115 results about "BeiDou Navigation Satellite System" patented technology

The invention relates to a navigational satellite signal receiving module, comprising a radio frequency input unit, a base band processing unit, a sensor unit and a information output unit; wherein the radio frequency input unit is used for receiving a navigational satellite signal and outputting a digital intermediate frequency signal, the base band processing unit is used for acquiring satellite navigation information and positioning and resolving the current position of the receiving module, the sensor unit is used for acquiring the speed, acceleration or directional information of the current receiving module and outputting the speed, acceleration or directional information to the base band processing unit, and the information output unit is used for outputting the current position of the receiving module in NMEA format. By adopting the technical scheme of the invention, processing on sensor information of a user MCU can be eliminated, only a UART interface reported by a navigation message is processed, and navigation positioning information of NMEA-0183 and sensor information can be simultaneously acquired and reported. Thus, user demand can be met flexibly, not only accuracy of positioning is improved, but also port occupancy rate and processing overhead of the user MCU are reduced. The invention can be applicable to navigational satellite positioning systems such as GPS, Beidou navigation satellite system, GLONASS and Galileo navigation satellite system.

The invention discloses a common view time and frequency transmitting method based on the BeiDou navigation satellite system. According to the common view time and frequency transmitting method based on the BeiDou navigation satellite system, the time difference between the local time and the time of all tracking satellites, clock difference parameters in navigation messages, the parameters of the time delay of the ionized stratum and the time delay of the troposphere and elevation angle data are measured and extracted through a timing type BeiDou receiver, and the clock differences between the local time and tracking BeiDou satellite clocks are worked out; the difference between the local time and the time of the BeiDou navigation satellite system is worked out through preprocessing of original data and weighting of elevation angles of all the tracking satellites; the time of the navigation satellite system is used as a medium, through the short message communication function of BeiDou-1, comparison results of two common view stations are exchanged, so that the time difference of the two stations is obtained, and the relative frequency difference between the two stations is worked out. By the adoption of the technical scheme, the dependence existing when GPS is used for transmitting time can be overcome, and accurate time transmission is achieved through the BeiDou navigation satellite system; high-cost hardware support is not needed, operation is easy, long-time automatic operation can be achieved, and therefore labor cost and use cost are greatly reduced.

The invention discloses a rapid optimizing satellite selection positioning method facing a vehicle. A global positioning system (Global Positioning System, GPS) and a Beidou navigation satellite system (BeiDou Navigation Satellite System, BDS) to realize accurate and real-time positioning of the vehicle in two modes. The method mainly comprises the steps of: completing a first stage of screening on the satellite through a carrier wave signal-to-noise ratio value; using an error model to correct a pseudo-range measuring value; receiving ephemeris data to obtain the position of the satellite; performing GPS and Beidou dual-mode pseudo-range positioning calculation to preliminarily solve the position of the vehicle; calculating an elevating angle and an azimuthal angle of the satellite; combined with a second stage of satellite selection algorithm to continue to carry out screening on the satellite; and performing the GPS and Beidou dual-mode pseudo-range positioning calculation again to finally determine the position of the vehicle at the current moment. According to the invention, compared with traditional single module vehicle navigation positioning based on GPS or Beidou, the positioning precision is higher and the system fault tolerance and reliability are better.

The invention discloses a BDS / GPS (BeiDou Navigation Satellite System / Global Positioning System) wide-lane fuzziness single epoch fixation method based on BeiDou overwide-lane constraint. The method comprises the following steps that the combined fuzziness of overwide lanes (0,-1,1) and (1,4,-5) of a BDS is calculated by using a BDS three-frequency pseudorange and carrier wave observation data combined single epoch received by a GNSS (Global Navigation Satellite System) receiver; the wide-lane combined fuzziness of BeiDou (1,-1,0) with smaller observation noise and ionized layer delay is calculated by combining two fixed overwide-lane fuzziness; after the BDS wide-lane fuzziness is fixed, the BDS wide-lane fuzziness is used as a high-precision constraint condition and is simultaneous witha GPS wide-lane observation equation obtained by combination with the GPS double-frequency observation data received by the receiver; the observing model obtained in the previous step is subjected toKalman filtering resolving to obtain the floating point solution and variance covariance matrix of the GPS double-difference wide-lane fuzziness; integer fixation is performed by an LAMBDA algorithm;the GPS double-difference wide-lane fuzziness integer solution is obtained. The single epoch fixation of the BDS / GPS wide-lane fuzziness is realized; the timeliness of the GNSS baseline solution is effectively improved.

