Method and apparatus for processing navigation signals and position finding using long-term compact ephemeral information

FIELD: radio engineering, communication.

SUBSTANCE: invention relates to communication engineering and can be used in navigation systems. The method and apparatus for processing navigation signals and position finding employ long-term compact ephemeral information when designing navigation systems and equipment, operating based on GLONASS, GPS, Galileo, BeiDou, etc, satellite navigation system signals, while supporting network and self-contained assistance modes with respect to ephemeral information. The method applies very large steps of integrating motion equations of navigation spacecraft. The system includes a navigation receiver, which includes an antenna feeder device, analogue radio receiving circuits for GPS, GLONASS, Galileo satellite navigation system signals, analogue-to-digital converters, a random-access memory and program memory unit, a general-purpose processor, an interface unit, intra-system communication buses, wherein the navigation receiver comprises an analogue radio receiving circuit for BeiDou system signals, a processor for calculating a simplified model of the motion of an unmanned spacecraft, a GSM/WiFi modem for interfacing the navigation receiver with the assisting network via the Internet, nonvolatile memory for storing a pre-calculated DCEI, wherein all units in the navigation receiver are connected to each other by an intra-system communication bus, wherein the assisting network includes an IGS server, an IERS server, a SVOEVP system server and an assisting network server; outputs of the IGS, IERS and SVOEVP servers are connected to inputs of the assisting network server; the output of the assisting network server is connected via the Internet to the input of the GSM/WiFi modem of the navigation receiver.

EFFECT: high accuracy and reliability of solving navigation tasks by consumers owing to the possibility of monitoring real-time ephemeral information, high speed of predicting ephemeral information on navigation equipment with few computational resources.

5 cl, 1 dwg, 2 tbl

 

The invention relates to the field of radio engineering, in particular to radio navigation using signals of satellite navigation systems (SNS) GLONASS, GPS, Galileo, BeiDou, etc.

The proposed method and device can be used to create navigation equipment, in particular in multi-system receivers SNA, operating on the signals of GLONASS, GPS, Galileo, BeiDou, etc. that supports online and offline modes of assistance (Network Assisted and Self Assited, respectively) in terms of ephemeris information (EI).

Navigation space vehicles (NSV) of GLONASS, GPS, Galileo, BeiDou real-time transmit to consumers operational ephemeris information (EI) corresponding to the current time, which contains high-precision data on the parameters of the orbits (movement model) and time scales (SWISS) RNA. This information is needed to solve the consumer problem of determining the location (navigation task). From the operational accuracy of EI depends directly on the accuracy of the solution consumer navigation task. Thus, the consumer in each moment of time must be as accurate as possible operational EI.

In terms of difficulty receiving information from the navigation message (dense urban areas, high noise, etc.) there may be situations where the navigation� user equipment (CNE) is unable to take prompt EQ. In this case, the solution of the navigation problem is impossible. In addition, even in conditions of a steady signal, receiving operational EI takes a long time, up to 30 s, and during this time the solution of the navigation problem as possible.

Operational ephemerides transmitted by navigation satellites, navigation message has the limitation of validity. Below are the dates of the operational EI and the corresponding accuracy of the positioning of the NCA:

- GLONASS - 0.5 hour/0.8-2.4 m;

- GPS/Galileo/BeiDou - 4 hours/0.9-2.7 m.

In connection with the foregoing, the special importance of long-term prognosis EI NEC.

There are ways of forming long-term EI, which have the following expiration dates and corresponding accuracy class:

- 3 days (in URE (66%) <10-15 m);

- 7 days (URE (66%) <15-20 m);

- 14 days (in URE(66%) <100 m).

Here URE (66%) <10 m means that in 66% of cases the value of URE (equivalent to measurement error pseudo-ranges) does not exceed 10 meters.

To predict EI RNA known mode network assistant (Network Assisted) and Autonomous mode of assistance (Self Assisted).

In multiplayer assisting (Network Assisted) in addition to the user navigational information network participates assisting stations, which through an independent information channel provides long-term consumer e� (supporting information). Based on the assistance information, the consumer forms the operational forecast of ephemeris for a satellite-supported navigation systems up to 14 days in advance. Further, in situations where consumers lack of operational EI taken from the navigation message, are predicted ephemeris.

To auxiliary assistance (Self Assisted) customer accumulates operational EI from navigation messages (2-3 navigation frame on the interval 1-2 days). Based on this information, the user generates some long-term compact ephemeris information (DCAI). Further, on the basis of this DCAI, the consumer carries out the operational forecast ephemeris for NCA supported up to 14 days in advance. Further application of forecast of EI is similar to multiplayer assistance.

Currently known and common are assisting commercial solutions:

Rx Networks is a "GPS Stream PGPS" [1];

- JPL - "GDGPS/AEP" [2];

- CSR - "InstantFix" [3];

- uBIox - "Assist Now"; [4];

- Broadcom - LTO-AGPS [5].

Existing commercial assistance solutions use the following methods of implementation of the long-term prognosis EI:

- high-precision numerical integration of the equations of motion NCA integer - method 1 (M1);

- interpolation Kalinovich orbit NCA on the interval p�of hognose, denote it by method 2 (M2).

Method 1 is a generalization of the method of forecasting the movement of RNA used in GLONASS [6]. Features of this method are:

- the use of highly accurate models of the movement of the NCA;

- large computational cost, due to the use of highly accurate models of movement;

- minimum amount of initial data to predict the ephemeris to predict only necessary precision the initial conditions of motion of the NCA, and, in multiplayer assisting the volume of transmitted EI will be minimal;

- possible offline use (implementation of auxiliary assistance).

Method 2 is a generalization of the method of forecasting the movement of RNA used in the SNA GPS/Galileo/BeiDou [7]. The basis of this method is the decomposition Kalinovich of orbital elements in the Fourier series. Features of this method:

- the method is not independent, it is necessary to use Method 1 to generate the initial data when forecasting, therefore, cannot provide auxiliary assistance;

- small computational cost (calculation of values of the Fourier series, the solution of Kepler's equation);

- a large amount of source data (Fourier coefficients Kalinovich orbit), and therefore in multiplayer assistance significantly increases the volume �eredevisie EI, compared with Method 1.

