CN104793219A - Satellite navigation ground differential reference station and system thereof - Google Patents
Satellite navigation ground differential reference station and system thereof Download PDFInfo
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- CN104793219A CN104793219A CN201510019751.2A CN201510019751A CN104793219A CN 104793219 A CN104793219 A CN 104793219A CN 201510019751 A CN201510019751 A CN 201510019751A CN 104793219 A CN104793219 A CN 104793219A
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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
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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Abstract
The invention discloses a satellite navigation ground differential reference station and a system thereof. The technical purposes of lowering the complexity of base station establishment and improving the processing capacity of a differential reference system are achieved. According to the satellite navigation ground differential reference station, a base station is connected with a remote data processing center through the Internet. The system is provided with a frequency mixer module, a network communication controller module, a high-accuracy difference data calculating module, a data storage module, a data distribution module and a user access module. Compared with the prior art, satellite negative signals are processed through a radio frequency collector and a data processing center instead of a base station, the complexity of base station construction is effectively lowered, station construction can be achieved in complex terrain environments, the signals are processed at the data processing center, observation data higher in accuracy and difference correction data are obtained with the help of the powerful calculation capacity of cloud, and therefore the satellite navigation ground differential reference station construction efficiency and the difference correction data processing efficiency are improved.
Description
Technical field
The present invention relates to a kind of satellite navigation equipment for user and system thereof, particularly differential reference station, a kind of satellite navigation ground and system thereof.
Background technology
Differential reference station, satellite navigation ground is the important component part of high precision satellite navigation and location system, the high-precision difference provided by means of differential reference station, satellite navigation ground corrects data, and the real time dynamic differential locator meams based on satellite navigation can obtain the centimetre-sized even positioning precision of inferior centimeter order.The fixing high precision satellite navigation receiver in the employing position, differential reference station, satellite navigation ground of prior art, as base station, by obtaining differential correcting data to the Continuous Tracking of satellite-signal, and is sent to rover station and completes Differential positioning.Because high precision satellite navigation receiver volume is comparatively large, power consumption is serious, proposes high requirement to the construction of base station and addressing, and inadequate by the processing power of base station hardware resource restriction differential reference system.
Summary of the invention
The object of this invention is to provide differential reference station, a kind of satellite navigation ground and system thereof, the technical matters that solve reduces the complexity of base station construction, improves the processing power of differential reference system.
The present invention is by the following technical solutions: differential reference station, a kind of satellite navigation ground, is provided with base station, and described base station and long-range data processing centre (DPC) network; Described base station is provided with antenna, and antenna is connected with radio-frequency (RF) acquisition device, the radio frequency satellite navigation signals that antenna comes for receiving Navsat wireless transmission, and radio-frequency (RF) acquisition device is used for radio frequency satellite navigation signals to be converted to digital intermediate frequency sampling signal; Described data processing centre (DPC) is provided with high in the clouds and resolves server and high in the clouds data server, digital intermediate frequency sampling Signal transmissions is resolved server to high in the clouds through network by radio-frequency (RF) acquisition device, server is resolved for the treatment of acquisition continuous print high-precision difference reduction data in high in the clouds, transfers to high in the clouds data server and stores.
Base station of the present invention is networked through fiber optic network and data processing centre (DPC).
Data processing centre (DPC) of the present invention and rover station are networked.
Data processing centre (DPC) of the present invention and rover station adopt data network to network.
Continuous print high-precision difference reduction data are sent to rover station by high in the clouds of the present invention data server.
Radio-frequency (RF) acquisition device of the present invention is made up of the wave filter be linked in sequence, RF mixer, digital to analog converter, frequency mixer, buffer and network communication controller.
