CN110174685A - Used defend of whole scene high-precision micro leads integrated positioning Timing Receiver - Google Patents
Used defend of whole scene high-precision micro leads integrated positioning Timing Receiver Download PDFInfo
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- CN110174685A CN110174685A CN201910526178.2A CN201910526178A CN110174685A CN 110174685 A CN110174685 A CN 110174685A CN 201910526178 A CN201910526178 A CN 201910526178A CN 110174685 A CN110174685 A CN 110174685A
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- Prior art keywords
- signal
- satellite
- information
- navigation module
- navigation
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
-
- 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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- 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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
- G04R20/04—Tuning or receiving; Circuits therefor
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention proposes a kind of used defend of whole scene high-precision micro to lead integrated positioning Timing Receiver, including inertial navigation module, satellite navigation module and navigational computer；The inertial navigation module and the satellite navigation module are by posture information and code phase；The tracked information of carrier phase and carrier signal is sent to navigational computer；Navigational computer carries out information fusion, according to fused information, completes carrier wave ring, code closed-loop control and positioning calculation, obtains navigation information.The form combined using inertial navigation module with satellite navigation module, when vehicle driving to the shielded region of satellite-signal, it carries out continuing navigation using inertial navigation module, it avoids certain due to navigation signal, cause vehicle that can not obtain location information, to influence vehicle scheduling, avoids the occurrence of the navigation information of mistake, cause in vehicle travel process, accident occurs.
Description
Technical field
The present invention relates to technical field of communication equipment, in particular to used defend of a kind of whole scene high-precision micro leads integrated positioning
Timing Receiver.
Background technique
Under the indoor environments such as tunnel, since satellite navigation signals are shielded, cause vehicle in tunnel that can not receive satellite
Navigation signal is positioned, traffic accident also more aobvious protrusion in tunnel.After vehicle, which is run, to be entered, it may appear that Wu Fazheng
Often the problem of positioning, brought a lot of trouble to vehicle location and dispatch control.
In the undesirable situation of satellite signal receiving, such as under downtown, jungle, overpass or underground parking,
How to improve positioning accuracy, make up signal trajectory when satellite-signal lacks, is very important.
Summary of the invention
The purpose of the present invention aims to solve at least one of the technological deficiency.
To achieve the goals above, the embodiment of one aspect of the present invention provides a kind of used defend of whole scene high-precision micro and leads group
Close positioning Timing Receiver, including inertial navigation module, satellite navigation module and navigational computer；
The inertial navigation module includes inertial sensor and converter；The inertial sensor is for obtaining equipment
Posture information, and the posture information that will acquire is sent to converter, the converter is used for the posture information that will acquire, and becomes
It is changed to digital signal, and the digital signal is sent to navigational computer；
The satellite navigation module includes receiving antenna, channel, channel processor and A/D converter；The receiving antenna is used
In reception satellite-signal, and received satellite-signal is sent to Channel Elements, the Channel Elements are defended to what is received
Star signal is filtered and is intermediate-freuqncy signal by the satellite-signal frequency conversion；And the intermediate-freuqncy signal is sent to A/D converter, by
Analog signal is become digital signal by A/D converter；The channel processor includes multiple tracking channels, the channel processor
Digital signal is sent for receiving A/D converter, the tracking channel is for realizing the tracking to different satellites, and according to number
Signal capture C/A code completes code phase；Carrier phase completes the tracking to carrier signal；
Posture information and satellite navigation module of the navigational computer for obtaining inertial navigation module transmission are sent
Code phase；The tracked information of carrier phase and carrier signal；And it will acquire posture information and code phase；Carrier phase and load
The tracked information of wave signal carries out data fusion；And according to fused information, carrier wave ring, code closed-loop control and positioning are completed
It resolves, obtains navigation information.
Preferably, the inertial sensor includes at least 3D acceleration transducer, 3D gyroscope.
Preferred, multiple tracking channels in above-mentioned any one embodiment, include at least 48 tracking channels, and 48
A tracking channel covers at least GPS, Beidou, any one or more navigation in GLONESS.
Preferred in above-mentioned any one embodiment, the receiving antenna includes GPS antenna, Beidou antenna, GLONESS
Antenna；The GPS antenna, for receiving GPS satellite downlink signal, and by the downlink signal received through wave filter and amplification
After device processing, GPS downlink radio frequency navigation signal is obtained；
The Beidou antenna is used to receive the downlink signal of big-dipper satellite；And by the downlink signal received through wave filter
After amplifier processing, Beidou downlink radio frequency navigation signal is obtained；
The GLONESS antenna is used to receive the downlink signal of GLONESS satellite；And the downlink signal received is passed through
After filter and amplifier processing, GLONESS downlink radio frequency navigation signal is obtained.