The present invention relates to an electric transmission line tower displacement monitoring system and method. The system comprises a monitoring base station, a monitoring terminal and a monitoring server; the monitoring base station is a Beidou navigation satellite system base station; the monitoring terminal is installed on an electric transmission tower and comprises a Beidou location chip; the monitoring base station is connected with the monitoring terminal to send geographical coordinates of the monitoring base station; the monitoring terminal receives the geographical coordinates of the monitoring base station and obtain posture information of the electric transmission line tower through adoption of the carrier phase difference technology; the monitoring terminal is connected withthe monitoring server to send the posture information of the electric transmission line tower; and the monitoring server receives the posture information of the electric transmission line tower and compares with preset posture information for monitoring. The electric transmission line tower displacement monitoring system and method can effectively improve the operation reliability of power grid, reduce the operation cost and greatly reduce the work intensity of operation and maintenance personnel.

The invention relates to the field of spatial orientation, in particular to a movement trail recording and redrawing system based on the BeiDou navigation satellite system. According to the movement trail recording and redrawing system based on the BeiDou navigation satellite system, a BeiDou navigation satellite module, a single-chip microcomputer control module, a data storage module and an USB interface are connected in sequence, and a mode selection key and a display module are connected with the single-chip microcomputer control module; positioning information including UTC time, the longitude, the latitude, the number of satellites, the speed, the height and the like can be displayed according to needs of an exerciser, after movement is ended, the positioning information is loaded into a computer through the USB interface, and a movement trail is redrawn on a map according to a Gaussian projection formula transformation coordinate system combined with map data; the movement speeds on different road sections at different times can be displayed, and therefore the exerciser is helped to make an exercise plan according to the actual condition of the exerciser. In addition, the movement trail recording and redrawing system based on the BeiDou navigation satellite system can also be applied to research, development and testing of transportation tools such as an automobile, a ship and an airplane and can assist in equipment calibration and machine debugging.

The invention relates to a high-precision Beidou tri-band SINS deep integration navigation system, wherein the Beidou receiver navigation error eliminating method and the ambiguity solving method are considered, and a Beidou navigation satellite system and an SINS help each other for combined navigation. Through the TCAR method, the whole cycle ambiguity is accurately and efficiently solved, and therefore the high-precision carrier phase measurement is conducted; through tri-band data signals, ionospheric refraction errors can be solved according to the equation set composed of ionospheric refraction error calculation formulas, and then the positioning precision is improved. The system focuses on solving the problem that the deep integration navigation system relies on the accuracy of the SINS, the navigation precision of a receiver is improved through Beidou tri-band data fusion, the requirements for the posture, speed and position precision of the SINS is lowered, the anti-interference capacity and the comprehensive accuracy of the Beidou tri-band receiver and SINS combined navigation system are improved, and the performance of armament and important civil carrying tools can be improved.

Disclosed are a multi-degree-of-freedom microsensor module and packaging modes thereof. The multi-degree-of-freedom microsensor module comprises a multi-degree-of-freedom MEMS (micro-electro mechanical system) acceleration meter, a multi-degree-of-freedom MEMS gyroscope, a multi-degree-of-freedom MEMS magnetic sensor, an MEMS pressure sensor, a GPS (global positioning system) / Beidou navigation satellite system chip and an ASIC (application specific integrated circuit). The multi-degree-of-freedom microsensor module is characterized in that the multi-degree-of-freedom MEMS (micro-electro mechanical system) acceleration meter, the multi-degree-of-freedom MEMS gyroscope, the multi-degree-of-freedom MEMS magnetic sensor, the MEMS pressure sensor, the GPS (global positioning system) / Beidou navigation satellite system chip and the ASIC (application specific integrated circuit) are packaged and integrated by the substrate-based packaging technology or packaged into an integrated module by the system-level packaging technology. The invention further provides various packaging modes of the module. The multi-degree-of-freedom microsensor module and the packaging modes thereof have the advantages that multi-degree-of-freedom physical quantity detection can be provided for equipment, design and packaging cost of various sensors can be greatly reduced, reliability of the sensors is improved, and the multifunctional sensors are wider in application field.

