1605 results about "Satellite navigation" patented technology

The invention provides a satellite navigation and atmosphere fusion positioning method and system based on an inertial navigation system, and relates to the field of navigation. The method comprises the following steps: firstly, acquiring multi-source navigation original data, including inertial navigation data, satellite navigation data and atmosphere information data; performing feature extraction through deep learning to obtain multi-modal feature data; and performing quality evaluation on the satellite navigation data, and judging whether the satellite navigation signal is effective or not. When the satellite navigation signal is effective, carrying out combined navigation calculation by adopting a federated filtering algorithm, and establishing an atmospheric information error model; and when the satellite navigation signal is invalid, the error model is utilized to compensate the atmosphere information, and is fused with inertial navigation data, so that high-precision navigation is realized, and the flight safety of the unmanned aerial vehicle in a complex environment is guaranteed.

The invention discloses a Beidou strong deception jamming detection processing method and system, and relates to the technical field of satellite navigation anti-jamming. The invention provides a solution based on dynamic gain monitoring and multi-dimensional feature collaborative analysis to solve the problems that a Beidou / GNSS system is prone to being affected by strong deception interference signals in a complex electromagnetic environment to suppress radio frequency link gain, and positioning failure is caused by the fact that deception signals and real signals are difficult to distinguish in a traditional technology. According to the method, radio frequency gain change is tracked in real time through a digital AGC module to generate an interference-to-signal ratio, an equivalent carrier-to-noise ratio is calculated in combination with a signal carrier-to-noise ratio for primary judgment, and accurate recognition is achieved by fusing verification of multi-dimensional characteristics such as code phase consistency, carrier frequency stability and signal strength fluctuation. The system comprises a radio frequency front end, a digital AGC module, a correlator channel and an interference processing module, and precise suppression of strong deception interference is realized through dynamic reference gain learning, interference signal mark elimination and robust positioning resolving mechanisms.

The invention relates to a fire prevention and control smart network method and system based on Beidou satellite navigation. The method comprises the following steps: firstly, acquiring real-time operation data of fire-fighting equipment in a building, and scanning a building structure through a three-dimensional imaging device to generate a three-dimensional digital model; secondly, fusing the real-time operation data, the three-dimensional digital model and preset environment parameters to form a fire prevention and control reference data set; thirdly, carrying out multi-dimensional data comparison on the reference data set based on a preset fire-fighting standard program, and generating an alarm signal with spatial positioning information; then, determining a fire-fighting facility failure area according to the alarm signal, and calculating a fire risk diffusion parameter; and finally, generating a grading early warning instruction according to the risk diffusion parameters, and constructing an electronic combat map containing the optimal rescue path. The method provides global and accurate basic data support for fire prevention and control, improves the timeliness and accuracy of early warning, optimizes the rescue path, and improves the fire disposal efficiency.

The invention discloses a single-epoch GNSS-oriented PAR ambiguity precision factor determination method, and relates to the technical field of satellite navigation and positioning. Comprising the following steps: dividing pseudo-range and carrier wave observed quantities in a GNSS double-difference mathematical model into two groups, and constructing a function relationship between a floating point solution # imgabs1 # and a floating point solution # imgabs2 # variance-covariance matrix of an ambiguity vector # imgabs0 #; constructing a single-frequency single-epoch single-system P-ADOP expression and establishing a shrinkage factor k de-inversion transformation analytic expression, and simultaneously obtaining a single-frequency single-epoch single-system GNSS non-inverse transformation P-ADOP approximation formula; and performing analogy derivation on the single-frequency single-epoch single-system non-inverse transformation P-ADOP approximate formula to obtain a single-frequency multi-system or multi-frequency single-epoch GNSS non-inverse transformation P-ADOP general approximate formula. The method has important theoretical value and practical guiding significance for GNSS optimal ambiguity subset rapid selection and positioning and partial ambiguity fixing success rate influence mechanism analysis.

