Motorized Roland positioning system and transmitting signal modulation method and receiving signal analysis method thereof

Abstract

The invention belongs to the related technical field of communication engineering, and discloses a maneuvering Roland positioning system and a transmitting signal modulation method and a receiving signal analysis method thereof, and the analysis method comprises the steps: obtaining a modulation pulse group which is received by a receiving port and sequentially transmitted by three signal transmitting devices, the three modulation pulse groups carry coordinate information of the main station, the auxiliary station 1 and the auxiliary station 2; obtaining coordinate information of each signal transmitting device through demodulation and decoding, recovering each modulation pulse to a reference pulse position, and accumulating to obtain an accumulated pulse of each signal transmitting device; a receiving position is calculated based on the accumulated pulses. According to the method, on one hand, the coordinate information of the transmitting station can be obtained, the maneuvering deployment of the transmitting station is supported, the influence of the pulse modulation position is eliminated by restoring the modulation pulse to the reference pulse position and then performing accumulation, and the highest accumulated pulse signal-to-noise ratio can be obtained, so that the positioning precision is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to communication engineering, and more specifically, relates to a motorized Loran positioning system and a transmission signal modulation method and a reception signal analysis method thereof. Background Art

[0002] The Loran positioning system, with its advantages such as stable ground wave signal phase, strong anti-interference ability, high reliability, wide coverage, and differential enhancement function, can make up for many defects of GNSS and thus enhance the positioning, navigation and timing (PNT) service guarantee capability.

[0003] The basic principle of the existing Loran positioning system is: the emission time control method is used to achieve balanced modulation for the 3rd to 8th pulses of each GRI cycle of the ELoran signal, that is, a single ELoran pulse signal is modulated at 0μs and ±1μs with on-time, advance, and lag. The sum of the modulation times of the modulated pulses in each pulse group is 0 to achieve balanced modulation.

[0004] However, the current Loran positioning system needs to work in a high signal-to-noise ratio environment. If a mobile transmitting station is used, the signal-to-noise ratio is low, resulting in poor positioning accuracy. Therefore, in order to obtain a high signal-to-noise ratio, it is generally necessary to build a high-power transmitting station with a fixed position. The construction and deployment costs of high-power transmitting stations are high, and once deployed, the position is fixed and cannot be maneuvered. However, mobile deployment is required in some specific environments. The current Loran positioning method cannot be maneuvered, which limits the application scenarios. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a mobile Loran positioning system and its transmission signal modulation method and reception signal analysis method, the purpose of which is to improve positioning accuracy and achieve mobile deployment.

[0006] To achieve the above object, the present invention provides a received signal analysis method for realizing motorized Loran positioning, which comprises:

[0007] Obtain modulated pulse groups sequentially transmitted by three signal transmitting devices received by the receiving port, each modulated pulse group includes M modulated pulses, and at least one modulated pulse group includes M modulated pulses obtained by encoding the transmission data carrying coordinate information by the signal transmitting device and then position modulating M reference pulses, the three signal transmitting devices are respectively the main station, the auxiliary station 1 and the auxiliary station 2, and the three modulated pulse groups carry the coordinate information of the main station, the auxiliary station 1 and the auxiliary station 2;

[0008] Demodulating and decoding each modulated pulse group respectively to obtain transmission data of each signal transmitting device, recovering coordinate information of each signal transmitting device from the transmission data, and recovering each modulated pulse of each modulated pulse group to a reference pulse position to obtain a restored pulse group of each signal transmitting device;

[0009] Adding the last M-1 reduction pulses in the reduction pulse group of each signal emitting device to the first reduction pulse to obtain an accumulated pulse of each signal emitting device;

[0010] Calculate the reception time difference between the accumulated pulse of the main station and the accumulated pulse of the auxiliary station 1, calculate the distance difference d1 between the main station and the auxiliary station 1 and the receiving end, calculate the reception time difference between the accumulated pulse of the main station and the accumulated pulse of the auxiliary station 2, and calculate the distance difference d2 between the main station and the auxiliary station 2 and the receiving end;

[0011] The receiving position is calculated based on the distance difference d1, the distance difference d2 and the coordinate information of each signal transmitting device.

