Positioning method and system based on time difference of global short-wave time service station

Abstract

The invention provides a positioning method and system based on the time difference of global short-wave time service stations, and the method comprises the steps: obtaining the coordinate information of each short-wave time service station, receiving the short-wave time signals of a plurality of short-wave time service stations, and recording the time when each short-wave time signal is actually received; eliminating the delay error of the ionosphere to the short-wave time signal, and calculating the time difference between the time when the short-wave time signal is received and the standard time when the short-wave time signal is broadcasted; and calculating the geographic position of the receiving end by using the time differences and the coordinate information corresponding to the at least three short-wave time service stations in combination with a time difference positioning algorithm. According to the method, the time difference information of a plurality of global short-wave time service stations is combined, the time delay error is eliminated, and the geographic position of the receiving end is calculated by using a time difference positioning algorithm, so that the positioning precision is improved. The method is suitable for an area where a GPS and other satellite navigation systems cannot cover or signals are interfered, the application range of the positioning technology is expanded, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and more specifically, to a positioning method and system based on time difference of global shortwave timing stations. Background Art

[0002] Global shortwave timing stations can transmit high-precision time signals for calibrating the time at the receiving end. However, these time signals are usually only used for time synchronization and calibration, and their potential positioning capabilities are not fully utilized. At the same time, in remote areas, oceans and other areas where GPS signals cannot be covered or are severely interfered with, the problem of positioning accuracy has always been a challenge. Therefore, it is of great significance to develop a positioning method and system based on the time difference of global shortwave timing stations. Summary of the invention

[0003] The present invention aims at solving the technical problems in the prior art and provides a positioning method and system based on the time difference of global shortwave time service stations, so as to improve the positioning accuracy in areas where satellite navigation systems such as GPS cannot cover or where the signals are interfered.

[0004] According to a first aspect of the present invention, there is provided a positioning method based on the time difference of a global shortwave timing station, comprising: Obtain the coordinate information of each shortwave time service station, receive the shortwave time signals of multiple shortwave time service stations, and record the actual time of receiving each shortwave time signal; Eliminate the delay error of the ionosphere on the shortwave time signal and calculate the time difference between the time when the shortwave time signal is received and the standard time reported by the shortwave time signal; The geographical location of the receiving end is calculated by using the time difference and coordinate information corresponding to at least three shortwave time stations in combination with a time difference positioning algorithm.

[0005] Based on the above technical solution, the present invention can also make the following improvements.

[0006] Optionally, the eliminating the delay error of the ionosphere on the shortwave time signal comprises: Based on the time delay effect of the ionosphere on shortwave communication, the time delay error of the ionosphere on shortwave communication is calculated through the ionosphere model data; The time when the shortwave time signal is received is subtracted from the time delay error to obtain the time when the shortwave time signal is received after the error is eliminated.

[0007] Optionally, the delay error of the ionosphere to shortwave communication is calculated by the following formula: Δt = a˙TEC / f², Among them, Δt is the time delay error value of the ionosphere for shortwave communication, TEC is the total electron content in the ionosphere, f is the frequency of the shortwave timing signal, and a is the coefficient, which represents the relationship between the electron density in the ionosphere, the frequency of the shortwave timing signal and the time delay.

[0008] Optionally, the calculating of the time difference between the time when the shortwave time signal is received and the standard time when the shortwave time signal is broadcast comprises: The time of receiving the shortwave time signal after the error is eliminated is subtracted from the standard time of the shortwave time signal broadcast to obtain the time difference of the shortwave time signal propagation.

[0009] Optionally, a TDOA algorithm is used to calculate the geographic location of the receiving end.

[0010] Optionally, the method further includes: correcting and optimizing the positioning result of the receiving end by means of multi-source data fusion.

[0011] According to a second aspect of the present invention, there is provided a positioning system based on the time difference of a global shortwave timing station, comprising: The acquisition module is used to obtain the coordinate information of each shortwave time service station, and is also used to receive the shortwave time signals of multiple shortwave time service stations, and record the time when each shortwave time signal is actually received; The time difference calculation module is used to eliminate the delay error of the ionosphere to the shortwave time signal and calculate the time difference between the time when the shortwave time signal is received and the standard time reported by the shortwave time signal; The positioning module is used to calculate the geographical location of the receiving end by using the time difference and coordinate information corresponding to at least three shortwave time stations and combining the time difference positioning algorithm.