The claimed method and device for processing navigation signals and determine location using DCAI based on the use of Method 1.

The following tables (table 1, table 2) shows a comparison of the main characteristics of assisting solutions, built using the proposed method, with known commercial assistance solutions.

Table 1
A comparison of the precision characteristics
SolutionMethod of forecastingThe accuracy of the forecast in the Network Assisted (URE 66%) (depending on the prediction interval, days)The accuracy of the forecast in the mode of Self Assisted (URE 66%) (depending on the prediction interval, days)
Rx Networks IncM13 days - 11 m3 days - 35 m
"GPS Stream7 days - 13 m
PGPS"14 days - 40 m
J PL NASA GDGPS/AEP"M17 days (URE 50%) -10 m7 days (50%) - 15 m
CSR "lnstantFix"no data31 days - no data3 days - no data
SolutionMethod of forecastingThe accuracy of the forecast in the Network Assisted (URE 66%) (depending on the prediction interval, days)The accuracy of the forecast in the mode of Self Assisted (URE 66%) (depending on the prediction interval, days)
uBIox "Assist Now"M214 days - no datanot supported
Broadcom LTO-AGPSno datano datano data
AssistingM11 day -2 m1 day - 10 m
the decision is based3 days - 15 m3 days - 20 m
for�carried out for 7 nights - 20 m7 days - 35 m
method14 days - 100 m14 days - 130 m

Table 2
A comparison of the volume of transmitted data
SolutionMethod of forecastingThe amount of data transmitted (for two full groups of GPS and GLONASS), KB (depending on the prediction interval, days)
RX Networks IncM17 nights - 4 KB
"GPS Stream PGPS"14 days - 9 KB
JPL NASA GDGPS/AEP"M1no data
CSR "lnstantFix"no1 day - 20 Kbytes
data7 days - 140 KB
14 days - 280 KB
uBIoxM21 day - 20 Kbytes
"Assist Now"14 days - 180 KB
Broadcom LTO-AGPSno datano data
AssistingM11 day - 2 KB
the decision is based7 nights - 2 KB
the inventive method14 days - 2 KB

In the prior art, the technical solution [8] "Method for distributed simulation of orbits for assisting systems of long-term and real-time" ["Distributed orbit modeling and propagation method for a predicted and real-time assisted GPS system"], obtained on technology A-GPS, which the company has developed and is now actively uses in its products GPStream™ PGPS™ and GPStream™ SAGPS™. The patent was issued on developed an innovative method of calculating the provisions of the NCA SNA GPS in orbit. Technology long-term EI (or long-term ephemeris) enhances GPS signal reception in urban areas and reduces the loading time of Napco few tens of seconds, instead of the previous minutes.

GPStream PGPS and GPStream SAGPS implement the technology of a long-term ephemeris, which reduces the cost of data transfer Secure User-Plane Location (SUPL) and does not require changing the configuration of the NRA. System GPStream PGPS is a much smaller amount of data received (2 Bytes per week for SNA GPS, compared to 2 Kbytes in 2 hours by channel SUPL), whereby the load time voltage is reduced to a few seconds. These features ensure the system's popularity GPStream PGPS among mobile operators.

The disadvantages of this technical solution are:

- the lack of support for GLONASS, Galileo, BeiDou;

- the transferred data (2 Kbytes per week) to maintain one of the SNA, such as GPS, can be substantially reduced.

Closest to the claimed solution according to the method of processing navigation signals and determine location using DCAI is known technical solution [9], which consists in forming DCAI assisting on the server network or satellite navigation receiver based on the information about the provisions of the navigation satellites (NCA) and their time scales and parameters of the Earth's rotation, and if DCAI form on the server, DCAI passed to the navigation receiver to the Internet and modem, in the formation of the ephemeris information (EI) the current �the date you place time-based DCAI, and location without the use of EI in the navigation message, in this case, the format of EI formed on the basis of DCAI on the current time corresponds to the interface control documents satellite navigation systems GPS/GLONASS/Galileo.

However, this invention has the following disadvantages:

- low speed of implementation of the prognosis EI on navigation equipment, with a small computational resources;

- requires a large amount of resources required to store and/or transfer of long-term EI for navigation equipment using the SNA GPS/GLONASS/Galileo;

- the lack of support for SNA BeiDou.

In the prior art technical solution, which is analogous to the device for processing the navigation signals and determine location using DKEY [9] that contains the server's assistance network, navigation receiver, RNA SNA GPS, GLONASS or Galileo, navigation receiver coupled to the processor for generating the predicted vector of the orbital state and uses received from the server to the assisting network predicted vector of the orbital state to generate current satellite ephemeris information, the analog radio receiver tracks GPS signals and satellite ephemeris information at the current time are available in formats of GPS, GLONASS or Galileo.

However, this device has a fault�, such as:

- low speed of obtaining the predicted ephemeris information for navigation equipment that does not have sufficient computing resources;

- requires large amount of memory required to store and/or transfer of long-term ephemeris information for navigation equipment using the signals of navigation systems GPS/GLONASS/Galileo;

- the lack of support for SNA BeiDou.

Closest to the claimed solution processing device of the navigation signals and determine location using DCAI is known technical solution [10], includes a navigation receiver, and referred to the navigation receiver includes the antenna-feeder device, the analog radio receiver paths of the signals of GPS, GLONASS, Galileo, analog-to-digital converters, block RAM and program memory, a General purpose processor, interface unit, bus-system information exchange.

However, the prototype has drawbacks, such as:

- low speed of implementation predict ephemerides for navigation equipment;

- the lack of support for SNA BeiDou;

- does not provide the solution of the navigation problem in the absence of operational EI (Network Assisted and Self-Assisted).

The basis of the invention tasked with developing Taagepera and resulting device that would eliminate the above disadvantages of the prototype, namely, give the solution of the navigation problem in the absence of operational EI (Network Assisted and Self-Assisted) for NAB, which has a low computational resources and, thus, will significantly reduce the resources required for storage and/or transfer of long-term EI.

The solution to this problem in some cases allows to reduce the time of the first decision (TTFF) down to 1-2, while also indirectly improve the sensitivity of GPS receiver in some cases up to 10 dB.

