CN101344584A - A method of navigation and positioning - Google Patents
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Abstract
本发明公开了一种导航定位的方法，包括以下步骤：地面数字电视发射台发送搭载有导航信息的数字电视信号；用户接收机接收多个地面数字电视发射台发送的多个导航信息，分别进行伪距测量；用户接收机根据测量的伪距及相应地面数字电视发射台的坐标进行定位。本发明还公开了一种利用数字电视信号和导航卫星信号进行联合定位的方法。本发明通过在地面数字电视广播标准信号上搭载导航定位信号，利用地面数字电视发射台独立实现导航定位功能，或者利用地面数字电视发射台及导航卫星联合实现导航定位功能，可以抵抗更强的干扰，在室内环境及卫星信号受到遮挡的条件下，仍然可以顺利完成导航定位功能。
The invention discloses a method for navigation and positioning, which comprises the following steps: a terrestrial digital television transmitting station sends a digital television signal equipped with navigation information; a user receiver receives a plurality of navigation information sent by a plurality of terrestrial digital television transmitting stations, and respectively performs Pseudo-range measurement: The user receiver performs positioning according to the measured pseudo-range and the coordinates of the corresponding terrestrial digital TV transmitter. The invention also discloses a joint positioning method using digital television signals and navigation satellite signals. In the present invention, the navigation and positioning signal is carried on the ground digital TV broadcasting standard signal, and the navigation and positioning function is realized independently by the ground digital TV transmitting station, or the navigation and positioning function is jointly realized by using the ground digital TV transmitting station and the navigation satellite, which can resist stronger interference , under the condition that the indoor environment and satellite signals are blocked, the navigation and positioning function can still be successfully completed.
Description
Technical field
The present invention relates to digital information transmission technical field, particularly relate to a kind of method of utilizing ground digital television signal to finish navigator fix.
Background technology
Nowadays the most frequently used navigation locating method is to utilize the GPS (GlobePosition-finding System, worldwide navigation positioning system) of U.S.'s development to position.This system is made up of space segment, control section and user segment.Space segment is a satellite constellation, and basic configuration is made up of 24 satellites, is positioned at 6 orbital planes, 4 satellites in each plane.The task of control section is that satellite is safeguarded and kept its normal function, comprises the health and the situation that satellite are remained on correct orbital position and monitor satellite subsystem.User segment is made up of user receiving equipment, is used to receive the pseudo-random code signal of handling satellites transmits, and then definite customer location, speed and time.Worldwide, as long as receive the signal of four above satellites, can finish above-mentioned navigation feature.Gps system can be used for various uses such as location, navigation, measurement and time service, has been widely applied to the every field of national economy.After the success of GPS of USA system development, the GALILEO of Muscovite GLONASS, European Union and the triones navigation system of China have appearred again in the world, this several systems or succeeded in developing come into operation, and perhaps develop, and its navigator fix principle is identical substantially with gps system.The range of application of satellite navigation system also is subjected to certain restriction.Satellite-signal is with the far distance of relatively low emissive power transmission, and the intensity of received signal is very weak, is easy to be interfered, and indoor or have under the situation of blocking, and is difficult to the location or can't locatees at all.
The terrestrial DTV industry is in recent years flourish novel industry, and China has issued in August, 2006 and " digital television ground broadcast transmission system frame structure, chnnel coding and modulation " national standard come into effect on August 1st, 2007.At present, also many countries are the same in the world together in China, the construction of positive promotion ground system of digital television broadcast and the development of related industry thereof.Except finishing its basic function, the ground digital television broadcast signal is the same with all radio-frequency radiation sources as a kind of radio radiation resource, and can be considered is applied to various military affairs and civilian applications.The advantage of terrestrial DTV net is each counties and cities that spread all over the country, television transmitting station, and frequency spectrum resource is abundant, emissive power is big, wide coverage.Compare with Navsat, utilize the ground digital television broadcast signal to carry the navigator fix signal, can resist stronger interference, under the condition that indoor environment and satellite-signal are blocked, still can finish navigation locating function smoothly, be that the useful of satellite navigation and location system replenished.