[0012] Optionally, the system further includes: The optimization module is used to correct and optimize the positioning results of the receiving end by fusing multi-source data.

[0013] According to a third aspect of the present invention, there is provided an electronic device comprising a memory and a processor, wherein the processor is used to implement the steps of the above-mentioned positioning method based on the time difference of the global shortwave timing station when executing a computer management program stored in the memory.

[0014] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium on which a computer management program is stored. When the computer management program is executed by a processor, the steps of the positioning method based on the time difference of the global shortwave timing station are implemented.

[0015] The present invention provides a positioning method, system, electronic device and storage medium based on the time difference of global shortwave time stations. By combining the time difference information of multiple global shortwave time stations and using the time difference positioning algorithm to calculate the geographical location of the receiving end, the positioning accuracy is improved. During the positioning process, the ionosphere model is also used to calculate the time delay effect of the ionosphere on shortwave communication, thereby reducing the positioning error caused by signal delay. The invention is applicable to areas where satellite navigation systems such as GPS cannot cover or where the signals are interfered, thus expanding the application scope of positioning technology. Compared with positioning methods that rely on satellite navigation systems, this method does not require additional satellite navigation equipment, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of a positioning method based on the time difference of global shortwave timing stations provided by the present invention; Figure 2 A flowchart of a positioning method based on the time difference of a global shortwave timing station is provided for a certain embodiment; Figure 3 A schematic diagram of the composition of a positioning system based on the time difference of global shortwave time stations provided by the present invention; Figure 4 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention; Figure 5 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0017] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0018] Figure 1 A flow chart of a positioning method based on the time difference of global shortwave time stations provided by the present invention is as follows: Figure 1 As shown in the solid line frame in FIG. , the method includes steps S1 to S3: S1, obtaining the coordinate information of each shortwave time service station, receiving the shortwave time signals of multiple shortwave time service stations, and recording the actual time of receiving each shortwave time signal; In this step, the global ubiquitous shortwave time station network is used to obtain the precise longitude and latitude coordinates of each time station based on the high degree of clock synchronization between the time stations. Each time station sends a shortwave time signal for broadcasting standard time.

[0019] Set up a shortwave signal receiving device capable of receiving shortwave time signals and a high-resolution timing device at the test point. Receive the shortwave time signal (i.e. the time signal from the time station) in real time through the shortwave signal receiving device, and record the specific time when the shortwave time signal is received through the high-resolution timing device.

[0020] Since the distance between the timing station and the receiving station is relatively long, signal propagation is very susceptible to the ionospheric delay effect. The disclosed embodiment obtains ionospheric data through an ionospheric model and calculates the ionospheric delay between the timing station and the receiving station, thereby eliminating the time error caused by the ionospheric delay effect, thereby improving positioning accuracy. This embodiment uses a high-resolution and high-sensitivity timing device to record the actual time when the timing signal of the timing station is received. Since the propagation speed of the radio wave signal is extremely fast, the sensitivity and resolution of the timing device have a great influence on the error of subsequent calculations.

[0021] S2, eliminate the delay error of the ionosphere on the shortwave time signal, and calculate the time difference between the time when the shortwave time signal is received and the standard time reported by the shortwave time signal; In this step, the ionosphere model can be used to calculate the time delay effect of the ionosphere on shortwave communication, thereby reducing the positioning error caused by signal delay and improving positioning accuracy.

[0022] S3, using the time difference and coordinate information corresponding to at least three shortwave time stations, combined with a time difference positioning algorithm, to calculate the geographical location of the receiving end.

[0023] It is understandable that, based on the defects in the background technology, the embodiment of the present invention proposes a positioning method based on the time difference of the global shortwave time service station, which is specifically a method for positioning using the difference between the standard time of the global shortwave time service station and the time signal received by the receiving end. The method combines the shortwave timing technology and the principle of time difference positioning, aiming to provide an effective positioning method in areas where satellite navigation systems such as GPS cannot cover or where the signal is interfered.

