System and method of determining reference location coordinates

FIELD: radio engineering, communication.

SUBSTANCE: invention can be used to determine reference location of a base station in a differential global navigation satellite system (GNSS). The base station includes a storage device, a logic controller and a GNSS receiver. Stored reference locations are stored in the storage device in form of sets of coordinates; the GNSS receiver determines the current estimate location of the base station in form of a set of coordinates having components. The logic controller reads the stored reference location and converts components of the stored reference location and components of the current estimate location into a binary string format, after which matching of the current estimate location with the stored reference location is established by establishing matching of the binary string component corresponding to the current estimate location with binary string components corresponding to the stored reference location. If it is established that the stored reference location matches the current estimate location, the stored location is considered the reference location of the base station.

EFFECT: determining the reference location of a base station with high accuracy.

15 cl, 6 dwg

 

The technical FIELD

The present invention relates to a system and method for determining a reference location. In particular, the invention relates to a system and method for determining a reference location for differential global navigation satellite systems - GNSS (DGNSS), such as differential global positioning (DGPS).

The LEVEL of TECHNOLOGY

In many cases, to determine the location, for example, a surveying instrument, vehicle, or similar objects using global navigation satellite systems such as GPS, GLONASS or GALILEO. Such global navigation satellite system (GNSS) based on the reception of signals from satellites.

DGNSS are satellite systems location in which differential corrections are determined with the help of the base station located in a place with accurately known locations (reference location), and which are then passed on GNSS-receiver movable object to improve the accuracy of its location. The base station has a GNSS receiver, the exact location of which is known, thanks to compute differential correction based on the comparison of the received probing signals in the GNSS with those who were supposed to get on the I known location. Differential correction is passed to the receiver of a moving object in the air, so in real-time to Supplement sounding signals in the GPS data received by the receiver of a moving object, and thus provide more accurate positioning. In another example, the base station transmits the coordinate values of points with known locations together with the actual values of the probing signals received at the base station receiver, GNSS-receiver movable object uses these data to calculate what the experts in this field of technology is known as "single observation of differences", which is used to calculate the target location of a moving object relative to the location of the base station. The relative location of the receiver of the rolling object is converted into an absolute location by adding the difference to a previously defined location of the receiver of the rolling object. Although both examples of determining location coordinates of the receiver of the rolling object is clearly different, the results positioning are mathematically equivalent.

The cause of error in GNSS, aiming through differential techniques are often naturally the factors such as the amount of water vapor in the troposphere or interference in the ionosphere caused by solar flares. These factors do not affect the specified accuracy at large distances, but have a significant impact on short distances. Thus, GNSS provides a higher accuracy of positioning depending on how close the base station to the mobile receiver, as in this case, the environmental factors have a similar influence on these two receivers. In order to transmit differential correction from the base station to the receiver of a moving object in the case when the transmission of differential corrections using the radio channel, the base station and the receiver should be located close enough to each other. One of the disadvantages of this method is that if you move the base station to another location requires a lot of time to accurately determine the new reference location. When used in agriculture, in most cases, the base station moves in a predetermined location.

In patents US 7400294 and US 6140959 described GNSS, in which the reference location of the base (reference) station tied to a previously saved its location, if the distance between the previously stored location is Ozanam and the current location of the base station is less than a specified distance. However, these patents do not describe how to determine the distance between these two locations, or what method is used to establish a correspondence between these locations.

DISCLOSURE of INVENTIONS

One of the objects of the invention is a method for determining a reference location of a base station for differential GNSS, including: i) determining the current location of the base station in the form of a set of components of the set of coordinates using a GNSS receiver, (ii) reading the reference location of one or more reference locations, stored in a storage device of the base station, (iii) the conversion of two or more components of the set of components of the sets of coordinates of the reference location and the current estimated location in the binary string, iv) setting matches the current estimated location with the stored reference location by establishing coincidence of two or more component binary strings, corresponding to the current estimated location, with two or more components of the binary string corresponding to the stored reference location, (v) taking as a reference the location of the base station of one of the stored reference locations on the stage, the mouth is the service matches it matches the reference location with the current estimated location of the base station. Preferably, all components of the set of coordinates of the reference location and the set of coordinates of the current estimated location is converted into a binary string and set the matching of all components of the binary string corresponding to the current estimated location, with the components of the binary string corresponding to the stored reference location. Preferably, to establish coincidence between the components of the sets of coordinates carry out the conversion of the set of coordinates of the reference location and/or set of coordinates of the current estimated location. Preferably, the setting matches the estimated current location with the stored reference location includes establishing coincidence of each component of the binary string corresponding to the current estimated location, with the corresponding component of the binary string corresponding to the stored reference location.

