407 results about "Precise Point Positioning" patented technology

The invention discloses a method for estimating a phase deviation in a precise single-point positioning technology, which comprises the steps of: firstly, carrying out parameter estimation on single-difference non-ionized layer combined ambiguity by using a position as a restraint condition according to data of a reference station in a tracking network; secondly, carrying out parameter estimationon single-difference wide-lane ambiguity by adopting an M-W combination, separating out a decimal part of the single-difference wide-lane ambiguity, and carrying out decimal deviation calculation by using a directional data statistic theory, modifying and fixing the single-difference wide-lane ambiguity as an integer; thirdly, resolving a single-difference L1 ambiguity floating point solution according to a single-difference non-ionized layer ambiguity estimation value and a single-difference wide-lane ambiguity integer solution, separating the decimal part, carrying out decimal deviation calculation by using the direction data statistic theory; and finally, broadcasting the wide-lane and the L1 phase deviation decimal part to a user of a roving station so as to be used for fixing the single-difference integral ambiguity solution of the wide lane and the L1 and further obtaining a PPP (Point to Point Protocol) static solution.

The invention relates to a high-precision radio positioning method and a system thereof based on multidiameter scattering information, which can be applied to various positioning environments, particularly the rich multidiameter conditions with an intense scattering environment and many barriers near a mobile terminal that needs to be positioned, such as urban areas, hilly areas and the like. The method is a high-precision practical positioning technology and comprises the following steps: firstly, a reasonable multidiameter scattering radio positioning model which is transmitted by non-line-of-sight electric waves is established according to the actual communication environment; then the scattering information is estimated by the positioning data of the multipacket and multidiameter scattering information detected by a plurality of sensors; then a group of analog sensors are reconfigured by the scattering information; and finally, at the time of final positioning, a new judgment rule and a new algorithm obtained by revision and used for the multidiameter scattering information are put forward, so as to realize precise target positioning. The high-precision radio positioning method and the system thereof can effectively inhibit non-line-of-sight communication errors, and have the advantages of low cost, low energy consumption and very high positioning precision.

The invention discloses a water supply pipe leakage detection locating signal processing method. The method includes: firstly determining the burst interference exists to the acquired information, if the burst interference exists, performing burst interference removing process, if the burst interference does not exist or the burst interference has been removed, performing noise suppression process to the signal; as a whole de-noising pretreatment process is completed, determining whether the leakage exists according to the processed signal, and adding a function of identifying the difference from the true leakage to the fixed interference sound source during the determination, if the leakage does not exist, directly giving out the detecting result, if it passes the identification and the true leakage exists, further performing leak point positioning, and giving out the final test results and the leakage point position. The invention has beneficial technical effect of improving signal quality by removing burst interference in the acquired signal and noise restraining and the like de-noising processes when performing leakage detection to the water supply pipe, thereby enhancing the pipeline leak detection accuracy and leak-point positioning accuracy under complex noise environments; having practical value that it firstly determines whether true leakage acoustic singles are included in the acquired signal and then locates the leakage points.

Disclosed is a double-lidar positioning method for hanger-container truck alignment belonging to container automatization field. The invention comprises firstly acquiring the type of the container truck during the container loading process or the container type during the container unloading process; then acquiring precise position or pose of the container truck lock during the container loading process or the container lockhole during the container unloading process; finally acquiring precise pose and position the hanger, computing the difference between the precise positions and poses of the container truck lock or the container lockhole and the hanger, real-timely adjusting the cylinder according to the hanger position and pose, thus to realize precise alignment positioning of the hanger and the container truck. The invention employs a block scan and error compensation method, and advanced software processing and hard control technologies to greatly improve the recognition precision and speed, make the system have redundance fault tolerance capability, and improve the loading and unloading efficiency.

The invention relates to a global navigation satellite system (GNSS) triple-frequency motion-to-motion positioning method. In the original epoch, the triple-frequency precision single-point positioning technology is adopted to obtain the coordinates of two movable carriers, one of the two movable carries is selected as the reference station for the triple-frequency double-difference position, the triple-frequency double-difference positioning technology is adopted to calculate the baseline component of the two movable carriers and the integer ambiguity resolution of the double-difference carrier phase, and the baseline component of the two movable carriers and the integer ambiguity resolution of the double-difference carrier phase are used as the constraint conditions for the triple-frequency precision single-point positioning in the subsequent epochs to improve the single-point position precision and the convergence speed thereof. The geometry-Base TCAR ambiguity resolution fixation method is adopted to calculate the triple-frequency integer ambiguity resolution. The three irrelevant combination observation values of the triple-frequency non-ionizing layer and the long wave-length and low noise carrier are adopted to detect and repair the cycle slip of the original observation data.

