System for locating mobile object based on global navigation satellite system signals

FIELD: radio engineering, communication.

SUBSTANCE: system has a space segment in form of navigation spacecraft, a transponder mounted on the mobile object and a ground segment in form of a ground measuring station. The transponder has a navigation spacecraft signal receiver, a carrier frequency converter and a relayed signal transmitter. The ground measuring station has a transponder signal receiving and processing unit, a unit for calculating coordinates of the transponder, as well as a correcting unit and a navigation spacecraft signal receiving and processing unit. The correcting unit has a unit for calculating ionospheric delay and a unit for calculating ephemeral-time support error of the navigation spacecraft, a weather data unit, an ionosphere data unit and a transponder position pre-calculating unit.

EFFECT: eliminating restrictions on a navigation coverage area with differential accuracy mode in conditions of providing radio communication from a transponder mounted on an object to a ground measuring station for any motion path of the mobile object.

3 dwg

 

The invention relates to the field of navigation and can be used in systems for detection and tracking of moving trajectory of above-ground space objects the signals of global navigation satellite systems (GNSS) GLONASS, GPS and the like.

A known system for identifying and tracking moving objects on GNSS signals, in which the current coordinates of the path are determined onboard the object positioning using the appropriate on-Board navigation receivers, and then at certain points in time are transmitted over the air at the checkpoint, which records and, if necessary, visualized, see, for example, patents: [1] - EP 0509775 A2, G01S 19/42, G01S 5/00, G01S 5/14, 21.10.1992; [2] - US 5025261, H04B 7/185, G01S 5/02, 18.06.1991; [3] - US 5644317, G01S 5/02, G01S 3/02, G01C 21/00, 01.07.1997. While onboard the object positioning is the reception of navigation signals emitted by the navigation of space vehicles (NSV) GNSS, and processing parameters: frequency of the received radio signals and delays relative to the local time scale. For a reliable determination of the coordinates of the desired simultaneous stable reception of signals from several NSV, the number of which shall be not less than the number of simultaneously defined orthogonal parameters that the composition of yet, usually, four or more.

The disadvantage of the considered systems detection and tracking of moving objects on GNSS signals is the need to use sophisticated on-Board equipment, performing correlation processing signals from the NCA, as well as the discreteness of receipt at the checkpoint data about the coordinates of the object positioning for fast-moving objects can be critical for the implementation of tracking.

A known system for identifying and tracking moving objects on GNSS signals, which are received at the object positioning signals received from the NCA, relayed to ground test point (NIP), which are determined by the current coordinates of the object, see, for example, patent [4] - EP 0508405 A1, G01S 5/14, G07C 5/00, G07C 5/08, 14.10.1992. The advantage of such systems is the transfer procedures of signal processing and navigation calculations to NIP that can significantly simplify and reduce the cost of avionics object positioning. These properties are especially important when using these devices on a non-refundable, frequently run types of objects, as they allow you to contribute to the cost reduction when performing solve these task objects.

Among the systems of the specified type of known system is we, in which the NPC has an additional receiving channel connecting it with the NCA, see, for example, patents: [5] - US 5119102. H04B 7/185, G01S 5/02, 02.06.1992; [6] - US 5225842, H04B 7/185, G01S 5/02, 02.06.1992. The presence of such additional receiving channel allows faster and more accurate navigation calculations, in particular, through the use of confidential information obtained directly from the Agency (as provided in [5]), as well as through the implementation of local differential mode (as provided in [6]).

This additional receiving channel connecting the NIP with the NCA has adopted as a prototype system to determine the location of the object on GNSS signals, described in the patent [7] - US 5379224, G01S 5/02, 03.01.1995, where the implemented local differential mode.

The system prototype contains the space segment in the form of NSV GPS, repeater, located on the movable object, which accept signals NCA and the relay, and ground segment in the form of a NIP receiving the signals of the repeater and the signal NSV.

The repeater contains serially connected receiver signal NCA, the transmitter carrier frequency and the transmitter transmitting signals.

The NIP includes a unit for receiving and processing signals of the relay and connected in series unit receiving and processing signals NSV, block cor is ecchi and block calculate the coordinates of the location of the repeater, information the input of which is connected with the output unit receiving and processing signals of the repeater.

