CN104181566B - The localization method of receiver and receiver in a kind of global navigation satellite system - Google Patents

The localization method of receiver and receiver in a kind of global navigation satellite system Download PDF

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Publication number
CN104181566B
CN104181566B CN201310191152.XA CN201310191152A CN104181566B CN 104181566 B CN104181566 B CN 104181566B CN 201310191152 A CN201310191152 A CN 201310191152A CN 104181566 B CN104181566 B CN 104181566B
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satellite
receiver
time
local zone
navigation
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CN104181566A (en
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胡斌
冯云庆
胡胜发
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Guangzhou Ankai Microelectronics Co.,Ltd.
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Anyka Guangzhou Microelectronics Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

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

Abstract

The invention discloses localization method and the receiver of receiver in a kind of global navigation satellite system, described method includes: obtain the first local zone time that in these at least 4 satellites participating in described receiver location, every satellite is corresponding, and described first local zone time is the moment that receiver receives the navigation message sent when this described receiver of participation of satellite positions；Determining the first local zone time and the difference of the second local zone time that every satellite is corresponding, described second local zone time is the moment that satellite participated in the navigation message sent during described receiver location last time；Participate in sending when described receiver positions the moment of navigation message according to described difference and described every satellite last time, determine this moment participating in launching navigation message during location of every satellite；According to described every satellite, this moment launching navigation message when participating in location determines the position of described receiver.In the present invention, it is not necessary to carry out the frame synchronization of navigation message, improve receiver locating speed.

Description

The localization method of receiver and receiver in a kind of global navigation satellite system
Technical field
The present invention relates to satellite communication countermeasure technical field, particularly relate to a kind of global navigation satellite The localization method of receiver and receiver in alignment system.
Background technology
Along with contemporary society's expanding economy, increasingly mature and mankind's trip mode of transportation Variation, the scope that people exchange with the external world is more and more wider.In today that road traffic makes rapid progress, Traffic information is the most complicated, but (Global Positioning System, the whole world is fixed to be as GPS Position system) appearance, as long as having a GPS just can be no longer influenced by ground during the trip of people The restriction of territory range distance, can be a complete strange city free shuttling.
The Starting mode of GPS can be divided into cold start-up, warm startup and thermal starting three kinds.GPS connects The thermal starting of receipts machine generally refers to also preserve when receiver starts the startup of the complete effectively ephemeris of satellite Process.For using the user of GPS, best embody Consumer's Experience is exactly that GPS connects Receipts machine completes the speed positioned first after starting.With reference to shown in Fig. 1, for GPS receiver in prior art Being received the flow chart of machine location during machine thermal starting, GPS captures the navigation that satellite sends After text, as long as there being enough tracking channels to complete navigation message frame synchronization, utilize preserved to have Effect ephemeris can realize the location of receiver.
Using the mode of thermal starting, when conducting frame synchronizes, what receiver at least will be complete receives one The data of individual subframe, just can calculate the reception of meet the requirements (performance requirement of receiver thermal starting) Machine position coordinates.With reference to shown in Fig. 2, as 2 is the form schematic diagram of navigation message, navigation message one Individual whole frame includes 5 subframes, and each subframe includes 10 words, and each word includes 30 navigation ratios Spy, each navigation bit is made up of 20 C/A pseudo-codes repeated.One pseudo-code takies the time of 1ms Length, then, the length of each subframe is exactly 6s, navigation message frame synchronization obtain this satellite and send out The process penetrating signal time the most probably needs the time of 6 seconds, and this uses receiver to carry out for user For location, the time that receiver thermal starting carries out positioning is longer, and locating speed is slow, efficiency is low, uses Family is experienced poor.
Summary of the invention
In order to accelerate the speed of location after receiver starts, the present invention provides a kind of global navigation satellite fixed The localization method of receiver and receiver in the system of position, to solve in prior art, use navigation message The mode of frame synchronization be received the location of machine, causing positioning time longer, locating speed is slow, effect The technical problem that rate is low.
The invention provides localization method and the reception of receiver in a kind of global navigation satellite system Machine, it is not necessary to carry out the frame synchronization of navigation message, just can calculate the delivery time of navigation message, solves Calculation process is a linear calculating, and complexity is relatively low, and amount of calculation is little, speed, thus realizes GPS Receiver quickly positions.
