CN117856958A - Positioning time service fusion method and receiver based on Beidou No. three and Changhe No. two - Google Patents
Positioning time service fusion method and receiver based on Beidou No. three and Changhe No. two Download PDFInfo
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- CN117856958A CN117856958A CN202410013167.5A CN202410013167A CN117856958A CN 117856958 A CN117856958 A CN 117856958A CN 202410013167 A CN202410013167 A CN 202410013167A CN 117856958 A CN117856958 A CN 117856958A
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0685—Clock or time synchronisation in a node; Intranode synchronisation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention discloses a positioning time service fusion method and a receiver based on Beidou No. three and Changhe No. two, comprising the following steps: configuring a second long river module to receive the ground wave signal; configuring a Beidou III module to receive satellite signals; when the second module of the Change works normally, PVT, 1PPS and TOD information are output to the third module of the Beidou as time-frequency auxiliary information of the third module of the Beidou; and after the Beidou No. three module finishes direct capturing and positioning of satellite signals according to the time-frequency auxiliary information, PVT information and time service information of the satellite signals are sent to the No. two long-river module, and ASF correction is carried out on the No. two long-river module. The Beidou No. three and the Changhe No. two positioning time service fusion processing technology realizes fusion complementation application of satellite-based and land-based positioning time service, greatly improves stability and continuity of positioning time service, and has the capability of continuously available equipment positioning time service when satellite navigation is refused.
Description
Technical Field
The invention belongs to the technical field of radio navigation positioning, and particularly relates to a combined positioning time service method and a receiver for combining land-based and satellite-based radio signals.
Background
The radio navigation technology is not limited by seasons and visibility, has reliable work, high accuracy, clear indication, practicability and convenience, and becomes the main navigation method and means at present. In the current state of radio navigation technology, navigation properties are determined from the position of a navigation station, and mainly include a land-based navigation system and a satellite-based navigation system. The navigation station of the land-based navigation system is located on land, and radio wave connection is adopted between the navigation station and the receiver, such as a very high frequency omnidirectional beacon (VOR), a microwave landing system, a Roland navigation system, an omega navigation system and the like. The navigation station of the satellite-based navigation system is arranged on an artificial satellite, and has wide coverage, such as a GPS (global positioning system) in the United states, a GLONASS in Russian, a Beidou satellite navigation system in China and the like. The established star-based time service system in China is mainly a Beidou satellite navigation positioning time service system; the land-based radio time service system mainly comprises a BPL long wave time service system based on the Roland C system, a long river No. two system, a BPM short wave time service system, a BPC low frequency time code time service system and the like.
Because the land-based navigation system is affected by the ground radio propagation medium, the navigation precision and the service range are limited, and therefore, many current offshore shipborne devices can choose to use the satellite-based navigation system for positioning and timing. However, with the development of wireless communication technology, in the face of more and more complex electromagnetic environments, satellite receiver time service is easy to receive various electromagnetic interferences, and the way of carrying out positioning time service by using the satellite receiver alone is too single for on-board equipment, so that the stability and reliability of on-board equipment positioning time service in complex environments cannot be ensured.