The prototype system is as follows. NSV emit navigation signals, which are accepted NIP and relay. The repeater converts the carrier frequency of received navigation signals and pereizuchit their broadcast from a transmitter transmitting signals. The signal repeater will be accepted at the NIP, where with the help of the block for receiving and processing signals of the repeater determines the pseudorange between the repeater and the NSA. Values of pseudorange between the repeater and the NSA is transmitted to an information input unit for computing the coordinates of the location of the repeater, which is determined by the position of the repeater by solving a system of equations based on the measured pseudorange and the calculated coordinates of the NCA. Determined in this way, the position of the repeater can be refined using the corrections obtained in the error correction block. To do this, using the unit receiving and processing signals NSV to NIP accepted navigational radio signals coming directly from the NCA, and the measured pseudorange between the NIP and the NSA. At the same time on a priori known coordinates NIP and NSV are calculated distance between them. The result of the comparison of measured and calculated values of the deposits ranges between NIP and NSV are differential corrections, which allow you to adjust the measurements of pseudorange between the repeater and the NSA coming into the unit for computing the coordinates of the location of the repeater. To some extent, this reduces the effect of propagation conditions navigation radio ephemeris and time GNSS errors, increasing the accuracy of the calculations of the coordinates of the relay due to the implementation of local differential mode.

The lack of a prototype system is limited area navigation service object implemented with differential mode accuracy, particularly for cases where the trajectory of the object (the path of movement of the relay) is large in height the distance from the NIP, for example, through the ionospheric layer of the atmosphere where the distribution terms of navigation signals NSV to relay radically different from the distribution of these signals to the NIP.

The technical result for which the invention is directed, is the location of a moving object on GNSS signals, in which any movement of the object (the motion paths of the repeater) there are no restrictions on area navigation service object implemented with differential mode accuracy in terms of both the biscuits radio communications in the direction from the repeater to the NIP.

The invention consists in the following. The system for determining the location of a moving object on GNSS signals contains the space segment as NSV, repeater, located on the movable object, which accept signals NCA and the relay, and ground segment in the form of a NIP receiving signals NSV and relay. The repeater contains serially connected receiver signal NCA, the transmitter carrier frequency and the transmitter transmitting signals, and NIN contains serially connected unit receiving and processing signals NCA, the correction block and the block to calculate the coordinates of the location of the repeater, the information input of which is connected with the output unit receiving and processing signals of the repeater. When this correction block contains the block computation of the ionospheric delay and power calculation error ephemeris-time support (EVO) of the NCA, the first inputs of which, forming, respectively, first and second inputs of the error correction block, associated with the output unit receiving and processing signals NSV and outputs, forming, respectively, first and second outputs of the error correction block associated with the first and second correcting unit calculate the coordinates of the location of the repeater. The second input of the computing unit error EVO NSV is connected with the output of meteorological data. W the second input of the computing unit ionospheric delay associated with the output block of data on the ionosphere, and the third input - output unit pre-calculating the position of the repeater, the input of which forms the third input of the correction unit, connected with the output unit receiving and processing the signal repeater.

The invention and its implementation are explained with illustrative materials presented on Fig.1-3, where:

figure 1 shows the structural diagram of the inventive system;

figure 2 - notional example of a model of the ionosphere, horizontal slice;

figure 3 is a conventional example of a model of the ionosphere, a vertical slice.

The inventive system in this example of execution (figure 1) contains the space segment, representing the constellation NSV 1, emitting the navigation RF signals in frequency bands L1 and L2, ground segment in the form of NIN 2, and relay 3, located on the object positioning is highly dynamic aircraft, the trajectory which passes through the ionospheric layer of the atmosphere.

Relay 3 is connected in series receiver 4 signals NSV, designed for the reception of navigational signals in the frequency range L1, the Converter 5 of the carrier frequency and the transmitter 6 retransmitted signals intended for broadcast relayed signals NSV 1 in the UHF range.

NIP 2 contains the block 7 of the reception and processing of signals retran is the system, the input is formed by the respective receiving antenna, connected by radio with the relay 3, and the output associated with the information input unit 8 to calculate the coordinates of the location of the repeater, the output of which is an information system output. The composition of the NIP 2 also includes a unit 9 for receiving and processing signals NCA, whose input is formed by the respective receiving antenna, connected by radio with the footprint of the NCA 1 and exit through the block 10 correction is associated with a corresponding adjustment unit 8 to calculate the coordinates of the location of the repeater.