Preferably, to establish coincidence between the components of the sets of coordinates carry out the conversion of the set of coordinates of the reference location and/or set of coordinates of the current estimated location. Converting sets of coordinates preferably includes the component transfer sets of coordinates on fixyou the absolute value for to the sets of coordinates contained only positive components. The conversion may also include a scaling component sets of coordinates after the said transfer.

Preferably, the method includes calculating a new reference location and accepting it as the new reference location of the base station, if none of the stored reference locations are not set to match with the current estimated location. New reference location store in a storage device of a base station in the form of stored reference location.

Optionally, when establishing the coincidence of the components of the sets of coordinates taking into account differences in the youngest category of each component, so establish coincidence between the components, if the components differ only in the youngest grades.

According to the invention the setting matches the current estimated location with the stored reference location includes:

the Association of the components of the binary string corresponding to the current estimated location and the unification of the components of the binary string corresponding to the stored reference location,

the checksum of the combined components mentioned binary strings to determine the final pin is Olney amounts for the current estimated location and the stored reference location, and

the comparison referred to the final checksum to establish a match.

Preferably, each component prior to the merger are rounded to the nearest multiple of the magnitude of the required accuracy.

Another object of the invention is a system for determining a reference location, comprising the base station differential GNSS containing:

a storage device for storing one or more stored reference locations in the form of a set of coordinates containing components;

GNSS receiver to determine the current estimated location of the base station in the form of a set of coordinates containing components, and

logic controller, configured to:

conversion of two or more of the components of the set of coordinates of the reference location and the set of coordinates of the current estimated location in the binary string,

setting matches the current estimated location with the stored reference location by establishing coincidence of two or more component of the binary string corresponding to the current estimated location, with two or more components of the binary string corresponding to the stored reference location, and

taking as a reference the location of the base station of one of the stored oporn the x locations, if it matches the reference location with the current estimated location of the base station.

Preferably, the logic controller is configured to implement the method of determining a reference location of the base station, as defined and described above.

Another object of the invention is a machine-readable medium recorded thereon executable program, the program is designed to control the operation logic controller to perform the following actions:

conversion of two or more component of the set of coordinates of the reference location that is stored in the storage device, in the format of binary strings,

conversion of two or more component of the set of coordinates of the current estimated location of a particular GNSS receiver, in the format of binary strings,

setting matches the current estimated location with the stored location by establishing coincidence of two or more component of the binary string corresponding to the current location, with two or more components of the binary string corresponding to the stored reference location, and

taking as a reference the location of the base station of one of the stored reference locations, if it matches the reference is on location with the current estimated location of the base station.

Preferably, the program is arranged to control the operation logic controller in accordance with the method of determining the reference location, as defined and described above.

Additional features of the invention will become apparent from the following detailed description of examples of its implementation.

BRIEF DESCRIPTION of DRAWINGS

Preferred embodiments of the invention will be described in more detail below with reference to the relevant drawings.

1 schematically shows a differential GPS to control movement of the vehicle used in agriculture; comprising the system and method according to the present invention.

Figure 2 schematically shows used in agriculture vehicle using differential GPS, is presented in figure 1.

Figure 3 schematically shows a portable base station differential GPS, is presented in figure 1.

4 shows a functional diagram of an example implementation of the system definition of a reference location in accordance with the present invention.

Figure 5 presents a variant of the basic flowchart of the algorithm of the method for determining a reference location in accordance with the present invention.

Figure 6 presents a detailed block diagram of the algorithm in the execution of the sequence of actions and data conversion in accordance with the present invention.