The invention relates to the technical field of high-precision satellite navigation and positioning, and discloses a multi-modal sensor space-time synchronization method for high-precision data acquisition, which comprises the following steps: constructing a hardware delay observation loop to calculate physical response delay in real time; establishing a receiver clock drift model and extracting a clock drift coefficient; generating a phase lead trigger instruction in response to the delay mean value and the clock drift coefficient cumulant based on the GNSS whole-second target moment; according to the method, a feed-forward control closed loop is constructed by using GNSS clock difference parameters, the intrinsic alignment of the heterogeneous sensor physical sampling action and GNSS atomic time is realized, the real-time alignment of the sensor physical sampling action and the GNSS atomic time is realized, and the real-time alignment of the sensor physical sampling action and the GNSS atomic time is realized. And a strict physical time reference is provided for high-dynamic multi-source data fusion.

A partial ambiguity resolving method suitable for a complex dynamic environment belongs to the field of high-precision dynamic satellite navigation relative positioning, and comprises the following steps: constructing a single-epoch carrier phase double-difference difference observation equation; and calculating a weight factor corresponding to each satellite through a standardized residual error and an IGG3 method, and substituting the weight factors into the double-difference factor matrix to obtain a corrected observation value. And resolving the updated observation equation through a weighted iterative least square method. And carrying out partial ambiguity fixation on the corrected ambiguity floating point solution to obtain a whole cycle ambiguity fixed solution. And carrying out Ratio-based posteriori consistency traversal detection, monitoring the number of satellites participating in calculation in a traversal search process, and if the number of the satellites is smaller than a threshold value, outputting a floating point solution. And if the number of satellites after traversal search is greater than or equal to And substituting the fixed solution of the integer ambiguity into the updated observation equation to obtain a fixed solution of a three-dimensional relative position vector and a covariance matrix of the three-dimensional relative position vector.

The invention relates to the technical field of dynamic deformation measurement error real-time correction based on Beidou satellite navigation, in particular to a pumped storage dam deformation monitoring method based on Beidou positioning, and aims to solve the technical problem of monitoring data pseudo fluctuation caused by Beidou signal multi-path time-varying error and structure real displacement frequency domain aliasing in a high-dynamic environment. Millimeter-level real-time resolving is achieved through multi-mode cooperative monitoring network construction and dynamic feature analysis. The method comprises the following steps: deploying a double-frequency Beidou receiver array and an environment sensor, fusing Beidou observation data, reservoir water pressure gradient, foundation vibration spectrum and three-dimensional geologic structure data, constructing a robust solution model constrained by a geologic model, outputting a deformation parameter confidence interval, and suppressing an abnormal value through robust estimation; a historical working condition library is matched by adopting a dynamic time warping algorithm, and an early warning threshold is dynamically calibrated and a monitoring network is reversely optimized in combination with a closed-loop feedback mechanism. According to the invention, the multi-path time-varying error is effectively suppressed.

The invention relates to the field of satellite navigation anti-interference and the technical field of computers, and discloses a multi-processor core communication method and device, electronic equipment and a storage medium, and the method comprises the steps that a second processor core writes target information into a shared memory, and obtains a first idle channel number; the second processor obtains a first interrupt signal based on an interrupt trigger register corresponding to the first idle channel number; the first processor core reads target information in a shared memory according to the first interrupt signal; the first processor core processes the target information to obtain a processing result, and writes the processing result into the shared memory to obtain a second idle channel number; the first processor core obtains a second interrupt signal based on an interrupt trigger register corresponding to the second idle channel number; and the second processor core reads the processing result in the shared memory according to the second interrupt signal, and writes the processing result into the cache region. The multi-processor core communication method is suitable for different operating systems and is high in transportability.

The invention is suitable for the technical field of satellite navigation, and provides an accelerated convergence PPP-B2b precision positioning method, which comprises the following steps: calculating satellite precision orbit parameters of each epoch; for the first epoch, obtaining a corresponding satellite precision clock difference parameter based on the basic navigation broadcast clock difference parameter; for all epochs except the first epoch, on the basis of the PPP-B2b clock error correction number of the current epoch and the clock error parameter data of the previous epoch, satellite precision clock error parameters of the current epoch are obtained through calculation; obtaining O-C residual information of the double-frequency observation data in each epoch and constructing partial derivative information of the double-frequency observation data to navigation resolving parameters; and based on the normal equation matrix and the residual vector, calculating to obtain a navigation solution data set of the corresponding epoch, and according to the method, satellite precision clock correction of the first epoch and satellite precision clock correction of the subsequent epoch are processed respectively, so that deviation errors in PPP-B2b clock correction numbers are avoided, and user convergence time is shortened.