Disclosure of Invention
The invention aims to provide a positioning time service fusion technology based on Beidou No. three and Changhe No. two, which aims to solve the problems of stability, poor performance and easiness in interruption of positioning time service of ship-borne equipment in a complex environment by using a single land-based system or a satellite-based system.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
in one aspect, the invention provides a positioning time service fusion method based on Beidou No. three and Changhe No. two, which comprises the following steps:
configuring a second long river module to receive the ground wave signal;
configuring a Beidou III module to receive satellite signals;
when the second module of the Change works normally, PVT, 1PPS and TOD information are output to the third module of the Beidou as time-frequency auxiliary information of the third module of the Beidou;
after the Beidou No. three module finishes direct capturing and positioning of satellite signals according to the time-frequency auxiliary information, PVT information and time service information of the satellite signals are sent to a No. two long-river module, and ASF correction is carried out on the No. two long-river module;
wherein, the ASF correction process includes:
creating a grid type ASF correction value database;
configuring grids of an ASF correction value database, calculating longitude and latitude by using a second long river as an index address, and setting a stepping angle;
storing N ASF correction values in each grid, wherein the N ASF correction values correspond to N long river second stations respectively;
PVT information and time service information provided by the Beidou No. three module are received;
according to the position information in the received PVT information, corresponding to a corresponding grid in an ASF correction value database, calculating ASF correction values in the grid, wherein the calculation formula is as follows:
ASF=T δ -T m +TI-TOA 0 -ED-ΔT；
wherein T is δ Representing local timeDeviation from each other; t (T) m Expressing mantissas obtained by removing seconds from the transmitting time of the GTP pulse group signal of the second long river; TI represents the deviation between the third week zero crossing point of the long river No. two GTP pulse group signal and the receiver 1 PPS; TOA (time of flight) 0 The wave propagation time of the ground wave signal reaching the receiver position from the station number two of the long river is represented; ED represents the nominal transmit delay of the timing signal of the primary and secondary stations using the Change No. two station chain; Δt represents the long river antenna and receiving channel delay;
and updating the ASF correction value in the grid.
In some embodiments of the present application, the local time offset T δ For the deviation between the local receiver 1PPS and the standard time 1PPS, the standard time may be obtained from the time service information provided by the beidou No. three module.
In some embodiments of the present application, for determining TOA 0 The position of the receiver required by the parameters can be obtained from PVT information output by the second module of the Change river or PVT information output by the third module of the Beidou.
In some embodiments of the present application, when updating the ASF correction value in the grid, for the grid with the ASF correction value, an average value may be calculated by using an average value filtering algorithm for the calculated ASF correction value and the original ASF correction value in the grid, and the ASF correction value in the grid is updated by using the average value; for a grid where no ASF correction values are present, the calculated ASF correction values may be written directly into the grid.
In some embodiments of the present application, in order to ensure accuracy of data in the ASF correction value database, the update process of the ASF correction value needs to be performed under the condition that the positioning data of the long river No. two and the Beidou No. three are valid.
In some embodiments of the present application, the longitude and latitude stepping angle of two adjacent grids may be set to 0.1 ° to improve positioning accuracy.
In some embodiments of the present application, N is greater than or equal to 9, that is, the long river number two module is configured to receive the ground wave signals sent by the 9 long river number two stations, so as to improve the redundancy of input.
In some embodiments of the present application, in order to ensure continuity of positioning time service, when the long river No. two navigation system is refused, the No. three Beidou module is configured to work independently, and external time-frequency reference information is received, so as to provide time and frequency references for the No. three Beidou module to perform P code direct capturing positioning.
In some embodiments of the present application, when TOD information output by the second module of the Change and external time-frequency reference information coexist, the external time-frequency reference information is preferentially selected, and time and frequency references are provided for the third module of the Beidou, so as to accelerate the direct capturing speed of signals.
In some embodiments of the present application, in order to ensure continuity of positioning time service, when the beidou No. three navigation system is refused, the long river No. two modules are configured to work independently, and the updated ASF correction value database is used to perform ASF correction on the arrival time of the ground wave signal received by the long river No. two modules, so as to maintain a certain positioning accuracy.