The IMPLEMENTATION of the INVENTION

The present invention will be described with reference to the use of differential GPS to control the movement of agricultural vehicles, but it can also be used with any DGNSS. Representing the invention, the system and method of determining a reference location allows to determine the reference location of the portable base station for differential GPS and take the mentioned location as a reference location of the base station.

Figure 1 presents an example embodiment of the invention, in which the motion control of an agricultural vehicle 10 at the land plot 12 using differential GPS. Portable base station 100 working in this differential GPS, located in anchor point "A"in the vicinity of the land 12. Another plot 14, which previously worked, the vehicle 10 has a control point "b", which in the processing of land 14 was located base station 100.

Differential GPS includes GPS satellites 16, from which the GPS signals are received at the base station 100 and the receiver of the vehicle 10.

Figure 2 shows a vehicle 10 that includes a GPS antenna 20 and the radio antenna 22. The GPS receiver 24 transport is private means 10 receives the GPS signals from the satellites 16. A radio receiver (not shown) receives the radio signals from the base station 100, which transmits the differential correction. Differential correction complements GPS signals, so the receiver 24 of the rolling object can be more accurately calculate the location.

Figure 3 shows an example of executing the base station 100. The base station 100 has a GPS antenna 102, the GPS receiver 104, storage device 106, the logical controller in the form of a Central processor 108 and a transmitter 110 having a radio antenna 112. As the storage device 106 can be used in a machine-readable storage medium recorded thereon to control the Central processor program sequential execution of the action method for determining a reference location, as described below.

In the beginning the base station 100 is able to determine its location very accurately as a reference location, doing this by defining the reference position in accordance with the invention. This can be accomplished either by binding to known stored reference location (i.e. the location of the point "B"), as will be described in more detail with reference to Fig.4 - 6, or by calculating a new reference location, as is well known to experts in the field of engineering.

After you follow the plug and play, with the aim of determining its reference location, the base station 100 may determine the differential amendment and send it via radio to the GPS receiver 24 of the vehicle 10.

Figure 4 shows the functional diagram of the base station 100 and the data flows between the respective components of the base station 100. The base station receives the GPS signals from the GPS satellites 16 and transmits the differential correction of the GPS receiver 24 of the rolling object.

As shown in figure 4, the GPS receiver 104 determines the current estimated location of the base station 100 and transmits the data of the current estimated location to the Central processor 108. Stored reference location is stored in the storage device 106 and is read by the CPU 108 in the beginning to establish a match with the current estimated location to receive the reference location to the base station 100. A method of setting matches the current estimated location with the stored reference location that is executed by the CPU 108, is described in detail with reference to Figure 5 and in more detail with reference to Fig.6. Once accepted reference the location of the base station 100, the CPU 108 calculates the differential correction, which is transmitted to the receiver 24 of the rolling cf is DSTV the transmitter 110 of the base station 100.

Figure 5 shows the block diagram of algorithm 200 of a method for determining a reference location in accordance with one example of the invention. In accordance with this method, the GPS receiver 104 determines the current estimated location of the base station 100 (step 202). The CPU 108 reads from the storage device 106 stored reference location (step 204).

The current estimated location and the stored reference location is presented in the form of a three-component set of coordinates (X, Y, Z) geocentric coordinate system (Earth-Centered, Earth-Fixed - ECEF)in the point with coordinates (0, 0, 0) passed the center of mass of the Earth. The set of coordinates includes X, Y and Z components. The set of coordinates can also be defined as a set of n components. Each component of the set of coordinates is represented by a decimal number to its original form. Obviously, in the geocentric coordinate system ECEF sets of coordinates on the earth's surface can have negative components. Location can also be displayed in any other coordinate system, well-known specialists in the field of technology, including, but not limited to, other terrestrial coordinate system, cylindrical and spherical coordinate systems, geodetic coordinate system.

In the preferred embodiment of the invention, as will be described in more detail what about below with reference to Fig.6, the sets of coordinates are subjected to transformation by moving and scaling (step 205). Then the components of the set of coordinates of the reference location and the components of the set of coordinates of the current estimated location is converted into a binary string (step 206). When converting to binary format string components are additionally converted by discarding the fractional parts of the component.

