CN103744093B - A kind of Beidou navigation satellite system receiver positioning engine and positioning method - Google Patents
A kind of Beidou navigation satellite system receiver positioning engine and positioning method Download PDFInfo
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- CN103744093B CN103744093B CN201410005269.9A CN201410005269A CN103744093B CN 103744093 B CN103744093 B CN 103744093B CN 201410005269 A CN201410005269 A CN 201410005269A CN 103744093 B CN103744093 B CN 103744093B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000012423 maintenance Methods 0.000 claims abstract description 38
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000002123 temporal effect Effects 0.000 claims abstract description 6
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 8
- 230000001186 cumulative effect Effects 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 6
- 238000009825 accumulation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of Beidou navigation satellite system receiver positioning engine and positioning method, is related to navigation field.Engine of positioning disclosed by the invention includes：The effective judge module of satellite launch time maintenance module, bit synchronization, pseudorange acquisition module and navigation positioning module, wherein, pseudorange acquisition module, after receiver signal losing lock in quick positioning effective time, and have bit synchronization be effectively identified to up to when, the satellite launch position safeguarded according to time below the satellite launch position and the satellite launch time maintenance module above time, the correct time at satellite launch moment is obtained, pseudo-range information is calculated；Navigation positioning module, obtains receiver positioning calculation according to the pseudo-range information, obtains position temporal information.The invention also discloses a kind of Beidou navigation satellite system receiver positioning method.There is suddenly the situation of signal losing lock in the normal position fixing process of Beidou satellite navigation receiver in technical scheme, carries out quick positioning, greatly shortens the reorientation time.
Description
Technical field
The present invention relates to navigation field, and in particular to a kind of Beidou navigation satellite system receiver positioning engine and positioning side
Method.
Background technology
Beidou navigation satellite signal receiver is a kind of for receiving navigation satellite signal, completes to defend the Big Dipper
The acquisition and tracking demodulation of star system, completes local real time position velocity calculated and outgoing management, realizes navigation
The functions such as positioning.
Existing Beidou receiver is during navigator fix, once there is the situation of satellite-signal losing lock,
Bit synchronization, frame synchronization must be re-started.Therefore, receiver losing lock reorientation overlong time.According to existing
There is technology, if will realize that quick positioning, receiver must safeguard the very high local zone time of an accuracy
System, will so greatly increase the cost of receiver.
Content of the invention
The technical problem to be solved is to provide a kind of Beidou satellite navigation receiver engine of positioning
And localization method, quickly position after losing lock can be realized.
In order to solve above-mentioned technical problem, the invention discloses a kind of Beidou navigation satellite system receiver positioning engine,
Including：
Satellite launch time maintenance module, safeguards the satellite launch position above time；
The effective judge module of bit synchronization, after receiver signal losing lock in quick positioning effective time, judges
Whether there is bit synchronization to be effectively identified to reach；
Pseudorange acquisition module, after receiver signal losing lock in quick positioning effective time, and has bit synchronization
Effectively be identified to up to when, tieed up according to time below satellite launch position and the satellite launch time maintenance module
The satellite launch position of the shield above time, the correct time at satellite launch moment is obtained, calculate pseudo-range information；
Navigation positioning module, obtains receiver positioning calculation according to the pseudo-range information, obtains the position time
Information.
Alternatively, in above-mentioned engine of positioning, the satellite launch time maintenance module includes：
Clock NCO, produces sampling pulse, obtains time numeration pulse；
Satellite launch time totalizer, accumulates the time numeration pulse of the clock NCO, safeguards satellite
The transmitting position above time.
Alternatively, in above-mentioned engine of positioning, the satellite launch time maintenance module also includes：
Clock NCO adjustors, when the satellite launch time that receiver is safeguarded the moment is added up with the Big Dipper/association
When adjusting the universal time whole second to deviate setting threshold value, the cumulative moment alignments of the clock NCO are adjusted.
