CN109143270B - Positioning device and positioning system - Google Patents

Abstract

The application relates to a positioning device which comprises a data fusion module, and a GNSS module, a response module, an ADS-B module, a data communication module and a navigation sensing module which are respectively connected with the data fusion module in a communication mode. The data fusion module is used for carrying out data fusion on target signals respectively output by the GNSS module, the response module, the ADS-B module and the data communication module and sensing signals output by the navigation sensing module to obtain positioning signals, and outputting the positioning signals to at least one of the GNSS module, the response module, the ADS-B module and the data communication module. The GNSS module, the response module, the ADS-B module and the data communication module are respectively used for sending positioning signals to the monitoring center. Through the collaborative design of each module, the communication link can be selected in a self-adaptive mode, the continuity of positioning information is guaranteed, the stability and reliability of positioning information transmission are high, the positioning efficiency is effectively improved, a ground positioning site is not required to be additionally built, and the positioning measurement cost is greatly reduced.

Description

Positioning devices and positioning systems

Technical Field

The present application relates to the field of positioning communication technology, and in particular to a positioning device and a positioning system.

Background Art

With the development of modern aviation technology, the types of aircraft are becoming more diverse and the number is also increasing rapidly. The contradiction between the growing aviation demand and the increasingly insufficient airspace resources is becoming increasingly obvious, and aviation scheduling and aviation safety issues need special attention. Positioning technology is an important means to solve the above problems. Through positioning technology, efficient scheduling can be achieved and aviation safety can be improved.

With the development of positioning technology, multi-base station measurement technology is an emerging positioning technology that can effectively realize the positioning of target aircraft. Multi-base station measurement technology adopts time difference positioning technology, which uses the time difference of signal arrival of multiple base stations to solve the position. However, in the process of realizing the present invention, the inventor found that the traditional multi-base station measurement technology has at least the problem of low positioning efficiency.

Summary of the invention

Based on this, it is necessary to provide a positioning device and a positioning system to address the above technical problems.

To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

On the one hand, an embodiment of the present invention provides a positioning device, including a data fusion module, and a GNSS module, a response module, an ADS-B module, a data communication module, and a navigation sensor module respectively communicatively connected to the data fusion module;

The data fusion module is used to perform data fusion on the target signals respectively output by the GNSS module, the response module, the ADS-B module and the data communication module, and the sensor signal output by the navigation sensor module to obtain a positioning signal, and output the positioning signal to at least one of the GNSS module, the response module, the ADS-B module and the data communication module respectively;

The GNSS module, the response module, the ADS-B module and the data communication module are respectively used to send the positioning signal to the monitoring center.

In one embodiment, the data communication module includes a communication module, a communication signal processing unit and a data antenna, the communication module is communicatively connected to the data antenna and the communication signal processing unit respectively, and the communication signal processing unit is communicatively connected to the data fusion module;

The data antenna is used to receive external communication signals and output them to the communication module; the communication module is used to demodulate the target signal, obtain the target signal and output it to the communication signal processing unit; the communication signal processing unit is used to output the processed target signal to the data fusion module, and send the positioning signal returned by the data fusion module to the monitoring center through the communication module and the data antenna.

In one embodiment, the GNSS module includes a GNSS antenna and a GNSS module that are communicatively connected, the GNSS antenna is used to communicate with the GNSS satellite and the monitoring center respectively, and the GNSS module is communicatively connected with the data fusion module;

The GNSS antenna is used to receive the GNSS signal of the GNSS satellite and output it to the GNSS module. The GNSS module is used to demodulate the GNSS signal, obtain the target signal and output it to the data fusion module, and send the positioning signal returned by the data fusion module to the monitoring center through the GNSS antenna.

In one embodiment, the ADS-B module includes an ADS-B module, an ADS-B signal processing unit and an ADS-B antenna, the ADS-B module is communicatively connected to the ADS-B signal processing unit and the ADS-B antenna respectively, and the ADS-B signal processing unit is communicatively connected to the data fusion module;

The ADS-B antenna is used to receive ADS-B signals and output them to the ADS-B module. The ADS-B module is used to demodulate the ADS-B signals to obtain the target signals and output them to the ADS-B signal processing unit. The ADS-B signal processing unit is used to output the processed target signals to the data fusion module, and send the positioning signals returned by the data fusion module to the monitoring center via the ADS-B module and the ADS-B antenna.

In one embodiment, the answering module includes an answering machine, an answering signal processing unit and an answering antenna, the answering machine is communicatively connected to the answering signal processing unit and the answering antenna respectively, and the answering signal processing unit is communicatively connected to the data fusion module;

The reply antenna is used to receive the reply signal and output it to the reply machine. The reply machine is used to demodulate the reply signal to obtain the target signal and output it to the reply signal processing unit. The reply signal processing unit is used to output the processed target signal to the data fusion module, and send the positioning signal returned by the data fusion module to the monitoring center through the transponder and the reply antenna.