China's ground digital television broadcast standard with independent intellectual property right mainly is that coverage, raising radio spectrum resources utilization ratio, assurance from effective raising digital television broadcasting and the receptivity equal angles of improving TV user design, the ground digital television broadcast net of following China will be to form SFN to improve the covering of digital television signal, in the pattern of intercity or inter-provincial employing multiple frequency network, MFN in the city.The signal of each transmitting station keeps the synchronous of strictness in SFN, thereby can't distinguish the signal that receives and from which transmitting station launch, thereby also just can't finish range finding and navigation locating function.On the other hand, SFN requires to keep between each terrestrial DTV transmitting station quite strict time and Frequency Synchronization, this provides certain convenience for the realization of navigation positioning system again, because navigation positioning system also requires to keep between its each transmitting station strict time synchronized.The present invention according to the characteristics of China DTMB signal, makes full use of the existing equipment and the resource of terrestrial DTV transmitting station under the prerequisite that does not influence ground digital television broadcast, digital television signal is carried out suitable transformation, realizes navigation locating function.
Summary of the invention
The problem that the embodiment of the invention will solve provides a kind of method of navigator fix, by on the ground digital television broadcast standard signal, carrying the navigator fix signal, utilize the terrestrial DTV transmitting station independently to realize navigation locating function, perhaps utilize terrestrial DTV transmitting station and Navsat to unite the realization navigation locating function.
For achieving the above object, the technical scheme of the embodiment of the invention provides a kind of method of navigator fix, may further comprise the steps: the terrestrial DTV transmitting station sends the digital television signal that is equipped with navigation information; Receiver user receives a plurality of navigation informations that a plurality of terrestrial DTV transmitting stations send, and carries out pseudo range measurement respectively; Receiver user positions according to the pseudorange of measuring and the coordinate of corresponding terrestrial DTV transmitting station.
Wherein, after the step that receiver user positions according to the coordinate of pseudorange of measuring and corresponding terrestrial DTV transmitting station, also comprise: receiver user is finished the time service function according to described navigation information.
Wherein, the loading position of described navigation information is positioned at frame head, frame or the entire frame of ground digital television signal frame.
Wherein, described navigation information comprises the position coordinates and/or the temporal information of navigation frequency expansion sequence, terrestrial DTV transmitting station.
Wherein, described navigation frequency expansion sequence is Gold sequence or Kasami sequence.
Wherein, after described receiver user received the step of a plurality of navigation informations that a plurality of terrestrial DTV transmitting stations send, also comprise: receiver user was by described navigation frequency expansion sequence, and the terrestrial DTV transmitting station of corresponding navigation information is launched in identification.
Wherein, the send mode of described navigation information, whether identical selection sends or the broadcast type transmission in turn according to each transmitting station institute transmission content.
Wherein, described navigation information frame and digital television signal frame keep the synchronous of strictness.
The technical scheme of the embodiment of the invention also provides a kind of method of navigator fix, may further comprise the steps: the terrestrial DTV transmitting station sends the digital television signal that is equipped with navigation information, and Navsat sends satellite-signal; Receiver user receives the navigation information that the terrestrial DTV transmitting station sends, and receives the satellite-signal that Navsat sends, and carries out pseudo range measurement respectively; Receiver user positions according to the pseudorange of measuring and the coordinate of corresponding terrestrial DTV transmitting station and Navsat.
Wherein, described navigation information comprises the position coordinates and/or the temporal information of navigation frequency expansion sequence, terrestrial DTV transmitting station.
Compared with prior art, technical scheme of the present invention has following advantage:
The embodiment of the invention is by carrying the navigator fix signal on the ground digital television broadcast standard signal, utilize the terrestrial DTV transmitting station independently to realize navigation locating function, perhaps utilize terrestrial DTV transmitting station and Navsat to unite the realization navigation locating function, can resist stronger interference, under the condition that indoor environment and satellite-signal are blocked, still can finish navigation locating function smoothly.