[0024] The present invention combines the time difference information and longitude and latitude coordinate information of multiple global shortwave time stations, and uses the time difference positioning algorithm to calculate the geographical location of the receiving end, thereby improving the positioning accuracy. During the positioning process, the ionosphere model is also used to calculate the time delay effect of the ionosphere on shortwave communication, thereby reducing the positioning error caused by signal delay. The invention is applicable to areas where satellite navigation systems such as GPS cannot cover or where signals are interfered with, thus expanding the application scope of positioning technology. Compared with positioning methods that rely on satellite navigation systems, this method does not require additional satellite navigation equipment, thereby reducing costs.

[0025] In a possible embodiment, in step S2, as Figure 2As shown, the method of eliminating the delay error of the ionosphere to the shortwave time signal includes steps S201-S202: S201, based on the time delay effect of the ionosphere on shortwave communication, the time delay error of the ionosphere on shortwave communication is calculated by using ionosphere model data.

[0026] Specifically, the delay error of the ionosphere to shortwave communication is calculated by the following formula: Δt = a˙TEC / f², Wherein, Δt is the delay error value of the ionosphere to shortwave communication, in seconds (s); TEC is the total electron content in the ionosphere, which is the result of integrating the electron density along the satellite signal propagation path. The unit is TECU (1TECU=10¹ 6 electrons / m²); f is the frequency of the shortwave timing signal, measured in Hertz (Hz). In shortwave timing, megahertz (MHz) is usually used as the unit, and it needs to be converted to Hertz when calculating.

[0027] a is a coefficient, which represents the relationship between the electron density in the ionosphere, the frequency of the shortwave timing signal and the time delay. a is a constant, usually 40.3, which is obtained through experimental measurement and theoretical calculation. It takes into account the refraction effect of electromagnetic waves when propagating in the ionosphere, and quantifies the relationship between the electron density in the ionosphere, the signal frequency and the time delay into a specific value.

[0028] It is worth noting that regarding the total electron content TEC: TEC is a key parameter in ionospheric delay calculations, which reflects the total number of electrons in the ionosphere. TEC can be obtained through satellite observations, ground observations, or ionospheric models. In actual calculations, ionospheric models (such as the Klobuchar model) are usually used to estimate TEC values.

[0029] About the shortwave timing signal frequency f: The frequency f of the shortwave timing signal is another important parameter in the calculation of ionospheric delay. For shortwave timing station signals, their frequency is known, usually between a few megahertz (MHz) and tens of megahertz (MHz). When calculating ionospheric delay, the signal frequency needs to be converted into Hertz (Hz).

[0030] S202, subtracting the time when the shortwave time signal is received from the delay error to obtain the time when the shortwave time signal is received after the error is eliminated.

[0031] It is understandable that, during the positioning process, step S2 also calculates the time delay effect of the ionosphere on shortwave communication through the ionosphere model to reduce the positioning error caused by signal delay. Since the distance between the timing station and the receiving station is far, signal propagation is very susceptible to the ionosphere delay effect. This embodiment obtains ionosphere data through the ionosphere model and calculates the ionosphere delay between the timing station and the receiving station, thereby eliminating the time error caused by the ionosphere delay effect, thereby improving the positioning accuracy.

[0032] In a possible embodiment, in step S2, the step of calculating the time difference between the time when the shortwave time signal is received and the standard time when the shortwave time signal is broadcast includes: S203, subtracting the time of receiving the shortwave time signal after the error is eliminated from the standard time of the shortwave time signal broadcast, to obtain the time difference of the shortwave time signal propagation.

[0033] It is understandable that the shortwave time signal issued by the time service station contains standard time information. After receiving the shortwave time signal, the receiving end analyzes the shortwave time signal to obtain the standard time reported by the shortwave time signal. In step S202, the ionospheric delay error has been eliminated for the time when the shortwave time signal is received by the receiving end. The time difference of signal propagation can be obtained by subtracting the shortwave time signal reception time recorded by the timing device from the standard time. The time difference is corrected according to the delay error calculated by the dual-frequency receiver.