[0012] Optionally, calculating the receiving position based on the distance difference d1, the distance difference d2 and the coordinate information of each signal transmitting device includes:

[0013] Using the main station coordinates, the auxiliary station 1 coordinates and the distance difference d1, a first hyperbola whose absolute value of the distance difference between the main station coordinates and the auxiliary station 1 coordinates is d1 is drawn;

[0014] Using the main station coordinates, the auxiliary station 2 coordinates and the distance difference d2, a second hyperbola with an absolute value of the distance difference between the main station coordinates and the auxiliary station 2 coordinates being d2 is drawn;

[0015] The intersection point of the first hyperbola and the second hyperbola is solved, and the coordinates of the intersection point are the position of the receiving end.

[0016] The present invention also provides a signal receiving device for realizing motorized Loran positioning, which includes a receiving port, a memory and a processor, wherein the receiving port is used to receive modulated pulse groups sequentially transmitted by three signal transmitting devices, the memory stores a computer program, and the processor implements the steps of the received signal analysis method as described above when executing the computer program.

[0017] The present invention also provides a transmission signal modulation method for realizing motorized Loran positioning, which is used to generate a modulated pulse group transmitted to the signal receiving device as described above, and the modulation method comprises:

[0018] Encoding the transmission data carrying the coordinate information of the signal transmitting device to obtain a transmission data code;

[0019] The obtained transmission data codes are used to perform position modulation on the M reference pulses to obtain M modulated pulses, where the M modulated pulses are a modulated pulse group for transmission.

[0020] Optionally, the transmission data is encoded by encoding transmission data carrying coordinate information using an L-ary polarization code.

[0021] Optionally, the reference pulse is position modulated using transmission data encoding, including: converting the transmission data carrying coordinate information into M L-base symbols, obtaining M L-base modulation information after encoding, each modulation information having a value of an integer from 0 to L-1, corresponding to L types of modulation intervals, mapping the M L-base modulation information to corresponding modulation intervals, modulating the M reference pulses so that the position offset of the reference pulse is mapped by the modulation interval, and obtaining M modulated pulses.

[0022] The present invention also provides a signal transmitting device for realizing mobile Loran positioning, which includes a transmitting port, a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the transmitting signal modulation method as described in any one of the above items are implemented, and the transmitting port is used to transmit the obtained modulated pulse group to the signal receiving device as described above.

[0023] The present invention also provides a motorized Loran positioning system, which comprises:

[0024] Three signal transmitting devices, at least one of which is the signal transmitting device as described above, and the three signal transmitting devices are deployed in different positions, namely, a main station, a sub-station 1, and a sub-station 2, and the three modulated pulse groups transmitted by the three signal transmitting devices carry the coordinate information of the main station, the sub-station 1, and the sub-station 2;

[0025] A signal receiving device as described above.

[0026] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the received signal analysis method as described above or the steps of the transmitted signal modulation method as described above are implemented.

[0027] The present invention also provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implement the steps of the received signal analysis method as described above or the steps of the transmitted signal modulation method as described above.

[0028] In general, compared with the prior art, the above technical solutions conceived by the present invention mainly have the following beneficial effects:

[0029] In the present invention, the modulated pulses transmitted by the main station, sub-station 1 and sub-station 2 received by the receiving end carry the coordinate information of the transmitting device. Specifically, the coordinate information is carried by position modulating M pulses. After receiving the transmitting signal, the coordinate information of the transmitting device can be obtained by demodulation and decoding, so the mobile deployment of the transmitting device can be realized. In addition to carrying the coordinate information of the transmitting device, the M pulses are also restored to the reference pulse position by the receiving end, and then the M pulses are accumulated. This method eliminates the influence of coding modulation and can obtain the highest accumulated pulse signal-to-noise ratio, thereby improving the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a pulse modulation position diagram using 8-ary polarization code in one embodiment of the present invention;