We disclose a precision positioner based on an inertial actuator, an optical instrument for accurate positional readout and control, and an electrostatically clamped assembly for holding any instrument or device. All aspects of the present invention present a significant improvement over the prior art: a positioner is robust and compact; an optical instrument for positional control is a profoundly simple and compact module; a clamping assembly is self-aligning and suitable for robotic hot-swapping of objects being positioned.

The invention discloses a Beidou three-frequency non-differential non-combined observation value time transmission system and method. The method includes the steps that phase observation value, pseudo-range observation value, satellite ephemeris, earth rotation, antenna phase center and other parameters of China Beidou satellite navigation systems at two time transmission stations are obtained; data check, gross error reject and cycle slip detection are carried out, error models of ephemeris, tide, relativity, the earth rotation, atmosphere and antenna phase deviation are corrected; an ionospheric virtual observation model with additional ionospheric prior information constraints, spatial domain constraints and time domain constraints is constructed; and a three-frequency non-differentialnon-combinatorial precise single-point positioning model is constructed, a single-point positioning timing solution is carried out on corrected data, and comprehensive clock corrections of receivers of the two transmission time stations are obtained and compared to obtain a time transmission difference; and compared with standard time of one of the two transmission time stations, precise time of the other one of the two transmission time stations is obtained. According to the Beidou three-frequency non-differential non-combined observation value time transmission system and method, the observation noise can be reduced, and the accuracy and reliability of time transmission are improved.

The invention discloses a method for determining the satellite differentia pseudo-range deviation based on single-frequency navigation satellite data, and relates to a satellite differential pseudo-range deviation determination and correction technology in satellite navigation applications. The method comprises the steps of A, acquiring single-frequency GNSS original observation data and obtaining precision satellite orbit and clock error products; B, building single-frequency GNSS non-combination pseudo-range and phase observation equations; C, building a single-frequency non-combination precision single-point positioning function model; D, solving single-frequency non-combination precision single-point positioning Kalman filtering; and E, performing ionospheric delay modeling and determining the navigation satellite differential pseudo-range deviation. Determination for navigation satellite differential pseudo-range deviation parameters is realized by using a single-frequency receiver, and the hardware cost of an existing navigation satellite differential pseudo-range deviation estimation method can be reduced by more than 90%. Meanwhile, the method is reasonable and simple in design and improves the efficiency. The design is not only low in cost, but also high in efficiency.

The invention discloses a precise point positioning (PPP) method based on inter-satellite combination difference, comprising the following steps: firstly subtracting by utilizing an observation equation among different satellites with the same epoch so as to form a primary inter-satellite difference observation equation; then on the basis of primary inter-satellite difference, subtracting again by utilizing an observation equation between adjacent epoches so as to form a secondary difference observation equation among the inter-satellite epochs; and finally taking an observation station coordinate and a weight matrix which are solved based on the secondary difference equation as an initial value of a Kalman filter and taking a primary inter-satellite difference as a function solving model, using a Kalman filter method to solve the parameters such as the observation station coordinate and ambiguity and the like, and realizing PPP based on the inter-satellite combination difference. In the method disclosed by the invention, the resolving of PPP can be realized in short time, and the engineering realization is fast, stable and easy; and tests show that as a new model for positioning,the centimeter level can be achieved, and the convergence time is improved by 30% compared with the that of conventional model.