The technical result of the invention is the ability to determine the location without the use of EI from the ether to the NRA with a small computational resources.

Additional technical result is the formation of DCAI small volume, and the volume formed by DCAI is not more than 1200 bytes for 32 NCA GPS, no more than 1000 bytes for the 24 navigation satellites GLONASS, no more than 1200 bytes for the 30 satellites of the Galileo and not more than 1300 bytes for 35 BeiDou navigation satellites.

Additionally, the invention will improve the accuracy and reliability of consumer decision navigation task due to the possibility of operational control ephemeris information by comparing with EQ, obtained by prediction based on DKAI.

The technical result is achieved due to the fact that DCAI forming�Ute assisting on the server network or satellite navigation receiver based on the information about the provisions of the NCA and their SWISS and the Earth rotation parameters, and if DCAI form on the server, DCAI passed to the navigation receiver to the Internet and modem-based DCAI form of EI on the current time and determine the location without the use of EI in the navigation message, the format of EI formed on the basis of DCAI on the current time corresponds to the interface control document GPS/GLONASS/Galileo/BeiDou, and DCAI compute assisting on the server network on the basis of information about the provisions of the NCA and SWISS for the last past days, uploaded assisting network via the Internet from the servers of the organizations IGS (GPS, Galileo, BeiDou) and SWAMP (GLONASS), the parameters of the Earth's rotation in the middle of the last day, downloadable via the Internet from the server of the international service of the Earth's rotation (IERS), and to obtain DCAI uses a high-precision model of the motion of the CNA using: high-precision model of precession and nutation of the Earth, high-precision model of the Earth's gravity due to the variation of the static geopotential harmonics due to tidal surface, high-precision model of the motion of the moon and Sun, the pressure of sunlight with regard to shadow areas of the orbit, integrating method everhart with a small step of integration (a few tens of seconds); then the calculated�e EI NCA GPS/GLONASS/Galileo/BeiDou at the current time, and use the simplified model of the motion of the CNA using: piecewise linear approximation (simplification) model of precession and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static geopotential harmonics due to surface tides, a simplified model of the motion of the moon and the Sun, the pressure of sunlight without regard to the shadow areas of the orbit integration method everhart with xtralarge step of integration (several hundred seconds); compute the list of visible satellites, assess Doppler frequency signals and using the received EI at the current time, carry out further operations of search, seizure, support received signals and determine the location of the consumer without the use of EI transmitted in the navigation message of GPS/GLONASS/Galileo/BeiDou.

If DCAI form in the navigation receiver (auxiliary assist - Self Assited), DCAI form on the basis of information about the provisions of the NCA and SWISS, the information contained in the navigation message NCA GPS/GLONASS/Galileo/BeiDou taken by GPS receivers in the past in the past days, the average values of parameters of rotation of the Earth, and to obtain DCAI uses a simplified model of the motion of the CNA using: piecewise linear approximation of the model pre�Essie and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static geopotential harmonics due to surface tides, a simplified model of the motion of the moon and the Sun, the pressure of sunlight without regard to the shadow areas of the orbit integration method everhart with xtralarge step of integration (several hundred seconds); then, carry out the calculation of EI NCA GPS/GLONASS/Galileo/BeiDou at the current time, and use the simplified model of the motion of the CNA using: piecewise linear approximation of the model of precession and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static geopotential harmonics due to surface tides, a simplified model of the motion of the moon and the Sun, the pressure of sunlight without regard to the shadow areas of the orbit integration method everhart with xtralarge step of integration (several hundred seconds); compute the list of visible satellites, assess Doppler frequency signals and using the received EI at the current time carry out further operations of search, seizure, maintenance of the received signals and determine the location of the consumer without the use of EI transmitted in the navigation message of GPS/GLONASS/Galileo/BeiDou.

To improve the accuracy and reliability of consumer decision navigation task is performed� validation of the EI, taken from the navigation message, using EI formed on the basis of DCAI, at the current time.

DCAI is formed by the following operations: load data about the provisions of the NCA in the earth coordinate system, the provisions of the SWISS NCA and the Earth rotation parameters during the last day, then using the method of least squares for each NCA compute updated values of the parameters of the orbits of(r,v,Cref),

wherer,v- vector of position and velocity of the NCA in the absolute coordinate system,

Cref- the ratio of the effective reflection surface of the NCA, and SWISS RNA (a0,a1),

whereand0- the value of the SWISS k-th NCA at the time of updating,

and1- the rate of change SWISS k-th NSV,

calculate the Keplerian elements of the orbit of the NCA: vector(r,v) converted into shape Kalinovich orbit NCA (A, ε, i, Ω, ω, M)

where, A is the semimajor axis;

ε is the eccentricity;

i - inclination;

Ω - the longitude of the ascending node;

ω - argument of perigee;

M - mean anomaly is calculated deviations Kalinovich orbit RNA from the mean values (ΔA(k)That Δi(k)) by the formulas:

ΔA(k)=And(k)-Am,

Δi(k)=i(k)-im,

where k is the number of the NCA, A(k), i(k)- the values of the semimajor axis and the inclination of the orbit of k-th unit, respectively;

Am, im- average values of the semimajor axis and inclination, which is determined corresponding to the SNA as a whole,

store the parameters for the motion model of the NCA in the form(ΔA, ε, Δi, Ω, ω, M, Cref), the SWISS RNA (and0,and1,) retain without special transformations, and the volume formed by DCAI is not more than 1200 bytes for 32 NCA GPS, no more than 1000 bytes for the 24 navigation satellites GLONASS, no more than 1200 bytes for the 30 satellites of the Galileo and not more than 1300 bytes for 35 BeiDou navigation satellites.

Thus, the method of processing navigation signals and determine location using DCAI has the following new features that distinguish it from existing solutions:

- the use of very large integration times (several hundred seconds) due to the application of the method everhart Institute for numerical�of agriromagna equations of motion of a satellite;

- piecewise linear approximation of the angles of precession and nutation in time to increase the speed of the prognosis EI on navigation equipment, with a small computational resources;

- a way of representing DCAI in the form of stored parameters of the motion models in the NCA in the form of deviations Kalinovich elements relative to average values, characteristic of the SNA as a whole. In this form are the following orbital parameters: the semimajor axis and the inclination of the orbit.