Description of drawings
Fig. 1 is the process flow diagram of method of a kind of navigator fix of the embodiment of the invention;
Fig. 2 is the process flow diagram of method of the another kind of navigator fix of the embodiment of the invention;
A kind of terrestrial DTV transmitting terminal of Fig. 3 principle schematic;
Fig. 4 is the four-layer structure figure of a kind of ground digital television signal multi-frame of the embodiment of the invention;
Fig. 5 is that a kind of navigation information of the embodiment of the invention carries the mode synoptic diagram;
Fig. 6 is a kind of positioning principle figure of the embodiment of the invention;
Fig. 7 is a kind of navigator fix synoptic diagram of the embodiment of the invention.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
The flow process of the method for a kind of navigator fix of the embodiment of the invention may further comprise the steps as shown in Figure 1:
Step s101, the terrestrial DTV transmitting station sends the digital television signal that is equipped with navigation information.The loading position of described navigation information is positioned at frame head, frame or the entire frame of ground digital television signal frame, its information sender formula, whether identical selection takes turns to send or the broadcast type transmission according to each transmitting station institute transmission content, and navigation information frame and digital television signal frame maintenance strictness is synchronous.This navigation information comprises the position coordinates and/or the temporal information of navigation frequency expansion sequence, terrestrial DTV transmitting station.Wherein, the navigation frequency expansion sequence can be Gold sequence or Kasami sequence.
Step s102, receiver user receive a plurality of navigation informations that a plurality of terrestrial DTV transmitting stations send, and carry out pseudo range measurement respectively.
Step s103, receiver user positions according to the pseudorange of measuring and the coordinate of corresponding terrestrial DTV transmitting station.Wherein, receiver user is by described navigation frequency expansion sequence, and the terrestrial DTV transmitting station of corresponding navigation information is launched in identification.
Step s104, receiver user is finished the time service function according to described navigation information.
The flow process of the method for the another kind of navigator fix of the embodiment of the invention may further comprise the steps as shown in Figure 2:
Step s201, the terrestrial DTV transmitting station sends the digital television signal that is equipped with navigation information, and Navsat sends satellite-signal.This navigation information comprises the position coordinates and/or the temporal information of navigation frequency expansion sequence, terrestrial DTV transmitting station.
Step s202, receiver user receives the navigation information that the terrestrial DTV transmitting station sends, and receives the satellite-signal that Navsat sends, and carries out pseudo range measurement respectively.
Step s203, receiver user positions according to the pseudorange of measuring and the coordinate of corresponding terrestrial DTV transmitting station and Navsat.
The present invention is made up of transmitter section, control section and user segment.The terrestrial DTV transmitting station that transmitter section promptly spreads all over the country carries the navigator fix signal on the ground digital television broadcast signal.Control section is used for transmitting station is safeguarded, keeps its normal function, monitors its health status.User segment is a receiver user, is used for receiving handling ground digital television signal and navigation satellite signal, finishes functions such as location, time service.
In order to finish navigation locating function, receiver must be able to be told the signal of Different Ground digital broadcast transmitting platform emission, the present invention is carried the navigator fix frequency expansion sequence as distance measuring signal on original digital television signal frequency band, different transmitting stations uses different frequency expansion sequences, distinguishes different transmitting stations by the mode of CDMA.Concrete steps are as follows:
Steps A: former digital TV data code stream is through randomization, forward error correction coding, and the constellation mapping and the back that interweaves form the master data piece.After master data piece and the system information combination, form frame through the frame data processing.
Step B: for normal digital television signal frame, frame is a signal frame with corresponding frame head multiple connection; For the navigation information frame that has carried the navigator fix signal, then frame head, frame or whole signal frame (frame head+frame) are replaced with navigator fix information.
Step C: signal frame or navigation information frame are converted to baseband output signal through baseband postprocessing, are converted to emission of radio frequency signals through quadrature up-conversion.
Step D: receiver user receives ground digital television signal, therefrom extracts the navigation information frame.
Step e: receiver user is determined the position of receiver again according to the pseudorange between navigator fix frequency expansion sequence difference measuring receiver and a plurality of terrestrial DTV transmitting station according to the coordinate of transmitting station.
Step F: receiver user receives and handles other navigator fix information, finishes functions such as time service.
The content of navigation information frame can be navigation frequency expansion sequence, the temporal information of each Digital Television transmitting station of sign, the coordinate position of each transmitting station, also can be other information relevant with navigator fix.Because digital television single-frequency network requires all transmitting stations in this SFN to keep strict synchronism, when information such as transmitting time and transmitting station position, take the mode broadcasted, when sending the navigation frequency expansion sequence, because of each frequency expansion sequence mutually not just as, for preventing the phase mutual interference, take the mode of emission in turn, promptly when a transmitting station emission navigation frequency expansion sequence, all other transmitting stations in the Home Network perhaps can produce the transmitting station transmission zero padding information of interference at least to its signal.The navigation frequency expansion sequence can be any frequency expansion sequence, as Gold sequence, Kasami sequence etc.
