Positioning method with combination of pseudolites, GPS (global positioning system) and Beidou Navigation System

Abstract

The invention discloses a positioning method with combination of pseudolites, the GPS and the Beidou Navigation system. The method comprises that, firstly, a pseudolite signal transmitter generates pseudolite positioning differential signals, and a synchronous receiver and a user receiver receives the pseudolite positioning differential signals simultaneously; secondly, a pseudolite synchronous receiver simultaneously receives pseudolite signals, GPS satellite navigation signals and Beidou satellite navigation signals and computes satellite clock differential corrected values and navigation messages according to pseudolite ranging values and navigation satellite navigation ranging values, the messages are transmitted to the pseudolite signal transmitter, and the pseudolite signal transmitter transmits messages to the user receiver; thirdly, the user receiver corrects the satellite clock differential corrected values into a GPS satellite navigation measuring equation and a Beidou satellite navigation measuring equation to eliminate navigation satellite clock deviation, ephemeris errors, ionospheric errors and tropospheric errors in a differential mode, the GPS satellite navigation measuring equation and the Beidou satellite navigation measuring equation are combined with a pseudolite measuring equation to form a measuring equation set free from satellite clock differential influence, and pseudolite, Beidou and GPS combined differential positioning is formed through the least square method.

Description

technical field [0001] The invention relates to the technical field of satellite navigation ground-based local area enhancement, in particular to a positioning method combining pseudolite, GPS and Beidou navigation system. Background technique [0002] At present, with the official operation of the Beidou satellite navigation system, more and more user receivers have the combined positioning capability of GPS and Beidou multi-navigation systems, but this type of combined positioning needs to know or calculate the time between multiple satellite navigation systems deviation. The traditional solution is to add the unknown parameters of GPS and Beidou system time deviation into the positioning equation, and solve it directly by solving the equations. The disadvantage of this method is that the user machine needs to receive at least 5 visible satellites at the same time. The signal differential pseudolite will effectively solve the above defects and realize the high-precision c...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to design a signal differential pseudolite system for the defects of insufficient number of visible navigation satellites, poor geometric distribution of constellations, and low vertical positioning accuracy caused by satellite navigation systems in special geographical environments or application environments. And a positioning method combining pseudolite, GPS and Beidou navigation system is proposed, which effectively improves the geometric distribution of the satellite navigation system, increases the number of navigation stars, and improves the positioning accuracy

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