The invention discloses a positioning method for Beidou short baseline single frequency single epoch solution. The method comprises steps of (1) Beidou single frequency pseudorange single point positioning, (2) data preprocessing, (3) establishment of a Kalman filter precision n-dimension dynamic model based on prior historical data and consideration of influences of a signal-to-noise ratio and asatellite elevation angle on an observation value, (4) model initialization, (5) Beidou single-frequency part ambiguity estimation to obtain a fixed value of each hierarchical ambiguity, (6) cycle-slip epoch-by-epoch detection in combination of the single-frequency ambiguity fixed value and an updating value, and (7) baseline vector calculation and coordinate covariance matrix updating based on the fixed ambiguity, and back substitution to a carrier phase observation equation after the ambiguity is fixed to obtain a baseline vector. The method can automatically eliminate the influences of tropospheric errors and multipath errors in real time, and realize accurate fixation of Beidou single frequency ambiguity. While the real-time performance and the precision of monitoring are ensured, themonitoring cost is greatly reduced, and promotion and application of the Beidou positioning technology is facilitated.

The present invention provides a unified model-based Beidou undifferenced and uncombined PPP (precise point positioning)-RTK (real-time kinematic) positioning method. According to the method, as for users on the globe, real-time orbits and clock error corrections are received, so that undifferenced and uncombined PPP calculation is performed; initialization is performed, so that decimeter-centimeter-level precision positioning is realized; for users in regions, integrated error corrections of the regions are received, undifferenced network RTK calculation is performed; and initialization is performed, so that centimeter-level precision positioning is realized. With the method of the invention adopted, the seamless linking of undifferenced PPP data processing and undifferenced network RTK data processing can be realized, fast and high-precision positioning services can be provided, and the total electron content of an ionized layer and the differential code deviation information of a receiver can be obtained.

The invention provides a high-precision point positioning method and a high-precision point positioning system for a global navigation satellite system (GNSS). The method comprises the following steps: prestoring an observed value positioning equation with commonality for a compass navigation satellite system, a GPS, a GLONASS and a Galileo satellite navigation system, and interconvertible parameters of coordinate systems and time systems of the various satellite navigation systems into a storage module of a double-frequency GPS receiver; receiving signals of the various satellite navigation systems by the double-frequency GPS receiver through an antenna, and converting the signals into digital signals by a signal converting unit; reading the interconvertible parameters in the storage module and the observed value positioning equation by a data processing unit to process the digital signals; finally obtaining a high-quality PVT result; realizing the combination use of observed quantities and ephemerides of the various satellite navigation systems; and sending the PVT result to a field data acquisition device for recording. The method and the system realize the compatible high-precision point positioning based on the compass navigation satellite system/the GPS/the GLONASS/the Galileo satellite navigation system, and can provide point positioning position information with higher quality.

The invention discloses a robot indoor positioning and navigation method based on single vision. The robot indoor positioning and navigation method specifically comprises the following steps of S1, for first-time use, creating an indoor map of a room by the following specific steps of (A), setting three identifiable marking points at the indoor roof, enabling a robot to use an indoor charging point as an original point to create an indoor coordinate system, calibrating the information of coordinates and directions of the three marking points, and calibrating the direction of an electronic compass; (B) establishing a right-angle coordinate system of a camera; (C) controlling the robot to move in the room, detecting the edge of the room via a sonar sensor, and generating the indoor map of the room; S2: for indoor positioning, when the robot is set at any point of the room, enabling a single-eye camera to measure the three marking points, and combining with the right-angle coordinate system of the camera and the indoor coordinate system to calculate the data of positions and directions of the robot; for autonomous navigation: setting a target point of the robot as M2, and enabling the robot to perform the autonomous navigation via the indoor positioning and target point positioning.

Method for precise GNSS positioning system with improved ambiguity estimation. The method is based on the realization that, especially during convergence, the estimated float ambiguities are biased when estimated simultaneously with the ionosphere parameters. The “ionosphere-like” biases can be separated from the actual float ambiguities by using the fixed wide-lane (or extra wide-lane) integer ambiguities. The original real-valued ambiguities (e.g., one of L1, L2 and L5 in the GPS case) are corrected using the corresponding biases, resulting in reliable float ambiguities that are taken as input in the next processing step.