[0031] Figure 2 Yes Figure 1 A partial enlarged view of the pulse modulation position diagram shown;

[0032] Figure 3 is a schematic diagram of performing position modulation on a reference pulse after mapping modulation information to a modulation interval in one embodiment of the present invention;

[0033] Figure 4 is a flow chart of the steps of a received signal analysis method for realizing motorized Loran positioning in one embodiment of the present invention;

[0034] Figure 5 is a schematic diagram of obtaining accumulated pulses in one embodiment of the present invention;

[0035] Figure 6 is a signal processing flow chart of the main station, the auxiliary station 1 and the auxiliary station 2 in one embodiment of the present invention;

[0036] Figure 7 is a signal processing flow chart of a signal receiving device in one embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0038] The Loran positioning system includes a signal transmitting device and a signal receiving device. The present invention improves the transmitting device and the receiving device respectively to improve the positioning accuracy and realize mobile deployment. The system and the signal transmitting and signal receiving therein are introduced below.

[0039] Example 1

[0040] The present invention discloses a transmission signal modulation method for realizing motorized Loran positioning, and the modulation method comprises:

[0041] S11: Encoding the transmission data carrying the coordinate information of the signal transmitting device to obtain a transmission data code;

[0042] S12: Perform position modulation on M reference pulses using the obtained transmission data code to obtain M modulated pulses, where the M modulated pulses are a modulated pulse group for transmission.

[0043] Specifically, the transmission data encoding used in S11 is obtained by encoding the transmission data carrying the coordinate information using an L-ary polarization code pair, for example, the transmission data carrying the coordinate information is encoded using an 8-ary polarization code pair.

[0044] Specifically, in S12, the reference pulse is position modulated using its own transmission data encoding, including: converting the transmission data carrying coordinate information into M L-ary modulation information, each modulation information having a value of an integer from 0 to L-1, mapping the M L-ary modulation information to M modulation intervals, modulating the M reference pulses so that the position of the reference pulse is offset by the mapped modulation interval, and obtaining M modulated pulses. The reference pulse at the reference pulse position does not carry any information.

[0045] like Figure 1 FIG. 1 is a pulse modulation position diagram using octal polarization code in one embodiment. Figure 2 For Figure 1 The partial enlarged view of the pulse modulation position diagram shown in FIG. Figure 3 The figure shows a schematic diagram of position modulation of the reference pulse after mapping the modulation information to the modulation interval. After mapping the modulation information, there is a time interval between the modulated pulse and the reference pulse position, which is called the modulation interval. The modulation interval carries the modulation information, and different modulation intervals correspond to different modulation information.

[0046] The above signal transmitting device can be deployed flexibly because it encodes the transmitted data carrying the coordinate information of the signal transmitting device, and then uses the transmitted data encoding to modulate the reference pulse to obtain a modulated pulse. That is to say, the M modulated pulses carry the coordinate information of the signal transmitting device. After the signal receiving device receives the modulated pulse group, it can obtain the coordinate information carried by the modulated signal through demodulation and decoding. By modulating the coordinate information into the pulse signal, the mobile deployment of the signal transmitting device can be achieved.

[0047] In specific operations, the modulated pulse group transmitted by a signal transmitting device may carry only its own coordinate information, or may carry the coordinate information of other signal transmitting devices. For example, the data sent by the main station does not contain the coordinate information of the main station, the data sent by sub-station 1 contains the coordinate information of the main station and sub-station 1, and the data sent by sub-station 2 contains the coordinate information of sub-station 2.

[0048] Example 2

[0049] The present invention also discloses a signal transmitting device for realizing motorized Loran positioning, comprising a transmitting port, a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the transmitting signal modulation method in Example 1 is implemented to obtain a corresponding modulated pulse group. The transmitting port is used to transmit the obtained modulated pulse group to a signal receiving device.

