52 results about "Pseudolite" patented technology

The invention relates to a space-ground integrated Beidou high-precision positioning method applied to urban canyons, and belongs to the technical field of navigation positioning. The method comprises the following steps: deploying a pseudo satellite base station, calibrating coordinates of the base station through carrier phase difference, and monitoring the number of Beidou visible satellites; a master pseudo-satellite is determined, timestamps and ephemeris data are broadcasted to slave pseudo-satellites through Beidou short messages, and the slave pseudo-satellites are combined with bidirectional ranging data to correct a local clock to realize high-precision synchronization; receiving Beidou and pseudo-satellite signals by a user terminal, screening effective observation values through a shielding judgment mechanism, substituting the effective observation values into a non-difference observation equation in combination with pseudo-satellite reference difference data, and resolving a fusion result through an elastic coupling mode; and finally, multi-path interference is identified by using pseudo-satellite double antennas, and historical data is called to construct an error model to correct a fusion result. The space-ground integrated positioning of Beidou and pseudo satellites in an urban canyon scene is realized, the centimeter-level positioning precision is stably output, and the high-precision positioning requirements of urban traffic, surveying and mapping and the like are met.

The invention relates to an ephemeris broadcast and time synchronization method for Beidou pseudolite deformation monitoring, and belongs to the technical field of satellite positioning. The method comprises the following steps: constructing a linearization error equation based on a pseudo-range observation value, and solving a clock error correction amount in combination with a robust iterative algorithm to improve the time synchronization precision; analyzing ephemeris parameters of the Beidou GEO satellite, calculating earth-fixed coordinates of the Beidou GEO satellite, and rotating and adapting the earth-fixed coordinates; establishing an affine transformation relationship between the pseudo-satellite coordinates and GEO ephemeris, and generating optimized pseudo-satellite ephemeris data; and a time synchronization protocol is designed, and clock skew is compensated through bidirectional timestamp interaction of the main base station and the pseudo satellite. According to the method, nanosecond synchronization of the pseudo-satellite and the real satellite is realized, the ephemeris parameter redundancy problem of the static pseudo-satellite is optimized, multi-system cooperative work is supported, and the deformation monitoring reliability and precision under the complex terrain are remarkably improved.

The invention relates to a Beidou pseudolite signal simulation generation method, which comprises the following steps of: setting a pseudolite private frequency band so as to avoid same-frequency interference with a real Beidou satellite signal; high-precision clock synchronization is carried out to ensure that the pseudolite and the Beidou atomic clock are highly synchronized; and the transmitting power is dynamically adjusted to adjust the transmitting power in real time, the near-far effect is inhibited, and the signal coverage range is optimized. Through collaborative optimization of frequency spectrum planning, clock synchronization and power regulation, the positioning availability is improved and the elevation precision is optimized in a complex environment, and a complete enhanced positioning solution is provided for a Beidou system in scenes such as automatic driving, tunnel navigation, mountains and canyons.

This invention discloses a pseudo-satellite indoor positioning optimization method based on ergonomic robust Kalman filtering, comprising the following steps: obtaining the initial positions of all positioning base stations; setting the verification information parameters in the ergonomic robust Kalman filter model; obtaining positioning route data passing through the initial positions of all positioning base stations; inputting the positioning route data into the ergonomic robust Kalman filter model for processing to obtain the optimized positions of the positioning base stations; obtaining the optimal verification information value by comparing the optimized positions with the initial positions; setting the optimal verification information value as the model verification information for this positioning, and starting the positioning process. This invention combines the idea of ​​the ergonomic algorithm with the robust Kalman filter algorithm, thereby effectively solving the problem of ensuring the optimality of verification information in the robust Kalman filter algorithm model during actual positioning, thus further improving the accuracy of the algorithm and obtaining a better filtering effect.

The application relates to a space-ground integrated Beidou high-precision positioning method applied to an urban canyon, and belongs to the technical field of navigation and positioning. The method comprises the following steps: deploying a pseudolite base station, calibrating the base station coordinates through carrier phase difference, and monitoring the number of visible Beidou satellites; determining a master pseudolite, broadcasting timestamp and ephemeris data to a slave pseudolite through a Beidou short message, and combining two-way ranging data to correct a local clock to realize high-precision synchronization; then a user terminal receives Beidou and pseudolite signals, screens effective observation values through a shielding discrimination mechanism, combines pseudolite reference differential data into a non-difference observation equation, and solves a fusion result through a loose-tight coupling mode; finally, the pseudolite double-antenna is used to identify multipath interference, historical data is called to construct an error model, and the fusion result is corrected. The space-ground integrated fusion positioning of Beidou and pseudolites in the urban canyon scene is realized, stable centimeter-level positioning precision is output, and the high-precision positioning demand of urban traffic and surveying and mapping is met.