In one embodiment, the navigation sensor module includes a navigation sensor module and a sensor signal processing unit that are communicatively connected, and the sensor signal processing unit is communicatively connected to the data fusion module;

The navigation sensor module is used to output a navigation monitoring signal to the sensor signal processing unit, and the sensor signal processing unit is used to perform signal processing on the navigation monitoring signal and output the corresponding target signal to the data fusion module.

In one of the embodiments, it also includes a power supply system, which is electrically connected to the data fusion module, the GNSS module, the data communication module and the navigation sensor module respectively.

In one of the embodiments, a display terminal is further included. The display terminal is connected to the data fusion module, and the display terminal is used to display the positioning information corresponding to the positioning signal.

In one of the embodiments, a link selection switch is further included, wherein the link selection switch is communicatively connected to the data fusion module, and the link selection switch is used to turn on or off at least one of the GNSS module, the response module, the ADS-B module and the data communication module.

On the other hand, a positioning system is also provided, comprising a GNSS satellite, a ground receiving device, a monitoring center and the positioning device, wherein the positioning device is respectively communicatively connected to the GNSS satellite and the ground receiving device, and the ground receiving device is communicatively connected to the monitoring center;

After obtaining the positioning signal, the positioning device sends the positioning signal to the ground receiving device. The ground receiving device processes the positioning signal, obtains positioning information, and sends it to the monitoring center.

In one of the embodiments, the ground receiving equipment includes a GNSS receiving equipment, a radar, a communication base station and an MPS ground station; the GNSS receiving equipment, the radar, the communication base station and the MPS ground station are respectively communicatively connected to the positioning device, and are respectively communicatively connected to the monitoring center.

In one of the embodiments, a data processing center is further included, the number of the MPS ground stations is at least four, each of the MPS ground stations is respectively communicatively connected to the positioning device and is respectively communicatively connected to the data processing center, and the data processing center is communicatively connected to the monitoring center.

In one of the embodiments, the MPS ground station includes a response receiving device and an ADS-B receiving device, and the response receiving device and the ADS-B receiving device are respectively communicatively connected to the positioning device and are respectively communicatively connected to the data processing center.

One of the above technical solutions has the following advantages and beneficial effects:

The above positioning device and positioning system form multi-link positioning through the collaboration of multiple types of positioning modules. The positioning mode can be switched flexibly and multiple links can be used for concurrent positioning signals, so that the ground monitoring center can be efficiently connected. The ground monitoring center can locate or verify the target aircraft where the positioning device is located according to the positioning signals sent by each link. The positioning accuracy and reliability are high, which greatly improves the positioning efficiency. In addition, the application of the above positioning device does not require the establishment of multiple ground monitoring sites, which effectively reduces the cost of positioning measurement.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a structural block diagram of a positioning device in one embodiment;

FIG2 is a schematic diagram of the specific structure of a positioning device in one embodiment;

FIG3 is a structural block diagram of a positioning device in another embodiment;

FIG4 is a schematic diagram of the specific structure of a positioning device in another embodiment;

FIG5 is a schematic diagram of the specific structure of a positioning device in another embodiment;

FIG6 is a block diagram of a positioning system in one embodiment;

FIG7 is a schematic diagram of a specific structure of a positioning system in one embodiment;

FIG. 8 is a schematic diagram of the specific structure of a positioning system in another embodiment.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

Please refer to FIG. 1 . In one embodiment, a positioning device 100 is provided, including a data fusion module 12, and a GNSS module 14, a response module 16, an ADS-B module 18, a data communication module 20, and a navigation sensor module 22, which are respectively connected to the data fusion module 12 in communication. The data fusion module 12 is used to perform data fusion on the target signals respectively output by the GNSS module 14, the response module 16, the ADS-B module 18, and the data communication module 20, and the sensor signals output by the navigation sensor module 22, to obtain positioning signals, and output the positioning signals to at least one of the GNSS module 14, the response module 16, the ADS-B module 18, and the data communication module 20. The GNSS module 14, the response module 16, the ADS-B module 18, and the data communication module 20 are respectively used to send positioning signals to the monitoring center.