Navigation information frame shared ratio in whole digital television signal can freely be adjusted as the case may be, but under any circumstance, can not influence the normal reception of ground digital television broadcast signal.
Receiver user can receive the signal location-independent of a plurality of Digital Television transmitting stations, perhaps utilizes Digital Television transmitting station and Navsat co-located.When utilizing Digital Television transmitting station and Navsat co-located, should be noted that whether the system reference clock between the two is identical, and then adopt corresponding method to carry out location compute.
Wherein, transmitter section is used to launch the ground digital television signal that has carried navigation information, Fig. 3 has provided the theory diagram of terrestrial DTV transmitting terminal, and former digital TV data code stream is through randomization, forward error correction coding, and the constellation mapping and the back that interweaves form the master data piece.Master data piece and system information combination form frame through the frame data processing.The data frame structure of this system digits TV signal is a kind of four-layer structure as shown in Figure 4.Wherein, the elementary cell of data frame structure is a signal frame, and signal frame is made up of frame head and frame two parts, and the frame part is totally 3780 symbols, and length is 500 μ s, and frame head length has three kinds of options, is respectively 420 symbols, 595 symbols and 945 symbols.Superframe is defined as one group of signal frame, and dividing frame definition is one group of superframe, and the top layer of frame structure is called a day frame.Signal structure is the cycle, and keeps synchronously with natural time.Because frame structure and natural time keep therefore can carrying the navigator fix signal easily synchronously, finish navigation locating function.
For normal digital television signal, frame is a signal frame with corresponding frame head multiple connection, is converted to baseband output signal through baseband postprocessing, is converted to emission of radio frequency signals through quadrature up-conversion.In order to utilize ground digital television signal to realize navigation locating function, must do suitable modification to former digital television signal form, navigation information is carried in the digital television signal.Method is the framing stage at digital television signal frame head and frame, replace former TV signal frame with the navigation information frame, navigation information can place frame head, frame or the whole signal frame (frame head+frame) of former digital television signal frame, navigation information frame and former digital television signal frame keep strict synchronism, as shown in Figure 5.Because digital television signal interweaves through forward error correction coding and time-domain symbol in front, its time domain interlace mode has two kinds, the interleaving/deinterleaving total delay is respectively 170 and 510 signal frames, one of them signal frame is equivalent to the whole symbol transmission mistakes of this signal frame with the replacement of navigation information frame, as long as the navigation information frame is less than certain ratio, behind deinterleaving and error correction decoding, still can correctly recover digital television signal, and can not impact ground digital television broadcast.
According to the difference of frame head length option, a superframe (125ms) can have 225,216 or 200 signal frames.In actual applications, can in each superframe, fix some frames, make receiver user can carry out the measurement of pseudorange easily as the navigation information frame.
The navigation information frame comprise in have:
A, navigation frequency expansion sequence, each transmitting station all distributes a mutually different frequency expansion sequence in the same SFN.This is most important navigation information, and receiver user is finished the measurement of pseudorange by this frequency expansion sequence.
B, temporal information are used to finish the time service function.
The position coordinates of each transmitting station in c, this SFN.
The network No. of d, this SFN.
E, other navigation information.
