154 results about "Pseudolite" patented technology

Described is an automatic control system for land (and possible marine) vehicles based on carrier phase differential GPS (CPGPS). The system relies on CPGPS to determine vehicle position and attitude very precisely (position to within 1 cm and attitude to within 0.1 DEG ). A system incorporates a technique to calculate and compensate for antenna motion due to vehicle roll and pitch. One aspect of the system utilizes an intelligent vehicle controller that recognizes and adapts to changing conditions, such as vehicle speed, implements towed by the vehicle, soil conditions, and disturbance level. The system provides the capability to control the vehicle on various paths, including straight lines and arbitrary curves. Also described is a technique for initialization and vehicle control using only a single pseudolite.

A missile guidance system designed to operate on GPS signals in an anti-jamming environment. The inventive system includes first, second and third airborne vehicles (20). A GPS receiver (24) is mounted on each of the three vehicles (20) to receive signals transmitted from spaceborne satellites (14). Each vehicle (20) acts as a pseudo-satellite or "pseudolite'. The received GPS signals are processed by a processor (26) to provide a first intermediate signal indicating the position of the vehicle (20). This signal is retransmitted from each vehicle and received by a GPS receiver mounted on a missile. The received intermediate signal is processed on the missile to provide an output signal indicating the position thereof. The pseudolites would be airborne in the vicinity of a target area. Because the pseudolites are relatively close to the targets compared to a satellite in high altitude orbit and because the pseudolites would be able to transmit a kilowatt or more power, the signal strength may be improved significantly. To succeed as a jammer, a jammer, successful against GPS satellites, would need considerably more power to succeed against aircraft carried pseudolites. The pseudolite system delivers GPS signals into the target area 40-70 dB stronger than signals coming directly from GPS satellites. By timing the signals for 100% time coverage, enemy C/A code receivers will be jammed because they are limited to a J/S capability of 30 dB.

A network of non-cooperative integrated pseudolite (PL)/satellite base station (SBS) transmitters covering an open area. The network comprises a first plurality (K) of integrated pseudolite/satellite base station (PL)1/(SBS) transmitters, located in an open area A, and a second plurality (M) of non-cooperative integrated PL2/SBS transmitters, located in an open area B. K and M are integers. Each PL transmitter is co-located with one SBS. Each SBS provides a satellite timing synchronization signal. Each integrated active (transmitting) PL/SBS transmitter transmits its position location as a part of its message. The first plurality (K) of integrated PL1/SBS transmitters includes a substantially sufficient number of active integrated PL1/SBS transmitters in order to fill out satellite shades of coverage and to substantially cover the area A. Each integrated PL2/SBS transmitter continuously detects a plurality of ranging signals transmitted by each active integrated PL1/SBS transmitter. Each integrated PL2/SBS transmitter includes a processor including an algorithm comprising at least the following logic: each integrated PL2/SBS transmitter does not transmit if the plurality of active integrated PL1/SBS transmitters substantially covers the area B; and at least a plurality sub-of integrated PL2/SBS transmitters starts transmitting, if a plurality of integrated PL1/SBS transmitters does not substantially cover the open area B.

The invention relates to a navigation satellite signal generator and an implementation method. The navigation satellite signal generator comprises a controller, a USBHUB, a navigation receiver, a receiving antenna, a disciplined clock module, a radio frequency module, an emitting antenna and a base band module. State self-checking is carried out on all the modules. The navigation receiver transmits information to the controller and the disciplined clock module. The disciplined clock module carries out local time service, outputs time frequency signals and transmits the time frequency signals to the radio frequency module. The controller carries out signal parameter configuration and outputs moment configuration according to ephemeris information. Pseudo-range information, Doppler information, ionosphere information, troposphere information and error information are calculated. The base band module generates intermediate-frequency signals. Base band signals are modulated through the radio frequency module, and finally radio frequency signals of multiple frequency points are synthesized into navigation satellite radio frequency signals. By means of the navigation satellite signal generator and the implementation method, navigation signals based on the real-time ephemeris can be generated and can be normal satellite signals or pesudolite signals. The navigation satellite signal generator and the implementation method can be widely used in universal receivers and can be combined with satellites in orbits for positioning.

The invention discloses a nonlinear compensating method for a pseudo satellite/inertial integrated navigation system and provides a specific implementation mode of the method. The research shows that on the basis of a linearizing method, the method is added with quadratic term amendment, utilizes quadratic term to compensate linearizing error, reduces filtering model error introduced by nonlinearity of the pseudo range of the pseudo satellite to a certain extent and has obvious effect of improving the precision of the integrated navigation system. Simultaneously, the method adopts two-step algorithm to solve the problem of nonlinear calculation brought by the quadratic term, reduces the complexity of the algorithm and has practical value.