Alternatively, in above-mentioned engine of positioning, the clock NCO is realized in FPGA, using 64 ratios
Spy, external clock are 61MHz, and output frequency is 40Hz.
Alternatively, in above-mentioned engine of positioning, the effective judge module of the bit synchronization includes：
Bit synchronization query unit, the hardware bit synchronization address of inquire-receive machine obtains bit synchronization mark；
Bit synchronization clearing cell, in signal losing lock, removes the hardware bit synchronization mark of receiver.
Alternatively, in above-mentioned engine of positioning, the pseudorange acquisition module includes：
Satellite launch time acquisition unit, according to time below satellite launch position and the satellite launch position with
The upper time, obtained the correct time at satellite launch moment；
Its computation of pseudoranges unit, according to needed for the correct time at the satellite launch moment calculates positioning calculation
Pseudorange amount.
Alternatively, in above-mentioned engine of positioning, the pseudorange acquisition module also includes：
Judging unit, judges satellite launch position that the satellite launch time maintenance module the is safeguarded above time
Whether effective；
The satellite launch time acquisition unit, only in defending that the satellite launch time maintenance module is safeguarded
When the star transmitting position above time is effective, the correct time at satellite launch moment is obtained.
Alternatively, in above-mentioned engine of positioning, the quick positioning effective time is a navigation message prime frame
Propagation time.
The invention also discloses a kind of Beidou navigation satellite system receiver positioning method, including：
In receiver course of normal operation, receiver engine of positioning safeguards the satellite launch position above time；
After receiver signal losing lock, if in quick positioning effective time, having bit synchronization effectively to identify
Reach, the receiver engine of positioning is sent out according to the following satellite time in satellite launch position and the satellite that is safeguarded
The position above time is penetrated, the correct time at satellite launch moment is obtained, the pseudorange required for positioning calculation is calculated
Information, then positioning calculation is carried out, obtain position temporal information.
Alternatively, in said method, the receiver engine of positioning safeguards the satellite launch position above time
Process includes：
In the receiver engine of positioning, clock NCO produces sampling pulse, obtains time numeration pulse,
The receiver engine of positioning Satellite launch time accumulator, accumulates the time note of the clock NCO
Rapid pulse is rushed, and safeguards the satellite launch position above time.
Alternatively, said method also includes：
When the satellite launch time that receiver is safeguarded the moment is added up with the Big Dipper/Coordinated Universal Time(UTC) whole second deviation
When setting threshold value, in the receiver engine of positioning, clock NCO adjustors also adjust the clock
The cumulative moment alignments of NCO.
Alternatively, in said method, the clock NCO is realized in FPGA, using 64 bits,
External clock is 61MHz, and output frequency is 40Hz.
Alternatively, in said method, the bit synchronization is effectively identified to up to finger：
The receiver engine of positioning inquiry hardware bit synchronization address, obtains bit synchronization mark, and in positioning
Hardware bit synchronization mark is removed afterwards.
Alternatively, in said method, during following according to the satellite launch position satellite of the receiver engine of positioning
Between and the satellite launch position the safeguarded above time, before obtaining the correct time at satellite launch moment, also
Including：
Whether effectively to judge satellite launch position that the satellite launch time maintenance module the is safeguarded above time,
Only when the satellite launch position that the satellite launch time maintenance module the is safeguarded above time is effective, institute is obtained
State the correct time at satellite launch moment.
Alternatively, in said method, the quick positioning effective time is the biography of a navigation message prime frame
Between sowing time.
Technical scheme occurs for unexpected in the normal position fixing process of Beidou satellite navigation receiver
The situation of signal losing lock, after machine recapture tracking signal to be received, using quick engine of positioning, can be real
Row is quick to be positioned, and greatly shortens the reorientation time, and will not increase cost.
Description of the drawings
Fig. 1 is quick engine of positioning workflow schematic diagram in the present embodiment；
Fig. 2 is that the satellite launch time maintenance module workflow of quick engine of positioning in embodiment is illustrated
Figure.