The correction block 10 includes a block 11 calculate the ionospheric delay and block 12 calculation errors EVO NCA, the first inputs of which respectively forming first and second inputs of the block 10 correction associated with the output unit 9 for receiving and processing signals NSV. The second input unit 11 to calculate the ionospheric delay associated with the output unit 13 of the data on the ionosphere, and the third input is connected with the output unit 14 pre-calculating the position of the repeater, the input of which forms the third input unit 10 correction is connected with the output unit 7 for receiving and processing the signal repeater. The output of block 11 calculate the ionospheric delay, which forms the first output of the correction block 10, is connected to the first correcting unit 8 calculate the coordinate of the inat the location of the repeater. The second input unit 12 calculation errors EVO NSV is connected with the output unit 15 meteorological data. The output of block 12 calculation errors EVO NSV, forming a second output unit 10 correction associated with the second correcting unit 8 calculate the coordinates of the location of the repeater.

The system is as follows.

NSV 1 emit navigation signals in frequency bands L1 and L2.

Relay 3 using the receiver 4 signals NCA receives navigation signals from NSV 1, located within the footprint of relay 3 (from at least four NCA), in the frequency range L1. The received navigation signals converted by the frequency Converter 5 of the carrier frequency and pereklokayutsia transmitter 6 retransmitted signals in the UHF range.

Retransmitted signals are received at the NIP 2 using unit 7 for receiving and processing signals of the relay, which performs correlation processing of the received signals and the measurement of pseudorange relay 3 for each i-th NSV 1, located within the footprint of(DandCmiP). The results of processing the values of pseudodi is Inesta relay 3 to each of the NSV 1, located within range of the repeater 3, - come in the form of digital signals on the information input unit 8 to calculate the coordinates of the location of the relay and also to the input unit 14 pre-calculating the position of the relay, part of block 10 of correction.

Simultaneously, the navigation signals from the NCA 1, located within the footprint of NIN 2, for both frequency bands L1 and L2 are taken to NIP 2 using unit 9 for receiving and processing signals of the Agency, which performs correlation processing of the received signals, the phase measurements and pseudorange measurement of NIP 2 for each i-th NSV 1, located within the footprint of the NIP 2(DandCmiH)and also performs the calculation of Zenith distances z, these NSV 1.

From the output unit 9 for receiving and processing signals NCA data on phase measurements, pseudoternary measurements and Zenith distances ziin the form of corresponding digital signals to the input unit 11 to calculate the ionospheric delay, where the following processing operation for determining delays in the dissemination of the navigation signal on the track "NSV-repeater", obuslovlen the th influence of the ionosphere, and the speed of its change:

1. Calculated integral electronic concentration (total electron content - TECiand the rate of change (dTECi) on the track "NSV-NIP" for all i's NSV 1, located within the footprint of the NIP 2:

TECi=A(DandCmiH(fL2)-DandCmiH(fL1)-Δt2/1),(1)

dTECi(tk+Δt/2)=(A/Δt)=(A/Δt)(ΔΦL1-ΔΦL2)i( 2)

whereA=(1/β)(fL1fL2)2/(fL12-fL22)- constant (different for each GNSS);

β≈40,308 m3/s2;

ΔΦ=Φ(tk+1)-Φ(tk) increment the phase measurement interval Δt;

Δt=tk+1-tk- discretes pseudothalidomide and phase measurements (the time interval between the current (tk+1) and previous (tk) epochs of measurements);

Δτ2/1- the offset of the emitted navigation radio range L2 relative to the navigation radio range L1, calculated as:

Δt2/1={{ISCL1C/A-ISCL2C}(dlINKAnd GNWith aWith aGPS);Δtn(dlINKAndGNWith aWith aGLAboutNAndWith aWith a),(3)

whereISCL1C/A|GPS,ISCL2C|GPS,Δτn- relevant amendments, which are transmitted in frames of digital information GNSS GPS and GLONASS.