In another aspect, the present invention also provides a receiver, including: a second long river module, a third Beidou module and a main control module; the second long-river module is connected with a long-river antenna and is used for receiving the ground wave signal sent by the second long-river station and performing navigation calculation; the Beidou No. three module is connected with a Beidou anti-interference antenna and is used for receiving satellite signals sent by a Beidou No. three satellite and performing navigation calculation; the main control module is connected with the second long-river module and the third big dipper module, and is used as an information interaction bridge between the second long-river module and the third big dipper module, and the following positioning time service fusion method is cooperatively executed by the second long-river module and the third big dipper module:
when the second long river module works normally, PVT, 1PPS and TOD information output by the second long river module are transmitted to the third Beidou module to serve as time-frequency auxiliary information of the third Beidou module;
after the Beidou No. three module finishes satellite signal direct capturing and positioning according to the time-frequency auxiliary information, PVT information and time service information of the satellite signal direct capturing and positioning are sent to the No. two long-river module, and the following ASF correction process is carried out on the No. two long-river module:
creating a grid type ASF correction value database;
configuring grids of an ASF correction value database, calculating longitude and latitude by using a second long river as an index address, and setting a stepping angle;
storing N ASF correction values in each grid, wherein the N ASF correction values correspond to N long river second stations respectively;
PVT information and time service information provided by the Beidou No. three module are received;
according to the position information in the received PVT information, corresponding to a corresponding grid in an ASF correction value database, calculating ASF correction values in the grid, wherein the calculation formula is as follows:
ASF=T δ -T m +TI-TOA 0 -ED-ΔT；
wherein T is δ Representing local time bias; t (T) m Expressing mantissas obtained by removing seconds from the transmitting time of the GTP pulse group signal of the second long river; TI represents the deviation between the third week zero crossing point of the long river No. two GTP pulse group signal and the receiver 1 PPS; TOA (time of flight) 0 The wave propagation time of the ground wave signal reaching the receiver position from the station number two of the long river is represented; ED represents the nominal transmit delay of the timing signal of the primary and secondary stations using the Change No. two station chain; Δt represents the long river antenna and receiving channel delay;
and updating the ASF correction value in the grid.
Compared with the prior art, the invention has the advantages and positive effects that:
1. the invention adopts a multisource fusion technology, utilizes the second long-river module and the third big-dipper module to form a positioning time service guarantee system with the land base and the star base mutually complementary, mutually backup and mutually reinforcing, and provides time and frequency reference information for quickly realizing P code positioning by the third big-dipper module when the second long-river module works normally, thereby solving the problem that the P code cannot be used or captured in a short time under the condition that the C code cannot be positioned or no external accurate time is input, and improving the direct capturing speed of signals.
2. When the Beidou No. three system is refused, the second long river can work independently, and the ASF data of the second long river can be corrected and updated during Beidou navigation and positioning, so that the positioning accuracy of the second long river module can be improved.
3. The Beidou No. three and the Changhe No. two positioning time service fusion processing technology realizes fusion complementation application of satellite-based and land-based positioning time service, greatly improves stability and continuity of positioning time service, and has the capability of continuously available equipment positioning time service when satellite navigation is refused.
Other features and advantages of the present invention will become more apparent from the following detailed description of embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic block circuit diagram of one embodiment of a receiver in accordance with the present invention;
FIG. 2 is a flow chart of an embodiment of a positioning time service fusion method based on Beidou No. three and Chang No. two according to the invention;
fig. 3 is a flow chart of one embodiment of the ASF correction method of fig. 2.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
The receiver is designed based on the combined navigation technology, and as shown in fig. 1, the receiver mainly comprises a chassis, a Beidou anti-interference antenna, a Beidou No. three module, a long river antenna, a long river No. two module, a main control module, an external interface and other components.
The Beidou anti-interference antenna is responsible for receiving and anti-interference processing of Beidou No. three global satellite navigation signals, and processed radio frequency signals are transmitted to a Beidou No. three module through an antenna cable. The Beidou No. three module mainly completes processing and navigation resolving of Beidou No. three satellite signals and achieves functions of positioning, speed measurement, time service, communication and the like.
The long-river antenna is responsible for receiving the ground wave signals sent by the long-river second station, transmitting the ground wave signals to the long-river second module through the antenna cable so as to complete the processing and navigation resolving of the long-river second ground wave signals and provide communication navigation service and necessary information for the platform.
In the working process of the receiver, the second long river module detects and identifies the station chains according to the group repetition period (GRI) of each station chain, the identification of the main station and the auxiliary station is realized through different phase codes of the main station and the auxiliary station, and the capture of the second long river signal is realized through generating GRI synchronous signals. After the signal is captured, the space-earth wave identification, the phase tracking and the period identification are carried out, and finally the tracking point of the second long river signal is calculated, so that the output of positioning information and time service pulses is realized.