Specific embodiment
For making the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing pair
Technical solution of the present invention is described in further detail.It should be noted that in the case where not conflicting, this
Feature in the embodiment and embodiment of application arbitrarily can be mutually combined.
Embodiment 1
The present embodiment provides a kind of quick engine of positioning of Beidou navigation satellite system receiver, and which at least includes that satellite is sent out
Penetrate the effective judge module of time maintenance module, bit synchronization, pseudorange acquisition module and navigation positioning module.
Wherein, satellite launch time maintenance module, safeguards the time at receiver local satellite launch moment,
Satellite launch position above time is especially safeguarded；
Specifically, above-mentioned satellite launch time maintenance module at least includes：Clock NCO and satellite launch
Accumulated time device；
Clock NCO is used for producing sampling pulse, obtains time numeration pulse；
In the present embodiment, clock NCO can be realized in FPGA, using 64 bits, when outside
Clock is 61MHz, and its output frequency is 40Hz；
Satellite launch accumulated time device, for accumulated time numeration pulse, when obtaining more than satellite launch position
Between；
In this example, after receiver is normally positioned, satellite launch accumulated time device starts initialization, opens
Beginning normal work；
In addition, satellite launch time maintenance module can also include clock NCO time adjusting devices, mainly
For when the satellite launch time that receiver is safeguarded, the cumulative moment was with the Big Dipper/the Coordinated Universal Time(UTC) whole second deviates
When setting threshold value, when adjustment clock NCO accumulation step-lengths make its cumulative moment and the Big Dipper/Coordinated Universal Time(UTC)
Whole second alignment.
The effective judge module of bit synchronization, for judging within the signal losing lock short period, if there is bit synchronization
Effectively it is identified to and reaches；
Specifically, the effective judge module of bit synchronization includes：
Bit synchronization query unit,
The hardware bit synchronization address of inquire-receive machine, obtains bit synchronization mark；
Bit synchronization clearing cell, then in signal losing lock, for removing the hardware bit synchronization mark of receiver,
For inquiry service next time.
Pseudorange acquisition module, after receiver signal losing lock in quick positioning effective time, and has bit synchronization
Effectively be identified to up to when, according to the time below satellite launch position plus local maintenance satellite launch position more than
Time, the correct time at satellite launch moment is obtained, so as to calculate pseudo-range information；
Specifically, pseudorange acquisition module at least includes satellite launch time acquisition unit and its computation of pseudoranges unit；
Satellite time acquiring unit, for the time below the satellite launch position that obtained according to hardware plus local
The satellite launch position of the maintenance above time, obtain the correct time at satellite launch moment；
Its computation of pseudoranges unit, for calculating satellite pseudo-range information according to the correct time at satellite launch moment,
Obtain the pseudorange amount needed for positioning calculation.
In the present embodiment, the detailed process for calculating satellite pseudo-range information is not intended to be limited in any, i.e., basis is defended
The correct time of star x time calculates satellite pseudo-range information in any way.
In addition, pseudorange acquisition module can also include judging unit, more than the satellite launch position of maintenance is judged
Whether the time is effective, if can be used to calculate the pseudorange needed for quick positioning；Now, the satellite launch time
Acquiring unit, only when the satellite launch position above time that safeguards is effective, just acquisition satellite launch moment
Time.After increased judgement operation, the reliability of quick positioning is further increased.
Navigator fix resolves module, for obtaining receiver positioning solution according to the above-mentioned pseudo-range information for calculating
Calculate, obtain position temporal information etc.；
Specifically, navigator fix resolves module and includes：Parsing navigation message and positioning-speed-measuring resolving etc., can
To realize by prior art, repeat no more herein.