The invention provides a method for improving fixed correct rate of network RTK double-difference wide lane ambiguity. The method comprises the following steps of 1, data preparation, namely receivingreal-time observing data, satellite ephemeris and coordinate information of a GNSS reference station; 2, performing real-time ionosphere product calculation, namely performing non-difference precisesingle-point positioning according to coordinate information and satellite coordinate of the reference station, and calculating a non-difference real-time ionosphere delay value of a satellite signalpropagation path; and 3, performing baseline double-difference wide lane ambiguity calculation, wherein the step 3 comprises a procedure 3.1, forming a double-difference observing value by the observing data of two reference stations, and correcting a double-difference ionosphere residual item by means of the non-difference real-time ionosphere delay value calculated by the step 2; procedure 3.2,calculating a floating point solution of the double-difference wide lane ambiguity; and procedure 3.3, performing rounding on the floating point solution of the double-difference wide lane ambiguity for obtaining a double-difference wide lane ambiguity. The method improves correct rate in understanding the baseline double-difference wide lane ambiguity, thereby improving precision and stability ofthe network RTK.

The invention relates to a high voltage transmission tower patrol system based on a GNSS (global navigation satellite system) and a two-dimension code, belonging to the field of the equipment maintenance. The high voltage transmission power patrol system comprises a tower two-dimension code nameplate which is arranged on a high voltage transmission tower, a patrol handheld terminal carried by the patrol personnel, a high voltage transmission tower data center which is arranged in a control center or a management center and a user terminal; an integrated intelligent patrol and information management system is realized on the basis of multimode GNSS point positioning, precise point positioning of GNSS/SBAS (satellite-based augmentation system), two-dimension code, GIS (geographic information system) and mobile communication network technology, a precise patrol position is provided by virtue of GNSS, the traditional patrol point is substituted by the two-dimension code, a wireless data transmission link is provided by the mobile communication network, the real-time dynamic information multimedia management system is realized by virtue of the GIS system, a more convenient, rapid, efficient and practical information management means is provided, and the high voltage transmission tower patrol system is an ideal high voltage transmission tower patrol and information management system.

The invention discloses a control system and a control method capable of realizing autonomous navigation and precise positioning of a mobile robot. The control system comprises a sensor module, a main control module and an execution module, wherein the main control module receives data acquired by means of a sensor module, calculates wheel odometer data, constructs an environment static map and an environment dynamic map, estimates a pose of the mobile robot, plans a trajectory of the mobile robot, carries out trajectory following, and issues a trajectory following instruction to an execution module; after the robot reaches a target point, the main control module obtains landmark image data acquired by means of a precise positioning camera, calculates a position deviation between the center of the mobile robot and a landmark, corrects the pose of the mobile robot, and feeds back a precise positioning command to the execution module; and the execution module controls the mobile robot to move toward the position of the landmark, thereby finally realizing the millimeter-level positioning.

The invention discloses a single-frequency PPP ionosphere weighting method based on a region CORS. Further improvement of single-frequency PPP moving station precision is mainly restricted by ionosphere delaying, and the correction precision of the regional continuous base station network precision modeling local region ionosphere delaying method to single-frequency users of sparse base station regions is limited. The single-frequency PPP ionosphere weighting method is based on the CORS network, non-combined PPP is conducted on base station data, a region ionosphere model is built, and satellite hardware delaying and receiver hardware delaying are separated to extract the ionosphere delaying value in the tilt direction of the satellite. The single-frequency PPP ionosphere weighting method based on the region CORS takes full advantage of high-precision ionosphere delaying information provided by region station points, and can effectively improve the single-frequency PPP user convergence time and positioning precision and achieve single-frequency PPP user centimeter-level high-precision positioning.

A method for providing and applying Precise Point Positioning-Integer Ambiguity Resolution (PPP-IAR) corrections for a Global Navigation Satellite System (GNSS). In a GNS signal correction system, PPP-IAR corrections (ambiguities plus receiver and satellite hardware delays) are calculated based on observation data (P_i,a, Φ_i,a) of n satellites for individual reference stations using a functional model, and these individual PPP-IAR corrections are merged into one single and larger set of PPP-IAR corrections. In a broadcast system, the (merged) PPP-IAR corrections are encoded at a System Control Centre (SCC) and transmitted to mobiles. In a mobile system a similar functional model is used to calculate a correction Δx to an a priori position.