A device for implementing the described method includes a navigation receiver, including antenna-feeder device, the analog radio receiver paths of the SNA GPS, GLONASS, Galileo, analog-to-digital converters, block RAM and program memory, a General purpose processor, interface unit, bus-system of exchange of information, in this case, the navigation receiver provides an analog receiving path signals from the BeiDou system, a specialized processor to calculate a simplified model of the movement of the NCA, GSM/WiFi modem for interfacing GPS receiver with the assisting network via the Internet, the non-volatile memory for storing pre-computed DCAI, moreover, all blocks included in a navigation receiver, are connected by a bus-system of exchange of information�Oia, and a part of assisting a network server international service IGS, the international server service IERS, the server system SWAMP and assisting the server network, the outputs of servers IGS, IERS and SWAMP are connected to the inputs of the assisting server network, the server assisting network linked via the Internet with the input of the GSM/WiFi modem GPS receiver. The set of essential features sufficient to achieve provided by the invention technical result, namely the processing device of the navigation signals and determine location using long-term compact ephemeris information provides the solution of the navigation problem in the absence of operational EI (Network Assisted and Self-Assisted) for NAB, which has a low computational resources and, thus, significantly reduces the amount of resources required to store and/or transfer to long term of EQ. In addition, the device provides support for SNA BeiDou.

Summary of the invention explains the block diagram of the device for processing the navigation signals and determine location using DCAI shown in Fig.1, where 1 navigation receiver 2 - antenna-feeder device 3 analog radio receiver paths GLONASS, GPS, Galileo, BeiDou, 4 - analog-to-digital converters, 5 - unit operational p�memory and program memory, 6 is a General - purpose processor, 7 - interface box, 8 - bus in-system exchange of information, 9 - a specialized processor to calculate a simplified model of the movement of the NCA, 10 - non-volatile memory, 11 - GSM/Wi-Fi modem, 12 - assisting the network 13 to the server rotation parameters of the Earth - IERS, 14 - IGS server, 15 server SWAMP, 16 - assisting the server network, 17 network Internet.

The method of processing navigation signals and determine location using DCAI is as follows.

DCAI formed on the assisting server network or satellite navigation receiver based on the information about the provisions of the NCA and their SWISS and the Earth rotation parameters, and if DCAI form on the server, DCAI passed to the navigation receiver to the Internet and modem.

On the basis of DCAI form of EI on the current time and determine the location without the use of EI in the navigation message, the format of EI formed on the basis of DCAI on the current time corresponds to the interface control document GPS/GLONASS/Galileo/BeiDou.

DCAI compute assisting on the server network on the basis of information about the provisions of the NCA and SWISS for the last past days. This information is uploaded to the assisting network via the Internet from the servers of the organizations IGS (GPS, Galileo, eiDou) and SWAMP (for GLONASS). In addition to assisting the server network settings will be loaded to the Earth's rotation in the middle (12:00) the last past days. This information is downloaded via the Internet from the server of the international service of the Earth's rotation (IERS).

In the method of processing navigation signals and determine location using DCAI to model the motion of the NCA takes into account the following power factors:

- the Earth's gravity due to the variation of the static geopotential harmonics due to the tides of the Earth's surface;

- attraction of the moon and Sun;

- the pressure of sunlight with regard to shadow areas of the orbit. The equation of motion of RNA used in the described method is:

d2rdt2=Fe+Fm+Fs+Fp,

wherer- the radius vector describing the position of the NCA in the absolute coordinate system (ASC);

F e- acceleration of the NCA due to the attraction of the Earth;

Fm- acceleration of the NCA due to the attraction of the moon;

Fs- acceleration of the NCA due to the attraction of the Sun;

Fp- acceleration of the NCA due to the pressure of sunlight.

The right-hand side of this equation is called a power function.

Static geopotential has the form [11]:

where fme- geocentric gravitational constant of the Earth;

r0- Equatorial radius of the Earth;

Cnk, Snkthe coefficients in the harmonic expansions of the gravitational field of the Earth in a series of spherical functions;

Pn(k)(x)- attached Legendre function;

r, φ, λ - spherical coordinates of the NCA in the earth coordinate system (KYC);

Nmax- maximum order of decomposition of geopo�potential.

Accelerate the NCA due to the attraction of the Earth in the earth's coordinate system (KYC) have the form:

In the described method uses a standard model of decomposition of geopotential - JGM-3 [12] with a limited maximum order of decomposition.

Accelerate the NCA due to the gravitational attraction of the moon and the Sun in the described method are calculated as follows [13]:

where fmmfms- the gravitational constant of the Sun and moon;

rm,rs- the radius-vector of the provisions of the moon and Sun in the ASC.

The pressure of sunlight in the described way by the formula [14]:

where Crefthe effective coefficient of reflection of the NCA;

and- the average distance from the earth to the Sun;

q- the radius vector of the provisions of the NCA relative to the Sun.

For integrating differential equations of motion of the NCA in the described method uses a numerical method everhart [15].

Also in the method of processing navigation signals and determine location�position using DCAI used linear SWISS NCA:

τ(t)=a0+a1·t

where τ(t) is the shift value SWISS NCA at the time moment t;

and0,and1- options SWISS, are defined in the definition phase of the orbit and SWISS, described below.

For different occasions require different combinations of speed and precision movement patterns of the NCA. Thus, the assisting server network, which has a large computing resource, you must use the most accurate model of motion. In those conditions, when the computational resource is limited (for example, in the case of modeling the NCA for a NAP), you must apply a different kind of approximation of the motion model and the maximum allowable integration step, with a slight decrease in accuracy lead to a significant reduction of computational costs.

In the method of processing navigation signals and determine location using DCAI one way to increase the speed of prediction ephemeris is the highest step of integration. The step of integration has a direct impact on the execution time of the forecast, the provisions of the NCA, the greater the integration step, the less computing power functions to be performed for implementation of the forecast. The assisting server network uses a small integration step (�few tens of seconds), the NRA used the very large step of integration (several hundred seconds).

