Satellite data acquisition and positioning device

Abstract

The present invention discloses a satellite positioning data acquisition device, including an aviation antenna, arranged inside an aircraft, for receiving half-satellite signals of GPS, GLONASS, and BDS; a GNSS receiving device, one end of which is connected to the aviation antenna, for processing the half-satellite signal received by the aviation antenna, and converting the half-satellite signal from an analog signal to a digital signal; a GNSS data fusion processing device, connected to the GNSS receiving device, receiving and storing the digital signal sent by the GNSS receiving device, processing the digital signal to obtain the half-satellite data of the flight process; combining the ground satellite data with the half-satellite data, and calculating the position information during the flight. The present invention is easy to deploy, has a simple installation method, and has a low device cost, and can achieve centimeter-level positioning accuracy of the aircraft, and can be widely used in aircraft produced by major equipment manufacturers.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite data acquisition and positioning, and in particular to a satellite data acquisition and positioning device. Background Art

[0002] In existing flight experiments, flight procedure tests or flight safety accident investigations, the market needs to use high-precision aircraft location information. Currently, most aircraft are equipped with airborne satellite receivers that can only receive GPS signals, but due to the large error of GPS signals, the GPS receivers on aircraft cannot often provide positioning data that meets the accuracy requirements.

[0003] A feasible solution to the above-mentioned satellite data collection problem is to deploy a collection and positioning device that supports common constellation satellite signals such as GPS (Global Positioning System), GLONASS (GLObal NAvigation Satellite System), and BDS (BeiDou Navigation Satellite System) at the aircraft airport. However, since the aircraft is a closed system, the GNSS antenna cannot be placed outside the cabin, and satellite signals can only be received through the hanging windows inside the aircraft cabin. Considering that the angle between the hanging windows of the passenger aircraft and the ground is generally close to 90 degrees, the GNSS antenna can only collect satellite signals in half of the sky through the hanging windows, and it is impossible to accurately locate the spacecraft. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a satellite data acquisition and positioning device, which is easy to deploy, has a simple installation method, and has a low device cost. It can still achieve centimeter-level positioning accuracy of the aircraft when obtaining half of the satellite signal, and can be widely used in aircraft produced by major equipment manufacturers.

[0005] The second purpose of the present invention is to provide a satellite data acquisition and positioning device that is easy to deploy, has a simple installation method, and has a low device cost. It can achieve centimeter-level positioning accuracy for aircraft and can be widely used in aircraft produced by major equipment manufacturers.

[0006] One of the purposes of the present invention is achieved by the following technical solution:

[0007] A satellite positioning data acquisition device, comprising:

[0008] An aviation antenna, installed inside the aircraft, for receiving half-satellite signals of GPS, GLONASS, and BDS;

[0009] a GNSS receiving device, one end of which is connected to the aviation antenna and is used to process the half-satellite signal received by the aviation antenna and convert the half-satellite signal from an analog signal to a digital signal;

[0010] The GNSS data fusion processing device is connected to the GNSS receiving device, receives and stores the digital signal sent by the GNSS receiving device, processes the digital signal to obtain the half-satellite data of the flight process; combines the ground satellite data with the half-satellite data to calculate the position information during the flight.

[0011] The second object of the present invention is achieved by adopting the following technical solution:

[0012] A satellite positioning data acquisition device, comprising:

[0013] Two aviation antennas, respectively disposed on both sides of the aircraft, for receiving half-satellite signals of GPS, GLONASS and BDS;

[0014] Two GNSS receiving devices, both ends of each GNSS receiving device are connected to the aviation antenna and the GNSS data processing and fusion device respectively, and are used to process the half-satellite signal received by the aviation antenna and convert the half-satellite signal from an analog signal to a digital signal;

[0015] The GNSS data fusion processing device is connected to the GNSS receiving device, receives and stores the digital signals respectively sent by the two GNSS receiving devices, performs fusion processing on the digital signals to obtain the sky satellite data during the flight process; combines the ground satellite data with the sky satellite data to calculate the position information during the flight process.

[0016] Furthermore, it also includes a fixing device, which is connected to the aviation antenna to fix the aviation antenna on the inside of the aircraft.

[0017] Furthermore, it also includes a telescopic component, and the aerial antenna is fixed to the fixing device through the telescopic component; the fixing device is also provided with a rotating pan-tilt platform at one end of the aerial antenna to adjust the direction and position of the aerial antenna.

[0018] Furthermore, one end of the GNSS receiving device is connected to the aviation antenna via a frequency ray, and the other end is connected to the GNSS data fusion processing device via a network.

[0019] Furthermore, the frequency spectrum is used to transmit the half-satellite signal received by the aviation antenna to the GNSS receiving device; the GNSS receiving device transmits the collected half-satellite signal to the GNSS data fusion processing device through the network.

[0020] Furthermore, windows are provided on both sides of the aircraft, and the aviation antenna is fixed to the windows by a fixing device.