2. Calculated values of the vertical components of the integral of the electron concentration Vnand its rate of change dTVECnresponsible location NIP 2:

TVECn=1nΣi=1nTEC iB(zi);(4)

dTVECn=1nΣi=1ndTECiB(zi);(5)

where

- i is the number (index) of the NCA 1;

- n is the number of NSV 1, located within the footprint of the NIP 2 at the current time;

- zithe Zenith distance of the i-th NSV 1;

- B(zi)={1-[RE/(RE+hm)]2·sin2zi}1/2;;

- RE- the average radius of the Earth;

- hm- the average height of the ionosphere.

3. Defined values of the vertical components of the integral of the electron concentration TVECpand its rate of change dTVECpcorresponding to the current position of the relay 3. For this purpose the data read from the output unit 14 pre-calculating the position of the relay, and information about the state of Jones the career, obtained from the output of block 13. The model of the ionosphere that are used for such purposes, may be figuratively represented as horizontal and vertical sections corresponding to fixed points in time. Horizontal slice ionospheric model (figure 2) is characterized reference (coordinate) grid with known values of the vertical components of the integral of the electron concentration TVEC in its nodal points. A vertical slice ionospheric model (figure 3) describes the content of the electron concentration (ne) in the corresponding high-altitude layer of the ionosphere (R). Bringing these data (by interpolation) to the point of location of the NIP 2 at the time of measurements and comparing them with the calculated values TVECnand dTVECnallows to assess the adequacy of the model to real conditions and, if necessary, to adjust its parameters. Next, using the specified model and predecessing coordinate relay 3 defined values of the TVECpand dTVECpfor the current position of relay 3.

4. Calculated ionospheric delayΔuipon the track "NSV-repeater" for each of the i-th NSV 1, located within the footprint of the relay 3, and the rate of change Δuip(fL1)

Δuip(fL1)=βTVECpB(zi)(fL1)z,(6)

Δuip(fL1)=βdTVECpB(zi)(fL1)z,(7)

Given the formulas (1)to(7) mathematical dependencies are determined by the known relations (see, for example: [8] - Schaer S. Mapping and Predicting the Earth's Ionosphere Using the Global Positioning System // Ph. D. Dissertation, Astronomical Institute of the University of Bern, Switzerland, 1999; [9] - Akim EL, Tuchin D.A. Ionospheric component of the pseudorange measurements of the near-earth spacecraft / RAS. Institute of applied mathematics to them. Keldysh // M, Preprint, 04.04.2004).

Thus obtained values of the delays in the dissemination of the navigation signal, due to the influence of the ionosphere on the track "NSV-relay", and the speed of its change in form of the corresponding digital signals from the output of block 11 calculate the ionospheric delay on the first adjustment unit 8 to calculate the coordinates of the location of the repeater.

Simultaneously, the output unit 9 for receiving and processing signals NCA data on the measured values of pseudorange(DandCmiH)and Zenith distances z; come in the form of digital signals to the input unit 12 calculation errors EVO NCA where the following processing operations:

1. On a priori known coordinates NIN 2 at each moment of time is determined by the settlement(Dpandwith ah iH)the distance from the NIP 2 to each of the i-th NSV 1, located within the footprint of the NIP 2, is compared with the measured(DandCmiH)pseudodementia and for each of these NSV 1 calculates the total measurement error of the pseudorangeΔΣiexpressed in temporal terms and normalized to the signal frequency fL1in the range L1:

ΔΣi(fL1)=Dpandwith ahiH-DandCmiHwith a,(8)

where c is the speed of light.

At the same time, by differentiation, the estimated rate of change of this error:

ΔΣ i(fL1)=dΔΣi(fL1)dt.(9)

2. Calculated ionospheric component Δuierror of measurement of pseudorange on the track "NSV-NIP" using two-frequency method:

Δui(fL1)=DandCmiH(fL1)-DandCmiH(fL2)c×(1-(fL1fL2)2)-1,(10 )

whereDandCmiH(fL1)- measured pseudodominant on the signal frequency fL1in the range of L1;

DandCmiH(fL2)- measured pseudodominant on the signal frequency fL2in the range L2.