The invention discloses a universal GPS indoor and outdoor positioning system and method. The universal GPS indoor and outdoor positioning system comprises a GPS pseudo satellite main station, three or more GPS pseudo satellite auxiliary stations, and a user receiver. The GPS pseudo satellite main station receives outdoor GPS signals in real time, acquires PPS (pulse per second) signal and a current visible satellite parameter, disciplines the clock of a local pseudo satellite main station by means of the PPS signal, synchronously generates two radiofrequency signals by means of a local disciplined clock, sends one radiofrequency signal to a user, and send the other radiofrequency signal to the GPS pseudo satellite auxiliary stations. The GPS pseudo satellite auxiliary stations receive signal sent from the GPS pseudo satellite main station, achieve synchronization between the local clocks of the GPS pseudo satellite auxiliary stations and the clock of the GPS pseudo satellite main station, and synchronously generate virtual GPS satellite simulating signals. The user synchronously receives the virtual GPS satellite signals sent from the visible pseudo satellite main station and pseudo satellite auxiliary stations and completes indoor and outdoor positioning of the user in real time. The universal GPS indoor and outdoor positioning system is simple and is not required to change the software and the hardware of a conventional GPS receiver.

An integrated split-spectrum pseudolite/satellite base station (SS-PL)/SBS transmitter comprising a satellite base station and a split-spectrum pseudolite (SS-PL) transmitter co-located with the satellite base station. The satellite base station provides a timing synchronization signal. The satellite base station also provides a self-surveying capability for the split-spectrum pseudolite (SS-PL). The split-spectrum pseudolite (SS-PL) generates a split-spectrum sideband signal that minimizes interference with the reception of at least one satellite signal by the satellite base station.

The invention discloses a Beidou foundation navigation network ground monitoring station pseudolite and a control method. The Beidou foundation navigation network ground monitoring station pseudolite is used for achieving physical simulation of output signals of a single satellite and comprises an interface module, a control module, a base band module, a radio frequency module and an antenna. The input end of the interface module is connected with a data signal and a clock signal. The output end of the interface module is connected with the control module. One output end of the control module is directly connected with the antenna through the radio frequency module, and the other output end of the control module is connected with the radio frequency module through the base band module. The radio frequency module is connected with the antenna. The Beidou foundation navigation network ground monitoring station pseudolite can simulate pseudolite signals of a Beidou system and achieve physical simulation of the output signals of the single satellite. Pseudolite navigation signal pseudo-random codes are selected from the unused Beidou satellite signal pseudo code space and are not relevant to existing satellite signals. High-precision inter-satellite link time synchronization is achieved through a network time protocol.

The invention belongs to the field of radio navigation location technology and especially relates to a Beidou terminal signal receiving and processing device and method. The device includes an antenna unit, a radio frequency unit, a baseband signal processing unit, an information processing unit, a power unit and a display control unit connected successively. The method includes capturing fake satellites and satellites respectively by adopting a storage-based baseband capturing method; receiving fake satellite signals and real satellite signals for fake satellite and satellite information decoding; performing updating operation on extracted navigation parameters; extracting carrier phase, code phase and Doppler observation information and performing calculation on location, speed measurement and time service. According to the invention, by the design of an integrated antenna receiving the satellite signals and the fake satellite signals and a radio frequency front end and with the adoption of an algorithm realizing seamless positioning depending on independent positioning and compatible positioning for solving a problem of near-far effect of the two kinds of signals, constellation geometric structure is improved and user positioning precision is improved.

The invention discloses a positioning method with combination of pseudolites, the GPS and the Beidou Navigation system. The method comprises that, firstly, a pseudolite signal transmitter generates pseudolite positioning differential signals, and a synchronous receiver and a user receiver receives the pseudolite positioning differential signals simultaneously; secondly, a pseudolite synchronous receiver simultaneously receives pseudolite signals, GPS satellite navigation signals and Beidou satellite navigation signals and computes satellite clock differential corrected values and navigation messages according to pseudolite ranging values and navigation satellite navigation ranging values, the messages are transmitted to the pseudolite signal transmitter, and the pseudolite signal transmitter transmits messages to the user receiver; thirdly, the user receiver corrects the satellite clock differential corrected values into a GPS satellite navigation measuring equation and a Beidou satellite navigation measuring equation to eliminate navigation satellite clock deviation, ephemeris errors, ionospheric errors and tropospheric errors in a differential mode, the GPS satellite navigation measuring equation and the Beidou satellite navigation measuring equation are combined with a pseudolite measuring equation to form a measuring equation set free from satellite clock differential influence, and pseudolite, Beidou and GPS combined differential positioning is formed through the least square method.