The application discloses a discontinuous random time hopping pulse pseudolite signal tracking method based on carrier phase correction, and belongs to the field of satellite navigation auxiliary enhancement. The method first down-converts the received pseudolite signal to an intermediate frequency by using a receiver local oscillator; then carries out effective time slot signal interception and invalid time slot interference cutting on the pseudolite signal converted to the intermediate frequency by using a random time hopping pulse generation and control module in the receiver; then generates a carrier phase correction value of the signal in the effective time slot by using the pulse position information provided by the random time hopping pulse generation and control module and the carrier Doppler information fed back by the rear end; then further generates a cosine and sine result of the carrier phase correction value, and uses the result to continuously correct the carrier phase instantaneous value in the effective time slot; finally, the method realizes accurate tracking on the pseudolite signal after carrier phase correction by using a delay lock loop and a phase lock loop.

The invention belongs to the technical field of pseudo satellite positioning, discloses an indoor pseudo satellite signal carrier-to-noise ratio positioning method based on a commercial smart phone, and solves the core problem through innovative design. The invention provides a positioning technology based on Bayesian reasoning alternating optimization dynamic estimation. According to an attenuation relationship between a carrier-to-noise ratio observation value and a distance base station, maximum posteriori estimation (MAP) is calculated through Bayesian reasoning, and an alternating estimation strategy is adopted to iteratively optimize an attenuation coefficient and a position until the attenuation coefficient and the position converge, so that the change of the attenuation coefficient is effectively dealt with, and the performance difference between smart phone devices is relieved; compared with a traditional weighted centroid method, the average positioning precision is improved by 30%. The technology provided by the invention is not only suitable for smart phones with different performances, but also can be used. The technology provides a universal solution for high-reliability positioning of the smart phone under the same-frequency interference condition.

This invention proposes a pseudo-satellite base station layout optimization method suitable for urban lifeline monitoring, belonging to the field of deformation monitoring. The method determines the urban lifeline areas to be monitored based on existing city maps and analysis of relevant GNSS signal strength and positioning accuracy. It also analyzes system measurement errors in positioning scenarios to determine the constraints on base station layout, using GDOP (Geostationary Descent Point)... w Evaluation metrics were established, and a mathematical model of the base station geometric layout was built in the positioning area. The Monte Carlo algorithm was used to solve the mathematical optimization model with Cramérault lower bound (CRLB) constraints, thus initially determining the current optimal layout of base stations in the positioning area. These models were then used as superior individuals in a population, and an improved genetic algorithm was used to obtain the optimal base station layout. This invention makes the deployment of pseudo-satellite base stations in urban environments more flexible and accurate, improving base station signal coverage and quality, system positioning accuracy, and enhancing the efficiency of urban lifeline monitoring.

The invention discloses an indoor high-precision positioning method realized by backstepping after indoor Bluetooth beacon coarse positioning, which comprises the following steps: acquiring navigation auxiliary data sent by a Bluetooth beacon system, and calculating by using signal intensity data of a broadcast message received from the Bluetooth beacon system to obtain a summary coarse positioning position of a terminal; after the terminal and the Bluetooth beacon system finish time synchronization, calculating a terminal receiver clock error based on the navigation auxiliary data, and reversely calculating a virtual pseudo-range from the terminal to a satellite based on the navigation auxiliary data, the summary coarse positioning position and the terminal receiver clock error; and the terminal receives the position system information block from the network side, analyzes the position system information block to obtain RTK differential data, performs differential positioning calculation by using the virtual pseudo-range, the RTK differential data and the summary coarse positioning position, and outputs indoor positioning coordinates. According to the invention, the Bluetooth facility is used for relaying satellite data and constructing a virtual observation value, and low-cost extension of an outdoor RTK high-precision positioning algorithm to an indoor scene is realized on the premise that pseudo-satellite hardware is not needed.