At the same time, by differentiation, the estimated rate of change of this error:

Δui(fL1)=d(Δui(fL1))dt.(11)

3. Calculated tropospheric component ΔTr, error of measurement of pseudorange on the track "NSV-NIP" the application of the model troposphere and the current values of temperature, pressure and humidity of the atmospheric air entering from the output unit 15 weather:

Δtpi=0.00227coszi[p+(1255T+0.05)e-Btg2zi]+δR,(12)

where T is the temperature ([]);

p is the atmospheric pressure[mbar]);

e - the partial pressure of water vapor ([mbar]), characterizing humidity;

zithe Zenith distance of the i-th HKA 1;

In and δR - adjustment coefficients that define the specificity of the location of the NIP 2.

At the same time, by differentiation, the estimated rate of change of this error:

Δtpi=d(Δtpi)/dt.(13)

4. Calculates errors EVO NSVΔeinaboutiand the rate of change of this error in accordance with the expressions:

Δeinabouti=ΔΣi(fL1)-Δu(fL1)-Δtpi,(14)

Δeinabouti=ΔΣi(fL1)-Δui(fL1)-Δtpi./mtext> (15)

The calculated error values EVO NSV and speed of its change in form of the corresponding digital signals are sent to the second correcting unit 8 calculate the coordinates of the location of the repeater.

Thus, the inputs of the block 8 calculate the coordinates of the location of the repeater receives the following information and correction signals:

- on the information input from the output unit 7 for receiving and processing signals of the repeater receives the measured values of pseudorangeDandCmiP,

- on the first adjustment input from the output of block 11 calculate the ionospheric delay enter the delay value signalΔuip(fL1)due to the influence of the ionosphere on the track "NSV-relay", and the speed of its changeΔuip(fL1) ,

- on the second corrective input from the output of block 12 calculation errors EVO NCA received error values EVO NSVΔeinaboutiand speed of its changeΔeinabouti.

In block 8 calculate the coordinates of the location of the repeater performs the following processing operations:

1. Calculated total corrective amendmentsΔ^Σito the measured pseudorange to each i-NCA 1, located in the vicinity of the repeater 3, as the algebraic sum of the following numbers:

Δ^Σi(t)=-(Δuip(t0)+Δuip(t-t0 )+Δeinabouti(t0)+Δeinabouti(t-t0)),(16)

where: t0- the time of formation of the amendments;

t - the current time.

2. Adjusted the measured pseudorange to each i-NCA 1 as an algebraic sum of the following numbers:

Dandwith apip=DandCmip+Δ^Σi(t)(17)

3. You mihaileni coordinate relay 3 by solving a system of equations with four unknowns (x, y, z, Δt'), using fixed values ofDandwith apiP the pseudorange to four or more NCA 1:

(Dandwith appip)2=(Di+cΔt)2=(xNKAndi-x)2+(yNKAndi-y)2+(zNKAndi-z)2,(18)

where: i - number NSV 1 (i≥4);

Diis the true geometric range from the repeater to the i-th NSV 1;

xNCA, yNCA, zNCAcoordinates of the i-th NSV 1;

x, y, z - coordinates of the relay 3;

Δt' is the mismatch of time scales NSV 1 and NIP 2;

C is the speed of light.

Shown in formula (8)÷(18) mathematical dependencies are determined by the known relations (see, e.g., [10] - GLONASS. Principles built the I and function / edited A.I. Perov, V. Kharisov. // M: radio engineering, 2010, pp.272-304, 440-452).

Obtained by solving the equation system coordinates positioning (coordinates relay 3) are removed from the output unit 8 to calculate the coordinates of the location of the repeater, forming an information system output.

Thus, in the proposed system is highly accurate (due to the implemented differential mode) positioning the object positioning of the aircraft, the trajectory of which is large in height the distance from the NIP 2 through the ionospheric layer of the atmosphere where the distribution terms of navigation signals from the NCA 1 to a located on the object positioning the repeater 3 is radically different from the conditions of propagation of these signals from the NCA 1 to NIP 2.

Reviewed shows that the claimed invention is feasible and has the technical result consists in the creation of a system of positioning a mobile object on GNSS signals, in which any movement of the object carrying the repeater 3, there are no restrictions on area navigation service object implemented with differential mode accuracy in terms of software radio in the direction of the relay 3 to the NIP 2.