A kind of differential reference station, satellite navigation ground system, is characterized in that: differential reference station, described satellite navigation ground system is provided with mixer module, network communication controller module, high-precision difference data resolve processing module, data memory module, Data dissemination module, User Access Module;
Digital intermediate frequency sampling signal is mixed to base band by described mixer module, and the base-band digital if sampling signal after mixing is sent to network communication controller module;
Described network communication controller module reads base-band digital if sampling signal, the base-band digital if sampling signal after packing is transferred to high-precision difference data by fiber optic network and resolves processing module;
Described high-precision difference data resolve the base-band digital if sampling signal that processing module receives packing, obtain continuous print high-precision difference reduction data, be sent to data memory module after decompression processing; Described process comprises the following steps:
One, in base-band digital if sampling signal, by the sequential search visible satellite signal departing from centre frequency-10kHz to+10kHz, the initial value of the carrier phase of visible satellite signal, carrier Doppler frequency, ranging code phase place and signal carrier-to-noise ratio is obtained;
Two, in the digital intermediate frequency sampling signal of the visible satellite signal received, follow the tracks of visible satellite signal, the observed quantity obtaining the carrier phase from digital intermediate frequency sampling signal section start, carrier Doppler frequency, ranging code phase place and signal carrier-to-noise ratio is followed the tracks of;
Three, from the digital intermediate frequency sampling signal of Continuous Tracking, use binary phase shift keying hard-decision method demodulation navigation message, described navigation message is the almanac data of satellite, clock correction data and almanac information;
Four, according to the carrier phase obtained, carrier Doppler frequency, ranging code phase place, the observed quantity of signal carrier-to-noise ratio and navigation message, triangle polyester fibre method is adopted to calculate the base station position coordinates being positioned at fixed observer point;
Five, the base station position coordinates calculated and base station accurate position coordinates are compared, calculate the high-precision difference reduction data of each satellite-signal of current time; Repeat step 3 to step 5, obtain continuous print high-precision difference reduction data;
Described data memory module receives continuous print high-precision difference reduction data, stores;
The data requesting instructions of described Data dissemination module receives user access module, reads the continuous print high-precision difference reduction data of having preserved, is sent to User Access Module from data memory module;
Described User Access Module receives the information of the request access that user sends, and receives the continuous print high-precision difference reduction data that Data dissemination module is sent, transfers to user.
System-satellite navigation differential reference station, ground of the present invention system is provided with buffer module, for the base-band digital if sampling signal that receiving mixer module exports, to mate sampling rate and the fiber optic network transfer rate of mixer module output, send to network communication controller module.
System user access module of the present invention receives the information of the request access that user sends through data reception module, described information is incoming instruction, customer location rough coordinates, user name, access pin and differential data request, User Access Module authentication of users name also mates access pin, send access pass signal to data reception module, the rough coordinates of customer location and differential data request instruction are sent to Data dissemination module; Receive the continuous print high-precision difference reduction data that Data dissemination module is sent, transfer to data reception module.
System data receiver module of the present invention, according to the request of user, sends request the information of access to User Access Module; Receive the continuous print high-precision difference reduction data that User Access Module sends, be forwarded to high-precision difference locating module, after high-precision difference locating module receives continuous print high-precision difference reduction data, complete high-precision difference location.
The present invention compared with prior art, radio-frequency (RF) acquisition device and data processing centre (DPC) is adopted to replace base station process satellite navigation signals, obtain high-precision difference reduction, the volume of radio-frequency (RF) acquisition device is little, low in energy consumption, effectively can reduce the complexity that base station is built, can build a station under the terrain environment of complexity, heart settling signal process in data handling, by the computing power that high in the clouds is powerful, obtain more high-precision observation data and differential correcting data, thus improve the treatment effeciency of satellite navigation ground differential reference station construction efficiency and differential correcting data.
Accompanying drawing explanation
Fig. 1 is the structured flowchart at differential reference station, satellite navigation ground of the present invention.
Fig. 2 is the structured flowchart of radio-frequency (RF) acquisition device of the present invention.
Fig. 3 is differential reference station, satellite navigation ground of the present invention system construction drawing.
Fig. 4 is that high-precision difference data of the present invention resolve processing module workflow diagram.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Differential reference station, satellite navigation ground of the present invention, utilizes the data processing centre (DPC) in radio-frequency (RF) acquisition device and high in the clouds that process satellite navigation signals and high-precision difference are corrected data calculation process and transfers to data processing centre (DPC) (high in the clouds) realization.
As shown in Figure 1, differential reference station, satellite navigation ground of the present invention, is provided with at least one base station, and base station is networked through fiber optic network and data processing centre (DPC) (high in the clouds), and data processing centre (DPC) and at least one rover station adopt data network to network.Base station be arranged on broad view and exact position known build a station a little, data processing centre (DPC) is arranged on the control center in remote equipment room, and rover station is the position (customer location) that required mapping is measured.
Base station is provided with antenna, and antenna is connected with radio-frequency (RF) acquisition device, and antenna receives the radio frequency satellite navigation signals that Navsat wireless transmission is come, and radio frequency satellite navigation signals is converted to digital intermediate frequency sampling signal so that record is preserved by radio-frequency (RF) acquisition device.
Data processing centre (DPC) is provided with high in the clouds and resolves server and high in the clouds data server.Digital intermediate frequency sampling Signal transmissions is resolved server to high in the clouds through fiber optic network by radio-frequency (RF) acquisition device.High in the clouds is resolved after server receives digital intermediate frequency sampling signal, treated acquisition continuous print high-precision difference reduction data, cable-network transmission is used to preserve to high in the clouds data server, high in the clouds data server stores continuous print high-precision difference reduction data, and by Ntrip protocol format, continuous print high-precision difference reduction data is sent to rover station by data network.