The invention discloses a pseudolite indoor positioning method based on Chan and SQP. The method comprises the following steps: 1) a pseudo satellite receives a signal and outputs a carrier phase value; 2) a pseudo satellite indoor positioning model based on Chan and SQP algorithms; 3) analyzing a model positioning error; and 4) after removing the positioning error, correcting the carrier phase positioning observation value by using the model. According to the indoor pseudo-satellite positioning method based on Chan and SQP, the positioning value obtained through the Chan algorithm serves as the initial solution of SQP for iteration, and the indoor carrier phase positioning precision of the pseudo-satellite is improved by reducing errors. Aiming at the problem that a Chan algorithm non-line-of-sight (NLOS) error is relatively large during indoor positioning and the NLOS error can cause a multipath effect during positioning, an SQP is utilized to carry out iterative correction on a Chan positioning value, and establishment of a positioning model is completed without depending on any external data. The algorithm is applied to a pseudo-satellite end, positioning errors are reduced, the positioning precision of pseudo-satellites is improved, and subsequent superposition errors are avoided. According to the method, result divergence caused by NLOS is overcome, and meanwhile, the indoor positioning precision of the pseudo-satellite is effectively improved.

A High Altitude Pseudo Satellite (HAPS) aircraft is disclosed for maintaining the span-wise shape of the wing and maintaining total bending and torsion loads. The aircraft including at least one aeroelastic span loaded fixed wing having an aspect ratio greater than 15 and wing loading less than 6 kg / m2, the wing having a plurality of spoilers distributed across the span of the wing and each spoiler being chordwise located adjacent the center of pressure of the wing. The HAPS aircraft further includes a control system for controlling the spoilers, and sensors which determine the amount of lift at points or regions along the wing span, the pitch and roll at points or regions along the wing span, the bending and torsional strain at points or regions along the wing span, or the absolute speed and roll and pitch angle of the wing.

The invention belongs to the technical field of tunnel positioning, and discloses a tunnel high-precision positioning system based on fusion of leaky coaxial cables and pseudo satellites, and the system comprises a conduction unit which generates BDS / GPS dual-system navigation signals; the main control clock unit is configured with a dual-mode clock taming module and generates a local carrier signal homologous with a main clock; the leaky coaxial cable is made of a radiation type low-smoke halogen-free flame-retardant polyolefin sheath material; the indoor and outdoor integrated positioning terminal realizes indoor and outdoor positioning by combining the signal transmission characteristics of the leaky coaxial cable; and the comprehensive management platform supports real-time trajectory tracking, electronic fence alarm and multi-dimensional data analysis, and provides real-time monitoring and safety management. According to the tunnel high-precision positioning system based on fusion of the leaky coaxial cables and the pseudo satellites, random errors caused by asymmetric paths in traditional Ethernet synchronization are overcome through the deterministic time delay characteristic of a physical transmission medium, and therefore the synchronization precision superior to that of a traditional industrial Ethernet is achieved.

This invention provides a method, system, and device for deformation monitoring at indoor monitoring points, applied in the field of communication technology. The method includes: receiving a monitoring station and a reference station respectively analyzing and processing preset BeiDou signals emitted by each pseudosatellite to obtain and transmit first target analytical parameters and second target analytical parameters; determining a double-difference observation equation based on the target analytical parameters among multiple pseudosatellites, the approximate coordinates of the monitoring station, and the calibration coordinates of the reference station; fixing the double-difference integer ambiguity of the double-difference observation equation for each epoch to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch; solving the double-difference observation equation based on the target double-difference ambiguity to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period; and determining the displacement of the target monitoring point based on the target monitoring coordinates. This invention achieves millimeter-level precision deformation monitoring of monitoring points in indoor or shaded environments.

The present disclosure discloses a vehicle-mounted satellite, inertial navigation, and pseudolite fusion positioning system and method, comprising: a pseudolite navigation positioning system for obtaining pseudolite data of a vehicle; a satellite navigation positioning system for obtaining GNSS satellite data of the vehicle; an inertial sensor for obtaining inertial navigation data of the vehicle; a fusion positioning module for positioning the scene where the vehicle is located according to the GNSS satellite data of the vehicle; when the vehicle is in an open scene, obtaining the positioning information of the vehicle through the GNSS satellite data and the inertial navigation data of the vehicle; when the vehicle is in a completely shielded area, obtaining the positioning information of the vehicle through the pseudolite data and the inertial navigation data of the vehicle; when the vehicle is in a semi-shielded area, obtaining the positioning information of the vehicle through the GNSS satellite data, the pseudolite data, and the inertial navigation data of the vehicle. Continuous and accurate positioning of the vehicle is realized.