In addition, in the method of processing navigation signals and determine location using DCAI define the following approximation model of the NCA:

- approximation of the precession;

- approximation of nutation;

- approximation of the geopotential of the Earth;

- approximation model of the motion of the Sun and moon;

- approximation model of the pressure of sunlight.

As noted previously, in the present method for integrating differential equations of motion of the NCA uses everhart numerical method [15]. The main advantage of the method everhart applied to the problem of modeling the NCA is the possibility of high-precision integration with xtralarge step (several hundred seconds). Despite the use of very large integration step, you can achieve that in the prediction of the provisions of the NCA on 1 day ahead with the help of this method, the absolute position error is less than 1 m. Note that to ensure the accuracy of the forecast by using such common methods of numerical integration as a method Runge-Kutta 8th order method and Adams-Moulton [15] you must use the integration step is not more than several tens of seconds. Therefore, urmareste the problem of predicting the provisions of the NCA in the case of using methods of integration Runge-Kutta or Adams-Moulton will be several times more than in the case of using the method of everhart. In the end, the use of the method everhart with xtralarge step can significantly reduce the computational cost of the NRA, with a forecast of operational ephemeris long-term EI.

In modeling the movement of RNA are used in different systems of coordinates (SK). Thus, the integration of differential equations of motion is performed in the ASC, and the force of attraction of the Earth is calculated in the legislative Assembly.

The transition from the ASC in the KYC performed by the formula [16]:

,

wherere,ra- the radius vector of position of the navigation NCA in KYC and ASC, respectively;

Rch- matrix of the Chandler motion of the Earth;

R - rotation matrix of the Earth;

N matrix of nutation;

R - matrix of precession.

Note also that each of the matrices included in the right-hand side of this equation depends on the time for which the coordinate transformation. Thus, in the exercise of modeling the RNA at each integration step it is necessary to re-compute these matrices.

From a computational point vision� the most difficult to calculate is the matrix of nutation and precession - N and R. These matrices in turn unambiguously specify the parameters of the precession and nutation:

- ζ(t), θ(t), z(t) - parameters of precession;

- Δψ(t) Δε(t) is the nutation in longitude and tilt, respectively.

Here t is the time, for which the coordinate transformation.

The parameters of the precession and nutation represent angular values, the rate of change of which in time is small. In this regard, these values can be approximated in time by using a stepped or piecewise linear functions of ζ'(t), θ'(t), z'(t), Δψ'(t), ∆ Ε'(t). To obtain a complete data description of approximate functions, it helps to calculate the value of the original functions in several nodes on the forecasting interval. The described method of processing navigation signals and determine location using DCAI determines that the parameters of precession and nutation are recalculated once every few hours.

Another way to reduce the computational complexity of the problem of modeling the movement of RNA and, consequently, increase the speed of prediction is to approximate the power functions in the equations of motion. The described method of processing navigation signals and determine location using DCAI defines the following approximation of the power function:

- approximation of the geopotential of the Earth;

- �pproximate model of the motion of the moon and Sun;

- approximation model of the pressure of sunlight.

These approximations allow us to reduce the complexity of calculation of the strength function, and, consequently, the whole problem of the projection.

As a result of using all the above approximations are able to substantially decrease the computational complexity while maintaining high prediction accuracy and to ensure the possibility of using long-term ephemeris even on unproductive NAP.

Highly accurate model of the motion of the CNA is able to provide high accuracy of forecast operational ephemeris only in the case of high-precision initial conditions of motion of the NCA. The initial conditions of motion of the NCA can be calculated on the basis of operational ephemeris, transmitted in the navigation message. However, the thus obtained initial conditions do not allow for high accuracy of prediction ephemeris. The problem is that operational ephemeris transmitted in the navigation message that is optimized for use in conjunction with standard models of motion regulated by the interface control documents relevant SNA. In this regard, the use of operational ephemeris together with a highly accurate model of motion leads to poor prediction accuracy. Similarly, the case of�stands with parameters SWISS NCA.

Thus, the challenge is to Refine the orbital parameters and SWISS for their subsequent use in conjunction with high-precision model. Note also that this task required both for network assistance, and auxiliary assistance. With network assistance, this task is solved on the side of assisting the network and specify the parameters of the motion model and SWISS are transmitted to the consumer and represent a long-term EI. In the case of the Autonomous assisting the user solves the problem of determination of parameters of models of the SWISS movement and the NCA and with the use of this information in the future provides a forecast of operational ephemeris.

The described method of processing navigation signals and determine location using DCAI determines next steps for refining the parameters of the motion model NCA:

- to clarify the parameters of widely used is the common method of least squares [17];

- we specify the model parameters of the movement of the NCA are the quantities(r,v,Cref)wherer =(x,y,z)- the radius vector of the provisions of the NCA in the absolute coordinate system;

v=rt=(Vx,Vy,Vz)is the radius-vector of velocity of the NCA in the ASC;

Crefthe effective coefficient of reflection of the NCA.

as the iteration method in the problem of adjustment is used Newton's method [17];

- the number of refinement iterations is fixed;

- initial data for the task of clarification are:

- data about the actual position of the NCA in KYC(rel,...,ren)in moments of time (t1,...,tn);

- data about the Earth rotation parameters(p1,...,pn) in moments of time (t1,...,tn).

Wherep=(x,y,d),

where x, y - coordinates of the instantaneous pole;

d - the difference SWISS UT1-UTC at a given time;

- mode network assistant is used to clarify the most accurate model of motion, and to auxiliary assistance used the previously described approximation.

The described method of processing navigation signals and determine location using DCAI defines the following method of solving the problem of determination of parameters SWISS NCA:

- to clarify the parameters of SWISS uses the least squares method (OLS) [17];

- Refine model parameters SWISS is the set (and0,a1,), as described previously;

as the iteration method in the problem of adjustment is used Newton's method [17];

- due to the fact that the SWISS model is linear, it is possible to Refine the parameters (and0,a1,), only one iteration;

- initial data for the task refinements are based on actual values of the SWISS NCA (τ1,...,τk) moments in time (t1,...,tn).

Note that the parameters of the motion model and the SWISS NCA otocna�tsya at time t≤t ifor all i=1,...,n, where i is the number of satellites.