Afterwards, the CPU 108 sets the coincidence between presented in the format of binary strings of sets of coordinates of the current estimated location and presented in the format of binary strings of sets of coordinates of the reference location. The establishment of such coincidence is indicated on Figure 5 as a step 208, and it is described in more detail with reference to Fig.6. Establishing matching is performed for each file that is stored in the storage device 106 stored reference locations, and this procedure is repeated until then, until it is detected exact match.

If the current estimated location matches one of the stored reference locations, the CPU 208 receives this stored reference location as a reference location for the base station 100 (step 210). If a match is not established, prices, the Central processor 208 calculates a new reference location based on the current estimated location, obtained from the GPS receiver 104 over time (step 212). Then, the CPU 108 receives a new reference location as the reference location of the base station 100 (step 214). New reference location is also stored in the storage device 106 (step 216) in the form of stored reference location.

Figure 6 presents a more detailed block diagram 300 illustrating a self-calibration of the base station 100. Figure 6 steps of the method for determining a reference location, which are the same as steps, presented in Figure 5 correspond to the same item numbers. Step 205, in which the coincidence of the values of the coordinates presented in more detail in Fig.6.

At the beginning of the operation (step 202) GPS receiver 104 of the base station 100 receives GPS signals from satellites 16, using them to determine their current location, which is represented as a set of coordinates (X2, Y2, Z2).

One of a number of reference locations (e.g., location "B" in figure 1) is represented by a set of coordinates (X1, Y1, Z1) and is stored in the storage device 106 of the base station 100. The set of coordinates (X1, Y1, Z1this reference location is read from the storage device 106 (step 204).

Then, with the aim of obtaining a positive component set with coordinating the current estimated location (X 2, Y2, Z2and the positive component of the set of coordinates (X1, Y1, Z1) stored reference location, the components are adjusted by migrating to a positive value 8×106each component of the sets of coordinates. The implementation of the components of the sets of coordinates corresponds to step 302.

The sets of coordinates after the transfer is presented in the form (X2', Y2', Z2') and (X1', Y1', Z1') respectively, where:

X1'=X1+8×106;

Y1'=Y1+8×106;

Z1'=Z1+8×106;

X2'=X2+8×106;

Y2'=Y2+8×106;

Z2'=Z2+8×106.

The set of coordinates of the current estimated location (X2', Y2', Z2') after the transfer and the set of coordinates of the reference location (X1', Y1', Z1') after the transfer to the flowchart 300 are indicated as 304 and 306, respectively.

Additionally, the components of each set of coordinates (X2', Y2', Z2') and (X1', Y1', Z1'after transfer are scaled using the scaling factor to a given accuracy by dividing the sets of coordinates of locations on a given scale factor. The scaling factor is chosen depending on how accurate the debtor is about to be overlap between the sets of coordinates of the locations. To establish coincidence between the sets of coordinates of locations easier, applying a higher scaling factor. The scaled sets of coordinates are represented as (X2", Y2", Z2") and (X1", Y1", Z1"), respectively, with:

X1"=(X1+8×106) / scaling factor;

Y1"=(Y1+8×106) / scaling factor;

Z1"=(Z1+8×106) / scaling factor;

X2"=(X2+8×106) / scaling factor;

Y2"=(Y2+8×106) / scaling factor;

Z2"=(Z2+8×106) / scale factor

Scaling sets of coordinates corresponds to step 308. Mastabatory set of coordinates of the current estimated location (X2", Y2", Z2") and the scaled set of coordinates of a reference location (X1", Y1", Z1") shown on Fig.6 as 310 and 312, respectively.

Then execute the action setting matches the scaled set of coordinates of the current estimated location (X2", Y2", Z2") with the scaled set of coordinates of the reference location (X1", Y1", Z1to determine whether the current estimated location with the stored oporn the m locations.

To establish the convergence of the components of the sets of coordinates is first converted to a binary string (32-bit integer unsigned) by discarding the fractional part. To convert a binary string corresponds to a step 206. It then executes the following algorithm setting matches:

If ((X1" XOR X2")OR(Y1" XOR Y2")OR(Z1" XOR Z2")) is 0,

the coincidence of locations installed.