The invention relates to the technical field of ship navigation system safety, and provides a Beidou satellite navigation deception detection method and system based on multi-source information, and the method comprises the steps: obtaining Beidou satellite navigation data, AIS information, navigation radar data and sea chart data; performing denoising processing on the Beidou satellite navigation data, and performing space-time compensation on the AIS information; clutter suppression is carried out on the navigation radar data; calculating ship body position deviation, and verifying the ship body relative position according to the ship body position deviation; calculating the real position of the ship body and the Beidou positioning deviation, and verifying the absolute position of the ship body; performing hull course consistency verification; and performing Beidou satellite navigation deception detection according to the ship body relative position verification, the ship body absolute position verification and the ship body course consistency verification. According to the invention, multi-dimensional detection is carried out on key information such as the position and course of the ship, so that the probability that the ship falls into danger due to wrong navigation signals is greatly reduced, and the navigation safety of the ship is guaranteed.

The invention discloses an anti-interference satellite navigation terminal indoor test system, relates to the technical field of big data analysis, and aims at improving the quality of test excitation signals and improving the reliability and accuracy of test results by performing chip estimation and regeneration on authorization signals and removing noise in test excitation. The regenerative modulation reserves authorization signal components, synchronizes Doppler and phase, does not need to apply for an authorization module, avoids the security management problem, simplifies the test process, reduces the cost, and enhances the flexibility. The isolation module shields outdoor leakage signals, assists in increasing test excitation power and overcomes attenuation; the power measurement module monitors feedback in real time and adjusts the adjustable attenuation control module, so that the radiation signal power is maintained in a preset range, the authorized satellite navigation receiver with the anti-interference receiving antenna works normally indoors, and powerful support is provided for research, development and production of satellite navigation terminals.

The invention discloses an unmanned aerial vehicle edge intelligent analysis terminal based on a single Beidou, and relates to the technical field of satellite navigation and unmanned aerial vehicles, and the terminal comprises an edge calculation unit which is in communication connection with a high-definition image collection module, a high-precision positioning module, a Beidou short message communication module and a ground control station; the high-definition image acquisition module is used for acquiring high-definition image data through a CMOS (Complementary Metal Oxide Semiconductor) sensor; the high-precision positioning module is used for acquiring centimeter-level positioning data in the flight process of the unmanned aerial vehicle through an RTK technology and an INS system; the edge calculation unit is used for carrying out target recognition through a lightweight convolutional neural network in combination with a YOLOv5 target detection algorithm; the Beidou short message communication module is used for realizing short message communication between the unmanned aerial vehicle and a ground control station by using RDSS service; and the ground control station is used for creating a user interface by using Qt, carrying out data visualization through Tableau and adopting a security protocol. According to the scheme, remote control, remote information transmission and high-precision positioning functions in a complex environment of the unmanned aerial vehicle are realized.

The invention relates to the technical field of time synchronization, and discloses a hybrid time service method based on Beidou satellite navigation and a TSN, which comprises the following steps: acquiring network topology structure information and historical time service error data of each synchronization node in a target distributed system, and constructing a dynamic time delay state set for jitter identification; based on the dynamic time delay state set, a current global time reference is extracted through a time calibration algorithm, a time difference reference vector sequence is generated, and initial synchronization adjustment is carried out on the TSN main node; constructing an inter-node clock convergence function curve according to the slave node response stability, and judging whether the synchronous network is in a low jitter interval or not based on the time offset rate and the time drift trend change; in combination with the node time state after directional offset suppression, a multi-channel redundant time synchronization mechanism in a time window is applied, a weight adjustment coefficient is extracted, and an unbalanced calibration factor is introduced; and according to a regression correction result, evaluating a time service stability index in real time. The method has the advantage of improving the time service stability.