It can be understood that the target signal is a useful signal received by each module from an external device (such as a satellite, a surrounding aircraft or a ground station, etc.), such as a GNSS (Global Navigation Satellite System) satellite positioning signal, a radar interrogation signal received and identified by a transponder, an ADS-B (Automatic Dependent Surveillance-Broadcast) signal sent by the ground or aircraft, a data communication signal sent by a ground server, and a flight service signal, etc., which can be used to monitor the flight status of the aircraft where the positioning device 100 is located, directly locate or assist in positioning, etc. The sensing signal is the detection signal output by the navigation sensing module 22 when the aircraft is detected in flight status, which can be used to provide navigation parameter information such as the altitude, pressure, temperature and inclination of the aircraft. The positioning signal is a position signal of the aircraft where the positioning device 100 is located obtained based on the target signal (such as a partial target signal or a combination of all target signals), which is used to provide the positioning information of the aircraft. The monitoring center is a management center for monitoring, dispatching, controlling and commanding the aircraft where the positioning device 100 is located.

Specifically, the GNSS module 14, the transponder module 16, the ADS-B module 18, the data communication module 20 and the navigation sensor module 22 can output the target signals obtained by themselves to the data fusion module 12 during the early working process. The data fusion module 12 can perform data fusion according to the input target signals, for example, by performing data fusion through a data fusion algorithm widely used in the field, extracting information that can be used for navigation and positioning, so that the obtained information can be filtered, unpacked and/or packaged, and other conventional processing can be performed, and the information can be output in the form of a positioning signal. The data fusion module 12 can output the obtained positioning signal to one or two or more modules among the GNSS module 14, the transponder module 16, the ADS-B module 18 and the data communication module 20. For example, when one or two or more of the GNSS signals, radar signals, ADS-B signals, and data signals (such as 2G, 3G, 4G, or 5G communication signals) in the area where the positioning device 100 is located have good signal coverage and can meet the effective transmission of the positioning signal, the corresponding module with good signal coverage can send the positioning signal returned by the data fusion module 12 to the monitoring center. The monitoring center can thus perform real-time positioning monitoring on the aircraft where the positioning device 100 is located based on the positioning signal sent on at least one communication link (such as data fusion module 12-GNSS module 14-monitoring center).

The above-mentioned positioning device 100, through the collaborative design of various modules, can adaptively select the positioning communication link according to the signal coverage strength, break through the geographical location restrictions, and send the positioning signal from one or more communication links with good signal coverage to the monitoring center, thereby ensuring the continuity of positioning information. The stability and reliability of positioning information transmission are high, effectively improving positioning efficiency, eliminating the need to build ground positioning sites separately, and greatly reducing positioning measurement costs.

Please refer to FIG. 2 . In one embodiment, the data communication module 20 includes a communication module 202, a communication signal processing unit 204 and a data antenna 206. The communication module 202 is respectively connected to the data antenna 206 and the communication signal processing unit 204. The communication signal processing unit 204 is connected to the data fusion module 12. The data antenna 206 is used to receive an external communication signal and output it to the communication module 202. The communication module 202 is used to demodulate the target signal, obtain the target signal and output it to the communication signal processing unit 204. The communication signal processing unit 204 is used to output the processed target signal to the data fusion module 12, and send the positioning signal returned by the data fusion module 12 to the monitoring center through the communication module 202 and the data antenna 206.

The communication module 202 may be, but is not limited to, a 2G, 3G, 4G or 5G communication module 202, as long as the required signal modulation, demodulation and transceiver processing can be completed through a mobile data communication network. The data antenna 206 is a mobile communication antenna adapted to the communication module 202, and the specific type can be determined according to the needs of the communication module 202 for processing signal transceiver. The communication signal processing unit 204 may be a conventional signal processing unit circuit for processing such as communication signal filtering and conversion, and the specific type may be determined according to the output signal of the communication module 202 and the signal input needs of the data fusion module 12. The external communication signal is, for example, a communication signal sent by a communication satellite or a ground communication server, and may include contact information and flight service information related to the aircraft where the positioning device 100 is located.

Specifically, in the location area where the positioning device 100 is located, when the data signal (such as 4G signal) of the data communication network (such as 4G communication network) has good coverage, the external communication signal can be received by the data antenna 206. The communication module 202 can then demodulate the target signal from the external communication signal received by the data antenna 206, such as the flight service signal of the aircraft where the positioning device 100 is located. After the target signal obtained by the communication module 202 is processed by the communication signal processing unit 204, a target signal suitable for data fusion by the data fusion module 12 is obtained, and the target signal is input into the data fusion module 12 for use by the data fusion module 12. When the data fusion module 12 returns the positioning signal, the positioning signal can be converted and processed by the communication signal processing unit 204 and then output to the communication module 202. The communication module 202 then modulates the positioning signal and outputs it to the data antenna 206 for signal transmission, so as to send the positioning signal to the monitoring center.