Otherwise the coincidence of locations is not installed.

The applicant determined that it is advisable to set the match on the basis of small changes in the younger grades. In other words, in the preferred embodiment, when performing the setting matches the coordinate values take into account differences in the youngest category of each of the components, i.e. the coincidence set between components that differ only in the youngest grades.

Below this additional algorithm establishment of matches:

Make sure that X1"<X2", Y1"<Y2" and Z1"<Z2".

If X1">X2"then the procedure Swap(X1", X2").

If Y1">Y2"then the procedure Swap(Y1", Y2").

If Z1">Z2"then the procedure Swap(Z ", Z2").

In order to identify any differences, for each pair of components perform the logical operation XOR (exclusive OR), and for the obtained results is performed OR operation ("OR"). Do this for each possible change in the youngest category:

If ((X1" XOR X2")OR(Y1" XOR Y2")OR(Z1" XOR Z2")) is 0,

the coincidence of the location set;

or if ((X1" XOR X2")OR(Y1" XOR Y2")OR(Z1"+1 XOR Z2")) is 0,

the coincidence of the location set;

or if ((X1" XOR X2")OR(Y1"+1 XOR Y2")OR(Z1" XOR Z2")) is 0,

the coincidence of the location set;

or if ((X1" XOR X2")OR(Y1"+1 XOR Y2")OR(Z1"+1 XOR Z2")) is 0,

the coincidence of the location set;

or if ((X1"+1 XOR X2")OR(Y1" XOR Y2")OR(Z1" XOR Z2")) is 0,

the coincidence of the location set;

or if ((X1"+1 XOR X2")OR(Y1" XOR Y2")OR(Z1"+1 XOR Z2”)) is 0,

the coincidence of the location set;

or if ((X1"+1 XOR X2")OR(Y1"+1 XOR Y2")OR(Z1" XOR Z2")) is 0,

the coincidence of the location set;

or if ((X1"+1 XOR X2")OR(Y1"+1 XOR Y2")OR(Z1"+1 XOR Z2")) Rav is about 0,

the coincidence of locations installed.

Otherwise the coincidence of locations is not installed.

On the flowchart of the algorithm 200 and 300 of the act establishing the match marked step 208.

If the set of coordinates of the current estimated location (X2", Y2", Z2") coincides with the set of coordinates of the reference location (X1", Y1", Z1"), in accordance with the above algorithm, as the reference location of the base station 100 accept stored reference location. This is also called a "reference" to the stored reference location and flowcharts 200 and 300 are indicated by position 210.

If the set of coordinates of the current estimated location (X2", Y2", Z2") does not match any of the stored sets of coordinates stored reference locations (X1", Y1", Z1"), the base station 100 calculates a new reference location (step 212). New reference location is determined by obtaining for the specified time range current estimated locations and calculating the reference location for this time period. The disadvantage of this is that when you define a new reference location of the base station is not able to calculate and transmit differential correction.

It should be understood that in the General case, in the storage device 106 of the base station 100 includes a number of sets of coordinates of the reference location, for which the effect of the establishment of matches in order to determine whether there is a matching set of coordinates of the reference location.

As an additional example embodiment of the invention will review the implementation steps establish a hypothetical match the current estimated location with a hypothetical stored reference location. In this example:

stored reference location: (1002712, -4598060, 4290846); and

the current estimated location: (993236, -4590107, 4301406),

Components moved to 8×106so that:

stored reference location after the transfer: (9002712, 3401940, 12290846); and

the current estimated location after migration: (8993236, 3409893, 12301406).

Assume that the required accuracy is 0.5 m, then the scaling factor component is 0.5; so:

scaled stored reference location: (18005424, 6803880, 24581692); and

the scaled current estimated location: (17986472, 6819786, 24602812).

Then the components of the sets of coordinates is converted into the binary format line by discarding the fractional part, so:

stored reference location format binary strings:

(00000001-00010010-10111101-10110000,

00000000-01100111-11010001-10101000,

00000001-01110111-00010110-00111100); and

the current estimate of mestopolojenie format binary strings:

(00000001-00010010-01110011-10101000,

00000000-01101000-00001111-11001010,

00000001-01110111-01101000-10111100).