The invention provides an unmanned aerial vehicle inspection accurate positioning method and device integrating vision and satellite navigation, and relates to the technical field of aerospace information. According to the method, satellite signal quality features reflecting aerospace information reliability and multi-dimensional features such as visual geometric textures reflecting ground environment features are jointly extracted, and the environment state is deeply perceived; based on real-time dynamic generation of a fusion strategy adaptive to the current environment, a data weight and an algorithm model are intelligently adjusted, and the limitation of a traditional fixed parameter fusion mode is broken through; a specific inspection stage and a target object where the unmanned aerial vehicle is located are understood through visual identification, and a corresponding priori task constraint model is loaded, so that the positioning process closely meets the precision and safety requirements of actual operation. And finally, fusion calculation is carried out under the common guidance of a dynamic strategy and task constraints, so that the problem of inaccurate positioning of the unmanned aerial vehicle in a complex environment is solved, and the environmental adaptability, robustness and task guidance accuracy of a positioning system are improved.

The invention discloses a GNSS real-time deception jamming detection method and system based on deep learning, and belongs to the field of satellite navigation signal processing, and the method comprises the steps: collecting Doppler frequency shift signals of a GNSS receiver in real time, and obtaining an initial training data set; an LSTM prediction model with an incremental learning mechanism is constructed, the LSTM prediction model comprises a double-layer LSTM network and a full connection layer, a gating mechanism is introduced into the double-layer LSTM network, and the initial training data set is adopted to add Gaussian white noise to the prediction model for model training; performing sliding window processing on the initial training data set, and extracting a multi-dimensional feature vector; inputting the trained prediction model for prediction to obtain a model prediction value; calculating a residual error between a model predicted value and a real value, calculating a standard deviation of the residual error after eliminating a preheating period, and dynamically setting a threshold value based on the standard deviation of the residual error; and when the absolute value of the residual exceeds a threshold value and the sampling point processed by the sliding window is located in a preset interference time window, judging that a signal interference event occurs.

The invention discloses an ambiguity determination method for satellite positioning, a terminal and a medium in the field of satellite navigation and positioning, and the method comprises the steps: obtaining observation data of a base station and a mobile station, eliminating errors through employing a double-difference technology, and carrying out the cycle slip correction, and obtaining the corrected observation data; preliminarily estimating the speed and position of the mobile station; based on the corrected observation data, extracting an optimal ambiguity subset through satellite-level and ambiguity-level screening; constructing a factor graph model by using the optimal ambiguity subset, taking the preliminarily estimated speed and position of the mobile station as initial values, minimizing an error function in a factor graph, and optimizing to obtain a floating solution of ambiguity; obtaining an integer ambiguity solution based on the floating point solution; and verifying the stability of an ambiguity resolving result through consistency, and finally obtaining an ambiguity fixed solution. According to the method provided by the invention, high precision, high efficiency and high stability of ambiguity calculation are realized, and the method is suitable for a high-precision satellite positioning system in a complex environment.

The invention discloses a high-speed train multi-information fusion positioning method based on a Beidou satellite, and relates to the technical field of satellite navigation and positioning. The method comprises the following steps: designing a high-speed train multi-information fusion positioning scheme; based on a train multi-information fusion positioning scheme, establishing a nonlinear train state model based on a train kinematics equation; the position, speed, acceleration, course angle and pitch angle of the train are used as state vectors, and a train measurement model is constructed; based on a tracking target set by a train state model and a train measurement model, the train state is estimated by fusing IMM-UKF / PF models of unscented Kalman filter (UKF) and particle filter (PF) and introducing ACW and a short-term error feedback mechanism in state fusion. According to the method, the positioning precision and robustness can be improved, and the dynamic response capability in a complex scene can be enhanced.