For solving above-mentioned technical problem, the present invention provides in a kind of global navigation satellite system and receives The localization method of machine and receiver, the present invention provides following technical scheme:
The localization method of receiver in a kind of global navigation satellite system, the method includes:
Obtain that in these at least 4 satellites participating in described receiver location, every satellite is corresponding first Local zone time, described first local zone time is that receiver receives this described receiver of participation of satellite calmly The moment of the navigation message sent during position；
Determine the first local zone time and the difference of the second local zone time that described every satellite is corresponding, described Second local zone time is that receiver receives transmission when the described satellite described receiver of participation last time positions The moment of navigation message；
Participated in sending when described receiver positions navigation electricity last time according to described difference and described every satellite In the moment of literary composition, determine this moment participating in launching navigation message during location of every satellite；
According to described every satellite, this moment launching navigation message when participating in location determines described reception The position of machine, to complete the location of receiver.
Preferably, described the first local zone time and the difference of the second local zone time determining that every satellite is corresponding After value, also include:
First local zone time corresponding to every satellite and the difference of the second local zone time are normalized place Reason, normalization formula is:
(Trtc_cur-Tinner_20_cur)-(Trtc_last-Tinner_20_last),
Wherein, Trtc_cur is the first local zone time of satellite, Tinner_20_cur be satellite this Participate in location time one navigation bit within time, the time within a described navigation bit be 20ms it The interior time, Trtc_last is the second local zone time of satellite, and Tinner_20_last is on satellite Time within one navigation bit of secondary participation location；
Using the difference after normalization as the first local zone time corresponding to every satellite and the second local zone time Difference.
Preferably, using the difference after normalization as the first local zone time and second corresponding to every satellite After the difference of local zone time, also include:
Determining the navigation bit number that the difference after the normalization that every satellite is corresponding includes, formula is:
NBits=floor (Trtc_span/20),
Wherein, nBits is navigation bit number, and floor represents and takes less than Trtc_span/20 Big integer value, Trtc_span is the difference after the normalization that every satellite is corresponding；
The navigation message moment is launched with specific reference to the difference after normalization during this participation location of the most described satellite Navigation bit number that value includes and satellite participated in last time sending during described receiver location navigation message time Quarter determines.
Preferably, the error of receiver local clock is considered when obtaining navigation bit number, to determine Navigation bit number is modified, and the computing formula of the most described navigation bit number is:
NBits=floor ((Trtc_span+a)/20), wherein a is repairing of receiver local clock On the occasion of.
Preferably, this moment participating in launching during location navigation message of satellite is Tsat_last- Tinner_20_last+nBits*20+Tinner_20_cur, wherein Tsat_last is satellite Participated in sending during described receiver location the moment of navigation message last time.
The embodiment of the present invention also provides for a kind of receiver, and described receiver includes:
Acquisition module, for obtain this participate in described receiver location at least 4 satellites in every The first local zone time that satellite is corresponding, described first local zone time is that receiver receives this ginseng of satellite The moment of the navigation message sent when positioning with described receiver；
Difference determines module, for determining the first local zone time and second that described every satellite is corresponding The difference of ground time, described second local zone time is that receiver receives described in participation last time of described satellite The moment of the navigation message sent during receiver location；
Navigation message delivery time determines module, for according to described difference and described every satellite last time Participating in sending during described receiver location the moment of navigation message, this participates in location to determine every satellite Time launch navigation message moment；
Locating module, for according to described every satellite this participate in location time launch navigation message time Carve the position determining described receiver, to complete the location of receiver.
Preferably, described receiver also includes:
Normalization module, for determining the first local zone time and the second local zone time that every satellite is corresponding Difference after, first local zone time corresponding to every satellite and the difference of the second local zone time are carried out Normalized, normalization formula is:
(Trtc_cur-Tinner_20_cur)-(Trtc_last-Tinner_20_last),
Wherein, Trtc_cur is the first local zone time of satellite, Tinner_20_cur be satellite this Participate in location time one navigation bit within time, the time within a described navigation bit be 20ms it The interior time, Trtc_last is the second local zone time of satellite, and Tinner_20_last is on satellite Time within one navigation bit of secondary participation location；
The most described difference determines module, specifically for using the difference after normalization as every satellite correspondence The first local zone time and the difference of the second local zone time.
Preferably, described receiver also includes:
Bit number determines module, for using the difference after normalization as first corresponding to every satellite After the difference of ground time and the second local zone time, determine the difference after the normalization that every satellite is corresponding Including navigation bit number, formula is:
NBits=floor (Trtc_span/20),
Wherein, nBits is navigation bit number, and floor represents and takes less than Trtc_span/20 Big integer value, Trtc_span is the difference after the normalization that every satellite is corresponding；
The most described navigation message delivery time determines module, specifically for according to the difference bag after normalization The navigation bit number included and satellite participated in sending during described receiver location the moment of navigation message last time, This participates in launching the navigation message moment during location to determine satellite.