Then establish a match between the sets of coordinates in accordance with the algorithm described above. In the above example, the current estimated location does not match the stored reference location, and therefore, the procedure to establish a match will be applied to other stored reference location.

An alternative, but in this case it is preferable to identify any differences, for each pair of component performs the logical operation XOR (exclusive OR), and for the obtained results is performed OR operation ("OR"). Then, for the obtained result and the mask M is applied to the logical AND operation ("AND"):

If ((X1" XOR X2")OR(Y1" XOR Y2")OR(Z1" XOR Z2")) AND M is 0,

the coincidence of locations installed.

Otherwise, the match location is not installed.

However, this rule establish a match will not work if there is a difference in one of the mask bits, which causes a corresponding change in the senior grades. For example, the number of 16 binary string corresponds 00010000, and 15 in binary format string matches 00001111. If the mask M is number 15 (i.e., the coincidence is established in the case, if RA is standing between locations is less than 15 m), to match impossible. To resolve this problem, you must take into account any changes in discharges, which may have masked the coordinate values. For large masks will need to perform a large number of calculations.

There is no need to establish a match of all components X, Y and Z, and the applicant asserts that in some cases it is enough to establish the coincidence of only two components. Alternatively, different components can be scaled differently, so the ease with which you overlap between the different components is different. In certain coordinate systems is more convenient setting matches the height than in longitude or latitude. In another example embodiment of the invention for performing the steps of establishing a match between the stored reference current location and the estimated location algorithm is used checksum. Components of sets of coordinates is first converted to 32-bit integer unsigned fractional part is discarded). Then each component is transferred onto 8×106if all components were positive. Each component is rounded to the nearest multiple of the magnitude of the required accuracy. Then the components of each set of coordinates is converted into a binary string and the volume of yaytsa to form a single binary string. During this conversion line (corresponding to the component) will be truncated to obtain the required accuracy. For example, delete the three least significant digits will lead, in the worst case, to the increase of error around to 12.1 m Then calculates the checksum for the rows, resulting in a final checksum for the current estimated location.

The base station 100 after determining a checksum for the current estimated location determines the appropriate checksum to the stored reference locations. If you set up a match with the checksum of one of the stored reference locations mentioned reference location is used as the reference location of the base station 100.

The goal was to describe the invention, but are not limited to any one example of its implementation or a specific set of features. Specialists in the art can make variations of certain examples of the invention, which, however, are within the scope of the invention. For example, the stored reference location may be subjected to the transfer procedure and stored as the migrated sets of coordinates, or as transferred and scaled sets of coordinates, and who and how moved and scaled sets of coordinates, converted to a 32-bit integer unsigned. Transfer and scaling can also be performed after converting the component into a binary string.

1. The method for determining a reference location of a base station in a differential global navigation satellite system (GNSS), including the steps are:
determine the current estimated location of the base station in the form of a set of components of the set of coordinates using a GNSS receiver,
read the stored reference location of one or more reference locations, stored in a storage device of the base station, in the form of a set of components of the coordinate set,
convert two or more components of the set of components of the sets of coordinates of the reference location and the current estimated location in the binary string,
establish coincidence of the current estimated location with the stored reference location by establishing coincidence of two or more component of the binary string corresponding to the current estimated location, with two or more components of the binary string corresponding to the stored reference location, and
taking as a reference the location of the base station, one of the stored reference locations, e is whether at the stage of establishing coincidence it matches the reference current location estimated location of the base station.

2. The method according to claim 1, characterized in that all components of the set of components of the set of coordinates of the reference location and the set of coordinates of the current estimated location is converted into a binary string.

3. The method according to claim 1, characterized in that the set coincidence of all components of the binary string corresponding to the current estimated location with the components of the binary string corresponding to the stored reference location.

4. The method according to claim 1, characterized in that the setting matches the estimated current location with the stored reference location includes establishing coincidence of each component of the binary string corresponding to the current estimated location with the corresponding component of the binary string corresponding to the stored reference location.

5. The method according to claim 1, characterized in that before the establishment of coincidence between the components of the sets of coordinates carry out the conversion of the set of coordinates of the reference location and/or set of coordinates of the current estimated location.