The invention provides electronic equipment, the electronic equipment comprises an antenna, the antenna takes a conductive part of a frame of the electronic equipment as a radiator, and the experience of a user during satellite navigation or communication can be improved. The antenna further comprises a first feed circuit, a second feed circuit and a tuning circuit. The first feed circuit is used for transmitting an electric signal of a first frequency band, and the second feed circuit is used for transmitting an electric signal of a second frequency band. A controller of the electronic equipment is electrically connected with a tuning circuit of an antenna, and the controller is used for switching the circuit state of the tuning circuit to enable the antenna to work in a first frequency band or a second frequency band.

The invention discloses a multi-source navigation data fusion method for an unmanned loader, which comprises the following steps: data acquisition: acquiring environmental perception data of satellite navigation, an inertial measurement unit IMU, a wheel type odometer and a laser radar and camera in real time; performing space-time synchronization preprocessing, realizing multi-source data time synchronization, unifying environment sensing data to a body coordinate system, eliminating abnormal data, and complementing missing data; carrying out dynamic weight calculation, establishing an error model of each sensor, and adjusting a fusion weight by using an error reciprocal exponential weighting method; layering fusion is carried out, a satellite and an IMU are fused through bottom-layer extended Kalman filtering (EKF), a laser radar and a high-precision map are fused through middle-layer ICP, a middle-layer result and a wheel type odometer are integrated through high-layer federated filtering, and high-precision fusion is achieved; and outputting and optimizing a result, outputting navigation data, performing closed-loop optimization, monitoring the health degree of the sensor, and executing redundancy switching when a fault occurs. The system comprises a corresponding processing unit, and a storage medium stores a program for executing the method.

The invention relates to a high-sensitivity anti-interference satellite navigation signal receiving system and method based on Rydberg atoms, and the system comprises a signal detection unit which is used for receiving a satellite navigation direct signal and outputting an electric signal; the data receiving unit is used for processing the electric signal output by the signal detection unit and outputting a navigation message; the power distribution unit is used for providing power for the signal detection unit and the data receiving unit; the signal detection unit comprises an atomic antenna which comprises four miniature atomic air chambers and is used for receiving satellite navigation direct signals from different directions; the light path system is used for providing detection laser and coupling laser for the miniature atomic gas chamber so as to excite atoms in the miniature atomic gas chamber from a first low-energy-level state to a high-energy-level state; and the patch antenna is arranged on one side of the miniature atomic gas chamber and is used for providing a local oscillation microwave signal for the miniature atomic gas chamber so as to realize superheterodyne high-sensitivity microwave signal receiving.

The invention discloses a high-precision positioning method based on combination of a Beidou satellite and 5G-Mesh, and relates to the technical field of satellite positioning, and the method comprises the steps: receiving a navigation signal of the Beidou satellite and a communication signal of a 5G-Mesh network in real time; the topological structure change of the 5G-Mesh network is monitored in real time, and the connection relation between the nodes is dynamically adjusted in combination with network performance indexes; the receiver performs pseudo-range measurement on the signals of the visible satellites; a navigation message is demodulated from the received satellite signal, and the accurate position of each satellite at the current moment is calculated by using a satellite orbit calculation model; constructing a signal intensity fingerprint database; outputting a reference position having the highest similarity with the current signal strength characteristic to carry out error modeling on the Beidou satellite signal and the 5G-Mesh network signal; and fusing the two kinds of position information by adopting a weighted fusion algorithm. By fusing the technical advantages of the two positioning technologies, the positioning precision and reliability are improved, and the requirement for high-precision positioning in a complex scene is met.

The invention discloses a geographic information precise navigation method and system based on AI, and relates to the technical field of satellite sensing measurement. Performing branch processing on a time feature set and a space feature set of sliding selection based on a hierarchical LSTM structure, constructing a dynamic time delay observation correction model, fusing spatial and temporal features into the dynamic time delay observation correction model, and embedding physical constraints; and the fusion algorithm maintains the positioning precision, and the extreme weather navigation positioning is optimized. Four-level redundant tight coupling of a satellite navigation GNSS, a ground IMU, a visual sensor and a ground sensor is adopted, a dynamic time delay observation correction model and the satellite navigation GNSS are fused, the problem of long-term drifting of the ground IMU in extreme weather is solved, deep fusion with a physical model and a tight coupling navigation algorithm is achieved, sub-meter real-time positioning precision in extreme weather is achieved, and the real-time positioning precision of the satellite navigation GNSS is improved. Multi-source data deep collaboration, dynamic environment adaptive modeling and computing resource optimization are realized, and a systematic solution path is provided for high-precision positioning in extreme weather.