Additionally, it is contemplated that the time restriction for then quickly positioning, therefore, above-mentioned quick engine of positioning also includes
Effective time restriction module is quickly positioned.The module is used for judging whether current operating temporal is fixed more than quick
Position effective time, if be not above, proceeds rapid positioning operation, if it does, then again
Positioning.In the present embodiment, the quick positioning effective time of quick engine of positioning is：After losing lock, again
Effective time threshold is positioned for a text prime frame time.Quickly position effective time restriction module to judge
Exceed the threshold value, then control receiver routinely reposition by bit synchronization, frame synchronization.
With reference to Fig. 1, the specific workflow of above-mentioned quick engine of positioning is introduced, is comprised the following steps：
Step 101, Beidou satellite navigation receiver start, normal positioning；
Step 102, the initialization of satellite launch time maintenance module, accumulator are started working；
Step 103, judge satellite-signal whether losing lock, if losing lock, enter step 104, if do not had
Losing lock, enters step 106；
Step 104, judge that bit synchronization mark is whether position effectively, if it is valid, entering step 105；
If do not imitated, proceed step 104；
Step 105, judge that whether losing lock exceedes the threshold value that quick positioning time is suitable for（In the present embodiment
As one text prime frame time）, if it does, return to step 102, if be not above, enters
Step 106；
Step 106, according to the satellite launch position of the local maintenance above time, plus the real-time bit synchronization of receiver
Time, obtain the correct time of satellite launch time, by the satellite launch time for obtaining, according to local when
Between, obtain pseudo-range information；
The normal positioning calculation of step 107, receiver.
With reference to the specific workflow that Fig. 2 illustrates above-mentioned satellite launch time maintenance module.Such as Fig. 2
Shown, the process includes following operation.
Step 201, satellite launch time maintenance module start；
Step 202, judges whether receiver is to position first, if it is, step 203 is entered, if not
It is to proceed this step 202；
Step 203, the satellite-signal launch time accumulation of maintenance is tired to be initialized；
Step 204, judges whether the clock pulses that clock NCO is produced reaches, if reached, enters
Step 205, otherwise proceeds the operation of step 204 until Rule of judgment is set up；
Step 205, judges whether time of losing lock exceedes applicable threshold value of quick positioning time（This enforcement
A text prime frame time is in example）If, not less than, step 206 will be entered, if it does,
The satellite launch accumulated time amount initial phase of step 203 maintenance is then returned to；
Step 206, the satellite launch time of maintenance add up；
Step 207, judges whether normally to position（Judge whether quick engine of positioning closes）,
If quick engine of positioning has been switched off（Show normally to position）, then quick position location satellite launch time
Maintenance module terminates, if quick engine of positioning is not turned off（Represent）, then return to step 204,
Judge the clock pulses stage that clock NCO is produced.
The quick condition for positioning be can be seen that from above-mentioned flow process is：Again, in bit synchronization, preceding signal loses
When the time of lock in a time dimension, must otherwise will result in the satellite launch of local maintenance meta with
The upper time is inaccurate, causes location of mistake.
Embodiment 2
The present embodiment provides a kind of Beidou navigation satellite system receiver positioning method, including following operation：
In receiver course of normal operation, receiver engine of positioning safeguards the satellite launch position above time；
After receiver signal losing lock, if in quick positioning effective time, having bit synchronization effectively to identify
Reach, the receiver engine of positioning is sent out according to the following satellite time in satellite launch position and the satellite that is safeguarded
The position above time is penetrated, the correct time at satellite launch moment is obtained, the pseudorange required for positioning calculation is calculated
Information, then positioning calculation is carried out, obtain position temporal information.
Wherein, receiver engine of positioning safeguards that the process of satellite launch position above time is：Receiver is positioned
In engine, clock NCO produces sampling pulse, obtains time numeration pulse, the receiver engine of positioning
Satellite launch time accumulator, accumulates the time numeration pulse of the clock NCO, safeguards that satellite is sent out
Penetrate the position above time.
In addition, when the satellite launch time that receiver is safeguarded the moment is added up with the Big Dipper/the Coordinated Universal Time(UTC) whole second
When deviateing setting threshold value, in receiver engine of positioning, clock NCO adjustors can also adjust clock
The cumulative moment alignments of NCO.So as to improve the reliability of quick positioning.