The embodiment of the invention provides a positioning method, device and system, and relates to the technical field of satellite positioning. The positioning method comprises the following steps: receiving a pseudo satellite signal sent by a pseudo satellite base station; analyzing the pseudo satellite signal to obtain a navigation message containing pseudo satellite positioning information and positioning auxiliary information; determining the position of the receiver according to the pseudo satellite positioning information and the positioning auxiliary information; wherein the positioning auxiliary information comprises equipment delay information of the pseudo-satellite base station transmitting the pseudo-satellite signal. Therefore, the pseudo-satellite signal generated based on the satellite modulation technology can realize long-distance reliable transmission, and the positioning precision of the receiver can be improved by carrying the positioning auxiliary information in the pseudo-satellite signal.

The application discloses a pseudolite navigation message management method, system, device and storage medium. The method comprises the following steps: obtaining a navigation message request of a pseudolite positioning system based on a preset communication protocol; generating a first navigation message according to a navigation message type in the navigation message request; and sending the first navigation message to a running control system in the pseudolite positioning system based on the preset communication protocol, so that the running control system sends the first navigation message to a terminal for positioning. In this way, the required navigation message is flexibly configured for the terminal of the pseudolite positioning system according to the navigation message type requested by the pseudolite positioning system. Meanwhile, the first navigation message is sent to the running control system in the pseudolite positioning system based on the preset communication protocol, and the terminal obtains the first navigation message from the running control system, that is, the terminal obtains the first navigation message through a network transmission mode. This mode shortens the time for the terminal to capture the first navigation message, and thus accelerates the initial positioning of the terminal.

A method for avionic positioning includes computing a position estimate of the aircraft based at least in part on data corresponding to a signal from each of a plurality of global navigation satellites and data corresponding to a signal from each of at least one pseudolite. A clock of a computing device for computing the position estimate is synchronized to time of the global navigation satellites, and the clock has a timing error less than one microsecond per twenty-four hours.

The invention discloses a Beidou surveying and mapping positioning system and a Beidou surveying and mapping positioning method, which relate to the technical field of satellite surveying and mapping and are characterized in that an observation data pool is constructed, a unified space-time reference is generated, real-time coordinates are output, system errors are corrected online, three-dimensional surveying and mapping results are generated and a model is updated in a closed-loop manner. Especially in an environment with weak GNSS signals, the pseudo satellite and the inertial navigation system effectively supplement, improve the system reliability, fuse multi-source data, ensure that other modules continue to provide positioning information and enhance redundancy and fault-tolerant capability when any sensor fails, and the error compensation module adopts multipath learning and temperature drift compensation to ensure that the precision is stable under the environment change, so that the accuracy of the system is improved. The digital surveying and mapping module generates three-dimensional grid data, the feedback iteration module continuously optimizes pseudo satellite scheduling and data acquisition frequency, precision is ensured, energy consumption is reduced, and efficiency and endurance are improved.

The application discloses a pseudo-satellite system positioning method based on Doppler phase difference, and relates to the technical field of pseudo-satellite positioning, which comprises the following steps: setting a starting time and a terminal time, making a receiver continuously move from a starting point to a terminal point, and keeping the receiver capable of continuously tracking at least seven pseudo-satellites; continuously recording the whole-week carrier and phase change amount of each pseudo-satellite by the receiver to obtain a recording result; constructing an observation equation based on Doppler phase difference for each pseudo-satellite based on the recording result; obtaining the observation equations of all the pseudo-satellites and performing a simultaneous observation equation set; and solving the observation equation set to obtain the accurate coordinates of the starting point and the terminal point and outputting the same. The application constructs a new pseudo-satellite positioning observation equation set through the Doppler phase difference of the receiver between two points, realizes high-precision user position solving without the aid of code bandwidth on the premise that the frequencies of the pseudo-satellites are synchronized without clock synchronization.

The invention relates to an indoor pseudo satellite positioning method based on carrier phase multipath error modeling. The method comprises the following steps: acquiring pseudo satellite observation data; a carrier phase observation value is calculated, systematic errors are eliminated, integer ambiguity is fixed, and carrier phase multipath errors are deduced; mapping the actual space layout of the pseudo-satellite into a two-dimensional grid structure, extracting a carrier phase residual error and a carrier-to-noise ratio, and constructing a dual-channel input tensor; constructing and training a spatial topology convolutional neural network model, and generating carrier phase multipath error prediction by taking a dual-channel input tensor as an input feature; a double-thread unscented Kalman filtering positioning framework is designed, correction of a carrier phase observation value and real-time calculation of a two-dimensional position of a user are carried out in sequence through two threads, accurate positioning in an indoor scene is achieved, the multipath effect of an indoor pseudo satellite system is relieved, and indoor positioning accuracy is improved.