Information on the actual provisions of the NCA in the earth's coordinate system(rel,...,ren)and actual values of the SWISS NCA (τ1,...,τn) moments in time (t1,...,tn) necessary to clarify the parameters of the motion model and SWISS RNA may be obtained from the following sources:

- information about the operational ephemeris NCA is contained in the navigation message (it helps to have information about the ephemeris in 2-3 nodal points on the interval of the last day);

- an Internet server of some third-party organizations that periodically clarify the parameters of the movement of the NCA and provide them to the open access [18, 19] and others).

- data about the Earth rotation parameters are also regularly being refined and are openly published on the following Internet servers [18-20].

EI NCA GPS/GLONASS/Galileo/BeiDou at the current time is calculated, using a simplified model of the motion of the CNA using: piecewise linear approximation of the model of precession and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static harmonic GE�potential due to tidal surface, a simplified model of the motion of the moon and the Sun, the pressure of sunlight without regard to the shadow areas of the orbit integration method everhart with xtralarge step of integration (several hundred seconds). Next, compute the list of visible satellites, assess Doppler frequency signals and using the received EI at the current time carry out further operations of search, seizure, maintenance of the received signals and determine the location of the consumer without the use of EI transmitted in the navigation message of GPS/GLONASS/Galileo/BeiDou.

When the device implementing the method of processing navigation signals and determine location using DCAI, not included assisting the network (offline assistance - Assisted Self), then the method is implemented as follows.

DCAI form on the basis of information about the provisions of the NCA and SWISS, the information contained in the navigation message NCA GPS/GLONASS/Galileo/BeiDou taken by the navigation receiver for the last past days. In addition, using the average value of the Earth rotation parameters. To obtain DCAI uses a simplified model of the motion of the CNA using: piecewise linear approximation of the model of precession and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static ha�Monique geopotential due to tidal surface, a simplified model of the motion of the moon and the Sun, the pressure of sunlight without regard to the shadow areas of the orbit integration method everhart with xtralarge step of integration (several hundred seconds); carry out the calculation of the ephemeris information, the NCA GPS/GLONASS/Galileo/BeiDou at the current time, and use the simplified model of the motion of the CNA using: piecewise linear approximation of the model of precession and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static geopotential harmonics due to surface tides, a simplified model of the motion of the moon and the Sun, the pressure of sunlight without considering the shadow areas of the orbit, integrating method everhart with xtralarge step of integration (several hundred seconds); compute the list of visible satellites, assess Doppler frequency signals and using the received ephemeris information at the current time carry out further operations of search, seizure, maintenance of the received signals and determine the location of the consumer without the use of ephemeris information transmitted in the navigation message of GPS/GLONASS/Galileo/BeiDou.

DCAI is a set of source data relating to some time t0on the basis of which the user can be predicted (calculated�AMB) operational EI at time t 1>t0. In case of network assistant (Network Assisted) DCAI is formed in the assisting network and the communication channel is transmitted to the consumer. In this regard, of particular importance is the way of compact representation (storage) DCAI, which on the one hand requires a minimum volume of the information transmitted to the consumer by assisting the network and on the other hand allows precise forecast operational ephemeris.

The described method of processing navigation signals and determine location using DCAI forms DCAI by the following operations: load data about the provisions of the NCA in the earth coordinate system, the provisions of the SWISS NCA and the Earth rotation parameters during the last day, then, using the method of least squares calculates the updated values of the parameters of the orbits of(r,v,Cref)wherer,v- vector of position and velocity of the NCA in the absolute CCW�of dint, Cref- the ratio of the effective reflection surface of the NCA, and SWISS RNA (a0,a1), whereand0- the value of the SWISS k-th NCA at the time of updating,and1- the rate of change SWISS k-th NCA, calculate the Keplerian orbital elements of the NCA: vector(r,v)converted into shape Kalinovich elements (A, ε, i, Ω, ω, M) where And- the semimajor axis, ε is the eccentricity, i is the inclination, Ω is the longitude of the ascending node, ω is the argument of perigee, M - mean anomaly, calculate the deviation Kalinovich elements from the mean values (ΔA(k)That Δi(k)) by the formulas:

ΔA(k)=And(k)-Am,

Δi(k)=i(k)-im,

where k is the number of the NCA And(k), i(k)- the values of the semimajor axis and the inclination of the orbits of the k-th NSV, respectively, Am, im- average values of the semimajor axis and inclination, which is determined for the respective SNA in General, save the parameters of the motion model for each RNA in the form (ΔA, ε, Δi, Ω, ω, M, Cref), with the parameters SWISS RNA (and0,and1retain without special change.

The processing device of the navigation signals and determine location using DCAI works SL�blowing.

The assisting server network downloads information on the provisions of the NCA and SWISS for the last past days from the servers of the organizations IGS and SWAMP, parameters of the Earth's rotation in the middle of the last day from the server of the international service of the Earth's rotation (IERS), then based on this information, the assisting server network calculates DCAI, in this case, use a well-known method of least squares, high-precision model of the motion of the CNA using: high-precision model of precession and nutation of the Earth, high-precision model of the Earth's gravity due to the variation of the static geopotential harmonics due to tidal surface, high-precision model of the motion of the moon and Sun, the pressure of sunlight with regard to shadow areas of the orbit, integrating method everhart with a small step of integration (a few tens of seconds). The resulting DCAI is loaded into the navigation receiver to the Internet and GSM/WiFi modem and stored in non-volatile memory of the receiver. On the basis of DCAI specialized processor calculates a simplified model of the motion of the NCA and SWISS NCA forms of EI in the format specified in ICD-GPS/GLONASS/Galileo/BeiDou, and stores the received EI in non-volatile memory. Further, in the absence of EI from the navigation message, the navigation receiver uses EI corresponding to the current time �belts, for the operations of search, seizure, maintenance of the received signals and determine the location of the consumer without the use of EI transmitted in the navigation message.

On servers IERS, IGS and SWAMP to store information that is used as input data for further development of DCAI, about the provisions of the NCA and SWISS for the past in the past days, parameters of the Earth's rotation in the middle of the last day.

On the server, assisting the network and calculate the form DKAI.