[0034] In a possible embodiment, in step S3, as Figure 2 As shown, the TDOA (Time Difference 0f Arrival) algorithm is used to calculate the geographic location of the receiving end.

[0035] It is understandable that in step S3, the signal propagation time difference information corresponding to at least three time stations is obtained. Combined with the longitude and latitude coordinates of the corresponding time station, the longitude and latitude coordinates of the receiving end (positioning point) are calculated using the time difference positioning algorithm. The time difference positioning algorithm uses the time difference between the transmission of signals from multiple signal sources with known positions and the arrival at the receiving point, combined with the signal propagation speed and the precise position of each signal source, to determine the geographical location of the receiving point through mathematical calculations. For example, a common algorithm is the TDOA algorithm.

[0036] In a possible embodiment, Figure 1 As shown in the dotted box in , the method also includes step S4: correcting and optimizing the positioning result of the receiving end by fusing multi-source data.

[0037] It is understandable that since the receiver positioning coordinates calculated in step S3 may have errors, the positioning results of this method can be post-corrected by combining the positioning results of other positioning technologies through multi-source data fusion. Using a large amount of experimental data and accurate positioning information, the error distribution in the longitude and latitude directions is calculated, and the error distribution is used as a correction function to optimize the positioning accuracy of this method.

[0038] Figure 3 A structural diagram of a positioning system based on the time difference of a global shortwave timing station provided by an embodiment of the present invention, such as Figure 3 As shown, a positioning system based on the time difference of global shortwave time stations includes an acquisition module, a time difference calculation module and a positioning module, wherein: The acquisition module is used to obtain the coordinate information of each shortwave time service station, and is also used to receive the shortwave time signals of multiple shortwave time service stations, and record the time when each shortwave time signal is actually received; The time difference calculation module is used to eliminate the delay error of the ionosphere to the shortwave time signal and calculate the time difference between the time when the shortwave time signal is received and the standard time reported by the shortwave time signal; The positioning module is used to calculate the geographical location of the receiving end by using the time difference and coordinate information corresponding to at least three shortwave time stations and combining the time difference positioning algorithm.

[0039] In a possible embodiment, Figure 3 As shown in the dotted box in , the system also includes: The optimization module is used to correct and optimize the positioning results of the receiving end by fusing multi-source data.

[0040] It can be understood that the positioning system based on the time difference of global shortwave time stations provided by the present invention corresponds to the positioning method based on the time difference of global shortwave time stations provided by the aforementioned embodiments. The relevant technical features of the positioning system based on the time difference of global shortwave time stations can refer to the relevant technical features of the positioning method based on the time difference of global shortwave time stations, which will not be repeated here.

[0041] See also Figure 4 , Figure 4 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 4 As shown, an embodiment of the present invention provides an electronic device 400, including a memory 410, a processor 420, and a computer program 411 stored in the memory 410 and executable on the processor 420. When the processor 420 executes the computer program 411, the following steps are implemented: Obtain the coordinate information of each shortwave time service station, receive the shortwave time signals of multiple shortwave time service stations, and record the actual time of receiving each shortwave time signal; Eliminate the delay error of the ionosphere on the shortwave time signal and calculate the time difference between the time when the shortwave time signal is received and the standard time reported by the shortwave time signal; Calculate the geographical location of the receiving end by using the time difference and coordinate information corresponding to at least three shortwave time stations in combination with a time difference positioning algorithm; By means of multi-source data fusion, the positioning results at the receiving end are corrected and optimized.

[0042] See also Figure 5 , Figure 5 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 5 As shown, this embodiment provides a computer-readable storage medium 500, on which a computer program 511 is stored. When the computer program 511 is executed by a processor, the following steps are implemented: Obtain the coordinate information of each shortwave time service station, receive the shortwave time signals of multiple shortwave time service stations, and record the actual time of receiving each shortwave time signal; Eliminate the delay error of the ionosphere on the shortwave time signal and calculate the time difference between the time when the shortwave time signal is received and the standard time reported by the shortwave time signal; Calculate the geographical location of the receiving end by using the time difference and coordinate information corresponding to at least three shortwave time stations in combination with a time difference positioning algorithm; By means of multi-source data fusion, the positioning results at the receiving end are corrected and optimized.