The invention belongs to the technical field of satellite communication and especially relates to a rapid high-efficiency signal capturing method for a BeiDou navigation satellite system (BDS). For second-generation BeiDou B1 frequency band weak signals, NH code secondary modulation is carried out on local quantified pseudo-random codes, multi-millisecond coherent integration is carried out on the pseudo-random codes and received signals, a frequency domain code phase searching algorithm based on SFT is realized, and the operation complexity and capturing time of the capturing algorithm are further reduced.

The invention provides a search and rescue positioning terminal based on an AIS and a Beidou navigation satellite system. The search and rescue positioning terminal comprises a core processing module, a GNSS module, an AIS transmitter module and a Beidou short message receiving and dispatching module. The core processing module is used for controlling the work of the search and rescue positioning terminal. The GNSS module is connected with the core processing module and used for positioning the search and rescue positioning terminal through a satellite so as to acquire positioning data. The AIS transmitter module is connected with the core processing module and used for packaging the positioning data into standard AIS information to be emitted. The Beidou short message receiving and dispatching module is connected with the core processing module and used for packaging the positioning data into a Beidou short message to be emitted. The invention further provides a search and rescue positioning method based on the AIS and the Beidou navigation satellite system. According to the search and rescue positioning terminal and method based on the AIS and the Beidou navigation satellite system, the AIS and the Beidou navigation satellite system are combined to be used according to personal aquatic search and rescue, the problems of long-distance and short-distance continuous warning and positioning search and rescue are effectively solved, and the search and rescue efficiency is improved.

The invention provides an ankle tracking system based on a global position system (GPS) / a Beidou navigation satellite system. The ankle tracking system based on the global position system (GPS) / the Beidou navigation satellite system comprises a potable micro location tracking device, a wireless electric ankle tracking electronic lock cuff, a monitored living room message pick-up and transmit device and a data monitoring center, wherein the transmit device receives data information from the potable micro location tracking device and sends the data information for the data monitoring center through wireless network, and the wireless electric ankle tracking electronic lock cuff can communicate with the potable micro location tracking device. The ankle tracking system based on the global position system (GPS) / the Beidou navigation satellite system is capable of monitoring information of a monitored person in real time, is used for preventing and tracking the monitored person due to the fact that the potable micro location tracking device and the wireless electric ankle tracking electronic lock cuff are resistant to strong damage and the monitored person can not get rid of the wireless electric ankle tracking electronic lock cuff on the feet. The potable micro location tracking device and the wireless electric ankle tracking electronic lock cuff are integrated into one, cooperate in working, waterproof, damage resistant and capable of working 1-2 years without changing batteries.

The invention discloses a pseudo range measuring method for a hybrid constellation of a Beidou Navigation Satellite System. The pseudo range measuring method solves the problem that the pseudo range at the entire second of the Beidou time cannot be output synchronously as the intervals for synchronization heads of subframes are different because of difference between the broadcasting rate for a D2 navigation message broadcasted by an earth GEO satellite of the Beidou Navigation Satellite System and the broadcasting rate for a D1 navigation message broadcasted by a non-GEO satellite, and can utilize the idea of fuzzy control and take the IGSO satellite pseudo range transmission time as the reference to set fuzzy control rules to correct and estimate the GEO satellite pseudo range output and realize synchronous output of the pseudo range and positioning time service for a receiver.