Rover station receives after continuous print high-precision difference reduction data through data network, use real-time kinetic-control system RTK (Real-time kinematic) fair copy rover station in the Pseudo-range Observations of satellite navigation signals because of the margin of error that atmospheric propagation delay and satellite clock drift cause, complete location, thus realize high-precision difference location.
As shown in Figure 2, radio-frequency (RF) acquisition device is made up of the wave filter be linked in sequence, RF mixer, digital to analog converter, frequency mixer, buffer and network communication controller.After the radio frequency satellite navigation signals sent from Navsat is received by antenna, through wave filter filter out-band external noise, downloaded by RF mixer and be converted to 16.38MHz intermediate frequency, digital to analog converter is sampled and is converted into digital intermediate frequency sampling signal, base band is downconverted to via intermediate frequency mixer (frequency mixer), and deliver to buffer buffer memory, under the control of network communication controller through fiber optic network to data processing centre's transmission of digital if sampling signal.
As shown in Figure 3, differential reference station system, satellite navigation ground of the present invention (system), is provided with mixer module, buffer module, network communication controller module, high-precision difference data resolves processing module, data memory module, Data dissemination module, User Access Module, data reception module and high-precision difference locating module.Mixer module, buffer module and network communication controller module installation are in base station, high-precision difference data are resolved processing module and are arranged on high in the clouds and resolve in server, data memory module, Data dissemination module and User Access Module are arranged in the data server of high in the clouds, and data reception module and high-precision difference locating module are arranged in rover station.
Mixer module receives the digital intermediate frequency sampling signal that digital to analog converter exports, and is mixed to base band, and the base-band digital if sampling signal after mixing is sent to buffer module, be sent to network communication controller module after buffer module buffer memory.
The base-band digital if sampling signal that buffer module receiving mixer module exports, buffer memory, to mate sampling rate and the fiber optic network transfer rate of mixer module output, form buffered signal by sample time order arrangement, and send buffered signal to network communication controller module.
After the buffered signal that network communication controller module reception buffer module is sent, read base-band digital if sampling signal, the data transmission package of length 8192 byte is packaged as by the data layout received, to realize the error free transmission in fiber optic network, complete data packing (compression) and transmission control work, the base-band digital if sampling signal after packing is transferred to high-precision difference data by fiber optic network and resolves processing module.
High-precision difference data resolve the base-band digital if sampling signal that processing module receives packing, obtain continuous print high-precision difference reduction data, be sent to data memory module after decompression processing.
As shown in Figure 4, high-precision difference data resolve processing module to after the base-band digital if sampling signal decompress(ion) of packing, process, comprise the following steps:
One, in base-band digital if sampling signal, by the sequential search visible satellite signal departing from centre frequency-10kHz to+10kHz, the initial value of the carrier phase of visible satellite signal, carrier Doppler frequency, ranging code phase place and signal carrier-to-noise ratio is obtained.
In the present embodiment, centre frequency is 1575.24MHz, 1227.60MHz, 1561.098MHz and/or 1207.14MHz, and visible satellite is gps satellite and Beidou II satellite, and visible satellite signal is GPS L1/L2 signal and Beidou II B1/B2 signal.
If do not search visible satellite signal, keep performing step one, search visible satellite signal.
Two, in the digital intermediate frequency sampling signal of the visible satellite signal received, follow the tracks of visible satellite signal, follow the tracks of by the observed quantity of the carrier phase of 20Hz frequency acquisition from digital intermediate frequency sampling signal section start, carrier Doppler frequency, ranging code phase place and signal carrier-to-noise ratio.
If to satellite navigation digital intermediate frequency sampling signal losing lock, return step one, restart search visible satellite signal.
Three, from the digital intermediate frequency sampling signal of Continuous Tracking, use binary phase shift keying BPSK (BinaryPhase Shift Keying) hard-decision method (document 1: " GPS principle and Receiver Design ", Xie Gangzhu, Electronic Industry Press, on July 1st, 2009, ISBN:7121090775/9787121090776, section 12.3,330-331 page) demodulation navigation message, navigation message is the almanac data of satellite, clock correction data and almanac information.
Four, according to the carrier phase obtained, carrier Doppler frequency, ranging code phase place, the observed quantity of signal carrier-to-noise ratio and navigation message, triangle polyester fibre method is adopted to calculate the base station position coordinates (1: the 5.2 section, document, 98-100 page) being positioned at fixed observer point.