By applying the above communication module, the communication link of the data communication network can be fully utilized to realize the sending of positioning information. When the communication quality of other positioning links is low or the communication is interrupted, and the data communication signal coverage is good, a reliable positioning signal transmission link is provided to ensure the effectiveness and reliability of positioning monitoring. When the communication quality of other positioning links is good, another positioning signal can be provided, so that the positioning signal sent by other links can be mutually verified to improve the accuracy of positioning.

In one embodiment, the GNSS module 14 includes a GNSS antenna 142 and a GNSS module 144 that are communicatively connected. The GNSS antenna 142 is used to communicate with the GNSS satellite and the monitoring center respectively. The GNSS module 144 is communicatively connected to the data fusion module 12. After receiving the GNSS signal from the GNSS satellite, the GNSS antenna 142 outputs it to the GNSS module 144. The GNSS module 144 demodulates the GNSS signal, obtains the target signal and outputs it to the data fusion module 12, and sends the positioning signal returned by the data fusion module 12 to the monitoring center through the GNSS antenna 142.

It is understood that the GNSS satellite is, for example, a GPS navigation satellite, a Beidou navigation satellite, a GLONASS navigation satellite, or a GALILEO navigation satellite. Accordingly, the specific types of the GNSS antenna 142 and the GNSS module 144 can be determined according to the specific type of the GNSS satellite. The GNSS antenna 142 and the GNSS module 144 can be a receiving antenna and a navigation signal module that are compatible with one navigation satellite signal or two or more navigation satellite signals.

Specifically, the navigation satellite signal emitted by the GNSS satellite, that is, the above-mentioned GNSS signal, can be received by the GNSS antenna 142. The GNSS module 144 can process the GNSS signal obtained by the GNSS antenna 142, such as signal demodulation, to obtain a target signal, such as a GNSS satellite positioning signal that can be used to locate the current position of the aircraft. The target signal is sent to the data fusion module 12 for use in order to obtain the required positioning signal. The data fusion module 12 can also send the obtained positioning signal to the GNSS module 144. The GNSS module 144 sends the positioning signal to the monitoring center via the GNSS antenna 142. The monitoring center can thus perform positioning monitoring on the aircraft where the positioning device 100 is located through the communication link provided by the GNSS module 14.

Through the above-mentioned GNSS module 14, when the communication quality of other positioning links is low or the communication is interrupted, and the GNSS signal coverage in the area where the aircraft is located is good, a reliable positioning signal transmission link is provided to ensure the effectiveness and reliability of positioning monitoring. When the communication quality of other positioning links is good, another positioning signal can be provided, so that the positioning signal sent by other links can be mutually verified to improve the accuracy of positioning.

In one embodiment, the ADS-B module 18 includes an ADS-B module 182, an ADS-B signal processing unit 184 and an ADS-B antenna 186. The ADS-B module 182 is communicatively connected to the ADS-B signal processing unit 184 and the ADS-B antenna 186 respectively. The ADS-B signal processing unit 184 is communicatively connected to the data fusion module 12. The ADS-B antenna 186 is used to receive the ADS-B signal and output it to the ADS-B module 182. The ADS-B module 182 is used to demodulate the ADS-B signal, obtain the target signal and output it to the ADS-B signal processing unit 184. The ADS-B signal processing unit 184 is used to output the processed target signal to the data fusion module 12, and send the positioning signal returned by the data fusion module 12 to the monitoring center through the ADS-B module 182 and the ADS-B antenna 186.

It can be understood that the ADS-B module 182, the ADS-B signal processing unit 184 and the ADS-B antenna 186 can all be corresponding structural units in the ADS-B technology widely used in the art, and are used to transmit, receive and process signals through the ADS-B data link.

Specifically, when the ADS-B antenna 186 receives the ADS-B signal sent by the ADS-B ground station or other surrounding aircraft, it can output the obtained ADS-B signal to the ADS-B module 182 for signal demodulation and other processing to obtain a target signal, such as a target ADS-B signal for locating the aircraft where the positioning device 100 is located. The ADS-B module 182 then outputs the target signal to the ADS-B signal processing unit 184 for signal conversion and other processing, and the processed target signal is input into the data fusion module 12 for processing to obtain the required positioning signal. The data fusion module 12 can send the obtained positioning signal to the ADS-B module 182 through the ADS-B signal processing unit 184. After the ADS-B module 182 processes the positioning signal, it sends it to the ADS-B antenna 186 for signal transmission to send the positioning signal to the monitoring center. The monitoring center can thus locate and monitor the aircraft where the positioning device 100 is located through the data link provided by the ADS-B module 18.

Through the above-mentioned ADS-B module 18, when the communication quality of other positioning links is low or the communication is interrupted, and the ADS-B signal coverage in the area where the aircraft is located is good, a reliable positioning signal transmission link is provided to ensure the effectiveness and reliability of positioning monitoring. When the communication quality of other positioning links is good, another positioning signal can be provided, so that the positioning signal sent by other links can be mutually verified to improve the accuracy of positioning.