The invention discloses an avoiding and stripping method for Neumann-Hoffman codes in navigation messages of a Beidou navigation satellite system D1. The method comprises the steps that according to the encoding characteristics of the Neumann-Hoffman (NH) codes in a navigation message signal system of the Beidou navigation system D1, a unique sequence NH code avoiding method based on probability statistics is proposed at the satellite capturing stage, and the influence of jumping of the NH codes on capturing is successfully avoided; through parallel code phase search with the step length decreasing step by step, accurate capturing of the phase position and carrier frequency of spreading codes of a Beidou satellite is successfully achieved; meanwhile, an NH code stripping method for combined codes based on the NH codes and frame synchronization codes (Pre) is proposed in the frame synchronization step, and stripping of the NH codes and output of the navigation messages can be effectively achieved while subframes are synchronized. The avoiding and stripping method for the NH codes in the navigation messages of the Beidou navigation satellite system D1 is applicable to a Beidou satellite navigation receiver and a software receiver, and the same idea is applicable to other navigation satellite systems for which fixed sequence secondary encoding is adopted.

The invention discloses a method for establishing the carrier phase frequency standard for the GPS and the BDS. Due to the fact that a double-mode receiver is provided with an antenna phase center identical to that of a local clock, GPS carrier phase data and BDS carrier phase data are placed into the same filter to obtain more precise clock differential data between the local clock and the GPS system clock as well as the BDS system clock; then the local clock, the GPS clock and the BDS clock are taken as three independent clocks and a clock combination is established, calculation of the time scale of the clock combination is performed through a real-time atomic time algorithm to obtain the clock differential data between the local clock and the combined clock. Compared with the prior art, the method for establishing the carrier phase frequency standard of the GPS and the BDS can avoid the influence of the number and distribution of satellites as well as satellite faults and establish the carrier phase frequency standard of the GPS and the BDS through multiple time source data fusion to obtain more precise clock differential data of local time and UTC (universal time coordinated).

The present invention provides a marine BDS (BeiDou Navigation Satellite System) receiving device in-band and band edge continuous wave interference threshold determination method. The multi-system navigation signal simulation source is employed to generate satellite signals, a radio-frequency signal generator is employed to generate interference signals, satellite signals and interference signals are transmitted to a signal combination unit through radio-frequency cables to perform channel combination, and the combination signals are transmitted to a marine BDS receiving device through the radio-frequency cables to determine the interference threshold. The marine BDS receiving device in-band and band edge continuous wave interference threshold determination method is not influenced by other undesirable unknown radio-frequency interferences of the external environment so as to accurately measure and estimate the space attenuation of signals.

The invention relates to a cloud computing intelligent transportation scheduling platform based on Beidou time service technology. The platform comprises a cloud computing intelligent transportation platform and a traditional intelligent transportation system platform, wherein the traditional intelligent transportation system platform is loaded on the cloud computing intelligent transportation platform; and a cloud computing platform, a Beidou time server and a Beidou time service machine are loaded on the traditional intelligent transportation system platform. The real-time property of scheduling optimization is realized by introducing control and planning technology based on precise clock, and precise time service technology provided by a Beidou navigation satellite system is adopted in the clock. Meanwhile, intelligent transportation scheduling involves large-scale computing and has requirements on computing data amount and computing speed, therefore, the current cloud computing technology must be adopted in computing. The passive characteristic of transportation information issue of the traditional intelligent transportation platform is changed, and a navigation function is provided to a vehicle in an active way. The real-time scheduling and navigation functions of the vehicle can be realized really, and the utilization rate of a road network resource can be optimized.

The present invention discloses a Beidou navigation satellite system carrier phase cycle slip detection and repairing method. The method comprises the steps of: employing a Beidou carrier phase observation amount and a pseudorange observation amount to construct cycle slip signals; employing an improved inherent time scale decomposition method, namely, an improved ITD method, to perform decomposition of the cycle slip signals to obtain a plurality of mutually separated inherent rotation component signals, namely PR components; screening out the PR components including the cycle slip; performing Hilbert spectral analysis for the PR components including the cycle slip to detect the epoch when the cycle slip occurs; and performing repairing of the PR component signals including the cycle sliptaken as training samples, employing the particle swarm optimization algorithm to perform parameter optimization of a least square support vector machine, namely an LS-SVM, employing the optimized LS-SVM to perform regression prediction, and calculating the difference of an actually measured value and a prediction value to determine the size of the cycle slip and repair the cycle slip. The methodcan effectively detect and repair the mini cycle slip appearing about one week in the Beidou single-frequency observation data.