Five, the base station position coordinates calculated and base station accurate position coordinates are compared, calculate the high-precision difference reduction data (1: the 7.1 section, document, 158-160 page) of each satellite-signal of current time.
Repeat above-mentioned steps three to step 5, obtain continuous print high-precision difference reduction data, transfer to data memory module and preserve.
Data memory module receives continuous print high-precision difference reduction data, and store, namely instruction is stored to the hard disk of high in the clouds data server.
The data requesting instructions of Data dissemination module receives user access module, reads the continuous print high-precision difference reduction data of having preserved, is sent to User Access Module from data memory module.
User Access Module receives the information of the request access that user sends through data reception module, the information of request access is incoming instruction, customer location rough coordinates, user name, access pin and differential data request, User Access Module is after receiving incoming instruction, authentication of users name also mates access pin, access pass signal is sent to data reception module when access pin mates, User Access Module recording user information, after completing access, the rough coordinates of customer location and differential data request instruction are sent to Data dissemination module; Receive the continuous print high-precision difference reduction data that Data dissemination module is sent, transfer to data reception module.The user name of user's registration and access pin input to User Access Module by data reception module in advance and store.Rough coordinates is for obtaining high-precision difference reduction data corresponding to this coordinate.
Data reception module, according to the request of user, sends request the information of access to User Access Module; Receive the continuous print high-precision difference reduction data that User Access Module sends, be forwarded to high-precision difference locating module.
After high-precision difference locating module receives continuous print high-precision difference reduction data, complete high-precision difference location (1: the 7.2 section, document, 169-171 page).
In the present embodiment, antenna adopts choking coil antenna, and frequency of operation covers 1.1 ~ 1.3GHz and 1.5 ~ 1.6GHz, and impedance 50 ohm, standing-wave ratio is less than 1.5:1, and gain is not less than 19dB.Wave filter adopts the BGU7007 chip of grace intelligence Pu semiconductor N XP company.RF mixer adopts the RFC253 module of limited liability ChipStar company of Xing Xin Trend Micro of Shenzhen.Digital to analog converter adopts the ADS61JB46 chip of TI company of Texas Instrument, and adopt IQ sample mode, sample frequency is not less than 100MHz, and sampling bit wide is not less than 4 bits.Frequency mixer, buffer and network communication controller adopt the programming device Spartan-6XC6SL150T of Xilinx company of match SEL.High in the clouds is resolved server and is adopted Hewlett-Packard HP ProOne600G integrated computer.High in the clouds data server adopts Hewlett-Packard HP ProOne600G1 integrated computer.Rover station adopts NovAtelPropak-v6 receiver.Fiber optic network transmission speed is not less than 150MBps.Data network uses GPRS network or 3G network.System adopts Verilog-2001 program language to realize.
Base-band digital if sampling signal after mixing is sent to the order of network communication controller module by mixer module:
The base-band digital if sampling signal of packing is transferred to by fiber optic network the order that high-precision difference data resolve processing module by network communication controller module:
assign buf_data＝netctrl_datain；
assign buf_clk＝netctrl_clka；
assign buf_en＝netctrl_ena；
assign netctrl_dataout＝o_data；
assign netctrl_cmd＝o_cmd；
High-precision difference data resolve processing module in base-band digital if sampling signal, by the sequential search visible satellite signal departing from centre frequency-10kHz to+10kHz, obtain the order of the initial value of the carrier phase of visible satellite signal, carrier Doppler frequency, ranging code phase place and signal carrier-to-noise ratio:
The order followed the tracks of is carried out in the observed quantity that high-precision difference data resolve the carrier phase of processing module from digital intermediate frequency sampling signal section start, carrier Doppler frequency, ranging code phase place and signal carrier-to-noise ratio:.
Data memory module receives continuous print high-precision difference reduction data, carries out the order stored:
Differential reference station, satellite navigation ground of the present invention and system thereof, reduce the complexity that differential reference station, satellite navigation ground is built, make full use of the computational resource that server is resolved in high in the clouds, effectively improve the treatment effeciency of difference research station construction efficiency and differential correcting data.
Claims (10)
1. a satellite navigation ground differential reference station, is provided with base station, it is characterized in that: described base station and long-range data processing centre (DPC) network; Described base station is provided with antenna, and antenna is connected with radio-frequency (RF) acquisition device, the radio frequency satellite navigation signals that antenna comes for receiving Navsat wireless transmission, and radio-frequency (RF) acquisition device is used for radio frequency satellite navigation signals to be converted to digital intermediate frequency sampling signal; Described data processing centre (DPC) is provided with high in the clouds and resolves server and high in the clouds data server, digital intermediate frequency sampling Signal transmissions is resolved server to high in the clouds through network by radio-frequency (RF) acquisition device, server is resolved for the treatment of acquisition continuous print high-precision difference reduction data in high in the clouds, transfers to high in the clouds data server and stores.