In the navigation receiver outputs antenna-feeder devices are connected with the corresponding inputs of the analog radio receiving circuits of the SNA GPS, GLONASS, Galileo, BeiDou, which filter and amplify the navigation signals, convert them into signals of intermediate frequency, further filtered intermediate frequency and quantum in independent channels of signal processing SNA.

Outputs analog circuits connected to inputs of analog-to-digital converters that convert analog input signals into discrete codes (digital signals).

Block RAM and program memory stores and provides the software used to process the navigation signals.

The General purpose processor provides a navigation solution �Adachi and maintenance of interfaces of different consumers.

The interface unit provides communication with external/internal devices.

A specialized processor calculates a simplified model of the motion of satellites.

Nonvolatile memory stores the pre-computed DKAI.

GSM/Wi-Fi modem connects navigation receiver with the assisting network via the Internet.

All blocks included in a navigation receiver, are connected by a bus-system information exchange.

The inventive device reduces the time of receipt by the receiver of the first navigation solution provides a possibility for the receiver navigation solution in terms of navigation signals low power (dense urban areas, the presence of noise), enables to obtain the receiver navigation solutions to the KA, in the navigation message which for one reason or another there is no ephemeris information.

The present invention can be used in multi-system receivers satellite navigation (modules) using the signals from the SNA and augmentations with the function of long-term prognosis EI operational satellites GLONASS, GPS, Galileo, BeiDou, etc., for example, in receivers CH-5704 development ZAO "KB NAVIS". In addition, the invention can be used to create navigation receivers with the function of the operator�VNOM validation of EI, the transferred RNA in navigation messages, and the creation of funds of the Autonomous operational control ephemerides GLONASS, GPS, Galileo, BeiDou, etc.

Sources of information:

1. The website of "Rx Networks" http://www.rxnetworks.com.

2. The website of "Jet Propulsion Laboratory" http://www.gdqps.net:

3. The company's website "CSR" http://csr.com:

4. The website of the company "u-blox" http://www.u-blox.com:

5. The website of "Broadcom" http://www.broadcom.com:

6. The interface control document GLONASS, 2008;

7. Interface Control Document GPS, 1995;

8. U.S. patent No. 7612712 "Distributed orbit modeling and propagation method for a predicted and real-time assisted GPS system" firm RX Networks Inc.;

9. U.S. patent No. 8242956 "DISTRIBUTED ORBIT MODELING AND PROPAGATION METHOD FOR A PREDICTED AND REAL-TIME ASSISTED GPS SYSTEM";

10. RF patent №2336631 "the Way the software processes the buffered samples of the digitized signals and multi-system multi-channel software receiver real-time signals of satellite navigation systems and their support for its implementation";

11. Kaula W. M., Theory of Satellite geodesy is, Blaisdell, Waltham, Mass., 1966;

12. Tapley B. D., Watkins, M. M and oth., The Joint Gravity Model 3, Journ. Geophys. Res., 1996, v.101, 1996.

13. Abalkin, fundamentals of ephemeris astronomy, 1979;

14. Tapley B. D., J. C. Ries, Orbit Determination Requirements for TOPEX, Proc. AAS/AIAA Astrodynamics Specialist Conference, Paper 87-429, Kalispell, 1987;

15. Bordovitsyna T. B., Modern numerical methods in the problems of celestial mechanics, Moscow, Nauka, 1984.

16. Denis, D., McCarthy, IERS Technical Note 21 (IAU 1980 Theory), IERS Convention Center, US Naval Observatory, 996;

17. Bakhvalov H. C, Zhidkov H. P., Kobel'kov G. G., Numerical methods, M., Laboratory of Knowledge, 2000;

18. The Internet server CDDIS ftp://cddis.qsfc.nasa.gov;

19. The Internet server ftp://ftp.qlonass-iac.ru;

20. The Internet server http://data.iers.org.

1. The method of processing navigation signals and determine location using long-term compact ephemeris information (DCAI), comprising forming DCAI assisting on the server network or satellite navigation receiver based on the information about the provisions of the navigation satellites (NCA) and their time scales and parameters of the Earth's rotation, and if DCAI form on the server, it is passed to the navigation receiver to the Internet and modem, in the formation of the ephemeris information (EI) at the current time based on DCAI, and location without the use of EI in the navigation message, the format of EI, formed on the basis of DCAI on the current time corresponds to the interface control documents satellite navigation systems (SNS), GPS/GLONASS/Galileo, characterized in that DCAI compute assisting on the server network on the basis of information about the provisions of the NCA and SWISS for the past in the past days, upload to the assisting network via the Internet from the servers of the organizations IGS (for SNA GPS, Galileo, BeiDou) and SWAMP (�La GLONASS), parameters of the Earth's rotation in the middle (12:00) last day downloadable over the Internet from the server of the international service of the Earth's rotation (IERS), and to obtain DCAI uses a high-precision model of the motion of the CNA using: high-precision model of precession and nutation of the Earth, high-precision model of the Earth's gravity due to the variation of the static geopotential harmonics due to tidal surface, high-precision model of the motion of the moon and the Sun, the pressure of sunlight with regard to shadow areas of the orbit, integrating method everhart with a small step of integration (a few tens of seconds); carry out the calculation of EI RNA SNA GPS/GLONASS/Galileo/BeiDou at the current time, and use the simplified model of the motion of the CNA using: piecewise linear approximation of the model of precession and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static geopotential harmonics due to surface tides, a simplified model of the motion of the moon and the Sun, the pressure of sunlight without regard to the shadow areas of the orbit integration method everhart with xtralarge step of integration (several hundred seconds); compute the list of visible satellites, assess Doppler frequency signals and using the received EI at the current time exercise gave�further search operations capture, support the received signals and determine the location of the consumer without the use of EI transmitted in the navigation message SNA GPS/GLONASS/Galileo/BeiDou.