The invention relates to the technical field of detonator detonation control, and discloses a small digital electronic detonator online testing and detonation system and a small digital electronic detonator online testing and detonation method. The system is provided with an electronic switch circuit connected with a digital electronic detonator group. The electronic switch circuit is connected with a processing module through a data receiving circuit. A first input end of the processing module is connected with a Beidou navigation satellite system and a global position system (GPS) bi-module positioning module. A second input end of the processing module is connected with a keyboard circuit. A third input end of the processing module is connected with a power detection circuit. A first signal output end of the processing module is connected with a control end of the electronic switch circuit. A second signal output end of the processing module is connected with a liquid crystal display through a liquid crystal drive circuit. A data end of the processing module is connected with a serial communication interface with an expansion function. The system and the method can achieve functions of online test of a digital electronic detonator, area safety-certified detonation and data storage, uploading and downloading after the detonation and the like, and have the advantages of being portable, small in size, low in power consumption and convenient to use and the like.

The invention discloses a real-time decimeter-level positioning method based on a Beidou three-frequency signal at a long distance in a single reference station. The method comprises: with three-frequency observation data in a Beidou navigation satellite system, selecting a combined observed quantity with optimal ultra-wide lane ambiguity resolution according to a principle of minimization of ionospheric error, pseudorange and combined carrier observation noise influences and fixing ultra-wide lane ambiguity in a single-epoch based on a round-off rounding method; estimating an ionospheric error initial value according to fixed integer ambiguity and optimizing an ionospheric error through Hatch filtering; and constructing an optimal wide lane combination observed quantity with the minimum positioning estimation error under the condition of minimizing the comprehensive influence of the ionospheric error and the carrier combination observation noise and carrying out ionospheric error correction on the observed quantity to realize long-distance real-time decimeter-level positioning. According to the disclosed method, the optimal combined observed quantity with the minimum positioning estimation error is constructed and the real-time high-precision decimeter-level positioning under the long distance is realized.

A quick resolving method for integer ambiguity of a Beidou navigation satellite system (BDS) satellite carrier phase comprises the steps of calculating wide lane integer ambiguities of a B1 frequency double-difference carrier phase and a B3 frequency double-difference carrier phase of an IGSO satellite and a MEO satellite; by means of the wide lane integer ambiguities of the B1 frequency double-difference carrier phase and the B3 frequency double-difference carrier phase of the IGSO satellite and a MEO satellite, resolving the wide lane integer ambiguity of the B1 frequency double-difference carrier phase and the B3 frequency double-difference carrier phase of an GEO satellite; by means of the wide lane integer ambiguity of the B1 frequency double-difference carrier phase and the B3 frequency double-difference carrier phase of each satellite, calculating the B1 frequency double-difference carrier phase integer ambiguity, the B2 frequency double-difference carrier phase integer ambiguity and the B3 frequency double-difference carrier phase integer ambiguity of each satellite, and furthermore calculating out the coordinate of a BDS measuring station. According to the quick resolving method, a pseudo-range observed distance is used for calculating the wide lane integer ambiguities of the carrier phases of the MEO satellite and the IGSO satellite, overcoming an influence of relatively large pseudo-range observed noise of the GEO satellite, and settling a key problem of BDS high-precision quick positioning.