2. differential reference station, satellite navigation ground according to claim 1, is characterized in that: described base station is networked through fiber optic network and data processing centre (DPC).
3. differential reference station, satellite navigation ground according to claim 1, is characterized in that: described data processing centre (DPC) and rover station are networked.
4. differential reference station, satellite navigation ground according to claim 3, is characterized in that: described data processing centre (DPC) and rover station adopt data network to network.
5. differential reference station, satellite navigation ground according to claim 4, is characterized in that: continuous print high-precision difference reduction data are sent to rover station by described high in the clouds data server.
6. differential reference station, satellite navigation ground according to claim 1, is characterized in that: described radio-frequency (RF) acquisition device is made up of the wave filter be linked in sequence, RF mixer, digital to analog converter, frequency mixer, buffer and network communication controller.
7. a satellite navigation ground differential reference station system, is characterized in that: differential reference station, described satellite navigation ground system is provided with mixer module, network communication controller module, high-precision difference data resolve processing module, data memory module, Data dissemination module, User Access Module;
Digital intermediate frequency sampling signal is mixed to base band by described mixer module, and the base-band digital if sampling signal after mixing is sent to network communication controller module;
Described network communication controller module reads base-band digital if sampling signal, the base-band digital if sampling signal after packing is transferred to high-precision difference data by fiber optic network and resolves processing module;
Described high-precision difference data resolve the base-band digital if sampling signal that processing module receives packing, obtain continuous print high-precision difference reduction data, be sent to data memory module after decompression processing; Described process comprises the following steps:
One, in base-band digital if sampling signal, by the sequential search visible satellite signal departing from centre frequency-10kHz to+10kHz, the initial value of the carrier phase of visible satellite signal, carrier Doppler frequency, ranging code phase place and signal carrier-to-noise ratio is obtained;
Two, in the digital intermediate frequency sampling signal of the visible satellite signal received, follow the tracks of visible satellite signal, the observed quantity obtaining the carrier phase from digital intermediate frequency sampling signal section start, carrier Doppler frequency, ranging code phase place and signal carrier-to-noise ratio is followed the tracks of;
Three, from the digital intermediate frequency sampling signal of Continuous Tracking, use binary phase shift keying hard-decision method demodulation navigation message, described navigation message is the almanac data of satellite, clock correction data and almanac information;
Four, according to the carrier phase obtained, carrier Doppler frequency, ranging code phase place, the observed quantity of signal carrier-to-noise ratio and navigation message, triangle polyester fibre method is adopted to calculate the base station position coordinates being positioned at fixed observer point;
Five, the base station position coordinates calculated and base station accurate position coordinates are compared, calculate the high-precision difference reduction data of each satellite-signal of current time; Repeat step 3 to step 5, obtain continuous print high-precision difference reduction data;
Described data memory module receives continuous print high-precision difference reduction data, stores;
The data requesting instructions of described Data dissemination module receives user access module, reads the continuous print high-precision difference reduction data of having preserved, is sent to User Access Module from data memory module;
Described User Access Module receives the information of the request access that user sends, and receives the continuous print high-precision difference reduction data that Data dissemination module is sent, transfers to user.
8. differential reference station, satellite navigation ground according to claim 7 system, it is characterized in that: differential reference station, described satellite navigation ground system is provided with buffer module, for the base-band digital if sampling signal that receiving mixer module exports, to mate sampling rate and the fiber optic network transfer rate of mixer module output, send to network communication controller module.
9. differential reference station, satellite navigation ground according to claim 7 system, it is characterized in that: described User Access Module receives the information of the request access that user sends through data reception module, described information is incoming instruction, customer location rough coordinates, user name, access pin and differential data request, User Access Module authentication of users name also mates access pin, send access pass signal to data reception module, the rough coordinates of customer location and differential data request instruction are sent to Data dissemination module; Receive the continuous print high-precision difference reduction data that Data dissemination module is sent, transfer to data reception module.
10. differential reference station, satellite navigation ground according to claim 9 system, is characterized in that: described data reception module, according to the request of user, sends request the information of access to User Access Module; Receive the continuous print high-precision difference reduction data that User Access Module sends, be forwarded to high-precision difference locating module, after high-precision difference locating module receives continuous print high-precision difference reduction data, complete high-precision difference location.
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