In one embodiment, the answering module 16 includes an answering machine 162, and an answering signal processing unit 164 and an answering antenna 166 respectively connected to the answering machine 162 in communication. The answering signal processing unit 164 is connected to the data fusion module 12 in communication. The answering antenna 166 is used to receive the answering signal and output it to the answering machine 162. The answering machine 162 is used to demodulate the answering signal, obtain the target signal and output it to the answering signal processing unit 164 for signal processing. The answering signal processing unit 164 is used to output the processed target signal to the data fusion module 12, and send the positioning signal returned by the data fusion module 12 to the monitoring center through the answering machine 162 and the answering antenna 166.

It can be understood that the above-mentioned transponder 162, the transponder signal processing unit 164 and the transponder antenna 166 can all be corresponding component structures of transponder devices widely used in various types of aircraft to achieve interactive communication with radar ground stations.

Specifically, when the flight area of the aircraft where the positioning device 100 is located is within the radar coverage, the radar signal, such as the interrogation coded signal sent by the radar ground station, can be received through the transponder antenna 166. The transponder 162 will be able to receive the reply signal and obtain the target signal after processing, such as the radar interrogation signal of the aircraft where the positioning device 100 is located. The reply signal processing unit 164 then performs signal conversion and other processing on the target signal output by the transponder 162, and inputs the processed target signal into the data fusion module 12 for fusion processing to obtain the required positioning signal. The data fusion module 12 can send the obtained positioning signal to the transponder 162 through the reply signal processing unit 164. After the transponder 162 processes the positioning signal, it sends it to the reply antenna 166 for signal transmission to send the positioning signal to the monitoring center. The monitoring center can thus perform positioning monitoring on the aircraft where the positioning device 100 is located through the radar link applied by the response module 16. For example, after the aircraft where the positioning device 100 is located receives the interrogation coded signal transmitted from the radar ground station through the response module 16, a group of interrogation coded signals is forwarded through the response module 16. After the ground navigation equipment receives the response signal (such as the aforementioned positioning signal) from the aircraft where the positioning device 100 is located, it decodes and processes it to obtain the positioning information such as the orientation of the aircraft where the positioning device 100 is located.

Through the above-mentioned response module 16, when the communication quality of other positioning links is low or the communication is interrupted, and the radar signal coverage in the area where the aircraft is located is good, a reliable positioning signal transmission link is provided to ensure the effectiveness and reliability of positioning monitoring. When the communication quality of other positioning links is good, another positioning signal can be provided, so that the positioning signal sent by other links can be mutually verified to improve the accuracy of positioning.

In one embodiment, the navigation sensor module 22 includes a navigation sensor module 222 and a sensor signal processing unit 224 that are communicatively connected. The sensor signal processing unit 224 is communicatively connected to the data fusion module 12. The navigation sensor module 222 is used to output a navigation monitoring signal to the sensor signal processing unit 224. The sensor signal processing unit 224 is used to perform signal processing on the navigation monitoring signal and output a corresponding target signal to the data fusion module 12.

It can be understood that the above-mentioned navigation sensor module 222 can be an aviation sensor module commonly used in various aircraft, and is provided with a variety of sensor devices, such as an altitude sensor, a pressure sensor, a temperature sensor, and an inclination sensor. Specifically, the navigation sensor module 222 is used to detect the set navigation parameters, and output the detected navigation parameters in the form of navigation monitoring signals (such as electrical signals) to the sensor signal processing unit 224 for signal conversion and other processing to obtain the corresponding target signal. The sensor signal processing unit 224 then outputs the target signal to the data fusion module 12 for data fusion, so as to obtain the required positioning signal.

By combining the target signal output by the navigation sensor module 22, the real-time and reliability of the positioning signal can be effectively ensured, and the accuracy of the positioning information can be improved.

3 , in one embodiment, the positioning device 100 further includes a power system 24. The power system 24 is electrically connected to the data fusion module 12, the GNSS module 14, the response module 16, the data communication module 20 and the navigation sensor module 22 respectively.

It can be understood that in the above-mentioned embodiment, each module that needs to be powered during the working process of the positioning device 100 can be powered by an external power supply, for example, from the power supply system of the aircraft where the positioning device 100 is located. In this embodiment, the positioning device 100 can also be provided with a power supply system 24, which is used to independently power each module that needs to be powered during the working process without the need for an external power supply to directly power it. The power supply system 24 can be a solar-powered power supply system 24, a power supply subsystem adapted from the power supply system of the aircraft where the positioning device 100 is located, or other independent power supplies suitable for aviation use. As shown in FIG. 3, for example, the power supply system 24 can be used to power the data fusion module 12, the GNSS module 144 of the GNSS module 14, the communication signal processing unit 204 and the communication module 202 of the data communication module 20, the sensor signal processing unit 224 and the navigation sensor module 222 of the navigation sensor module 22, and the corresponding signal processing unit of the response module 16, so that each module and unit can work normally. By configuring the power supply system 24 , the deployment flexibility of the positioning device 100 can be improved, thereby enhancing work efficiency.