In order to realize the fusion complementary application of the Beidou No. three positioning time service and the Beidou No. two positioning time service, the embodiment designs a Beidou No. three and Beidou No. two positioning time service fusion method, and mainly comprises the following processes in combination with the illustration of FIG. 2:
and during the normal working period of the second long-river module, the second long-river module is configured to cooperate with a long-river antenna to receive ground wave signals sent by a plurality of second long-river stations, PVT, 1PPS and TOD information are generated after signal processing and navigation resolving, and the PVT, 1PPS and TOD information are transmitted to a main control module in a receiver. Here, 1PPS is a unit of network throughput, specifically, how many packet data packets are transmitted per second; TOD is a reference signal for time synchronization; PVT includes three elements, namely Position information (Position), velocity information (Velocity), and Time information (Time).
The main control module transmits the received PVT, 1PPS and TOD information from the second long river module to the third big dipper module as time-frequency auxiliary information of the third big dipper module, and the redundancy of the time information, the frequency information and the position information input to the third big dipper module is increased, so that the third big dipper module can rapidly complete the direct capturing and positioning of the P code.
Because the current Beidou No. three anti-interference satellite navigation system is realized by utilizing external accurate time reference information when P code positioning is performed. After the positioning time service fusion technology of the embodiment is adopted, PVT, 1PPS and TOD time service information output by the second long-river module can be utilized to assist the third Beidou module to quickly realize P code positioning, so that the problem that the P code cannot be used or cannot be captured in a short time under the condition that the C code cannot be positioned or no external accurate reference time is input is solved.
If the loading device can provide external time-frequency reference information for the receiver, for example, provide frequency standard input and time scale input of 10MHz frequency, the main control module can select and switch between TOD information output by the second module of the Change and the time scale input of the external time-frequency reference information after receiving the external time-frequency reference information, and select one of the TOD information and the time scale input of the external time-frequency reference information to provide a time reference for P code positioning of the third module of the Beidou.
In some embodiments, when the external time-frequency reference information and the time service information provided by the second long river module coexist, the external time-frequency reference information is preferably adopted to input the third Beidou module so as to improve the signal direct capturing speed of the third Beidou module.
When no external time-frequency reference information is input, TOD information output by the Change No. two modules can be used as a time reference for Beidou No. three P code positioning, and quick positioning is completed.
During normal operation, the Beidou No. three module can perform mode switching and early warning of anti-deception interference and anti-compression system interference according to interference level monitoring conditions, so that electromagnetic environment interference can be reduced, and positioning and time service capacity of complex electromagnetic under an anti-interference environment is improved.
After the Beidou No. three module is positioned, the Beidou No. three module is configured to send PVT information and time service information generated by the Beidou No. three module to the Change No. two module for ASF correction by the Change No. two module, so that the aim of improving the positioning accuracy of the Change No. two module is fulfilled.
ASF (Additional Second-phase Factor) is an additional secondary phase Factor, and is a correction Factor for positioning accuracy of the second long river. ASF correction is carried out on the arrival time TOA of the ground wave signal received by the second module of the Chang river, which is a key for improving the positioning precision of the ground satellite combination.
The embodiment designs an ASF correction method for a second module of the Change, and combines with the illustration of fig. 3, and mainly comprises the following processes:
s301, creating a grid type ASF correction value database.
In this embodiment, a grid ASF correction value database may be maintained in the memory of the second module of the long river, so as to speed up the data reading and writing.
S302, configuring grids of an ASF correction value database, calculating longitude and latitude by using the second long river as an index address, and setting a stepping angle.
For example, the latitude and longitude stepping angle of two adjacent grids may be set to 0.1 °.
S303, storing N ASF correction values in each grid, wherein the N ASF correction values correspond to N stations of the second long river respectively.
For example, each grid may be configured to store 9 ASF correction values, corresponding to 9 long river number two stations, respectively, so as to improve redundancy and reliability of signal reception by the receiver for the stations.
S304, receiving positioning data provided by the Beidou No. three module.
Under the condition that the positioning data output by the Beidou No. three module is effective, the Changhe No. two module receives the positioning data output by the Beidou No. three module through the main control module, such as PVT information, time service information and the like.
S305, according to the position information in the received positioning data, corresponding to a corresponding grid in the ASF correction value database, and calculating ASF correction values in the grid.