The navigation frequency expansion sequence can be selected Gold sequence, Kasami sequence or other suitable frequency expansion sequence, and selected frequency expansion sequence should have strong autocorrelation performance and weak simple crosscorrelation performance.In ground digital television single frequency network, the signal of each transmitting station must be a strict synchronism, and the navigation frequency expansion sequence of each transmitting station has nothing in common with each other, if keep synchronized transmissions, each navigation signal interframe is the phase mutual interference, thereby can't position.Therefore when a transmitting station emission navigation frequency expansion sequence, for preventing the phase mutual interference, other transmitting station of same SFN perhaps produces the transmitting station that disturbs to its signal at least, emission zero padding sequence.Each transmitting station is launched the navigation frequency expansion sequence in turn at different navigation signal frames.Have more serious near-far interference when utilizing ground digital television signal to carry out navigator fix, and can not utilize power control to solve, so the length of frequency expansion sequence should be long as much as possible.When the frame head that utilizes former digital television signal carries navigation information,, must utilize a plurality of frame heads to carry complete frequency expansion sequence because the length of frame head is shorter.In the original ground digital television broadcasting system, frame head has synchronously and the effect of channel estimating, when utilizing a plurality of frame heads to carry navigation information, can produce considerable influence to the channel estimating of Quick-Change channel, must pay attention to.For the position coordinates of temporal information, transmitting station and the network No. of SFN, the content that need send because of each transmitting station is identical, can adopt method of synchronization broadcast transmission.For other navigation information, whether the content that sends at each transmitting station is identical, corresponding taking in turn or forms of broadcasting transmission.
Control section is used for the signal of digital television transmitting station is detected, i.e. whether the navigator fix signal that monitoring is carried is correct, and the clock accuracy of transmitting station etc. for the abnormal transmitting station of function, need in time to safeguard.
User segment is used to receive the navigator fix signal, finishes navigation locating function, and its positioning principle figure as shown in Figure 6.Receiver user receives the ground digital television signal that has carried navigation information, according to prior agreement extraction navigation signal frame wherein, can utilize auxiliary the determining of navigation signal frame start position of finishing of PN sequence in the former digital television signal frame head.For the navigation frequency expansion sequence, receiver local frequency expansion sequence that produces and the frequency expansion sequence that receives are carried out related operation, determine the frequency expansion sequence that receives number, again by the platform of frequency expansion sequence number definite transmitting station number.The network No. of known SFN and the platform of transmitting station number obtain the position coordinates of transmitting station by the method for tabling look-up.Propagation delay is determined in position according to the frequency expansion sequence correlation peak, calculates the pseudorange between receiver and the transmitting station, when a plurality of correlation peak occurring, chooses first peak value as direct path.For the location coordinate information of transmitting station and the network No. of SFN, receiver stores for the use of tabling look-up later on after receiving.Because the position of transmitting station does not generally change, do not need transmitting station position coordinates file is upgraded constantly.Also can in receiver user, store the position of each television transmitting station in advance, and will these positional informations not send by transmitting station.For temporal information, transmitting station receives the back and uses for time service.
Make ρ
iPseudorange between expression receiver and i the digital television station transmitting station, the receiver location coordinate is (x
u, y
u, z
u), the deviation between receiver clock and the Digital Television transmitting station clock is Δ t, and the light velocity is c, and the position coordinates of i digital television transmitting station emitting antenna is (x
i, y
i, z
i), then can obtain following equation:
If can receive the signal of four above terrestrial DTV transmitting stations, then can obtain the three-dimensional location coordinates (x of receiver by finding the solution above-mentioned equation
u, y
u, z
u) and time difference Δ t, can further finish the function of navigation and time service on this basis.
Can also utilize terrestrial DTV transmitting station and Navsat co-located, method is identical with said method.When the system reference time of Digital Television transmitting station and Navsat use is inconsistent, need before location compute, make adjustment.
Illustrate below and how to utilize ground digital television signal to carry out navigator fix, Fig. 7 is a kind of navigator fix synoptic diagram of the embodiment of the invention, and wherein A1, A2, A3 and A4 represent four terrestrial DTV transmitting stations, ρ
1～ρ
4Represent the pseudorange between transmitting station and the receiver user respectively.The frame head mode of ground digital television signal is selected PN420, each frame head length 420/7.56=55.6 μ s, and 3780 symbols of frame, length 500 μ s, each superframe has 225 signal frames.The 9th frame of selecting each superframe is as the navigation signal frame, and the frame head form remains unchanged, and utilizes frame to carry the navigation frequency expansion sequence.Select the benefit that the 9th frame frame carries navigation information to be, the superframe reference position to the time of this frame frame reference position be 4.5ms, help the measurement of propagation delay time.Four transmitting stations send the navigation frequency expansion sequence in turn, and the transmitting station transmission amplitude that does not send frequency expansion sequence is 0 padding sequence.The navigation frequency expansion sequence of four transmitting stations sends to finish needs four superframes, the i.e. time of 500ms.In each superframe, the phase place of each frame head PN sequence has nothing in common with each other, and receiver user can utilize the phase identification of frame head to go out the navigation signal frame.Receiver user produces local frequency expansion sequence and carries out related operation with the frequency expansion sequence that receives, when frequency expansion sequence is identical, can produce very strong correlation peak, the time delay of propagating according to the position calculation signal of correlation peak, and then obtain pseudorange between receiver user and the transmitting station.Determine the platform number and the coordinate of transmitting station according to different frequency expansion sequences.Simultaneous equations
Find the solution (x by least square method
u, y
u, z
u), obtain user's position coordinates, with the clock of gained time deviation correction receiver user, finish the time service function.