Specifically, clock NCO can realize in FPGA that, using 64 bits, external clock is 61MHz,
Output frequency is 40Hz.
In said method, involved bit synchronization is effectively identified to up to finger：Receiver engine of positioning inquires about hardware
Bit synchronization address, obtains bit synchronization mark, and removes hardware bit synchronization mark after positioning.
Above-mentioned receiver engine of positioning is according to the following satellite time in satellite launch position and the satellite launch that is safeguarded
The position above time, before obtaining the correct time at satellite launch moment, the satellite launch time can also be judged
Satellite launch position above time that maintenance module is safeguarded whether effectively, only when satellite launch time maintenance module
When the satellite launch position of the maintenance above time is effective, the correct time at satellite launch moment is just obtained.
In the present embodiment, quick positioning effective time can be the propagation time of a navigation message prime frame.
From above-described embodiment as can be seen that technical scheme is after satellite-signal losing lock, by receiver
A local satellite launch time is safeguarded, after on signal again bit synchronization（I.e. by the hardware of receiver
When synchronizing address obtains bit synchronization mark）, can just position at once, it is to avoid reposition after receiving ephemeris,
So as to shorten positioning time.
One of ordinary skill in the art will appreciate that all or part of step in said method can pass through program
Complete to instruct related hardware, described program can be stored in computer-readable recording medium, such as read-only
Memorizer, disk or CD etc..Alternatively, all or part of step of above-described embodiment can also be used
One or more integrated circuits are realizing.Correspondingly, each module/unit in above-described embodiment can be adopted
The form of hardware is realized, it would however also be possible to employ the form of software function module is realized.The application is not restricted to appoint
The combination of the hardware and software of what particular form.
The above, preferred embodiments only of the invention are not intended to limit the protection model of the present invention
Enclose.All any modification, equivalent substitution and improvements that within the spirit and principles in the present invention, is done etc.,
Should be included within the scope of the present invention.
Claims (9)
1. a kind of Beidou navigation satellite system receiver positioning engine, it is characterised in that include：
Satellite launch time maintenance module, safeguards the satellite launch position above time；
The effective judge module of bit synchronization, after receiver signal losing lock in quick positioning effective time, judges
Whether there is bit synchronization to be effectively identified to reach；
Pseudorange acquisition module, after receiver signal losing lock in quick positioning effective time, and has bit synchronization
Effectively be identified to up to when, tieed up according to time below satellite launch position and the satellite launch time maintenance module
The satellite launch position of the shield above time, the correct time at satellite launch moment is obtained, calculate pseudo-range information；
Navigation positioning module, obtains receiver positioning calculation according to the pseudo-range information, obtains the position time
Information；
The pseudorange acquisition module also includes：
Judging unit, judges satellite launch position that the satellite launch time maintenance module the is safeguarded above time
Whether effective；
The satellite launch time acquisition unit, only in defending that the satellite launch time maintenance module is safeguarded
When the star transmitting position above time is effective, the correct time at satellite launch moment is obtained；
The satellite launch time maintenance module includes：
Clock NCO (numerically-controlled oscillator), produces sampling pulse, obtains time numeration pulse；
Satellite launch time totalizer, accumulates the time numeration pulse of the clock NCO, safeguards satellite
The transmitting position above time；
The satellite launch time maintenance module also includes：
Clock NCO adjustors, when the satellite launch time that receiver is safeguarded the moment is added up with the Big Dipper/association
When adjusting the universal time whole second to deviate setting threshold value, the cumulative moment alignments of the clock NCO are adjusted.
2. engine of positioning as claimed in claim 1, it is characterised in that
The clock NCO interior realizations of programmable gate array (FPGA) at the scene, using 64 bits,
External clock is 61MHz, and output frequency is 40Hz.