[0043] The embodiments of the present invention provide a positioning method, system and storage medium based on the time difference of global shortwave time stations. By combining the time difference information of multiple global shortwave time stations and using the time difference positioning algorithm to calculate the geographical location of the receiving end, the positioning accuracy is improved. During the positioning process, the ionosphere model is also used to calculate the time delay effect of the ionosphere on shortwave communication, thereby reducing the positioning error caused by signal delay. The invention is applicable to areas where satellite navigation systems such as GPS cannot cover or where the signals are interfered with, thus expanding the application scope of positioning technology. Compared with positioning methods that rely on satellite navigation systems, this method does not require additional satellite navigation equipment, thereby reducing costs.

[0044] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0045] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0046] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0047] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0048] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0049] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0050] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A positioning method based on the time difference of global shortwave time stations, characterized in that: include: Obtain the coordinate information of each shortwave time service station, receive the shortwave time signals of multiple shortwave time service stations, and record the actual time of receiving each shortwave time signal; Eliminate the delay error of the ionosphere on the shortwave time signal and calculate the time difference between the time when the shortwave time signal is received and the standard time reported by the shortwave time signal; The geographical location of the receiving end is calculated by using the time difference and coordinate information corresponding to at least three shortwave time stations in combination with a time difference positioning algorithm.

2. A positioning method based on the time difference of global shortwave time stations according to claim 1, characterized in that: The method of eliminating the delay error of the ionosphere on the shortwave time signal comprises: Based on the time delay effect of the ionosphere on shortwave communication, the time delay error of the ionosphere on shortwave communication is calculated through the ionosphere model data; The time when the shortwave time signal is received is subtracted from the time delay error to obtain the time when the shortwave time signal is received after the error is eliminated.

3. A positioning method based on the time difference of global shortwave time service stations according to claim 2, characterized in that: The time delay error of the ionosphere to shortwave communication is calculated by the following formula: Δt = a˙TEC / f² ， Among them, Δt is the time delay error value of the ionosphere for shortwave communication, TEC is the total electron content in the ionosphere, f is the frequency of the shortwave timing signal, and a is the coefficient, which represents the relationship between the electron density in the ionosphere, the frequency of the shortwave timing signal and the time delay.

4. The positioning method based on the time difference of global shortwave time service stations according to claim 1 is characterized in that: The step of calculating the time difference between the time when the shortwave time signal is received and the standard time when the shortwave time signal is broadcast comprises: The time of receiving the shortwave time signal after the error is eliminated is subtracted from the standard time of the shortwave time signal broadcast to obtain the time difference of the shortwave time signal propagation.

5. The positioning method based on the time difference of global shortwave time service stations according to claim 1 is characterized in that: The TDOA algorithm is used to calculate the geographic location of the receiver.

6. A positioning method based on the time difference of global shortwave time stations according to any one of claims 1 to 5, characterized in that: Also includes: By fusing multi-source data, the positioning results at the receiving end are corrected and optimized.

7. A positioning system based on the time difference of global shortwave time stations, characterized in that: include: The acquisition module is used to obtain the coordinate information of each shortwave time service station, and is also used to receive the shortwave time signals of multiple shortwave time service stations, and record the time when each shortwave time signal is actually received; The time difference calculation module is used to eliminate the delay error of the ionosphere on the shortwave time signal and calculate the time difference between the time when the shortwave time signal is received and the standard time reported by the shortwave time signal; The positioning module is used to calculate the geographical location of the receiving end by using the time difference and coordinate information corresponding to at least three shortwave time stations and combining the time difference positioning algorithm.

8. A positioning system based on the time difference of global shortwave time stations according to claim 7, characterized in that: The system also includes: The optimization module is used to correct and optimize the positioning results of the receiving end by fusing multi-source data.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the processor is used to implement the steps of the positioning method based on the time difference of the global shortwave timing station as described in any one of claims 1 to 6 when executing the computer management program stored in the memory.

10. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by a processor, the steps of the positioning method based on the time difference of the global shortwave timing station as described in any one of claims 1 to 6 are implemented.

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