In this embodiment, the calculation formula of the ASF correction value may be designed as follows:
ASF=T δ -T m +TI-TOA 0 -ED-ΔT。
wherein T is δ The local time deviation is represented, namely, the deviation between the local receiver 1PPS and the standard time 1PPS, wherein the standard time is obtained from the time service information provided by the beidou No. three module. T (T) m And representing mantissas obtained by removing seconds from the transmitting time of the GTP pulse group signal of the second long river. TI represents the deviation between the third week zero crossing of the GTP burst signal for long river number two and the receiver 1 PPS. TOA (time of flight) 0 Station for representing ground wave signal from Changhe No. two stationThe propagation time of the electric wave reaching the receiver position can be obtained from PVT information output by the second module of the Change river or PVT information output by the third module of the Beidou. ED represents the nominal transmit delay of the timing signal of the primary and secondary stations using the Change No. two station chain. Δt represents the long river antenna and the reception channel delay.
S306, updating the ASF correction value in the grid.
The update of the ASF correction value needs to be performed under the condition that both the positioning data of the long river No. two and the Beidou No. three are valid.
For the grid with ASF correction values, an average value can be calculated by adopting an average value filtering algorithm between the calculated ASF correction values and the original ASF correction values in the grid, and the ASF correction values in the grid can be updated by using the average value.
For a grid where no ASF correction values are present, the calculated ASF correction values may be written to the grid.
S307, synchronizing the updated ASF correction value database into an external memory.
In this embodiment, when the ASF correction value database in the memory of the second module of the long river is updated, the ASF correction value database in the external memory may be updated synchronously. Of course, a period may be set, and the ASF correction value database in the external memory may be updated periodically.
When the second land-based navigation system of the long river is refused, the third Beidou module can work independently. At this time, external time-frequency reference information, for example, a reference signal with the frequency of 10MHz, can be provided for the receiver through the loading device, and a time reference is provided for the Beidou No. three module to perform P code direct capturing positioning.
When the Beidou No. three satellite navigation system is refused, the long river No. two modules can work independently. Because the ASF correction value database of the second long-river module is corrected and updated when the third Beidou module is used for positioning, even if the second long-river module works independently, certain positioning accuracy can be maintained.
The receiver of the embodiment is applied to a ship, and the positioning and time service continuous usability of the ship navigation under a complex electronic countermeasure environment or when satellite navigation is refused can be enhanced by using the Beidou three positioning and time service technology and the signal anti-interference technology and the long river two radio navigation technology, so that the all-weather and all-day positioning and time service requirements of the ship can be well met.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that other variations, modifications, additions and substitutions are possible, without departing from the scope of the invention as disclosed in the accompanying claims.
Claims (10)
1. A positioning time service fusion method based on Beidou No. three and Changhe No. two is characterized by comprising the following steps:
configuring a second long river module to receive the ground wave signal;
configuring a Beidou III module to receive satellite signals;
when the second module of the Change works normally, PVT, 1PPS and TOD information are output to the third module of the Beidou as time-frequency auxiliary information of the third module of the Beidou;
after the Beidou No. three module finishes direct capturing and positioning of satellite signals according to the time-frequency auxiliary information, PVT information and time service information of the satellite signals are sent to a No. two long-river module, and ASF correction is carried out on the No. two long-river module;
wherein, the ASF correction process includes:
creating a grid type ASF correction value database;
configuring grids of an ASF correction value database, calculating longitude and latitude by using a second long river as an index address, and setting a stepping angle;
storing N ASF correction values in each grid, wherein the N ASF correction values correspond to N long river second stations respectively;
PVT information and time service information provided by the Beidou No. three module are received;
according to the position information in the received PVT information, corresponding to a corresponding grid in an ASF correction value database, calculating ASF correction values in the grid, wherein the calculation formula is as follows:
ASF=T δ -T m +TI-TOA 0 -ED-ΔT；
wherein T is δ Representing local time bias; t (T) m Expressing mantissas obtained by removing seconds from the transmitting time of the GTP pulse group signal of the second long river; TI represents the deviation between the third week zero crossing point of the long river No. two GTP pulse group signal and the receiver 1 PPS; TOA (time of flight) 0 The wave propagation time of the ground wave signal reaching the receiver position from the station number two of the long river is represented; ED represents the nominal transmit delay of the timing signal of the primary and secondary stations using the Change No. two station chain; Δt represents the long river antenna and receiving channel delay;
and updating the ASF correction value in the grid.
