathrm{\&rho;}}_k^j=P_k^j+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)+(P_i^m-P_i^j)-({\mathrm{\&rho;}}_i^m-{\mathrm{\&rho;}}_i^j)\\ {\mathrm{\&rho;}}_k^m=P_k^m+c\&times;({\mathrm{dt}}_k-{\mathrm{dt}}^m)\end{array}\right.$

Wherein,

for the satellite j distance measurement value of the Aerospace Satellite navigational system of receiver user k, j=1,2 ..., j; receiver user k is to the geometric distance of the satellite j of Aerospace Satellite navigational system, j=1, and 2 ..., j; Dt _klocal clock deviation for receiver user k; Dt ^mfor synchronizeing clock correction in the star ground of pseudo satellite, pseudolite and Aerospace Satellite navigational system;

for the geometric distance between synchrodyne i and pseudo satellite, pseudolite m;

for the satellite j distance measurement value of the Aerospace Satellite navigational system of synchrodyne i, j=1,2 ..., j;

pseudo satellite, pseudolite distance measurement value for synchrodyne i;

for the Aerospace Satellite navigational system satellite j distance measurement value of synchrodyne i, j=1,2 ..., j;

pseudo satellite, pseudolite m distance measurement value for receiver user k;

for the geometric distance between receiver user k and pseudo satellite, pseudolite m; C is the light velocity.

Images