The invention discloses a satellite navigation time service method and system. The method comprises the following steps: performing PVT calculation by using observed quantity and message information to obtain an output result; detecting the filtering state of the clock speed under the condition that the PVT calculation fails; under the condition that the filtering state of the clock speed is detected to be a stable state, obtaining a filtering clock speed, and performing predictive clock adjustment by using the filtering clock speed; detecting the filtering state of the clock speed under the condition that the PVT calculation is successful; if the filtering state of the clock speed is detected to be a stable state, judging whether the receiver clock difference and the clock speed calculated by the PVT are abnormal or not; if the receiver clock difference and the clock speed calculated by the PVT are abnormal, obtaining a filtering clock speed, and performing predictive clock adjustment by using the filtering clock speed; wherein the predictive clock adjustment is that the PPS pulse per second of the next second is generated after the time of the receiver is multiplied by the filtering clock speed by 1 second, and PVT calculation is carried out. According to the scheme, the time service reliability and precision of the receiver in complex environments such as interference or shielding can be greatly improved.

The invention discloses a forecasting method and device for an atmospheric resistance coefficient of a low-orbit satellite in the technical field of satellite navigation. The forecasting method comprises the following steps: acquiring satellite orbit determination data and a space environment index in a preset time period before forecasting; according to the satellite orbit determination data, performing simplified dynamic precise orbit determination on a low-orbit satellite, and fitting an atmospheric resistance coefficient in the simplified dynamic precise orbit determination process; performing data preprocessing on the space environment index and the atmospheric resistance coefficient and generating a sample set; constructing an LSTM prediction model, and training, adjusting and evaluating the LSTM prediction model through the sample set; predicting an atmospheric resistance coefficient in a future preset time period according to the finally obtained LSTM prediction model; and applying the atmospheric resistance coefficient in the future preset time period to the atmospheric resistance perturbation model of the low-orbit satellite for orbit forecasting. According to the method, the atmospheric resistance coefficient in the LEO satellite orbit prediction process is predicted in a high-precision manner through the LSTM prediction model, so that the orbit prediction precision is effectively improved.

The invention discloses a high-precision Beidou satellite navigation and positioning data acquisition method and system, particularly relates to the technical field of satellite navigation and positioning processing, and is used for solving the problem of positioning error increase caused by receiver hardware delay drift in the prior art. Inverting the first dynamic reference value by using carrier phase integral displacement, and extracting a third-order intermodulation component through coherent demodulation to generate a second dynamic reference value; adopting mutual information entropy analysis to select an effective reference value to calculate a residual error; fitting a theoretical value according to the carrier phase change rate to calculate deviation; marking a hardware drift error when the time domain correlation continuously exceeds a threshold value; finally, the ionosphere residual error is dynamically compensated to generate a corrected observation value, effective separation of the hardware drift error and the ionosphere residual error is realized, and the precision and reliability of long-time observation in a dynamic environment are improved.

The invention relates to the cross technical field of satellite navigation and wireless positioning technology, in particular to a real-time dynamic high-precision positioning method based on Beidou and UWB tight coupling, which solves the problem that in the prior art, error coupling in Beidou and UWB observation data is not fully solved, and especially in a high-speed dynamic scene, the positioning accuracy is greatly improved. The mutual influence of the Beidou receiver clock error, the UWB base station clock error and the multi-path error causes the continuous accumulation of the error and the significant reduction of the positioning precision. The invention discloses a real-time dynamic high-precision positioning method based on Beidou and UWB tight coupling. A data preprocessing and space-time alignment module, an error joint estimation model, an ambiguity fast fixing algorithm, a geometric constraint enhanced positioning engine module and a dynamic coordinate conversion and fusion output module are included. According to the mode provided by the invention, a highly integrated multi-model Kalman filtering architecture is adopted, so that synchronous and accurate compensation of the clock error of the Beidou receiver, the time delay of the UWB base station and the multi-path effect is realized.