[0050] Specifically, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The memory may be used to store computer programs and / or modules, and the processor may perform various functions of the electronic device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory.

[0051] Example 3

[0052] The present invention also discloses a method for analyzing received signals to realize motorized Loran positioning, such as Figure 4 The figure is a flow chart of the steps of a received signal analysis method for realizing motorized Loran positioning in one embodiment of the present invention, and the steps thereof are introduced below.

[0053] S21: Obtain the modulated pulse groups sequentially transmitted by three signal transmitting devices received by the receiving port, each modulated pulse group contains M modulated pulses, and there is at least one modulated pulse group in which the M modulated pulses are obtained by encoding the transmission data carrying coordinate information by the signal transmitting device and then performing position modulation on M reference pulses. The three signal transmitting devices are the main station, sub-station 1 and sub-station 2, respectively. The three modulated pulse groups carry the coordinate information of the main station, sub-station 1 and sub-station 2 in total.

[0054] It can be understood that the main station, sub-station 1 and sub-station 2 are all signal transmitting devices introduced in Example 2. Different stations are deployed at different locations, but the process of encoding coordinate information and then modulating the reference pulse to obtain a modulated pulse group is the same.

[0055] S22: demodulate and decode each modulated pulse group respectively to obtain the transmission data of each signal transmitting device, restore the coordinate information of each signal transmitting device from the transmission data, and restore each modulated pulse of each modulated pulse group to the reference pulse position to obtain the restored pulse group of each signal transmitting device.

[0056] Specifically, the receiving port receives a total of 3 modulation pulse groups, each of which has M modulation pulses. After demodulation of the main station modulation pulse group, the sub-station 1 modulation pulse group and the sub-station 2 modulation pulse group, decoding is performed (such as SCL decoding of L-ary polarization code), and the coordinates of the main station, the sub-station 1 coordinates and the sub-station 2 coordinates can be restored according to the demodulation and decoding results, and the modulation interval of each modulation pulse in the 3M modulation pulses compared to its reference pulse position is obtained. According to the obtained modulation interval, each modulation pulse in the 3M modulation pulses is restored to the reference pulse position, and three groups of restored pulse groups are obtained: the main station restored pulse group, the sub-station 1 restored pulse group and the sub-station 2 restored pulse group.

[0057] S23: Add the last M-1 reduction pulses in the reduction pulse group of each signal emitting device to the first reduction pulse to obtain an accumulated pulse of each signal emitting device.

[0058] like Figure 5 FIG. 1 is a schematic diagram of obtaining accumulated pulses in an embodiment of the present invention. Figure 5 As shown, the last M-1 restored pulses of the restored pulse group of the main station are accumulated to the first pulse position of the restored pulse group of the main station to obtain the main station accumulated pulse; the last M-1 restored pulses of the restored pulse group of the auxiliary station 1 are accumulated to the first pulse position of the restored pulse group of the auxiliary station 1 to obtain the auxiliary station 1 accumulated pulse; the last M-1 restored pulses of the restored pulse group of the auxiliary station 2 are accumulated to the first pulse position of the restored pulse group of the auxiliary station 2 to obtain the auxiliary station 2 accumulated pulse. By the above pulse accumulation method, the signal-to-noise ratio of the received pulse can be improved, thereby improving the positioning accuracy.

[0059] S24: Calculate the reception time difference between the accumulated pulses of the main station and the accumulated pulses of the slave station 1, calculate the distance difference d1 between the main station and the slave station 1 and the receiving end, calculate the reception time difference between the accumulated pulses of the main station and the accumulated pulses of the slave station 2, and calculate the distance difference d2 between the main station and the slave station 2 and the receiving end.