Please refer to FIG. 4 . In one embodiment, the positioning device 100 further includes a display terminal 26. The display terminal 26 is connected to the data fusion module 12. The display terminal 26 is used to display the positioning information corresponding to the positioning signal. It can be understood that the display terminal 26 can be, but not limited to, a liquid crystal display or an LED display. Specifically, the data fusion module 12 can also send the positioning signal to the display terminal 26. The display terminal 26 can thus display the positioning information corresponding to the positioning signal in real time. The display terminal 26 can also obtain other information from the data fusion module 12 for display, such as navigation monitoring signals and flight service information, so that the flight attitude and flight service information of the aircraft where the positioning device 100 is located can also be displayed in real time. Through the setting of the display terminal 26, the pilot can intuitively grasp the current positioning position, flight attitude, flight service and other important information, improve the decision-making efficiency of flight control, and improve flight safety.

Please refer to FIG5 , in one embodiment, the positioning device 100 further includes a link selection switch 28, and the link selection switch 28 is communicatively connected to the data fusion module 12. The link selection switch 28 is used to turn on or off at least one of the GNSS module 14, the answering module 16, the ADS-B module 18, and the data communication module 20. It can be understood that the link selection switch 28 can be, but is not limited to, a multi-way controlled wave switch, a button switch, or a touch switch module.

Specifically, the pilot can control the data fusion module 12 to select one of the GNSS module 14, the transponder module 16, the ADS-B module 18 and the data communication module 20, or two or more modules to enter the working state through the link selection switch 28. Any one of the GNSS module 14, the transponder module 16, the ADS-B module 18 and the data communication module 20 can be directly turned on or off through the link selection switch 28. For example, the pilot can choose to turn on or off the corresponding module (such as the data communication module 20 or the transponder module 16, etc.) in each module according to the signal (such as 4G signal or radar signal, etc.) coverage strength in the current area.

By setting the link site selection switch, pilots can manually control the working status of each module in real time according to the signal conditions in the area, thereby improving the efficiency of positioning information transmission.

Please refer to FIG6 , a positioning system 200 includes a GNSS satellite 11, a ground receiving device 13, a monitoring center 15 and the above-mentioned positioning device 100. The positioning device 100 is respectively connected to the GNSS satellite 11 and the ground receiving device 13. The ground receiving device 13 is connected to the monitoring center 15. After the positioning device 100 obtains the positioning signal, it sends the positioning signal to the ground receiving device 13. The ground receiving device 13 processes the positioning signal, obtains the positioning information and sends it to the monitoring center 15.

It can be understood that the ground receiving device 13 is used to receive the positioning signal sent by the positioning device 100 in the above embodiments and forward it to the monitoring center 15. Specifically, after the positioning device 100 sends a positioning signal, the ground receiving device 13 in the corresponding area will receive the positioning signal and send it to the monitoring center 15. The monitoring center 15 can thus obtain the positioning information of the aircraft where the positioning device 100 is located based on the obtained positioning signal, and realize the positioning monitoring of the aforementioned aircraft. By sending the positioning signal to the ground receiving device 13 through the above-mentioned positioning device 100, the communication link can be flexibly adaptive, ensuring the continuity of the positioning information, while greatly improving the stability and reliability of the positioning information transmission, greatly improving the positioning accuracy and aviation safety, and the positioning efficiency is high.

Please refer to Fig. 7, in one embodiment, the ground receiving device 13 includes a GNSS receiving device 131, a radar 132, a communication base station 133 and an MPS ground station 134. The GNSS receiving device 131, the radar 132, the communication base station 133 and the MPS ground station 134 are respectively connected to the positioning device 100 for communication, and are also respectively connected to the monitoring center 15 for communication.

It can be understood that the GNSS receiving device 131 can be used to receive the positioning signal transmitted by the positioning device 100 through the GNSS antenna 142. The radar 132 can be used to receive the positioning signal transmitted by the positioning device 100 through the transponder antenna 166. The communication base station 133 can be used to receive the positioning signal transmitted by the positioning device 100 through the data antenna 206, which can be but not limited to a 4G base station. The MPS (Multilink Position System) ground station can be used to receive the positioning signal transmitted by the positioning device 100 through the ADS-B antenna 186, and can use the ADS-B technology to efficiently realize the positioning of the aircraft; it can also be used to receive the positioning signal transmitted by the transponder antenna 166.