[0021] Furthermore, the aviation antenna is an HX-CAX601A aviation antenna, and the receiving bands include C-band, Ku-band, Ka-band, S-band and L-band.

[0022] Furthermore, the GNSS data fusion processing device is a cloud server, and the cloud server has a built-in post-differential positioning algorithm.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) Compared with traditional airborne GPS receivers, this application can collect GPS, GLONASS, BDS and other common constellation satellite signals, meeting the needs of most flight scenarios for high-quality satellite signals; and the positioning accuracy can reach centimeter level, meeting the occasions with extremely high requirements for spacecraft accuracy such as flight experiments, flight procedure tests, and flight safety accident investigations;

[0025] (2) The device has low cost, simple installation method, is easy to deploy and implement, and can be directly applied to existing aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the second embodiment provided by the present invention;

[0027] Figure 2 This is a schematic diagram of the flight trajectory of an aircraft according to the second embodiment of the present invention;

[0028] In the figure: 1. Aviation antenna; 2. GNSS receiving equipment; 3. GNSS data fusion processing device; 4. Tripod; 5. Telescopic rod; 6. Frequency ray; 7. Network. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0030] Embodiment 1

[0031] The present invention provides a satellite data acquisition and positioning device, which can be directly applied to existing aircraft, and is used to collect half-satellite signals to accurately calculate the position information during the flight. The satellite data positioning device includes an aviation antenna, a GNSS receiving device, and a GNSS data fusion processing device. The aviation antenna is arranged at a position near the window on one side of the aircraft, and is used to receive half-satellite signals of GPS, GLONASS, and BDS during the flight. One end of the GNSS receiving device is connected to the aviation antenna, and is used to process the half-satellite signal received by the aviation antenna, and convert the half-satellite signal from an analog signal to a digital signal. The GNSS data fusion processing device is connected to the GNSS receiving device, receives and stores the digital signal sent by the GNSS receiving device, and performs fusion processing on the digital signal to obtain the half-satellite data during the flight; combines the ground satellite data with the half-satellite data to calculate the position information of the spacecraft during the flight.

[0032] This application receives half of the satellite signals of GPS, GLONASS, and BDS through an aviation antenna installed inside the aircraft, and the GNSS receiving device converts the above half of the satellite signals from analog signals to digital signals and transmits them to the GNSS data fusion processing device. After the GNSS data fusion processing device receives the satellite data sent by the GNSS receiving device, it performs differential calculation in combination with the ground satellite data. When only receiving the satellite data of any half of the sky, it can still obtain accurate position information during the flight, achieving centimeter-level positioning accuracy.

[0033] Embodiment 2

[0034] like Figure 1 As shown, the present application provides a satellite data acquisition and positioning device, which can be directly applied to existing spacecraft, and calculates the position information during the flight by collecting the sky satellite data during the flight. The device includes two aviation antennas, two GNSS receiving devices and a GNSS data fusion processing device. The spacecraft in this embodiment is an aircraft, specifically an Airbus A319 aircraft. The satellite data acquisition and positioning device is described in conjunction with the aircraft.

[0035] Generally, there are windows on both sides of the aircraft, and the two aviation antennas are respectively arranged at positions near the windows on the left and right sides of the aircraft to better receive the half-satellite signals on both sides. In order to fix it at the position of the window, a fixing device is also provided. In this application, a tripod is used, and the stability of the aviation antenna during flight is guaranteed by a triangular structure. The aviation antenna is fixed to the windows close to the left and right sides of the aircraft through a tripod, but is not limited to the window of a certain seat. In order to adapt to the different heights of windows of different spacecraft, a telescopic component is also provided on the fixing device, and the aviation antenna is fixed to the tripod through the telescopic component to adjust the height of the aviation antenna. The telescopic component can be selected as a telescopic rod or other height-adjustable component. In order to keep the aviation antenna stable during the flight of the aircraft, a rotating pan-tilt is also provided at one end of the fixing device connected to the aviation antenna, which is convenient for adjusting the direction and position of the aviation antenna so that it can be closer to the window on one side of the aircraft and better receive the half-satellite signal.

[0036] In this application, the aviation antenna uses a common GNSS antenna, and the HX-CAX601A lightweight aviation antenna is selected. It is small in size and light in weight, and is suitable for aerospace and aviation dispatching. The bands that the aviation antenna can receive include but are not limited to C-band, Ku-band, Ka-band, S-band and L-band, and support GPS L1\L2\L5, GLONASS L1\L2, BDS B1\B2\B3 and Galileo E1\E2 bands to meet the needs of satellite data collection.

[0037] The GNSS receiving device is used to receive the satellite signals collected by the aviation antenna. Therefore, in this embodiment, the number of GNSS receiving devices is 2, which are respectively connected to the aviation antennas on the left and right sides of the aircraft. After receiving the satellite signal, the GNSS receiving device converts the analog signal into a digital signal. It uses the Leica GR50RTK receiver, and the GNSS signals that can be collected include: GPS's L1\L2P\L2C\L5, GLONASS's L1\L2P\L2C\L3, Galileo's E1\E5a\E5b\AltBOC\E6, BDS's B1\B2\B3, QZSS's L1\L2C\L5, NavIC's L5, SBAS's WASS\EGNOS\GAGAN\MSAS.