[0060] Specifically, compare the accumulated pulses of the main station and the accumulated pulses of the slave station 1, and calculate the time interval between them, that is, the time difference, which is recorded as t1. Compare the accumulated pulses of the main station and the accumulated pulses of the slave station 2, and calculate the time interval between them, that is, the time difference, which is recorded as t2. Calculate the distance difference between the receiving end and the main station and the slave station 1 d1 = t1 × c, c = 3 × 10 8 , is the speed of light. Calculate the distance difference between the receiving end and the main station and the secondary station 2 d2 = t2 × c, c = 3 × 10 8 , is the speed of light.

[0061] S25: Calculate the receiving position based on the distance difference d1, the distance difference d2 and the coordinate information of each signal transmitting device.

[0062] Specifically, the main station coordinates, the auxiliary station 1 coordinates and d1 can be used to draw a hyperbola 1 whose absolute value of the distance difference between the main station coordinates and the auxiliary station 1 coordinates on the map is d1. The main station coordinates, the auxiliary station 2 coordinates and d2 can be used to draw a hyperbola 2 whose absolute value of the distance difference between the main station coordinates and the auxiliary station 2 coordinates on the map is d2. The intersection of hyperbola 1 and hyperbola 2 is coordinate 3, which is the position of the receiving end.

[0063] Through the above method, the present invention can obtain the coordinate information of the transmitting station and support the mobile deployment of the transmitting station. By restoring the modulated pulse to the reference pulse position and then accumulating it, this method eliminates the influence of coding modulation and can obtain the highest accumulated pulse signal-to-noise ratio, thereby improving positioning accuracy.

[0064] Example 4

[0065] The present invention also discloses a signal receiving device for realizing motorized Loran positioning, comprising a receiving port, a memory and a processor, wherein the receiving port is used to receive modulated pulse groups sequentially transmitted by three signal transmitting devices, the memory stores a computer program, and the processor implements the received signal analysis method as in Example 3 when executing the computer program.

[0066] Specifically, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The memory may be used to store computer programs and / or modules, and the processor may perform various functions of the electronic device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory.

[0067] Example 5

[0068] The present invention also discloses a motorized Loran positioning system, which includes three signal transmitting devices and a signal receiving device;

[0069] At least one of the three signal transmitting devices is a signal transmitting device for transmitting a pulse group carrying coordinate information as described in Example 2. The three signal transmitting devices are deployed in different locations, namely, the main station, the auxiliary station 1 and the auxiliary station 2. The three modulated pulse groups transmitted by the three signal transmitting devices carry the coordinate information of the main station, the auxiliary station 1 and the auxiliary station 2. Figure 6 FIG. 1 is a flow chart showing signal processing of three signal transmitting devices in one embodiment of the present invention.

[0070] The signal receiving device is the signal receiving device described in Example 4. Figure 7 FIG. 4 is a flow chart of signal processing of a signal receiving device in one embodiment of the present invention.

[0071] Example 6

[0072] The present invention also relates to a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above method when executed by a processor.

[0073] Specifically, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, an internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0074] Example 7

[0075] The embodiment of the present invention provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of the method of the above embodiment of the present invention.

[0076] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. It should be noted that "in one embodiment", "for example", "for example", etc. of the present invention are intended to illustrate the present invention, rather than to limit the present invention.

[0077] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A method for analyzing received signals for realizing motorized Loran positioning, characterized in that: include: Obtain modulated pulse groups sequentially transmitted by three signal transmitting devices received by the receiving port, each modulated pulse group includes M modulated pulses, and at least one modulated pulse group includes M modulated pulses obtained by encoding the transmission data carrying coordinate information by the signal transmitting device and then position modulating M reference pulses, the three signal transmitting devices are respectively the main station, the auxiliary station 1 and the auxiliary station 2, and the three modulated pulse groups carry the coordinate information of the main station, the auxiliary station 1 and the auxiliary station 2; Demodulating and decoding each modulated pulse group respectively to obtain transmission data of each signal transmitting device, recovering coordinate information of each signal transmitting device from the transmission data, and recovering each modulated pulse of each modulated pulse group to a reference pulse position to obtain a restored pulse group of each signal transmitting device; Adding the last M-1 reduction pulses in the reduction pulse group of each signal emitting device to the first reduction pulse to obtain an accumulated pulse of each signal emitting device; Calculate the reception time difference between the accumulated pulse of the main station and the accumulated pulse of the auxiliary station 1, calculate the distance difference d1 between the main station and the auxiliary station 1 and the receiving end, calculate the reception time difference between the accumulated pulse of the main station and the accumulated pulse of the auxiliary station 2, and calculate the distance difference d2 between the main station and the auxiliary station 2 and the receiving end; The receiving position is calculated based on the distance difference d1, the distance difference d2 and the coordinate information of each signal transmitting device.