The invention discloses an indoor positioning method based on Beidou pseudo satellites. The method comprises the following steps: broadcasting a Beidou B1 signal by using a Beidou pseudo satellite, radiating the Beidou signal to a positioning area through a transmitting antenna, outputting carrier-to-noise ratios of a plurality of fixed point locations through a receiver in an actual positioning scene, establishing a carrier-to-noise ratio attenuation model by using a least square method, and performing positioning on the carrier-to-noise ratio attenuation model. In the actual positioning process, B1 frequency point signals of different pseudo codes sent by a plurality of transmitting antennas are received, carrier-to-noise ratio information of the signals is obtained, the distance from a receiver to the transmitting antennas is estimated through a carrier-to-noise ratio attenuation model, then the position is calculated by using a weighted centroid positioning method, and finally, filtering is performed by using a Kalman filtering algorithm, so that the positioning accuracy is improved. According to the method, the reliability and the stability of pseudo satellite positioning are improved, and the problem of inaccurate positioning in the prior art is solved.

The invention relates to a high-precision clock control method for a pseudo-satellite emission source. The high-precision clock control method for the pseudo-satellite emission source comprises the following steps: acquiring a high-precision clock source; time taming; and executing a time synchronization compensation algorithm. According to the pseudo satellite emission source high-precision clock control method, a high-precision GNSS clock source is combined with a taming constant-temperature crystal oscillator, and a time synchronization compensation algorithm is introduced for combined control, so that a pseudo satellite emission source high-precision clock is provided. After the clock control method is adopted, the clock precision of the pseudo satellite emission source reaches the nanosecond level, the positioning error is reduced to the decimeter level from the original several meters, and the requirement for high-precision positioning is met. Meanwhile, the system can still keep stable clock output under the condition that certain interference exists in GNSS signals, and continuity and reliability of positioning are guaranteed.

The application provides a tunnel pseudo-satellite positioning method and system, and relates to the technical field of tunnel pseudo-satellite positioning.The tunnel basic data is acquired, the pseudo-satellite positioning coverage section is divided along the continuous mileage direction, the pseudo-satellite node layout calibration data, the time delay calibration data, the pseudo-satellite signal observation data and the terminal motion epoch data are collected; the candidate pseudo-satellite observation set is generated based on the pseudo-satellite node coverage mapping data and the pseudo-satellite signal observation data; the pseudo-satellite signal reliable coefficient and the node synchronization deviation coefficient are calculated, the pseudo-satellite node observation is screened, and the effective pseudo-satellite observation set is generated; the positioning solution is carried out based on the effective pseudo-satellite observation set, the tunnel trajectory continuous adaptation coefficient is acquired by combining the terminal motion epoch data and the tunnel basic data, and the positioning strategy is generated according to the coefficient, so that the continuity and reliability of the tunnel positioning result are improved.

The application relates to a pseudo-satellite ephemeris parameter design method based on Kalman filtering. The method comprises the following steps: a pseudo-satellite transmitter acquires a real-time position of the pseudo-satellite, a pre-set cruise standard route, and a standard cruise speed and a standard position of the pseudo-satellite on the cruise standard route, calculates a difference value between the real-time position at a signal transmission moment and the standard position, obtains a first difference value, performs Kalman filtering on the first difference value, fits to obtain ephemeris parameters, and broadcasts the ephemeris parameters to a user receiver through a pseudo-satellite signal; the user receiver receives the pseudo-satellite signal, obtains Kalman gain according to a maneuvering frequency of a pseudo-satellite motion model, obtains a second difference value according to the Kalman gain and the first difference value, and obtains a predicted position of the pseudo-satellite at a signal receiving moment according to the second difference value, the standard position and the standard cruise speed. The method can accurately represent the real-time position of the pseudo-satellite in the case that there is a difference between the real-time position of the pseudo-satellite and the standard cruise route.

The application provides a pseudolite anti-multipath method based on data preprocessing and result evaluation, and comprises the following steps: S1, performing signal evaluation preprocessing on the received intermediate frequency signal to obtain an intermediate frequency signal evaluation index; S2, performing quality evaluation on a tracking result to obtain a tracking quality evaluation index; and S3, modifying the acquisition tracking algorithm parameters through a comprehensive evaluation function according to the intermediate frequency signal evaluation index obtained in step S1 and the tracking quality evaluation index obtained in step S2; the application can intelligently adjust the algorithm parameters according to the positioning environment and the positioning effect, so that the positioning precision in the indoor complex multipath environment is improved.