2. A method according to claim 1, wherein forming DCAI on the basis of information about the provisions of the NCA and SWISS, the information contained in the navigation message RNA SNA GPS/GLONASS/Galileo/BeiDou taken by the navigation receiver on the past in the past days, average value of the Earth rotation parameters, and to obtain DCAI uses a simplified model of the motion of the CNA using: piecewise linear approximation of the model of precession and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static geopotential harmonics due to surface tides, a simplified model of the motion of the moon and Sun, the pressure of sunlight without regard to the shadow areas of the orbit integration method everhart with xtralarge step of integration (several hundred seconds); carry out the calculation of the ephemeris information, the NCA SNA GPS/GLONASS/Galileo/BeiDou at the current time, and use the simplified model of the motion of the CNA using: piecewise linear approximation of the model of precession and nutation of the Earth, a simplified model of Earth's gravity without taking into account the variations of the static geopotential harmonics due to surface tides, naproxen�th model the movement of the moon and Sun, the pressure of sunlight without regard to the shadow areas of the orbit integration method everhart with xtralarge step of integration (several hundred seconds); compute the list of visible satellites, assess Doppler frequency signals and using the received ephemeris information at the current time carry out further operations of search, seizure, maintenance of the received signals and determine the location of the consumer without the use of EI transmitted in the navigation message SNA GPS/GLONASS/Galileo/BeiDou.

3. A method according to claim 1 or 2, in which the validation of EI which is received from the navigation message, using EI formed on the basis of DCAI, at the current time.

4. A method according to claim 1 or 2, in which DCAI is formed by the following operations: load data about the provisions of the NCA in the earth coordinate system, about the provisions of the SWISS NCA and the Earth rotation parameters during the last day, then using the method of least squares for each NCA compute updated values of the parameters of the orbits of(r,ν,Cref)where r,ν- vectors of position and velocity of the NCA in the absolute coordinate system, Withref- the ratio of the effective reflection surface of the NCA, and SWISS NCA (a0, a1,), where a0- the value of the SWISS k-th NCA at the time of updating, and1- the rate of change SWISS k-th NCA, calculate the Keplerian elements of the orbit of the NCA: vector(r,ν)converted into shape Kalinovich orbit NCA (A, ε, i, Ω, ω, M), where A is the semimajor axis, ε is the eccentricity, i is the inclination, Ω is the longitude of the ascending node, ω is the argument of perigee, M - mean anomaly, calculate the deviation Kalinovich orbit RNA from average value
ΔA(k)=A(k)-Am
Δi(k)=i(k)-im
where k is the number of the NCA, A(k), i(k)- the values of the semimajor axis and the orbital inclination k of the NCA respectively, Am,im- average values of the semimajor axis and inclination, which is determined for the respective SNA in General, save the parameters of the model of the movement of the NCA in the form (ΔA, ε, Δi, Ω, ω, M, Cref), the SWISS NCA (a0, asub> 1,) retain without special transformations, and the volume formed by DCAI is not more than 1200 bytes for 32 NCA GPS, no more than 1000 bytes for the 24 navigation satellites GLONASS, no more than 1200 bytes for the 30 satellites of the Galileo and not more than 1300 bytes for 35 BeiDou navigation satellites.

5. The processing device of the navigation signals and determine location using DCAI, including the navigation receiver, including antenna-feeder device, the analog radio receiver paths of the signals of GPS, GLONASS, Galileo, analog-to-digital converters, block RAM and program memory, a General purpose processor, interface unit, bus-system information exchange, characterized in that the navigation receiver includes analog receiving path signals SNA BeiDou, the processor to calculate a simplified model of the movement of the NCA, GSM/WiFi modem for interfacing GPS receiver with the assisting network via the Internet non-volatile memory for storing pre-computed DCAI, all blocks included in a navigation receiver, are connected by a bus-system information exchange, and a part of assisting a network server international service IGS, the international server service IERS, the server system SWAMP and assisting the server network, the outputs of servers IGS, IERS and SWAMP are connected to the inputs of the assisting server CE�and, the output of the assisting server network linked via the Internet with the input of the GSM/WiFi modem GPS receiver.



 

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FIELD: physics.

SUBSTANCE: device includes a GPS/GLONASS receiver, an antenna, a user interface (keyboard, display, sound), a communication interface, nonvolatile memory, a microcontroller, consisting of a unit for calculating the coordinate vector from code measurements, a unit for calculating the increment of the coordinate vector from phase measurements, a filter unit based on a least-square method, a unit for calculating a specified coordinate vector from the filtration results, a unit for working with interfaces, where the microcontroller includes a unit for analysing stability of the phase solution, a unit for evaluating duration of measurements and geometrical factor of the constellation of satellites, as well as a correcting unit consisting of a counter for counting stable solutions and a decision unit for deciding on continuing measurements, interfaces for time marking external events and outputting the second mark.

EFFECT: highly accurate determination of coordinates of a receiver based on differential processing of phase measurements with complete elimination of phase ambiguity.

1 dwg

FIELD: physics.

SUBSTANCE: device includes a GPS/GLONASS receiver, an antenna, a user interface (keyboard, display, sound), a communication interface, nonvolatile memory, a microcontroller, consisting of a unit for calculating the coordinate vector from code measurements, a unit for calculating the increment of the coordinate vector from phase measurements, a filter unit based on a least-square method, a unit for calculating a specified coordinate vector from the filtration results, a unit for working with interfaces, where the microcontroller includes a unit for analysing stability of the phase solution, a unit for evaluating duration of measurements and geometrical factor of the constellation of satellites, as well as a correcting unit consisting of a counter for counting stable solutions and a decision unit for deciding on continuing measurements, interfaces for time marking external events and outputting the second mark.

EFFECT: highly accurate determination of coordinates of a receiver based on differential processing of phase measurements with complete elimination of phase ambiguity.

1 dwg

FIELD: physics.

SUBSTANCE: navigation is performed using low earth orbit (LEO) satellite signals, as well as signals from two sources of ranging signals for determining associated calibration information, where a position is calculated using a navigation signal, a first and a second ranging signal and calibration information. Also possible is providing a plurality of transmission channels on a plurality of transmission time intervals using pseudorandom noise (PRN) and merging communication channels and navigation channels into a LEO signal. The method also involves broadcasting a LEO signal from a LEO satellite. Also disclosed is a LEO satellite data uplink. The invention also discloses various approaches to localised jamming of navigation signals.

EFFECT: high efficiency and ensuring navigation with high level of integration and security.

14 cl, 34 dwg

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