The invention provides a high precision single point positioning system of a single frequency global positioning system (GPS) and a method, which belong to the technical field of GPS positioning. The positioning system is provided with a single frequency GPS receiver which finishes the processing of a GPS baseband signal, tracing of a GPS signal and pressure-volume-temperature (PVT) resolving and provides required GPS observation data and various error correcting information for a precision single point positioning solving module. The receiving of various correction data and loading of information of international GPS service (IGS) precise ephemeris, clock error, ionospheric delay and the like are finished by wireless communication module general packet radio service (GPRS) through wireless networks. The wireless communication module GPRS performs ionospheric delay error correction, satellite clock error correction and satellite track error correction, and utilizes IGS network data to finish precision single point positioning processing. An ARM core plate receives various observation data, satellite-based augmentation system (SBAS) observation data and various correction data of the wireless communication module and performs automatic processing computing of precision single point positioning algorithm. The single frequency GPS high precision single point positioning system and the method have the advantages of being simple in data collection and high in precision, and the feasibility and flexibility of the precision positioning are improved.

The invention belongs to the field of safety control on lifting operations and provides a virtual command module for large lifting operations and a working method of the virtual command module. The module comprises a live-action monitoring system, a virtual guiding system, a precise positioning system and a lifting mechanical analysis system. Visualization of global field monitoring of a lifting site can be realized, a virtual lifting rehearsal model is constructed on the basis of a BIM (building information model), and simulation and route optimization of a lifting process are realized through setting of working conditions and lifting parameters, so that lifting risks are mastered in advance, and a lifting scheme conforming to actual requirements is made; besides, through precise positioning and lifting mechanical analysis, automation and informatization of collision prevention and safety control on lifting are realized, accurate and direct early-warning information is provided for front-line commanders, unified and standard lifting commands are given to crane drivers, the crane drivers are assisted in completing lifting operations smoothly and safely, and the safe, real-time and effective technical support is provided for the large lifting operations.

The invention provides a high-precision inter-satellite laser ranging assistant precise point positioning method. According to the method, a navigation satellite carries a high-precision inter-satellite laser ranging load; a ground operation control system determines a system deviation parameter between a signal receiving and transmitting starting point of satellite laser ranging equipment and a phase center of an L-waveband satellite load antenna and uploads the system deviation parameter to the satellite; the satellite arranges inter-satellite ranging information and system deviation information into a transmitting sign; a ground point positioning user receives the inter-satellite laser ranging information and the system deviation information while receiving an L-waveband navigation signal; and an inter-satellite laser ranging observed quantity, an L-waveband pseudo-range, a carrier phase observed quantity, a navigation message, a precise orbit product and other data are utilized ina combined mode to complete precise point positioning, so that the precise position of the user is determined. Through the method, positioning initialization time can be shortened, the requirement onprecise clock correction and orbit product update frequency is lowered, and kinematic precise point positioning efficiency is improved.

The invention discloses an indoor positioning system based on LED lamps. The system comprises the LED lamps, a server and handheld equipment. Each LED lamp has the unique coding and flicker frequency, the coding and flicker frequencies of the LED lamps are stored in the server, a positioning regional map is stored in the server, and the handheld equipment receives light emitted by the LED lamps, converts optical signals into flicker frequency signals of the LED lamps and obtains position information of the LED lamps corresponding to the flicker frequency signals. Signal propagation is achieved through the flicker frequencies of the LED lamps, an optical flame detector is adopted to collect the flicker frequency information of the LED lamps, the indoor precise positioning is achieved through map information prestored in the server, the positioning precision is high, the current position can be precisely positioned, the accuracy can reach within two meters, and the system is suitable for precise positioning of indoor large markets, interiors of buildings, underground markets, underground parking lots and the like.

The invention belongs to the field of mapping and navigation, and discloses a pseudolite system and a method based on GNSS(Global Navigation Satellite System) precision time service. The method comprises the following steps: driving a GNSS receiver and a pseudolite signal transmitter by utilizing a homologous crystal oscillator, and solving a clock difference of a local clock of a receiver in realtime by utilizing a precision single point positioning model with coordinate constraint; eliminating a hardware delay between the signal transmitter and the GNSS receiver through a method of calibrating the hardware delay; and broadcasting an obtained clock difference of the local clock to a user in a form of electric files to realize a mathematical synchronization of the local clock and the GNSSsystem time. According to the pseudolite system and the method based on GNSS precision time service, the precision time synchronization of a single pseudolite system and a GNSS system can be realized, and a wired or wireless time synchronization link does not need to be constructed, so that the laying cost and hardware complexity are reduced; and the pseudolite system facilitates the joint positioning calculation with GNSS signals, so that the usability and the reliability of navigation positioning are improved.