Preferably, bit number determines module to be additionally operable to when obtaining navigation bit number and considers that receiver is local The error of clock, is modified the navigation bit number determined, the calculating of the most described navigation bit number is public Formula is:
NBits=floor ((Trtc_span+a)/20)
Wherein a is the correction value of receiver local clock.
Preferably, navigation message delivery time determines that this participation of satellite that module obtains is launched when positioning The moment of navigation message is:
Tsat_last-Tinner_20_last+nBits*20+Tinner_20_cur, wherein Tsat_last is Satellite participated in sending during described receiver location the moment of navigation message last time.
In technical scheme, obtain this at least 4 satellites participating in described receiver location In the first local zone time corresponding to every satellite and the second local zone time, described first local zone time is for connecing Receipts machine receives satellite, and this participates in the moment of the navigation message of transmission during described receiver location；Described Second local zone time is that receiver receives transmission when the described satellite described receiver of participation last time positions The moment of navigation message；Then the first local zone time and the difference of the second local zone time, described difference are obtained Value is satellite and sent the time interval of navigation message and this transmission navigation message last time, according to reception The satellite preserved in machine sent the moment of navigation message last time, and this sends navigation electricity i.e. to can determine that satellite The moment of literary composition.According to satellite, this sends the moment of navigation message, and the effective ephemeris of satellite preserved Data, are assured that the position of receiver in conjunction with the calculation method of receiver location, complete docking The location of receipts machine.In the whole position fixing process of receiver, it is only necessary to carry out the bit synchronization of navigation message, Guarantee that Satellite Tracking is in good condition, then, receive according to adjacent twice receiver that local clock determines The most permissible to the time interval of navigation message, it is not required to navigation message is carried out frame synchronization so that connect Receipts machine, under thermal starting state, completes receiver and positions (TTFF, Time to First Fix) first Can complete within 1s, locating speed is fast, efficiency is high, is fully able to meet receiver to thermal starting Performance requirement.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below by right In embodiment or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, Accompanying drawing in describing below is only some embodiments described in the application, skill common for this area From the point of view of art personnel, on the premise of not paying creative work, it is also possible to obtain it according to these accompanying drawings His accompanying drawing.
Fig. 1 is the method flow diagram of receiver thermal starting location in prior art；
The form schematic diagram of Fig. 2 navigation message；
Fig. 3 is GPS positioning principle schematic diagram；
Fig. 4 is the localization method embodiment of receiver in a kind of global navigation satellite system of the present invention The flow chart of 1；
Fig. 5 is the localization method embodiment of receiver in a kind of global navigation satellite system of the present invention The flow chart of 2；
Fig. 6 is the localization method embodiment of receiver in a kind of global navigation satellite system of the present invention The flow chart of 3；
Fig. 7 is the structural representation of the present invention a kind of receiver embodiment 1；
Fig. 8 is the structural representation of the present invention a kind of receiver embodiment 2；
Fig. 9 is the structural representation of the present invention a kind of receiver embodiment 3；
Figure 10 is the relation schematic diagram in each moment used in the embodiment of the present invention.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the present invention Accompanying drawing in embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, Obviously, described embodiment is only a part of embodiment of the present invention rather than whole embodiments. Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, broadly falls into the scope of protection of the invention.
For the ease of the description to embodiment of the present invention and the understanding to embodiment of the present invention, this Embodiment in invention all illustrates as a example by GPS, but technical scheme is removed It is applied to, outside GPS satellite navigation system, to be equally applicable to Beidou satellite navigation system (BDS), Galileo satellite navigation system and GLONASS satellite navigation system.