6. The method according to claim 1, characterized in that it includes a stage on which to calculate a new reference location and take a new reference location as the reference location of the base station, if the bottom of the stored reference location does not match the current estimated location.

7. The method according to claim 6, characterized in that it includes a stage on which to store the new reference location in a storage device of a base station in the form of stored reference location.

8. The method according to claim 5, characterized in that the conversion of sets of coordinates includes the migration of components of the sets of coordinates by a fixed amount so that the sets of coordinates contained only positive components.

9. The method according to claim 5, characterized in that the conversion of sets of coordinates involves scaling components of the sets of coordinates.

10. The method according to claim 8, characterized in that after the above-mentioned component transfer sets of coordinates carry out the scaling components of the sets of coordinates.

11. The method according to claim 9 or 10, characterized in that the scaling components of the sets of coordinates includes dividing each component by the specified scale factor.

12. The method according to claim 1, characterized in that when determining the coincidence of the components of the sets of coordinates taking into account differences in the youngest category of each component, so establish coincidence between the components, if the components differ only in the youngest grades.

13. The method according to claim 1, characterized in that the setting matches the current estimated location with the stored reference what mestopolojenie includes:
the Association of the components of the binary string corresponding to the current estimated location and the unification of the components of the binary string corresponding to the stored reference location,
the checksum of the combined components mentioned binary strings to determine the final checksum for the current estimated location and the stored reference location, and
the comparison referred to the final checksum to establish a match.

14. The system for determining a reference location, comprising the base station differential GNSS containing:
a storage device for storing one or more stored reference locations in the form of a set of coordinates containing components;
GNSS receiver to determine the current estimated location of the base station in the form of a set of coordinates containing components, and
logic controller, configured to:
conversion of two or more of the components of the set of coordinates of the reference location and the set of coordinates of the current estimated location in the binary string,
setting matches the current estimated location with the stored reference location, by establishing the coincidence of two or more component binary strings according to the respective current estimated location, with two or more components of the binary string corresponding to the stored reference position and
taking as a reference the location of the base station of one of the stored reference locations, if it matches the reference current location estimated location of the base station.

15. Machine-readable medium recorded thereon executable program, the program is designed to control the operation logic controller to perform the following actions:
conversion of two or more component of the set of coordinates of the reference location that is stored in the storage device, in the format of binary strings,
conversion of two or more component of the set of coordinates of the current estimated location of a particular GNSS receiver, in the format of binary strings,
setting matches the current estimated location with the stored location by establishing coincidence of two or more component of the binary string corresponding to the current location, with two or more components of the binary string corresponding to the stored reference location, and
taking as a reference the location of the base station of one of the stored reference locations, if it matches the reference places the position of the current estimated location of the base station.



 

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Glonass receiver // 2491577

FIELD: radio engineering, communication.

SUBSTANCE: GLONASS receiver includes: a signal receiving unit (11) for receiving a plurality of signals, having different frequencies, from a plurality of artificial satellites, respectively; a temperature detector (33); a memory device (14) for storing group delay characteristics of each signal in the signal receiving unit (11) in form of group delay characteristic data and for preliminary storage of the temperature dependence for group delay of each signal in the signal receiving unit (11) in form of temperature dependence data; and a position computer (15) for correcting reception time of each signal using group delay characteristic data, for correcting the reception time of each signal based on temperature and temperature dependence data and for calculating the current position in accordance with the corrected reception time.

EFFECT: high accuracy of positioning a GLONASS receiver by reducing the effect of temperature without complicating performance, reducing efficiency of the manufacturing process, complicating the circuit, increasing dimensions and reducing sensitivity.

14 cl, 8 dwg

FIELD: radio engineering, communication.

SUBSTANCE: wireless device receives a first signal and obtains an identifier indicating a first location from the first signal. The first signal can be received from a cellular base station and the first identifier can be a mobile country code. The wireless device uses the identifier to determine accessibility of signals from a regional satellite system in the first location. If signals from the regional satellite system are accessible in the first location, the wireless device retrieves information associated with one or more artificial satellites in the regional satellite system. The information may include pseudorandom numerical codes and the search range in Doppler mode which corresponds to the first location. The wireless device receives a second signal and processes the second signal to obtain first satellite signal information. The wireless device determines its location at least partly based on first satellite signal information.