The invention provides a Beidou navigation satellite system (COMPASS) / global position system (GPS) dual-system four-satellite positioning method and belongs to the field of global satellite navigation positioning. The method comprises the following steps of: 1, normally positioning under complete dual-system satellite signal conditions, and storing the positioning information; 2, executing the COMPASS / GPS dual-system four-satellite positioning method when four satellites in dual systems are visible, calculating delta tBD-GPS according to the stored information, and linearizing the tBD-GPS; and 3, executing a positioning method under the complete conditions when more than five satellites are visible. By the method, the problem that a dual-system satellite navigation receiver cannot realizepositioning temporarily in cities because the satellite signals are blocked by flyovers or high-rise buildings is effectively solved, the positioning precision is high under the dual-system four-satellite conditions, the positioning precision level under the complete conditions can be kept within 60 seconds upon appearance of four satellites, other instruments and equipment are not required, an electronic map is not required, and the method is easy to implement and low in calculation amount.

The invention relates to a bus transfer optimization method based on Beidou positioning and a passenger flow. The method comprises the steps of measuring and acquiring bus data by use of a Beidou navigation satellite system; constructing an urban bus network according to a basic theory and algorithm of a complex network; and giving an optimal scheme in combination with the bus network. The methodadopts the basic concept that information data of each bus line and all bus stops thereof, a distance between two bus and card swiping data of a bus are firstly collected; determining weights of related parameters and edges; respectively establishing a complex network model according to user demands; and analyzing and calculating and determining a final bus taking scheme according to adjacent matrixes corresponding to different models by use of an Floyd algorithm.

The invention relates to a sea ice detecting method based on reflected signals of a BeiDou satellite. The sea ice detecting method includes that S1, a sea area to be tested is selected, and special receivers and receiving antennas are carried by platforms including shores and aircrafts; S2, data of the BeiDou satellite is received by the special receivers; S3, after radio frequency front-end sampling process and digitization of the receivers, signals are stored as intermediate frequency signals; S4, the signals are pre-processed, and usable satellite signal data is found; S5, the satellite signals are tracked, and data is processed; S6, a polarization ratio data result is processed. The sea ice detecting method has the advantages that with the BDS-R (BeiDou navigation satellite system-reflectometry), the all-weather detection is performed to the sea ices, with signal sources multiple, coverage wide and cost low, and a bright application promotion is achieved on the sea ice remote sensing field.

The invention relates to a method for processing Beidou navigation satellite signals, a chip and a module. The invention provides a method for processing non GEO satellite B1 frequency point signals of a Beidou navigation satellite system. The method comprises the steps of acquiring intermediate frequency sampling data of the signals, and peeling secondary codes in the signals before long-term coherent accumulation is carried out. After adopting the technical solution provided by the invention, coherent integration within a bit time duration can be carried out when the secondary codes exist in the Beidou satellite B1 frequency point signals, and the receiver sensitivity including the capture sensitivity and the tracking sensitivity can be effectively improved.

The present invention relates to a vehicle information terminal, in particular to a vehicle information terminal with a GPS, a BeiDou Navigation Satellite System and a mobile station. Technical schemes of CAN and LIN buses in a system are as follows: realization of information acquisition, information transmission, and remote diagnosis of a vehicle condition; realization of navigation, entertainment, communication, diagnosis, auxiliary driving, and drive recording; and data collection, storage, display, and remote monitoring of a whole vehicle. Based on the combination of BeiDou positioning, GPS positioning and mobile station positioning, following functions are realized: vehicle positioning, vehicle running path storage, vehicle running path playback, vehicle running path rationality analysis, generation of various parameters in vehicle running, generation of an analysis result in contrary to a standard model, and reminding and correction of a driving behavior of a driver.

The invention provides an atmospheric pollutant concentration observing system. The atmospheric pollutant concentration observing system comprises a vehicle-mounted subsystem, a data processing subsystem and a visual display subsystem; the vehicle-mounted subsystem comprises a BeiDou navigation satellite system, a pollutant concentration acquisition module and a data transmission module; the vehicle-mounted subsystem acquires information of observing position through the BeiDou navigation satellite system, the pollutant concentration data of the observing position are acquired and preprocessedthrough the pollutant concentration acquisition module and transmitted by the data transmission module to the data processing subsystem, wherein the pollutant concentration acquisition module comprises a sensing and monitoring device used for acquiring the pollutant concentration data of the observing position and a data preprocessing device used for excluding the abnormal data of the pollutant concentration data acquired by the sensing and monitoring device; the data processing subsystem processes the pollutant concentration data in real time, and the processed data are uploaded to the visual display subsystem.