General GPS can complete to position the letter allowing at least while capturing four satellites Number, certainly, the satellite-signal captured is the most, and the location of receiver is the most accurate.Starting introduction originally Before the technical scheme of invention, the ultimate principle of GPS location is simply introduced.To connect As a example by receipts machine 4 satellites of capture, with reference to shown in Fig. 3, for GPS positioning principle schematic diagram, Assume rectangular space coordinate corresponding to GPS for (X, Y, Z), its 4 satellites captured Rectangular space coordinate be respectively (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) and (X4, Y4, Z4), the computing formula of receiver location is as follows:
c * t 1 = ( X 1 - X ) 2 + ( Y 1 - Y ) 2 + ( Z 1 - Z ) 2 + c * Δ t ;
c * t 2 = ( X 2 - X ) 2 + ( Y 2 - Y ) 2 + ( Z 2 - Z ) 2 + c * Δ t ;
c * t 3 = ( X 3 - X ) 2 + ( Y 3 - Y ) 2 + ( Z 3 - Z ) 2 + c * Δ t ;
c * t 4 = ( X 4 - X ) 2 + ( Y 4 - Y ) 2 + ( Z 4 - Z ) 2 + c * Δ t ;
Wherein, c*ti, (i=1,2,3,4) is the distance (pseudorange) between receiver and satellite, ti Arriving, from satellite, the time that receiver is experienced by navigation message, c is the light velocity, and Δ t is unknown, for Receiver clock and the clock correction of satellite clock, the position coordinates of described 4 satellites is by inquiry Satellite Go through and can obtain, if tiIt is known that the position coordinates of receiver can be solved by above-mentioned 4 equations.
Below technical scheme is described in detail, with reference to shown in Fig. 4, carries for the present invention The flow chart of the localization method embodiment 1 of receiver in a kind of global navigation satellite system of confession, The present embodiment specifically may include that
Step 401: obtain every satellite in these at least 4 satellites participating in described receiver location The first corresponding local zone time.
Described receiver acquisition refers to receive to these at least 4 satellites participating in described receiver location Machine receives the navigation message that satellite sends, and has local clock in receivers, and receiver acquisition is to defending During the navigation message that star sends, record receives the local zone time of navigation message.At this to receiver During positioning, remember at least 4 satellites of this participation described receiver location and defend for every The local zone time that star is corresponding is the first local zone time.
Step 402: determine the first local zone time and the difference of the second local zone time that every satellite is corresponding.
In actual applications, receiver can receive the navigation message that not only 4 satellites send, and connects What the satellite that receipts machine communicates when the prelocalization of shutdown communicated when being again started up with receiver defends Star may be incomplete same, here, participates in the phase of location before selective receiver shutdown and after start Same satellite is as the reference satellite calculating receiver location.
Described second local zone time is that receiver receives described satellite participation last time described receiver location Time local zone time, according to record the first local zone time, i.e. can determine that satellite this participate in described in connect Receipts machine location time receiver local zone time and described last time participate in described receiver location time receiver The difference of local zone time, the mathematic interpolation process that every satellite is corresponding is similar to.
Step 403: during according to described difference and described every satellite participation last time described receiver location Send the moment of navigation message, determine this moment participating in launching navigation message during location of every satellite.
The ultimate principle that this step uses is that receiver receives for twice the time interval equivalence of navigation message The time interval of navigation message is sent, if satellite participated in sending out during described receiver location last time as satellite Send the moment of navigation message it is known that the first local zone time corresponding to satellite and the difference of the second local zone time It is exactly the receiver time interval that receives navigation message for twice in fact, then, described satellite participated in last time The moment sending navigation message during described receiver location adds that the local zone time interval that satellite is corresponding is This moment participating in launching navigation message during location of satellite.According to foregoing description, this is captured Each satellite calculate respectively correspondence launch navigation message moment.
Step 404: when this participates in positioning according to described every satellite, the moment of transmitting navigation message is true The position of fixed described receiver.
Determine this moment participating in launching navigation message during location of every satellite, it is possible to obtain every The navigation message that satellite sends arrives the time of receiver experience from satellite, sits according to receiver location Target calculation method i.e. can determine that the position of receiver, completes the location of receiver.
It should be noted that in practical operation, the satellite participating in location can be preserved in receivers Historic state information, it is preferred that preserve in the nonvolatile memory, it is to avoid the loss of data. Described historic state information can include that satellite last (before receiver shutdown) participates in receiver Send receiver when the moment of navigation message, satellite participate in receiver location for the last time during location to receive To the local zone time of navigation message, of course, it is possible to preserve accordingly in receivers according to being actually needed Satellite historic state information.