The invention provides a forest fire alarm system based on remote sensing to solve the problems of incomplete coverage, early warning lag, high false and missing report rate, lack of optimization mechanism and the like in traditional forest fire monitoring. The system comprises a sensing layer, a decision-making layer and a verification and feedback layer, wherein the sensing layer collects multi-modal data cooperatively through a geostationary orbit satellite group, a low-orbit satellite constellation and an unmanned aerial vehicle / high-altitude pseudo-satellite; the decision-making layer quantifies the original data into abnormal indexes, and realizes graded early warning through a fluid mechanics-chemical reaction coupling model and a deep neural network; and the verification and feedback layer forms true value data through unmanned aerial vehicle field confirmation, backtracks and adjusts model parameters for false report / missing report, and updates a neural network by taking a case as a sample to form closed-loop learning. According to the system, early fire precursor identification and accurate early warning are realized, and the prevention and control timeliness and accuracy are improved.

This invention discloses a multi-level reliability evaluation method for BeiDou pseudosatellite indoor positioning systems, belonging to the field of pseudosatellite indoor positioning technology. This method can evaluate the reliability of indoor positioning systems in real time, solving the problem of unreliable positioning results caused by poor pseudosatellite data quality and external environmental interference, thus ensuring the reliability requirements of high-end applications based on indoor location services. The system includes a reliability evaluation model and a geographic prior information evaluation strategy, evaluating from both the data layer and the result layer, providing a relatively comprehensive reliability evaluation mechanism. Furthermore, the proposed method can dynamically evaluate the reliability of the location in real time, demonstrating considerable technical difficulty and innovation from both theoretical research and engineering application perspectives. Experimental results show that adding the reliability evaluation analysis method improves the average positioning accuracy by 74.6% and the reliability by 88.2%, verifying the effectiveness of the method described in this patent.

Here discloses an apparatus for evaluating the ground terminal antenna and simulating satellite orbital trajectory using at least one unmanned aerial vehicle configured to emulate satellite movement based on a pseudo satellite trajectory. Apparatus encompasses a base station for establishing telemetry with a ground terminal antenna and said at least one unmanned aerial vehicle on a flight path designed for a planned scenario of a satellite. The base station is configured to process the telemetry data and perform one or more measurements based on a set of operational angles and target direction of said at least one unmanned aerial vehicle on the flight in relation to providing the orbital trajectory simulation of the satellite with respect to the planned scenario. One or more measurements comprise an offset measurement based on the set of operational angles of the ground terminal antenna in relation to the target direction of said at least one unmanned aerial vehicle; and a tracking accuracy measurement based on the set of operational angles of the ground terminal antenna and target direction of said at least one unmanned aerial vehicle following the flight path for a time period.

The application discloses a Beidou surveying and mapping positioning system and method, relates to the technical field of satellite surveying and mapping, and constructs an observation data pool, generates a unified space-time reference, outputs real-time coordinates, corrects system errors online, generates three-dimensional surveying and mapping results, and closes loop to update a model. The application improves positioning accuracy and stability through multi-modal fusion technology. In particular, in the environment with weak GNSS signals, the pseudo-satellite and the inertial navigation system effectively supplement each other, improve system reliability, fuse multi-source data, ensure that other modules continue to provide positioning information when any sensor fails, enhance redundancy and fault tolerance capability, the error compensation module adopts multipath learning and temperature drift compensation, ensures the stability of the accuracy under the change of the environment, the digital surveying and mapping module generates three-dimensional grid data, the feedback iteration module continuously optimizes the pseudo-satellite scheduling and the data acquisition frequency, ensures the accuracy and reduces the energy consumption, and improves the efficiency and the endurance.

The application provides a homologous multi-channel pseudolite deformation monitoring system in a GNSS denial environment and relates to the field of geological deformation early warning and monitoring. The device comprises a pseudolite base station module, a transmitting antenna module, an infrared distance measuring module, a monitoring receiver, a monitoring data processing center and a high-definition camera device. The monitoring receiver is used for receiving Beidou micro base station signal output carrier phase observation, and carrier phase double difference data are used for monitoring deformation. Since the carrier phase difference fluctuation is small, when a mountain or the like is deformed, the recognition degree is high. Meanwhile, the system is provided with a high-definition camera device, when the carrier phase double difference data change greatly, the high-definition camera device is used for fixed-point checking and detecting the position of the receiver, and further deformation confirmation is performed.