Preferred in above-mentioned any one embodiment, the navigational computer is defended what is received from each tracking channel
The code phase that star navigation module is sent；The tracked information of carrier phase and carrier signal；Carry out the bit error rate and the detection of frame markers；
Bit error rate minimum is filtered out, the received frame markers tracking channel most synchronous with actual frame markers realizes the switching of tracking channel.
A kind of used defend of the whole scene high-precision micro provided according to embodiments of the present invention leads integrated positioning Timing Receiver, phase
Than having at least the following advantages in the prior art:
1, the form combined using inertial navigation module with satellite navigation module, when vehicle driving to satellite-signal is hidden
It when the region covered, carries out continuing navigation using inertial navigation module, avoids certain due to navigation signal, cause vehicle that can not obtain
Location information is obtained, to influence vehicle scheduling, the navigation information of mistake is avoided the occurrence of, causes in vehicle travel process, thing occur
Therefore.
2, it is merged using a variety of navigation modes, is provided with a variety of receiving antennas, it is synchronous to receive GPS satellite, Beidou
The down-link satellite signal of satellite and GLONESS satellite, and by multiple signals of a variety of satellites received, it is sent out via tracking channel
It send to navigational computer, is screened using navigational computer, when the current satellite-signal bit error rate is high, time frame mark deviates larger
When, then switch currently used satellite-signal in time, guarantee satellite-signal is currently most preferred signal path, guarantees navigation letter
The correctness and timeliness of breath.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1, which is that a kind of whole scene high-precision micro provided by the invention is used, defends the connection knot for leading integrated positioning Timing Receiver
Composition；
In figure:
101, inertial sensor；102, converter；201, receiving antenna；202, channel；203, channel processor；204,
A/D converter；301, navigational computer；
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
As shown in Figure 1, a kind of used defend of whole scene high-precision micro of the embodiment of the present invention leads integrated positioning Timing Receiver,
Including inertial navigation module, satellite navigation module and navigational computer；
The inertial navigation module includes inertial sensor and converter；The inertial sensor is for obtaining equipment
Posture information, and the posture information that will acquire is sent to converter, the converter is used for the posture information that will acquire, and becomes
It is changed to digital signal, and the digital signal is sent to navigational computer；Preferably, the inertial sensor adds including at least 3D
Velocity sensor, 3D gyroscope.It can when obtaining the posture information of vehicle using 3D acceleration transducer and 3D gyroscope
The current state of vehicle is subjected to three-dimensional panorama displaying.
The satellite navigation module includes receiving antenna, channel, channel processor and A/D converter；The receiving antenna is used
In reception satellite-signal, and received satellite-signal is sent to Channel Elements, the Channel Elements are defended to what is received
Star signal is filtered and is intermediate-freuqncy signal by the satellite-signal frequency conversion；And the intermediate-freuqncy signal is sent to A/D converter, by
Analog signal is become digital signal by A/D converter；The channel processor includes multiple tracking channels, the channel processor
Digital signal is sent for receiving A/D converter, the tracking channel is for realizing the tracking to different satellites, and according to number
Signal capture C/A code completes code phase；Carrier phase completes the tracking to carrier signal；
Posture information and satellite navigation module of the navigational computer for obtaining inertial navigation module transmission are sent
Code phase；The tracked information of carrier phase and carrier signal；And it will acquire posture information and code phase；Carrier phase and load
The tracked information of wave signal carries out data fusion；And according to fused information, carrier wave ring, code closed-loop control and positioning are completed
It resolves, obtains navigation information.
Multiple tracking channels, include at least 48 tracking channels, and 48 tracking channels cover at least GPS, north
It struggles against, any one or more navigation in GLONESS.Further, the receiving antenna includes GPS antenna, Beidou antenna,
GLONESS antenna；The GPS antenna, for receiving GPS satellite downlink signal, and by the downlink signal received by filtering
After device and amplifier processing, GPS downlink radio frequency navigation signal is obtained；
The Beidou antenna is used to receive the downlink signal of big-dipper satellite；And by the downlink signal received through wave filter
After amplifier processing, Beidou downlink radio frequency navigation signal is obtained；The GLONESS antenna is for receiving GLONESS satellite
Downlink signal；And the downlink signal received is obtained into the navigation of GLONESS downlink radio frequency after wave filter and amplifier processing
Signal.
The code phase that the navigational computer sends the satellite navigation module received from each tracking channel；Carrier wave phase
The tracked information of position and carrier signal；Carry out the bit error rate and the detection of frame markers；Filter out bit error rate minimum, received frame markers
The tracking channel most synchronous with actual frame markers is realized that the switching of tracking channel is merged using a variety of navigation modes, is arranged
A variety of receiving antennas, it is synchronous to receive the down-link satellite signal of GPS satellite, big-dipper satellite and GLONESS satellite, and will receive
Multiple signals of a variety of satellites arrived, are sent to navigational computer via tracking channel, are screened using navigational computer, when
The current satellite-signal bit error rate is high, when time frame mark deviates larger, then switches currently used satellite-signal in time, guarantees satellite
Signal is currently most preferred signal path, guarantees the correctness and timeliness of navigation information.