In the technical scheme of the present embodiment, obtain these participate in described receiver location at least 4 and defend The first local zone time that in star, every satellite is corresponding and the second local zone time, described first local zone time is Receiver receives satellite, and this participates in the moment of the navigation message of transmission during described receiver location；Institute Stating the second local zone time is that receiver receives transmission when the described satellite described receiver of participation last time positions Moment of navigation message；Then the first local zone time and the difference of the second local zone time are obtained, described Difference is satellite and sent the time interval of navigation message and this transmission navigation message last time, according to connecing The satellite preserved in receipts machine sent the moment of navigation message last time, and this sends navigation i.e. to can determine that satellite The moment of text.According to satellite, this sends the moment of navigation message, and the effective star of satellite preserved Counting evidence one by one, be assured that the position of receiver in conjunction with the calculation method of receiver location, it is right to complete The location of receiver.In the whole position fixing process of receiver, it is only necessary to the position carrying out navigation message is same Step, it is ensured that Satellite Tracking is in good condition, then, adjacent twice receiver determined according to local clock The time interval receiving navigation message is the most permissible, is not required to navigation message is carried out frame synchronization, makes Receiver under thermal starting state, complete receiver and position (TTFF, Time to First Fix) first Can complete within 1s, locating speed is fast, efficiency is high, is fully able to meet receiver to thermal starting Performance requirement.
Described embodiment 1 does not carry out the frame synchronization of navigation message, relative to existing technologies, contracting The short time to receiver location, but also can there is certain error in local zone time corresponding to satellite, Because navigation message time of reception of receiver record is exactly not necessarily that navigation message really arrives receiver Moment.Because in practical operation, the least unit of general receiver this locality timing is millisecond, connects It is not the most whole millisecond number, such as, a navigation bit that receipts machine receives moment corresponding to navigation message Within time, to calculate with microsecond, but receiver cannot be accurate to microsecond, and a microsecond Time error, can cause satellite to the error of the pseudorange existence 300 meters of receiver.In order to reduce this locality The impact that receiver is positioned by clock timing error, the present invention also provides for a kind of global navigation satellite location The localization method embodiment 2 of receiver in system, when introducing time normalization increases receiver location Error margin to local zone time.
Concrete, with reference to shown in Fig. 5, a kind of global navigation satellite system provided for the present invention The flow chart of the localization method embodiment 2 of middle receiver, step same as in Example 1 in the present embodiment Rapid implementation is referred to the description of embodiment 1, repeats no more here.The present embodiment specifically may be used To include:
Step 501: obtain every satellite in these at least 4 satellites participating in described receiver location The first corresponding local zone time.
Step 502: determine the first local zone time and the difference of the second local zone time that every satellite is corresponding.
Step 503: first local zone time corresponding to every satellite and the difference of the second local zone time are entered Row normalized.
Normalized herein, main purpose is the boundary bit that local zone time is planned for navigation bit Putting, the least unit making the time is millisecond, and normalization formula is:
(Trtc_cur-Tinner_20_cur)-(Trtc_last-Tinner_20_last)
Wherein, Trtc_cur is the first local zone time of satellite, Tinner_20_cur be satellite this Participating in the time within one navigation bit during location, the time within a described navigation bit refers to deficiency The time of 20ms, i.e. be can determine that by Satellite Tracking and bit synchronization, Trtc_last is the second of satellite Local zone time, Tinner_20_last is time satellite last time participating in during location within one navigation bit.
After being normalized, difference is not the most included the other time value of Microsecond grade, after normalization Difference is as the first local zone time corresponding to every satellite and the difference of the second local zone time.
Step 504: participated in described receiver last time according to the difference after normalization and described each satellite Sending the moment of navigation message during location, this participates in launching navigation message during location to determine every satellite Moment.
Step 505: when this participates in positioning according to described every satellite, the moment of transmitting navigation message is true The position of fixed described receiver.
The present embodiment is on the basis of embodiment 1, and by introducing time normalization, it is right to increase further Receiver local zone time error margin value, improves the accuracy calculating satellite-signal x time.Enter One step, on the basis of embodiment 2, the present invention also provides for a kind of global navigation satellite system The localization method embodiment 3 of middle receiver, it is considered to the timing error of local clock itself, introduces navigation The character of bit improves the accuracy of location further.
Concrete, with reference to shown in Fig. 6, a kind of global navigation satellite system provided for the present invention The flow chart of the localization method embodiment 3 of middle receiver is identical with embodiment 1,2 in the present embodiment The implementation of step is referred to the description of embodiment 1,2, repeats no more here.The present embodiment has Body may include that
Step 601: obtain every satellite in these at least 4 satellites participating in described receiver location The first corresponding local zone time.
Step 602: determine the first local zone time and the difference of the second local zone time that every satellite is corresponding.
Step 603: first local zone time corresponding to every satellite and the difference of the second local zone time are entered Row normalized.
Step 604: determine the navigation bit number that the normalization difference that every satellite is corresponding includes.