The invention discloses a pseudolite system based on an aircraft group dynamic networking. The pseudolite system comprises a plurality of pseudolites which are all arranged on a plurality of aircrafts and used for broadcasting navigation signals. Each aircraft is provided with an inertial navigation system, a satellite navigation system and a star sensor, and the plurality of aircrafts do relative movement. Through output information of the inertial navigation system, the satellite navigation system and the star sensor is mixed by each pseudolite, so that the pseudolite is accurately self-positioned. Furthermore, each of the plurality of aircrafts is provided with a wireless distance measuring device for measuring the distance of the aircraft. The distance measured by the wireless distance measuring device between every two aircrafts is used as an observed quantity by each pseudolite so as to mix the output information of inertial navigation system, the satellite navigation system and the star sensor, so that the pseudolite is accurately self-positioned. Within the user area, the value of geometric dilution of precision (GDOP) is smaller than 6, and the accuracy of self-positioning of the pseudolite is 1.20m, so that the pseudolite system has the advantages of flexible deployment and higher navigation accuracy.

The invention discloses a mutual synchronization-based indoor pseudolite double-point positioning system and method. The system comprises two pseudolites and a Beidou/GPS navigation user receiver, wherein each of the two pseudolites comprises a Beidou/GPS signal receiver, a positioning signal transmitter, a transmitting antenna, a receiving antenna and a power supply module; the Beidou/GPS signal receiver of each pseudolite receives Beidou/GPS navigation signals of the own and the other pseudolite, resolves satellite number and pseudo-range information and transmits the satellite number and pseudo-range information to the own positioning signal transmitter; the positioning signal transmitter of each pseudolite resolves the clock correction of the positioning signal transmitters of the two pseudolites; the clocks of the positioning signal transmitters are adjusted; Beidou/GPS navigation signals are simulated, regenerated and transmitted to a service region; the Beidou/GPS navigation user receiver receives the Beidou/GPS navigation signals simulated and regenerated by the two pseudolites, resolves the satellite number of the two pseudolites and the pseudo-range of the two pseudolites, and calculates the distance between the Beidou/GPS navigation user receiver and the transmitting antenna of the first pseudolite as well as between the Beidou/GPS navigation user receiver and the transmitting antenna of the second pseudolite separately.

The pseudolite-based navigation system includes: a plurality of pseudolites for transmitting a navigation signal which simulates a satellite signal transmitted from a plurality of GNSS satellites; and a portable device capable of calculating a navigation solution for a location thereof based on the signal received from the pseudolites, wherein the portable device includes: a GNSS receiver for receiving the navigation signal of the pseudolites and calculating a navigation solution based on the navigation signal; and a computing unit for calculating a final navigation solution by integrating the navigation solution calculated by the GNSS receiver and the location information of the GNSS satellites and the pseudolites.

The invention, which relates to the satellite navigation and radio positioning field, discloses a centimeter-level positioning method of a pseudo satellite. The method comprises: firstly, a centimeter-level positioning system of pseudo satellites is constructed; secondly, a master pseudo satellite transmits a master signal to all slave pseudo satellites and all slave pseudo satellites transmit slave signals to the master pseudo satellite; thirdly, self-closed-loop synchronous receivers of the slave pseudo satellites calculate clock errors between the master pseudo satellite and the slave pseudo satellites and write navigation messages and the navigation messages are transmitted to the master pseudo satellite; fourthly, the master pseudo satellite receive all slave signals to obtain a pseudo range measurement value and a carrier wave measurement value, and a navigation message is compiled according to an RTC standard protocol; and fifthly, a pseudo satellite user machine receives all slave signals and master signals, after obtaining of the pseudo range measurement value and the carrier wave measurement value, a single-error or dual-error measurement equation is established, and integer-cycle fuzziness resolving and centimeter-level positioning are completed based on a satellite navigation RTK resolving principle. With the method, high-precision positioning of a pseudo satellite can be realized; and the method has advantages of low cost and high simpleness and practicability.

The invention discloses a Beidou foundation navigation network ground monitoring station and a satellite capturing and tracing method of a receiver thereof. The monitoring receiver comprises a radio frequency unit, an AD sampling unit, a baseband processing unit, an information processing unit, a clock unit and a power supply management unit. The invention provides the Beidou foundation navigation network ground monitoring station and the satellite capturing and tracing method of the receiver thereof, wherein the monitoring receiver can quickly and accurately capture pseudolite signals and quickly parse out complete frame data, positioning is performed by pseudolites or a pseudolite and a Beidou satellite, positioning errors are computed according to the known monitoring station position, the positioning errors and all original data are fed back to an operation management sub-system, then the operation management sub-system computes according to data reported by the plurality of monitoring stations to obtain the time difference between the pseudolites or between pseudolites and Beidou satellites, the time of the pseudolite system is corrected, and thereby the performance of the foundation pseudolite enhanced system is promoted.