The form combined using inertial navigation module with satellite navigation module, when vehicle driving is shielded to satellite-signal
Region when, carry out continuing navigation using inertial navigation module, avoid certain due to navigation signal, cause vehicle that can not obtain
Location information avoids the occurrence of the navigation information of mistake, causes in vehicle travel process, accident occur to influence vehicle scheduling.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention
By appended claims and its equivalent limit.
Claims (5)
1. a kind of used defend of whole scene high-precision micro leads integrated positioning Timing Receiver, which is characterized in that including inertial navigation mould
Block, satellite navigation module and navigational computer；
The inertial navigation module includes inertial sensor and converter；The inertial sensor is used to obtain the posture of equipment
Information, and the posture information that will acquire is sent to converter, the converter is used for the posture information that will acquire, is transformed to
Digital signal, and the digital signal is sent to navigational computer；
The satellite navigation module includes receiving antenna, channel, channel processor and A/D converter；The receiving antenna is for connecing
Satellite-signal is received, and received satellite-signal is sent to Channel Elements, the Channel Elements believe the satellite received
It number is filtered and is intermediate-freuqncy signal by the satellite-signal frequency conversion；And the intermediate-freuqncy signal is sent to A/D converter, become by AD
Analog signal is become digital signal by parallel operation；The channel processor includes multiple tracking channels, and the channel processor is used for
It receives A/D converter and sends digital signal, the tracking channel is for realizing the tracking to different satellites, and according to digital signal
C/A code is captured, code phase is completed；Carrier phase completes the tracking to carrier signal；
The code phase that the navigational computer is used to obtain the posture information of inertial navigation module transmission and satellite navigation module is sent
Position；The tracked information of carrier phase and carrier signal；And it will acquire posture information and code phase；Carrier phase and carrier wave letter
Number tracked information, carry out data fusion；And according to fused information, carrier wave ring, code closed-loop control and positioning calculation are completed,
Obtain navigation information.
2. used defend of whole scene high-precision micro according to claim 1 leads integrated positioning Timing Receiver, which is characterized in that
The inertial sensor includes at least 3D acceleration transducer, 3D gyroscope.
3. used defend of whole scene high-precision micro according to claim 1 leads integrated positioning Timing Receiver, which is characterized in that
Multiple tracking channels, include at least 48 tracking channels, and 48 tracking channels cover at least GPS, Beidou, GL
Any one or more in ONESS is navigated.
4. used defend of whole scene high-precision micro according to claim 3 leads integrated positioning Timing Receiver, which is characterized in that
The receiving antenna includes GPS antenna, Beidou antenna, GLONESS antenna；The GPS antenna, for receiving GPS satellite downlink
Signal, and the downlink signal received is obtained into GPS downlink radio frequency navigation signal after wave filter and amplifier processing；
The Beidou antenna is used to receive the downlink signal of big-dipper satellite；And the downlink signal received through wave filter and is put
After big device processing, Beidou downlink radio frequency navigation signal is obtained；
The GLONESS antenna is used to receive the downlink signal of GLONESS satellite；And by the downlink signal received by filtering
After device and amplifier processing, GLONESS downlink radio frequency navigation signal is obtained.
5. used defend of whole scene high-precision micro according to claim 1 leads integrated positioning Timing Receiver, which is characterized in that
The code phase that the navigational computer sends the satellite navigation module received from each tracking channel；Carrier phase and load
The tracked information of wave signal；Carry out the bit error rate and the detection of frame markers；Filter out bit error rate minimum, received frame markers and actual frame
The most synchronous tracking channel of markers, realizes the switching of tracking channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526178.2A CN110174685A (en) | 2019-06-18 | 2019-06-18 | Used defend of whole scene high-precision micro leads integrated positioning Timing Receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526178.2A CN110174685A (en) | 2019-06-18 | 2019-06-18 | Used defend of whole scene high-precision micro leads integrated positioning Timing Receiver |
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| Publication Number | Publication Date |
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| CN110174685A true CN110174685A (en) | 2019-08-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910526178.2A Pending CN110174685A (en) | 2019-06-18 | 2019-06-18 | Used defend of whole scene high-precision micro leads integrated positioning Timing Receiver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112612047A (en) * | 2020-11-27 | 2021-04-06 | 航天恒星科技有限公司 | Satellite/inertia combined micro navigation system |
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| CN1361430A (en) * | 2000-12-23 | 2002-07-31 | 林清芳 | Enhanced motion body pisition and navigation method and system |
| CN101975958A (en) * | 2010-09-15 | 2011-02-16 | 东莞市泰斗微电子科技有限公司 | Data updating method for double-mode or multi-mode positioning satellite signal receiving system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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