IP is the full-information

1. EP 0509775 A2, G01S 19/42, G01S 5/00, G01S 5/14, publ. 21.10.1992.

2. US 5025261, H04B 7/185, G01S 5/02, publ. 18.06.1991.

3. US 5644317, G01S 5/02, G01S 3/02, G01C 21/00, publ. 01.07.1997.

4. EP 0508405 A1, G01S 5/14, G07C 5/00, G07C 5/08, publ. 14.10.1992.

5. US 5119102, H04B 7/185, G01S 5/02, publ. 02.06.1992.

6. US 5225842, H04B 7/185, G01S 5/02, publ. 02.06.1992.

7. US 5379224, G01S 5/02, publ. 03.01.1995.

8. International GPS Service. Information and Resources / IGS Central Bureau, 2001.

9. Schaer S. Mapping and Predicting the Earth's Ionosphere Using the Global Positioning System // Ph. D. Dissertation, Astronomical Institute of the University of Bern, Switzerland, 1999.

10. Mayor AL, Tuchin D.A. Ionospheric component of the pseudorange measurements of the near-earth spacecraft / RAS. Institute of applied mathematics to them. M.V. Keldysh // M, Preprint, 04.04.2004.

11. GLONASS. The principles of construction and operation / edited by A.I. Perov, V. Kharisov. // M, radio engineering, 2010, pp.272-304, 440-452.

The system for determining the location of a moving object according to the signals of global navigation satellite systems containing space segment in the navigation of space vehicles (NSV), repeater, located on the movable object, which accept signals NCA and the relay, and ground segment in the form of land measuring point (NIP), the receiving signals of the Agency and the repeater, and the repeater contains serially connected receiver signal NCA, the transmitter carrier frequency and the transmitter relayed the signals, and NIP contains serially connected unit receiving and processing signals NCA, the correction block and the block to calculate the coordinates of the location of the repeater, the signal input of which is connected with the output unit receiving and processing signals of the repeater, wherein the correction unit includes a unit for computation of the ionospheric delay and power calculation error ephemeris-time support (EVO) of the NCA, the first inputs of which respectively forming first and second inputs of the error correction block, associated with the output unit receiving and processing signals NSV, and outputs, respectively forming first and second outputs of the error correction block, associated with the first and second corrective inputs the unit for computing the coordinates of the location of the repeater, the second input of the computing unit error EVO NSV associated with the release of meteorological data block, the second input of the computing unit ionospheric delay associated with the output block of data on the ionosphere, and the third input unit for computation of the ionospheric delay associated with the output block pre-calculating the position of the repeater, the input of which forms the third input of the correction unit, connected with the output unit receiving and processing the signal repeater.



 

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15 cl, 4 dwg, 2 tbl

FIELD: radio engineering, communication.

SUBSTANCE: to identify frequency, an optional or conditional parameter is linked with a satellite identification parameter, wherein frequency identification indicates the frequency value for frequency division multiple access (FDMA). Such an optional parameter is needed for satellites of the modern GLONASS system and/or near-future GLONASS system (e.g. GLONASS-M), but is not included/linked when considering next-generation GLONASS satellites, e.g. GLONASS-K satellites. In addition, signals supported by specific GPS system satellites can be indicated using general satellite identification.

EFFECT: enabling use of the same parameters for any GNSS system in the context of an A-GNSS system without the need to introduce specific parameters for each GNSS system, optimisation of a satellite receiving signals for improving operating characteristics when minimising power consumption and ensuring future compatibility for modernisation of GLONASS.

15 cl, 4 dwg, 2 tbl

FIELD: radio engineering, communication.

SUBSTANCE: meteorological system is proposed, which comprises transmitters of navigation signals of a GPS system, transmitters of navigation signals of the GLONASS system, an aerological radiosonde (ARS) with receivers of GPS and GLONASS, three antenna systems, a surface base station with a unit of display of coordinate-telemetric information, and also six radio channels, at the same time the base station is connected with a drive of control of the third antenna system by coordinates of tilt angle (ε) and azimuth angle (β). The first antenna system of the meteorological system provides for a differential mode of operation, the second antenna system has a wide directivity diagram and provides for reception of ARS signals in the near zone, the third antenna system has a narrow directivity diagram, operates in the tracking mode and provides for reception of ARS signals in the far zone.

EFFECT: improved accuracy of detection of aerological radiosonde coordinates and provision of reliable transfer of meteorological information from a board of an aerological radiosonde to a surface station in an efficient radius of radiosonde systems coverage.