The invention provides a low orbit constellation autonomous time synchronization method based on a Ka inter-satellite link, and relates to the field of satellite navigation and time frequency transmission, and the method comprises the steps: obtaining a Ka wave band standard timestamp signal of a ground station, and carrying out the taming of a satellite clock, and obtaining a constellation initial anchor node; carrying out distance measurement in two directions by using time division multiplexing, and correcting motion time delay to obtain corrected inter-satellite clock difference data; carrying out clock error data fusion, inhibiting long-term drift, and generating a constellation unified time scale; based on the constellation unified time scale, topology dynamic optimization is carried out, and an optimized network topology is obtained; kalman filtering and polynomial prediction are utilized to maintain a time reference, and an LSTM neural network is combined to predict frequency drift change, so that an autonomous time keeping result is obtained; and verifying an abnormal clock error through majority voting of adjacent nodes, and if the voting fails, isolating a fault and reversely calculating a recovery value. The method is used for overcoming the defect that fiber time frequency transmission in the prior art is limited by ground fixed facilities and cannot be applied to inter-satellite scenes.

The invention relates to a conduction fusion enhancement method suitable for an earth-moon space high-orbit spacecraft, and the method comprises the steps: transmitting a communication and navigation fusion enhancement signal through a designed and planned HEO satellite constellation, and receiving and processing a Beidou navigation signal and an HEO enhancement signal in a compatible manner on the basis of not changing the hardware structure of an earth-moon space navigation receiver. The number of available navigational stars is increased through an observed quantity combination mode, the geometric distribution of constellations is improved, and the navigation solution accuracy and the positioning precision of earth-moon space are improved. And meanwhile, a communication function of forwarding information such as navigation ephemeris, receiver position and user customized data of uplink injection on the ground through an HEO constellation is supported, auxiliary information is provided for the earth-moon space navigation receiver, the receiving processing performance is improved, and communication and navigation fusion processing is realized. According to the method, the performance and the service capability of the high-orbit satellite navigation receiver can be improved, and the method has certain reference significance for spacecraft conduction fusion and integrated design.

The invention relates to the technical field of satellite navigation and positioning, in particular to a zenith troposphere wet delay calculation method based on deep learning, and the basic steps of segmented ZWD multi-source data fusion based on an improved Transform model are as follows: establishing a ZTD model, establishing a TCA-Transform model, and fusing data. The task of establishing the ZTD model is to calculate the atmospheric refractive index according to meteorological data so as to obtain ZTDPP; the TCA-Transform model establishment comprises the following steps of: improving a Transform model by using a domain self-adaptive method; according to the data fusion, the ZWDPP and the ZWDMODIS are fused by using a TCA-Transform model. And finally, a ZWD product with high temporal-spatial resolution and high precision can be obtained. The generalization ability of an original Transform model is improved, so that the troposphere delay correction ability in a specific area is improved, and a zenith troposphere delay (ZWD) product with high resolution and high precision is obtained.

The invention relates to the technical field of satellite navigation and precision positioning, in particular to a Beidou large-area sea area millimeter-level high-precision positioning method. The method comprises the specific implementation steps that marine environment state data and Beidou observation data are collected and preprocessed, and environment influence parameters are extracted; establishing a quantitative model based on the environment state data, the satellite signal propagation data and the antenna phase center data, and obtaining propagation path delay data and antenna phase center change data; processing the observation data and the self-adaptive reference network information based on a Beidou cooperative satellite positioning algorithm to obtain a preliminary positioning result; constructing a satellite signal error model to analyze environmental influence parameters and data, obtaining a positioning error value, and adjusting a preliminary positioning result; and calculating and judging the positioning result, dividing the positioning result into a first type of working condition and a second type of working condition, switching the second type of working condition to an emergency mode, and performing enhanced compensation on the Beidou signal error. According to the invention, the positioning precision, reliability and adaptive capability of the Beidou system in a marine environment are improved.