The time span of one navigation bit is 20ms, so the navigation bit included in normalization difference Several expression for floor (Trtc_span/20), floor takes the maximum less than Trtc_span/20 Integer value, Trtc_span is the difference after every satellite correspondence normalization；Preferably, it is considered to local The timing error that clock itself exists, revises navigation bit number, the most described navigation bit number Computing formula is modified to:
NBits=floor ((Trtc_span+a)/20)
Wherein a is receiver local clock correction value.Firstly, it is necessary to clear and definite a is necessarily less than 20 (one The time span of individual navigation bit) nonnegative integer, because if a >=20, one will certainly be caused to lead The error of boat bit.
For the ease of the description to a sampling process, citing here illustrates, it is assumed that Trtc_span True value be 120ms, and the time span of a navigation bit is 20ms, so the nBits that 120ms is corresponding Value is 6, if receiver local clock error is 0, then calculated Trtc_span and true value Identical, now to obtain correct nBits value 6, then, Trtc_span+a can take from 120 to The value of 139, i.e. a take any integer value (including 0 and 19) of 0-19.It is similar to, works as receiver When local clock error is 1ms, due to the existence of error, the Trtc_span value calculated just may be used Can be 119ms or 121ms, if now wanting Trtc_span+a can take the value from 120 to 139, Any integer value (including 1 and 18) of so a 1-18 to be taken.The like, can be received Chance error difference and the corresponding relation of a span, shown in reference table 1, for receiver error and a value The corresponding relation of scope.
Table 1 receiver error and the corresponding relation of a span
Local clock error (ms) The span (ms, including boundary value) of correction value a
0 0-19
1 1-18
2 2-17
3 3-16
4 4-15
5 5-14
6 6-13
7 7-12
8 8-11
9 9 or 10
When a value is more than 9, such as, the local zone time error of receiver is 10ms, with above As evidence, then the Trtc_span value calculated may be for 110ms or 130ms for example, now, and nBits Value is 6 or 7；If a value is 11 and above value, different values can be obtained equally, it is impossible to really Which is determined is correct.As can be seen from Table 1, for different local clock errors, correspondence There is lap in a span, in order to make error margin maximum, it is preferred that a can take here Value is 10.The value of a is not especially limited by the present embodiment, in practical operation, and can be according to making The concrete condition of receiver, operator specifically arrange.
Step 605: participated in sending out when described receiver positions last time according to described navigation bit number and satellite The moment sending navigation message determines satellite, and this participates in launching the navigation message moment during location.
This computing formula participating in launching the moment of navigation message during location of the satellite obtained in this step For:
Tsat_last-Tinner_20_last+nBits*20+Tinner_20_cur；
Wherein Tsat_last be participated in satellite last time sending during described receiver location navigation message time Carve.
Step 606: when this participates in positioning according to described every satellite, the moment of transmitting navigation message is true The position of fixed described receiver.
The present embodiment, on the basis of embodiment 1,2, introduces local clock error and navigation bit number, Reduce the position error caused because of timing, the local clock error within 9ms can be tolerated, further Improve the accuracy of location.
Corresponding to embodiment of the method, accordingly, the present invention also provides for a kind of receiver, with reference to Fig. 7 institute Showing, for the structural representation of a kind of receiver embodiment 1 that the present invention provides, described receiver includes:
Acquisition module 701, for obtaining in these at least 4 satellites participating in described receiver location The first local zone time that every satellite is corresponding, described first local zone time is that receiver receives satellite originally The moment of the navigation message sent during secondary participation described receiver location；
Difference determines module 702, for determining the first local zone time that described every satellite is corresponding and the The difference of two local zone times, described second local zone time is that receiver receives participation last time of described satellite The moment of the navigation message sent during described receiver location；
Navigation message delivery time determines module 703, for according to described difference and described every satellite Participating in sending during described receiver location the moment of navigation message last time, this participates in determine every satellite The moment of navigation message is launched during location；
Locating module 704, for according to described every satellite, this launches navigation message when participating in location Moment determine the position of described receiver, to complete the location of receiver.
Preferably, with reference to shown in Fig. 8, for the structure of a kind of receiver embodiment 2 that the present invention provides Schematic diagram, in addition to the module shown in Fig. 7, described receiver can also include:
Normalization module 801, for determining the first local zone time and second this locality that every satellite is corresponding After the difference of time, first local zone time corresponding to every satellite and the difference of the second local zone time Being normalized, normalization formula is:
(Trtc_cur-Tinner_20_cur)-(Trtc_last-Tinner_20_last)
Wherein, Trtc_cur is the first local zone time of satellite, Tinner_20_cur be satellite this Participate in location time one navigation bit within time, the time within a described navigation bit be 20ms it The interior time, Trtc_last is the second local zone time of satellite, and Tinner_20_last is on satellite Time within one navigation bit of secondary participation location；
The most described difference determines module, specifically for using the difference after normalization as every satellite correspondence The first local zone time and the difference of the second local zone time.