3 cl

FIELD: physics.

SUBSTANCE: network element (M) for generating backup data has a control element (M.1) for generating back up data relating to one or more base stations (S1, S2) of at least one navigation system, and a transmitting element (M.3.1) for transmitting back up data over a communication network (P) to a device (R). The positioning device (R) has a positioning receiver (R3) for positioning based on one or more signals transmitted by base stations (S1, S2) over at least one of the said satellite navigation systems; a receiver (R.2.2) for receiving back up data relating to at least one navigation system from the network element (M); and an analysis element (R.1.1) adapted for analysing the received back up data in order to detect information relating to the status of the said one or more signals from the base stations (S1, S2) of the navigation system. The said information relating to the status of the said one or more signals from the base stations (S1, S2) contain indicators to the base station (S1, S2) to which the signal relates, and the said status, which indicates suitability of the signal for using. The device (R) is adapted such that, the signal indicated as unsuitable for use is not used for positioning.

EFFECT: increased accuracy of determining location by providing the positioning device with a list of defective signals transmitted by a specific satellite.

29 cl, 6 dwg, 5 tbl

FIELD: radio engineering.

SUBSTANCE: there determined is location of reference station in reference station according to signals received in it from complex of satellites, there determined is location of user receiver where user is located on the basis of measurement results received in it and on the basis of modification values calculated in reference station for correction of errors and there calculated is vector of relative position by calculating difference between location of reference station and location of the user.

EFFECT: improving determination accuracy of object location.

19 cl, 9 dwg

FIELD: physics.

SUBSTANCE: proposed method comprises reception of radio signals, analysis of output data of a group of receivers in combination with the data of weather pickups, and generation of navigation data quality signals and corrections to said data for its consumers.

EFFECT: higher probability of detecting intolerable abnormality of navigation satellite signals coming from all operated navigation systems GLONASS, GPS and GALILEO.

2 cl, 1 dwg

FIELD: physics.

SUBSTANCE: navigation system calculates positions which are corrected using complementary filters, each of which excludes data coming from one of the satellites when a fault is detected in one of the satellites. The complementary filter which excludes this satellite becomes the main filter and the other complementary filters are initiated by the new main filter.

EFFECT: reduced computational load in the navigation system.

5 cl, 2 dwg

FIELD: physics.

SUBSTANCE: to receive a radio-navigation signal modulated by a signal containing a BOC (n1,m) component and a BOC (n2,m) component, correlation between the current signal at the reception point and the modulating signal, and correlation between the shifted signal at the reception point and the modulating signal is carried out in a time interval with duration T. The current signal at the reception point is generated in form of a binary signal containing one segment of the BOC (n2,m) signal with overall duration (1-αA)T during the said time interval. The shifted signal at the reception point is generated in form of a binary signal containing one segment of the BOC (n1,m) signal with overall duration αBT during the said time interval.

EFFECT: high accuracy of synchronising a received signal with a reference signal.

13 cl, 9 dwg

FIELD: information technology.

SUBSTANCE: mobile communication device uses a position finding method using a position finding filter, for example a Kalman filter which is initialised by measurements from reference stations, for example satellites and/or base stations, which can be obtained during different periods. Accordingly, the position finding filter can be used to evaluate the position without the need to first obtain at least three different signals during the same measurement period.

EFFECT: high efficiency and reliability of position finding for mobile receivers of a global positioning system in unfavourable signal propagation conditions when coincidence of range measurements may not occur on time.

40 cl, 9 dwg

FIELD: information technology.

SUBSTANCE: request for auxiliary data issued by a mobile station is received at a server station and in response to the request, the server station sends to the server station ephemeral data as part of auxiliary data. After receiving the request for auxiliary data issued by the mobile station, the server station decides on the possibility of the mobile station reaching given accuracy for determining location is provided with transmitted ephemeral data. In the affirmative case, the server station sends transmitted ephemeral data to the mobile station. In the negative case, the server station sends to the mobile station long-term ephemeral data instead of transmitted ephemeral data as part of the requested auxiliary data. The long-term ephemeral data are extracted from forecasts of orbit satellites and they have validity interval which is sufficiently long compared to the ephemeral data transmitted by satellites.

EFFECT: high accuracy of position finding.

8 cl, 3 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: 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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