2. The received signal analysis method according to claim 1, characterized in that: Based on the distance difference d1, the distance difference d2 and the coordinate information of each signal transmitting device, the receiving position is calculated, including: Using the main station coordinates, the auxiliary station 1 coordinates and the distance difference d1, a first hyperbola whose absolute value of the distance difference between the main station coordinates and the auxiliary station 1 coordinates is d1 is drawn; Using the main station coordinates, the auxiliary station 2 coordinates and the distance difference d2, a second hyperbola with an absolute value of the distance difference between the main station coordinates and the auxiliary station 2 coordinates being d2 is drawn; The intersection point of the first hyperbola and the second hyperbola is solved, and the coordinates of the intersection point are the position of the receiving end.

3. A signal receiving device for realizing motorized Loran positioning, characterized in that: It includes a receiving port, a memory and a processor, the receiving port is used to receive modulated pulse groups transmitted sequentially by three signal transmitting devices, the memory stores a computer program, and the processor implements the steps of the received signal analysis method as claimed in claim 1 or 2 when executing the computer program.

4. A transmission signal modulation method for realizing motorized Loran positioning, characterized in that: For generating a modulated pulse group transmitted to a signal receiving device as claimed in claim 3, the modulation method comprising: Encoding the transmission data carrying the coordinate information of the signal transmitting device to obtain a transmission data code; The obtained transmission data codes are used to perform position modulation on the M reference pulses to obtain M modulated pulses, where the M modulated pulses are a modulated pulse group for transmission.

5. The received signal analysis method according to claim 4, characterized in that: The transmission data code is obtained by encoding the transmission data carrying the coordinate information using an L-ary polarization code.

6. The received signal analysis method according to claim 5, characterized in that: The reference pulse is position modulated by using transmission data encoding, including: converting the transmission data carrying coordinate information into M L-ary symbols, obtaining M L-ary modulation information after encoding, each modulation information having a value of an integer from 0 to L-1, corresponding to L modulation intervals, mapping the M L-ary modulation information to corresponding modulation intervals respectively, modulating M reference pulses so that the position of the reference pulse is offset by the mapped modulation interval, and obtaining M modulated pulses.

7. A signal transmitting device for realizing motorized Loran positioning, characterized in that: It comprises a transmitting port, a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the transmitting signal modulation method as described in any one of claims 4 to 6 are implemented, and the transmitting port is used to transmit the obtained modulated pulse group to the signal receiving device as described in claim 3.

8. A motorized Loran positioning system, characterized in that: include: Three signal transmitting devices, at least one of which is the signal transmitting device as claimed in claim 7, the three signal transmitting devices are deployed in different positions, namely the main station, the auxiliary station 1 and the auxiliary station 2, and the three modulated pulse groups transmitted by the three signal transmitting devices carry the coordinate information of the main station, the auxiliary station 1 and the auxiliary station 2; The signal receiving device as claimed in claim 3.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the received signal analysis method according to claim 1 or 2 or the steps of the transmitted signal modulation method according to any one of claims 4 to 6 are implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the steps of the received signal analysis method according to claim 1 or 2 or the steps of the transmitted signal modulation method according to any one of claims 4 to 6 are implemented.

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