Specifically, the positioning device 100 can send the positioning signal to the ground through receiving devices set at various locations on the ground, such as the above-mentioned GNSS receiving device 131, radar 132, communication base station 133 and MPS ground station 134. The aforementioned receiving devices can all send the received positioning signal to the monitoring center 15, for example, when communicating with the monitoring center 15 through the ground communication network, forwarding the received positioning signal to the monitoring center 15. The monitoring center 15 can thus perform positioning monitoring on the aircraft where the positioning device 100 is located based on the positioning information corresponding to the obtained positioning signal. Optionally, each of the above-mentioned receiving devices can receive the positioning signals of one, two or more positioning devices 100 in the monitoring area.

By applying the above-mentioned receiving devices, multi-link reception of positioning signals can be achieved, thereby improving the reliability and accuracy of positioning. In addition, the above-mentioned receiving devices can all be receiving devices of existing aviation communication systems, without the need to re-build them separately, thereby improving positioning efficiency while effectively reducing positioning costs.

Please refer to FIG8 , in one embodiment, the positioning system 200 further includes a data processing center 17 . The number of MPS ground stations 134 is at least four. Each MPS ground station 134 is respectively connected to the positioning device 100 in communication, and is respectively connected to the data processing center 17 in communication. The data processing center 17 is connected to the monitoring center 15 in communication.

It can be understood that the data processing center 17 can be a server or a server cluster, which is used to process the positioning signals sent from the MPS ground stations 134, so as to complete the positioning of the aircraft where the positioning device 100 is located based on multiple positioning signals.

Specifically, the positioning system 200 can receive the positioning signal sent by the positioning device 100 by setting up multiple MPS ground stations 134 in the range area, so that the MDS (Multilateration Detection System) technology can be applied to achieve effective positioning of the aircraft where the positioning device 100 is located. For example, when the GNSS signal, ADS-B signal, and data signal in the flight area of the aircraft where the positioning device 100 is located are blocked or strongly interfered, positioning can be achieved through a communication link composed of at least four MPS ground stations 134. For example, when working, each MPS ground station 134 receives each positioning signal and determines the arrival time of the signal, and then transmits the time parameters of each signal to the data processing center 17, which performs TDOA (Time Difference of Arrival) calculation, and finally calculates the position coordinates of the aircraft where the positioning device 100 is located through the TDOA calculation value, that is, the positioning is completed and the positioning information such as the position coordinates is sent to the monitoring center 15. Optionally, when the GNSS signal, ADS-B signal, and 4G network are well covered in the flight airspace of the aircraft where the positioning device 100 is located, the positioning information output by other receiving devices can be sent to the monitoring center 15 together with the positioning information output by the data processing center 17, so that the monitoring center 15 can mutually verify the positioning position of the aircraft based on the received multi-channel positioning information to ensure the accuracy and reliability of the monitoring center 15's positioning of the aircraft.

Through the above-mentioned data processing center 17 and MPS ground station 134, the MDS technology can be effectively applied to efficiently realize the positioning of the aircraft where the positioning device 100 is located, and further improve the reliability and efficiency of positioning.

In one embodiment, the MPS ground station 134 includes a transponder receiving device and an ADS-B receiving device. The transponder receiving device and the ADS-B receiving device are respectively connected to the positioning device 100 for communication and are respectively connected to the data processing center 17 for communication.

It can be understood that in the above-mentioned MPS ground station 134, the reply receiving device is a receiving device for the reply signal, which can be a ground receiving terminal of the transponder 162. The ADS-B receiving device is a ground receiving terminal for the output signal of the ADS-B module 18, which can be a signal receiving device in the existing ADS-B communication system, and is used to receive the positioning signal transmitted by the ADS-B antenna 186. In other words, the MPS ground station 134 mainly includes the above-mentioned two types of receiving devices, which are used to receive the positioning signal transmitted by the reply antenna 166 or the ADS-B antenna 186, to ensure the validity and reliability of the signal input required by the data processing center 17.