2. The positioning time service fusion method based on Beidou No. three and Changhe No. two according to claim 1, wherein the local time deviation T is characterized in that δ The standard time is obtained from time service information provided by the Beidou No. three module and is the deviation between the local receiver 1PPS and the standard time 1 PPS.
3. The positioning time service fusion method based on Beidou No. three and Chang river No. two according to claim 1, wherein the receiver position is obtained from PVT information output by Chang river No. two modules or PVT information output by Beidou No. three modules.
4. The positioning time service fusion method based on Beidou No. three and Chang river No. two according to claim 1, wherein the updating of the ASF correction value in the grid comprises the following steps:
for the grid with ASF correction values, calculating an average value between the calculated ASF correction values and the original ASF correction values in the grid by adopting a mean value filtering algorithm, and updating the ASF correction values in the grid by using the average value;
for a grid where no ASF correction values exist, the calculated ASF correction values are written into the grid.
5. The positioning time service fusion method based on Beidou No. three and Chang river No. two according to claim 4, wherein the updating process of the ASF correction value is performed under the condition that positioning data of Chang river No. two and Beidou No. three are valid.
6. The positioning time service fusion method based on Beidou No. three and Changhe No. two according to claim 1, wherein the longitude and latitude stepping angles of two adjacent grids are set to be 0.1 degrees; setting N to be more than or equal to 9.
7. The positioning time service fusion method based on the Beidou No. three and the Chang river No. two according to any one of claims 1 to 6, wherein when the Chang river No. two navigation system is refused, the Beidou No. three module is configured to work independently, external time-frequency reference information is received, and time and frequency references are provided for P code direct capturing positioning of the Beidou No. three module.
8. The positioning time service fusion method based on the Beidou No. three and the Change No. two according to claim 7 is characterized in that when TOD information output by the Change No. two module and external time-frequency reference information coexist, the external time-frequency reference information is selected to provide time and frequency references for the Beidou No. three module.
9. The positioning time service fusion method based on Beidou No. three and Chang river No. two according to any one of claims 1 to 6, wherein when a Beidou No. three navigation system is refused, a Chang river No. two module is configured to work independently, and an updated ASF correction value database is utilized to perform ASF correction on the arrival time of a ground wave signal received by the Chang river No. two module.
10. A receiver, comprising:
the second long-river module is connected with the second long-river antenna and is used for receiving the ground wave signal sent by the second long-river station and performing navigation calculation;
the Beidou No. three module is connected with the Beidou anti-interference antenna and is used for receiving satellite signals sent by the Beidou No. three satellites and performing navigation calculation;
the main control module is connected with the second long-river module and the third big dipper module, is used as an information interaction bridge between the second long-river module and the third big dipper module, and is matched with the second long-river module and the third big dipper module to cooperatively execute the positioning time service fusion method based on the third big dipper module and the second long-river module according to any one of claims 1 to 9.
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| CN202410013167.5A Pending CN117856958A (en) | 2024-01-04 | 2024-01-04 | Positioning time service fusion method and receiver based on Beidou No. three and Changhe No. two |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118671807A (en) * | 2024-08-21 | 2024-09-20 | 尚禹河北电子科技股份有限公司 | Beidou-based long-wave high-precision ASF differential data calculation method and system |
| CN119758385A (en) * | 2025-01-24 | 2025-04-04 | 陕西科技大学 | A method and related equipment for predicting the statistical characteristics of ground wave propagation ASF in Loran-C system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118671807A (en) * | 2024-08-21 | 2024-09-20 | 尚禹河北电子科技股份有限公司 | Beidou-based long-wave high-precision ASF differential data calculation method and system |
| CN119758385A (en) * | 2025-01-24 | 2025-04-04 | 陕西科技大学 | A method and related equipment for predicting the statistical characteristics of ground wave propagation ASF in Loran-C system |
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