Preferably, with reference to shown in Fig. 9, for the structure of a kind of receiver embodiment 3 that the present invention provides Schematic diagram, in addition to the module shown in Fig. 7, described receiver can also include:
Bit number determines module 901, for using the difference after normalization as every satellite corresponding the After the difference of one local zone time and the second local zone time, after determining the normalization that every satellite is corresponding The navigation bit number that difference includes, formula is:
NBits=floor (Trtc_span/20)
Wherein, nBits is navigation bit number, and floor represents and takes less than Trtc_span/20 Big integer value, Trtc_span is the difference after every satellite correspondence normalization；
The most described navigation message delivery time determines module, specifically for according to the difference bag after normalization The navigation bit number included and satellite participated in sending during described receiver location the moment of navigation message last time, This participates in launching the navigation message moment during location to determine satellite.
Bit number determines that module is additionally operable to consider the mistake of receiver local clock when obtaining navigation bit number Difference, is modified the navigation bit number determined, the computing formula of the most described navigation bit number is:
NBits=floor ((Trtc_span+a)/20)
Wherein a is the correction value of receiver local clock.
Navigation message delivery time determines that this participation of satellite that module obtains launches navigation message when positioning Moment be: Tsat_last-Tinner_20_last+nBits*20+Tinner_20_cur, Wherein Tsat_last is the moment that satellite participated in sending during described receiver location navigation message last time.
With reference to shown in Figure 10, the relation schematic diagram of the time for using in the various embodiments described above, respectively The meaning of time parameter is with reference to above-mentioned embodiment.
The determination method of the navigation message x time that the various embodiments described above describe, is equally applicable to satellite Situation after recapturing unlocked, significant to the process accelerating satellite participation receiver positioning calculation.
The function that in receiver, each module is realized is with reference to operation step corresponding in said method embodiment Suddenly, repeat no more here.
It should be noted that term " includes ", " comprising " or its any other variant are intended to non- Comprising of exclusiveness, so that include the process of a series of key element, method, article or equipment not Only include those key elements, but also include other key elements being not expressly set out, or also include for The key element that this process, method, article or equipment are intrinsic.In the case of there is no more restriction, The key element limited by statement " including ... ", it is not excluded that including the process of described key element, side Method, article or equipment there is also other identical element.
For system embodiment, owing to it corresponds essentially to embodiment of the method, so relevant part The part seeing embodiment of the method illustrates.System embodiment described above is only schematically , the wherein said unit illustrated as separating component can be or may not be physically separate , the parts shown as unit can be or may not be physical location, i.e. may be located at one Individual place, or can also be distributed on multiple NE.Can be selected it according to the actual needs In some or all of module realize the purpose of the present embodiment scheme.Those of ordinary skill in the art In the case of not paying creative work, i.e. it is appreciated that and implements.
The above is only the detailed description of the invention of the present invention, it is noted that for the art For those of ordinary skill, under the premise without departing from the principles of the invention, it is also possible to make some improvement And retouching, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (10)

1. the localization method of receiver in a global navigation satellite system, it is characterised in that institute The method of stating includes:
Obtain that in these at least 4 satellites participating in described receiver location, every satellite is corresponding first Local zone time, described first local zone time is that receiver receives this described receiver of participation of satellite calmly The moment of the navigation message sent during position；
Determine the first local zone time and the difference of the second local zone time that described every satellite is corresponding, described Second local zone time is that receiver receives transmission when the described satellite described receiver of participation last time positions The moment of navigation message；
Participated in sending when described receiver positions navigation electricity last time according to described difference and described every satellite In the moment of literary composition, determine this moment participating in launching navigation message during location of every satellite；
According to described every satellite, this moment launching navigation message when participating in location determines described reception The position of machine, to complete the location of receiver.
Method the most according to claim 1, it is characterised in that described determine every satellite correspondence The first local zone time and the second local zone time difference after, also include:
First local zone time corresponding to every satellite and the difference of the second local zone time are normalized place Reason, normalization formula is:
(Trtc_cur-Tinner_20_cur)-(Trtc_last-Tinner_20_last),
Wherein, Trtc_cur is the first local zone time of satellite, Tinner_20_cur be satellite this Participating in the time within one navigation bit during location, the time within a described navigation bit is 20ms Within time, Trtc_last is the second local zone time of satellite, and Tinner_20_last is satellite Participated in the time within one navigation bit of location last time；
Using the difference after normalization as the first local zone time corresponding to every satellite and the second local zone time Difference.