Present embodiment is by carrying the navigator fix signal on the ground digital television broadcast standard signal, utilize the terrestrial DTV transmitting station independently to realize navigation locating function, perhaps utilize terrestrial DTV transmitting station and Navsat to unite the realization navigation locating function, can resist stronger interference, under the condition that indoor environment and satellite-signal are blocked, still can finish navigation locating function smoothly.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1, a kind of method of navigator fix is characterized in that, may further comprise the steps:
The terrestrial DTV transmitting station sends the digital television signal that is equipped with navigation information;
Receiver user receives a plurality of navigation informations that a plurality of terrestrial DTV transmitting stations send, and carries out pseudo range measurement respectively;
Receiver user positions according to the pseudorange of measuring and the coordinate of corresponding terrestrial DTV transmitting station.
2, the method for navigator fix as claimed in claim 1 is characterized in that, after the step that receiver user positions according to the coordinate of pseudorange of measuring and corresponding terrestrial DTV transmitting station, also comprises:
Receiver user is finished the time service function according to described navigation information.
3, the method for navigator fix as claimed in claim 1 is characterized in that, the loading position of described navigation information is positioned at frame head, frame or the entire frame of ground digital television signal frame.
4, the method for navigator fix as claimed in claim 1 is characterized in that, described navigation information comprises the position coordinates and/or the temporal information of navigation frequency expansion sequence, terrestrial DTV transmitting station.
5, the method for navigator fix as claimed in claim 4 is characterized in that, described navigation frequency expansion sequence is Gold sequence or Kasami sequence.
6, the method for navigator fix as claimed in claim 4, it is characterized in that, after described receiver user receives the step of a plurality of navigation informations that a plurality of terrestrial DTV transmitting stations send, also comprise: receiver user is by described navigation frequency expansion sequence, and the terrestrial DTV transmitting station of corresponding navigation information is launched in identification.
7, as the method for each described navigator fix of claim 1 to 6, it is characterized in that, the send mode of described navigation information, whether identical selection sends or the broadcast type transmission in turn according to each transmitting station institute transmission content.
As the method for each described navigator fix of claim 1 to 6, it is characterized in that 8, described navigation information frame and digital television signal frame keep the synchronous of strictness.
9, a kind of method of navigator fix is characterized in that, may further comprise the steps:
The terrestrial DTV transmitting station sends the digital television signal that is equipped with navigation information, and Navsat sends satellite-signal;
Receiver user receives the navigation information that the terrestrial DTV transmitting station sends, and receives the satellite-signal that Navsat sends, and carries out pseudo range measurement respectively;
Receiver user positions according to the pseudorange of measuring and the coordinate of corresponding terrestrial DTV transmitting station and Navsat.
10, the method for navigator fix as claimed in claim 9 is characterized in that, described navigation information comprises the position coordinates and/or the temporal information of navigation frequency expansion sequence, terrestrial DTV transmitting station.
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| CN102183775A (en) * | 2011-03-01 | 2011-09-14 | 清华大学 | Union positioning method and system based on Beidou-2 satellite and Chinese ground digital television |
| CN102238474A (en) * | 2010-05-04 | 2011-11-09 | 真实定位公司 | Position, time and frequency determination by using China mobile multimedia broadcast signal |
| CN103399332A (en) * | 2013-07-30 | 2013-11-20 | 中国科学院国家天文台 | Method for realizing global navigation location through iHCO communication satellite |
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| CN107505645A (en) * | 2017-07-27 | 2017-12-22 | 桂林电子科技大学 | A kind of navigation positioning system and method |
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