The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims (12)

1. A positioning device, characterized in that it comprises a data fusion module, and a GNSS module, a response module, an ADS-B module, a data communication module and a navigation sensor module respectively communicatively connected to the data fusion module; The data fusion module is used to perform data fusion on the target signals respectively output by the GNSS module, the response module, the ADS-B module and the data communication module, and the sensor signal output by the navigation sensor module to obtain a positioning signal, and output the positioning signal to at least one of the GNSS module, the response module, the ADS-B module and the data communication module respectively; The GNSS module, the response module, the ADS-B module and the data communication module are respectively used to send the positioning signal to the monitoring center; The positioning device also includes a link selection switch, which is communicatively connected to the data fusion module, and the link selection switch is used to turn on or off at least one of the GNSS module, the response module, the ADS-B module and the data communication module. 2. The positioning device according to claim 1, characterized in that the data communication module comprises a communication module, a communication signal processing unit and a data antenna, the communication module is respectively communicatively connected to the data antenna and the communication signal processing unit, and the communication signal processing unit is communicatively connected to the data fusion module; The data antenna is used to receive external communication signals and output them to the communication module; the communication module is used to demodulate the target signal, obtain the target signal and output it to the communication signal processing unit; the communication signal processing unit is used to output the processed target signal to the data fusion module, and send the positioning signal returned by the data fusion module to the monitoring center through the communication module and the data antenna. 3. The positioning device according to claim 1, characterized in that the GNSS module comprises a GNSS antenna and a GNSS module that are communicatively connected, the GNSS antenna is used to communicate with the GNSS satellite and the monitoring center respectively, and the GNSS module is communicatively connected to the data fusion module; The GNSS antenna is used to receive the GNSS signal of the GNSS satellite and output it to the GNSS module. The GNSS module is used to demodulate the GNSS signal, obtain the target signal and output it to the data fusion module, and send the positioning signal returned by the data fusion module to the monitoring center through the GNSS antenna. 4. The positioning device according to claim 1, characterized in that the ADS-B module comprises an ADS-B module, an ADS-B signal processing unit and an ADS-B antenna, the ADS-B module is communicatively connected to the ADS-B signal processing unit and the ADS-B antenna respectively, and the ADS-B signal processing unit is communicatively connected to the data fusion module; The ADS-B antenna is used to receive ADS-B signals and output them to the ADS-B module. The ADS-B module is used to demodulate the ADS-B signals to obtain the target signals and output them to the ADS-B signal processing unit. The ADS-B signal processing unit is used to output the processed target signals to the data fusion module, and send the positioning signals returned by the data fusion module to the monitoring center via the ADS-B module and the ADS-B antenna. 5. The positioning device according to claim 1, characterized in that the response module comprises a response machine, a response signal processing unit and a response antenna, the response machine is respectively connected to the response signal processing unit and the response antenna, and the response signal processing unit is connected to the data fusion module; The reply antenna is used to receive the reply signal and output it to the reply machine. The reply machine is used to demodulate the reply signal to obtain the target signal and output it to the reply signal processing unit. The reply signal processing unit is used to output the processed target signal to the data fusion module, and send the positioning signal returned by the data fusion module to the monitoring center through the transponder and the reply antenna. 6. The positioning device according to claim 1, characterized in that the navigation sensor module comprises a navigation sensor module and a sensor signal processing unit which are communicatively connected, and the sensor signal processing unit is communicatively connected to the data fusion module; The navigation sensor module is used to output a navigation monitoring signal to the sensor signal processing unit, and the sensor signal processing unit is used to perform signal processing on the navigation monitoring signal and output the corresponding target signal to the data fusion module. 7. The positioning device according to any one of claims 1 to 6 is characterized in that it also includes a power supply system, which is electrically connected to the data fusion module, the GNSS module, the response module, the data communication module and the navigation sensor module respectively. 8. The positioning device according to claim 1 is characterized in that it also includes a display terminal, the display terminal is connected to the data fusion module, and the display terminal is used to display the positioning information corresponding to the positioning signal. 9. A positioning system, comprising a GNSS satellite, a ground receiving device, a monitoring center and the positioning device according to any one of claims 1 to 8, wherein the positioning device is communicatively connected to the GNSS satellite and the ground receiving device respectively, and the ground receiving device is communicatively connected to the monitoring center; After obtaining the positioning signal, the positioning device sends the positioning signal to the ground receiving device. The ground receiving device processes the positioning signal, obtains positioning information, and sends it to the monitoring center. 10. The positioning system according to claim 9 is characterized in that the ground receiving equipment includes a GNSS receiving equipment, a radar, a communication base station and an MPS ground station; the GNSS receiving equipment, the radar, the communication base station and the MPS ground station are respectively communicatively connected to the positioning device, and are respectively communicatively connected to the monitoring center. 11. The positioning system according to claim 10 is characterized in that it also includes a data processing center, the number of the MPS ground stations is at least four, each of the MPS ground stations is respectively communicatively connected to the positioning device and is respectively communicatively connected to the data processing center, and the data processing center is communicatively connected to the monitoring center. 12. The positioning system according to claim 11 is characterized in that the MPS ground station includes a response receiving device and an ADS-B receiving device, and the response receiving device and the ADS-B receiving device are respectively communicatively connected to the positioning device and are respectively communicatively connected to the data processing center.