Method the most according to claim 2, it is characterised in that using the difference after normalization as After the first local zone time that every satellite is corresponding and the difference of the second local zone time, also include:
Determining the navigation bit number that the difference after the normalization that every satellite is corresponding includes, formula is:
NBits=floor (Trtc_span/20),
Wherein, nBits is navigation bit number, and floor represents and takes less than Trtc_span/20 Big integer value, Trtc_span is the difference after the normalization that every satellite is corresponding；
The navigation message moment is launched with specific reference to the difference after normalization during this participation location of the most described satellite Navigation bit number that value includes and satellite participated in last time sending during described receiver location navigation message time Quarter determines.
Method the most according to claim 3, it is characterised in that examine when obtaining navigation bit number Consider the error of receiver local clock, the navigation bit number determined is modified, the most described navigation ratio The computing formula of special number is:
NBits=floor ((Trtc_span+a)/20), wherein a is repairing of receiver local clock On the occasion of.
5. according to the method described in any one of claim 3 or 4, it is characterised in that this ginseng of satellite The moment launching navigation message during with location is Tsat_last-Tinner_20_last+nBits* 20+Tinner_20_cur, when wherein Tsat_last is satellite participation last time described receiver location Send the moment of navigation message.
6. a receiver, it is characterised in that described receiver includes:
Acquisition module, for obtain this participate in described receiver location at least 4 satellites in every The first local zone time that satellite is corresponding, described first local zone time is that receiver receives this ginseng of satellite The moment of the navigation message sent when positioning with described receiver；
Difference determines module, for determining the first local zone time and second that described every satellite is corresponding The difference of ground time, described second local zone time is that receiver receives described in participation last time of described satellite The moment of the navigation message sent during receiver location；
Navigation message delivery time determines module, for according to described difference and described every satellite last time Participating in sending during described receiver location the moment of navigation message, this participates in location to determine every satellite Time launch navigation message moment；
Locating module, for according to described every satellite this participate in location time launch navigation message time Carve the position determining described receiver, to complete the location of receiver.
Receiver the most according to claim 6, it is characterised in that described receiver also includes:
Normalization module, for determining the first local zone time and the second local zone time that every satellite is corresponding Difference after, first local zone time corresponding to every satellite and the difference of the second local zone time are carried out Normalized, normalization formula is:
(Trtc_cur-Tinner_20_cur)-(Trtc_last-Tinner_20_last),
Wherein, Trtc_cur is the first local zone time of satellite, Tinner_20_cur be satellite this Participating in the time within one navigation bit during location, the time within a described navigation bit is 20ms Within time, Trtc_last is the second local zone time of satellite, and Tinner_20_last is satellite Participated in the time within one navigation bit of location last time；
The most described difference determines module, specifically for using the difference after normalization as every satellite correspondence The first local zone time and the difference of the second local zone time.
Receiver the most according to claim 7, it is characterised in that described receiver also includes:
Bit number determines module, for using the difference after normalization as first corresponding to every satellite After the difference of ground time and the second local zone time, determine the difference after the normalization that every satellite is corresponding Including navigation bit number, formula is:
NBits=floor (Trtc_span/20),
Wherein, nBits is navigation bit number, and floor represents and takes less than Trtc_span/20 Big integer value, Trtc_span is the difference after the normalization that every satellite is corresponding；
The most described navigation message delivery time determines module, specifically for according to the difference bag after normalization The navigation bit number included and satellite participated in sending during described receiver location the moment of navigation message last time, This participates in launching the navigation message moment during location to determine satellite.
Receiver the most according to claim 8, it is characterised in that bit number determines that module is also used In the error of consideration receiver local clock when obtaining navigation bit number, to the navigation bit number determined Being modified, the computing formula of the most described navigation bit number is:
NBits=floor ((Trtc_span+a)/20)
Wherein a is the correction value of receiver local clock.
Receiver described in the most according to Claim 8 or 9 any one, it is characterised in that navigation electricity Literary composition delivery time determines that when this participation of satellite that module obtains positions, the moment of transmitting navigation message is: Tsat_last-Tinner_20_last+nBits*20+Tinner_20_cur, wherein Tsat_last Participate in sending when described receiver positions the moment of navigation message for satellite last time.
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