3. engine of positioning as claimed in claim 1, it is characterised in that the bit synchronization effectively judges mould
Block includes：
Bit synchronization query unit, the hardware bit synchronization address of inquire-receive machine obtains bit synchronization mark；
Bit synchronization clearing cell, in signal losing lock, removes the hardware bit synchronization mark of receiver.
4. engine of positioning as claimed in claim 1, it is characterised in that the pseudorange acquisition module is concrete
Including：
Satellite launch time acquisition unit, according to time below satellite launch position and the satellite launch position with
The upper time, obtained the correct time at satellite launch moment；
Its computation of pseudoranges unit, according to needed for the correct time at the satellite launch moment calculates positioning calculation
Pseudorange amount.
5. the engine of positioning as described in any one of Claims 1-4, it is characterised in that
The quick positioning effective time is the propagation time of a navigation message prime frame.
6. a kind of Beidou navigation satellite system receiver positioning method, it is characterised in that include：
In receiver course of normal operation, receiver engine of positioning safeguards the satellite launch position above time；
After receiver signal losing lock, if in quick positioning effective time, having bit synchronization effectively to identify
Reach, the receiver engine of positioning is according to time below satellite launch position and the satellite launch position that is safeguarded
The above time, the correct time at satellite launch moment is obtained, calculates the pseudo-range information required for positioning calculation,
Carry out positioning calculation again, obtain position temporal information；
The receiver engine of positioning according to time below satellite launch position and the satellite launch position safeguarded with
The upper time, before obtaining the correct time at satellite launch moment, also included：
Whether effectively to judge satellite launch position that the satellite launch time maintenance module the is safeguarded above time,
Only when the satellite launch position that the satellite launch time maintenance module the is safeguarded above time is effective, institute is obtained
State the correct time at satellite launch moment；
The receiver engine of positioning safeguards that the process of satellite launch position above time includes：
In the receiver engine of positioning, clock NCO (numerically-controlled oscillator) produces sampling pulse, obtains
To time numeration pulse, the receiver engine of positioning Satellite launch time accumulator, when accumulating described
The time numeration pulse of clock NCO, safeguards the satellite launch position above time；
Methods described also includes：
When the satellite launch time that receiver is safeguarded the moment is added up with the Big Dipper/Coordinated Universal Time(UTC) whole second deviation
When setting threshold value, in the receiver engine of positioning, clock NCO adjustors also adjust the clock
The cumulative moment alignments of NCO.
7. method as claimed in claim 6, it is characterised in that
The clock NCO realizes that in FPGA, using 64 bits, external clock is 61MHz, defeated
Go out frequency for 40Hz.
8. method as claimed in claim 6, it is characterised in that the bit synchronization is effectively identified to up to finger：
The receiver engine of positioning inquiry hardware bit synchronization address, obtains bit synchronization mark, and in positioning
Hardware bit synchronization mark is removed afterwards.
9. the method as described in any one of claim 6 to 8, it is characterised in that
The quick positioning effective time is the propagation time of a navigation message prime frame.
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| CN107064959A (en) * | 2017-02-03 | 2017-08-18 | 北京子午精航科技有限公司 | The enhanced forwarding engine apparatus and its implementation of Beidou satellite navigation system |
| WO2019019044A1 (en) * | 2017-07-26 | 2019-01-31 | 深圳市大疆创新科技有限公司 | Pseudorange calculation method and terminal |
| CN109725318B (en) * | 2018-12-29 | 2021-08-27 | 百度在线网络技术（北京）有限公司 | Signal processing method and device, active sensor and storage medium |
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| US6380891B1 (en) * | 1999-04-05 | 2002-04-30 | Denso Corporation | GPS receiver with satellite frame synchronization process |
| CN101526598A (en) * | 2009-04-08 | 2009-09-09 | 东南大学 | GPS rapid hot start method |
| CN103472460A (en) * | 2013-09-24 | 2013-12-25 | 豪芯微电子科技（上海）有限公司 | Global navigation satellite system receiver and time positioning method thereof |
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