EFFECT: improved satellite search efficiency, shorter search time without using additional information such as ephemeral information, almanac or satellite time information.

22 cl, 6 dwg

FIELD: radio engineering, communication.

SUBSTANCE: mobile objects and a control station are fitted with navigation satellite system signal receivers which provide communication with satellites. Connections between base stations and mobile objects are provided through broadband radio access equipment. Connections between the control station and base stations are provided through synchronous fixed communication equipment and an optical link. Using a geoinformation system, coordinates of mobile objects obtained from satellites, calculated differential coordinate adjustments, measurement data from telecommunication equipment of a broadband radio access network and time synchronisation of the navigation satellite system with equipment of the broadband radio access network, the information processing unit of the control station determines the exact location of the mobile object in real-time using software.

EFFECT: high accuracy of locating mobile objects in real-time and improved functional capabilities of the system.

1 dwg

FIELD: radio engineering, communication.

SUBSTANCE: method includes steps of detecting a first navigation signal at a reference location; estimating timing of a bit edge of a data signal modulating a second navigation signal received at said reference location based on the first navigation signal; and performing pre-detection integration to detect said second navigation signal over an interval of said second navigation signal based, at least in part, on said estimated timing of said bit edge, wherein said first navigation signal is transmitted according to a first format and said second navigation signal is transmitted according to a second format different from said first format.

EFFECT: reduced ambiguities in received SPS signals.

26 cl, 15 dwg

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

FIELD: radio engineering, communication.

SUBSTANCE: method employs a high-precision ground-based stationary control station with predetermined disc location parameters, wherein navigation satellite signals are received through an antenna module, a radio signal distributor and a group of receivers, which are components of the assembly; at each receiver, received signals are amplified, the useful component is selected from a mixture with interference and noise and the obtained signal is converted to an intermediate frequency by a radio frequency module. Analogue-to-digital conversion is then performed at an analogue-to-digital converter; data are analysed along with meteorological sensor data and signals of the quality of navigation information and adjustments are selected. Each transmission is received simultaneously at a central antenna and n additional antennae, spaced apart by m metres from the central antenna, and the received ranging codes with one radiation time are averaged before processing, without considering the code which corresponds to the signal with the longest delay for each navigation satellite.

EFFECT: reducing effect of multibeam propagation of radio signals of navigation satellites on quality of navigation information.

1 dwg

FIELD: radio engineering, communication.

SUBSTANCE: method involves receiving signals for each satellite, taking code and phase undifferentiated measurements (10), determining broadband uncertainties in a coherent manner for all satellites (11, 12, 13) using broadband shifts associated with satellites and obtained from a reference system, and determining the geographical position of a receiver using code and phase measurements and matched broadband uncertainties (16, 18). Determination of the geographical position involves determining (16) pseudo-distance through a non-ionosphere combination of code measurements and the difference between phase measurements with compensated broadband uncertainty, wherein the combination is noise-optimised. In order to determine pseudo-distance, satellite clock signal values associated with the non-ionosphere combination are obtained from the reference system.

EFFECT: high accuracy of position finding solution.

11 cl, 3 tbl, 3 ex

FIELD: radio engineering, communication.

SUBSTANCE: location coordinate values are calculated with low accuracy and if high-accuracy coordinate determination is impossible, an adjustment is made to the calculated low-accuracy values in order to determine the final coordinate values, wherein the adjustment used is the difference between calculated low-accuracy coordinate values and calculated high-accuracy coordinate values at a point in time when high-accuracy determination of location coordinate values was last possible, wherein the possibility of high-accuracy location coordinate determination is constantly checked, and if possible, coordinate values are calculated with high accuracy and the calculated adjustment is once more applied to the calculated high-accuracy coordinate values to obtain a new final location coordinate value.

EFFECT: providing smooth transition from one method of determining location coordinates to another without abrupt change in coordinate values, which ensures more reliable control of transportation vehicles and similar objects.

15 cl, 6 dwg

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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