[0038] Specifically, one end of each of the two GNSS receiving devices is connected to a frequency ray, and the aviation antenna is connected via the frequency ray. The frequency ray is used to transmit the half-satellite signal received by the aviation antenna to the GNSS receiving device. Both GNSS receiving devices are connected to a network, and are connected to a GNSS data fusion processing device via the network. After the GNSS receiving devices convert the half-satellite signals into digital signals respectively, they transmit the half-satellite signals to the GNSS data fusion processing device via the network.

[0039] The GNSS data fusion processing device receives and stores the half-satellite signals of the two GNSS receiving devices, and fuses the two half-satellite signals to obtain the sky satellite data during the flight. After the aircraft lands, the ground satellite data is received and post-differential decomposition is performed to calculate the high-precision position information during the flight. Specifically, VRS observation data or ephemeris data is generated according to the preset distance with the help of ground satellites; dual-frequency pseudo-range data is calculated according to the sky satellite data, and the terminal observation data is detected for cycle slips of non-difference carrier phase data by combining the dual-frequency pseudo-range data with the TurboEdit algorithm and the triple difference algorithm; when a cycle slip is detected, the cycle slip value is solved and the corresponding satellite is marked; two integer ambiguity processing methods are used to solve the integer ambiguity in two threads respectively, and the integer ambiguity is substituted back into the error equation to obtain two sets of preliminary positioning data; the two sets of preliminary positioning data are fused according to the residual values ​​of the two sets of preliminary positioning data to obtain precise positioning data.

[0040] GNSS data fusion processing equipment is a cloud server, including but not limited to various large servers, with a built-in TB-level storage system and a variety of post-differential positioning algorithms, which can fuse multi-constellation satellite data to quickly calculate the centimeter-level flight trajectory. The position information during the flight can be obtained by directly performing post-differential calculations on the sky satellite signal and the ground satellite signal. Figure 2 As shown, the location information, i.e., the flight path of the aircraft, is displayed in Google Earth.

[0041] Compared with the traditional airborne GPS receiver, the aircraft satellite data acquisition and positioning device provided by the present invention can collect GPS, GLONASS, BDS and other common constellation satellite signals, meeting the needs of most flight scenarios for high-quality satellite signals; and the positioning accuracy can reach centimeter level, meeting the occasions with extremely high precision requirements for spacecraft such as flight experiments, flight procedure tests, and flight safety accident investigations. In addition, the device has low cost, simple installation method, easy deployment and implementation, and can be directly applied to existing aircraft.

[0042] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A satellite data acquisition and positioning device, characterized in that: include: Two aviation antennas, located on both sides of the aircraft, are used to receive half-satellite signals of GPS, GLONASS, and BDS; Two GNSS receiving devices, both ends of each GNSS receiving device are connected to the aviation antenna and the GNSS data processing and fusion device respectively, and are used to process the half-satellite signal received by the aviation antenna and convert the half-satellite signal from an analog signal to a digital signal; The GNSS data fusion processing device is connected to the GNSS receiving device, receives and stores the digital signals respectively sent by the two GNSS receiving devices, performs fusion processing on the digital signals to obtain the sky satellite data during the flight process; combines the ground satellite data with the sky satellite data to calculate the position information during the flight process.

2. The satellite data acquisition and positioning device according to claim 1, characterized in that: It also includes a fixing device, which is connected to the aviation antenna to fix the aviation antenna on the inside of the aircraft.

3. The satellite data acquisition and positioning device according to claim 2, characterized in that: It also includes a telescopic component, and the aerial antenna is fixed to the fixing device through the telescopic component; the fixing device is also provided with a rotating pan-tilt platform at one end of the aerial antenna to adjust the direction and position of the aerial antenna.

4. The satellite data acquisition and positioning device according to claim 3, characterized in that: One end of the GNSS receiving device is connected to the aviation antenna via a frequency ray, and the other end is connected to the GNSS data fusion processing device via a network.

5. The satellite data acquisition and positioning device according to claim 4, characterized in that: The frequency spectrum is used to transmit the half-satellite signal received by the aviation antenna to the GNSS receiving device; The GNSS receiving device transmits the collected half-satellite signals to the GNSS data fusion processing device through the network.

6. The satellite data acquisition and positioning device according to claim 5, characterized in that: Windows are arranged on both sides of the aircraft, and the aviation antenna is fixed to the windows by a fixing device.

7. The satellite data acquisition and positioning device according to claim 4, characterized in that: The aviation antenna is an HX-CAX601A aviation antenna, and the receiving bands include C-band, Ku-band, Ka-band, S-band and L-band.

8. The satellite data acquisition and positioning device according to claim 4, characterized in that: The GNSS data fusion processing device is a cloud server, and the cloud server has a built-in post-differential positioning algorithm.

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