The invention discloses a self-closed-loop time synchronization method of indoor pseudo-satellites, and relates to the field of indoor and tunnel positioning. The method comprises that 1) an indoor pseudo-satellite measurement configuration of zero base line self-closed-loop is constructed, the pseudo-satellite measurement configuration includes a main indoor pseudo-satellite and a slavery indoor pseudo-satellite, and each of the main and slavery indoor pseudo-satellites comprises a satellite signal generator and a self-closed-loop synchronization receiver; 2) the self-closed-loop synchronization receivers of the main and slavery pseudo-satellites receive navigation signals of the main and slavery indoor pseudo-satellites simultaneously, and the clock difference between the main and slavery indoor pseudo-satellites is calculated; 3) the clock difference between the pseudo-satellites is processed to obtain a rough clock different control word and a fine clock different parameter, and the rough clock difference word is sent to the signal generators to realize rough synchronization of the pseudo-satellites; and the fine clock different parameter is written into a pseudo-satellite text to realize fine synchronization of the pseudo-satellites. Thus, the method can realize high-precision time synchronization between the indoor pseudo-satellites, and is low in cost, simple and practical.

The invention relates to technology of laying pseudolites. As for traditional technology, the optimal matrix is obtained first. The technology provided by the invention has the characteristic of purposefulness. Due to the adoption of the technology, the pseudolites can be laid onto ideal positions, the laying process is simple, and the stimulation analysis load is small. Moreover, the technology utilizes the relation of the observation matrix and the GDOP (Geometric Dilution of Precision), can effectively improve the positioning precision and is an effective method for optimizing pseudolite laying.

The invention discloses a pseudo-satellite indoor navigation method based on a virtual grid. The method comprises the following steps of regulating and controlling an indoor pseudo satellite and adjusting a PRN of a visible GPS satellite to the pseudo satellite; configuring the regulated and controlled pseudo satellite, and generating and sending a pseudo-satellite signal, wherein a reference position of a GPS receiver, which is simulated by each pseudo satellite, is set to be an indoor area center point to be positioned; receiving the pseudo-satellite signal, and analyzing and processing the signal so as to acquire a relative coordinate of a mapping point of the GPS receiver and establish a virtual grid mapping table; inputting the relative coordinate of the mapping point into the virtual grid mapping table, and carrying out retrieval judgment so as to acquire a current user coordinate. The pseudo-satellite indoor navigation method based on the virtual grid possesses high universality, which accords with a usage state of a current mobile phone and other terminals, and simultaneously positioning precision is high, a service experience is good and a wide practical value is possessed.

The invention discloses a wireless feedback type pseudo-satellite system time synchronization method and system. The monitoring receiver receives ranging signals from each pseudo satellite, acquires and extracts a carrier phase observed quantity, calculates error information such as inter-station relative clock difference and pulse per second difference between each pseudo-satellite master stationand each pseudo-satellite slave station by using a clock difference equation, a time interval counter and an inter-station difference algorithm, and feeds each group of measured error information back to the corresponding pseudo-satellite slave station in real time to form a wireless negative feedback adjustment loop. The slave station clock synchronization module dynamically adjusts the slave station clock according to the time and frequency calibration model and the control mechanism by taking the time of the master station pseudo satellite as a reference so as to realize synchronous tracking of the master station clock. According to the invention, the time synchronization of the pseudo satellite system can be realized under the condition of keeping the original pseudo satellite systemsystem and structural form and equipment basically unchanged.

The invention discloses a pseudolite indoor navigation method based on a false point, wherein the method includes steps of regulating indoor pseudolite, and regulating a PRN number of a visible GPS satellite to the pseudolite; applying the regulated pseudolite to simulate the GPS satellite signal at the zone to be located, generating and sending the pseudolite signal; according to the pseudolite signal, acquiring and outputting the false point coordinate on the basis of the set agreement; judging the positioning zone according to the pseudolite coordinate; solving the GPS satellite coordinate; acquiring the pseudolite coordinate corresponding to the GPS satellite; according to the positioning zone, analyzing and calculating the false point coordinate, the pseudolite coordinate and the GPS satellite coordinate, and acquiring the current user coordinate. The pseudolite indoor navigation method has arranged the indoor pseudolite which is the same as the outdoor GPS satellite signal, and the demand of the indoor navigation can be completed by using an ordinary GPS receiver; compared with the other indoor navigation technology, the positioning precision is higher, the cost is lower, and the universality is stronger.