The invention discloses a biochemical sensing helmet for field individual combat based on a Beidou navigation satellite system. The biochemical sensing helmet comprises an outer cover and a liner which are connected in sequence, as well as at least one flat interlayer arranged between the outer cover and the liner, wherein each flat interlayer comprises a bag-type main body and an inner cavity, and the inner cavity is internally provided with a Beidou receiving antenna, a storage unit, a miniature locator, an arithmetic unit, a voice module, a biochemical sensor and an alarm which are connected in sequence; and the biochemical sensor senses biochemical signals of human beings except the combating person or animals. With the biochemical sensing helmet, an individual soldier or a logistic system can find the lost protective clothing after a field combat or during the field combat through the terminals on the biochemical sensing helmet, so that the important combat intelligence information can be obtained, the combat data can be analyzed and reserved conveniently, and the necessary intelligence information can be found with the command system or the logistic system; and the individual combat effectiveness index is increased.

The invention belongs to the technical field of ship navigation, and particularly relates to a Beidou real-time precision orbit determination method based on satellite perturbation. An observation reference network based on a plurality of Beidou navigation satellite systems is utilized, satellite operation orbit parameters are generated by utilizing satellite observation information according to the dynamic characteristics of satellite operation, and real-time high-precision satellite position information is provided for the user based on an orbit integration method to assist the user to realize real-time precision positioning. The method comprises the steps that a ground observation station collects satellite observation information and navigation information of a Beidou navigation systemand sends the satellite observation information and the navigation information to a data processing center through an internet communication link. The dynamic characteristics of the satellite runningin the outer space are fully utilized, satellite operation orbit parameters are estimated and predicted through ground satellite observation information, real-time high-precision satellite position information is generated through an orbit integration method and broadcasted to the user for correcting satellite orbit errors to assist the user in achieving real-time high-precision positioning in the true sense.

The invention provides a GPS (Global Positioning System) and BeiDou regional system combined constellation fault detection and elimination method and a device. The method comprises steps: the number of visible BDS (BeiDou Navigation Satellite System) satellites and the number of visible GPS satellites at present are determined; when the number of visible BDS satellites is no smaller than 4 but no larger than 6, RAIM (Receiver Autonomous Integrity Monitor) algorithm is used for carrying out fault detection and elimination on the visible GPS satellite set, and a GPS satellite set after fault elimination is obtained, wherein the visible GPS satellite set is a set formed by the visible GPS satellites; the number of satellites in the visible BDS satellite set is expanded to be M according to the GPS satellite set after fault elimination to obtain a BDS satellite set after expansion, wherein M is larger than 6, and the visible BDS satellite set is a set formed by the visible BDS satellites; and fault detection and elimination under the double-satellite assumption are carried out on the BDS satellite set after expansion. Thus, fault detection and elimination under the GPS and BeiDou regional system combined constellation are realized, integrity is improved, and satellite navigation availability in a high safety requirement condition can be effectively ensured.

The invention discloses a filter for a BDS (beidou navigation satellite system) and SINS (strapdown inertial navigation systems) navigation and positioning system and a filtering method, and relates to the technical field of navigation and positioning. The method comprises the steps of building a first Gaussian mixture model formed by a plurality of Gaussian components according to the system state noise distribution condition and the posterior probability density of the navigation output result at the former moment; performing time updating on each Gaussian component in the first Gaussian mixture model according to the unscented kalman filtering, and obtaining the time predicating result corresponding to each Gaussian component; building a second Gaussian mixture model formed by a plurality of Gaussian components according to the measuring noise at the current moment; performing measurement updating according to each time predicating result according to the second Gaussian mixture model to obtain a plurality of measurement updating results; merging the plurality of measurement results to generate the navigation output result of the current moment. After the filter is applied to the BDS / SINS vehicle-mounted combined navigation system, the navigation parameter precision is ensured; meanwhile, the calculation rate is high; the work real-time performance is better.