CN103235317A - Marine global navigation satellite system (GNSS) high accuracy positioning service system and method - Google Patents

Abstract

The invention discloses a marine global navigation satellite system (GNSS) high accuracy positioning service system and a marine GNSS high accuracy positioning service method. The method comprises the following steps of acquiring GNSS observed data of a marine fixed base station, acquiring GNSS observed data of a moving buoy and ocean observed data, feeding the GNSS observed data back through a geostationary orbit (GEO) communication satellite, processing the data through a ground data processing center, distributing GNSS difference correction and environmental data, highly and accurately positioning a user and the like, so that high accuracy positioning and environment monitoring and forecasting service are provided for marine users.

Description

A kind of marine GNSS hi-Fix service system and method

Technical field

The present invention relates to the offshore location field, relate in particular to a kind of marine GNSS hi-Fix service system and method based on oceanographic buoy and virtual reference station.

Technical background

Along with the development of Global Positioning System (GPS) (GNSS), bearing accuracy and the completeness of GNSS also more and more receive much concern, though, reached about 10 meters as civilian bearing accuracies such as GPS, GLONASS, BD2, can the fine demand that satisfies most of users.But, to high precision and specific (special) requirements user, as the collection of drawing Map, geography information, the motion of plate, the precision approach of aircraft etc., all can not reach the positioning requirements of its decimeter grade even centimetre-sized.For this reason, occur much differential systems as DGPS, RTK, CORS station etc. so at present on land, can offer the hi-Fix service for the user.But, for wide ocean, owing to be subjected to various environment and geographic factor, also there is not such differential system at present, this makes the ocean hi-Fix be subjected to very big restriction, lands as the high precision drafting of ocean electronic chart, the precision of ship-board aircraft etc.Add the marine environment complexity, as various GNSS interference sources, wind and waves etc., caused GNSS normally to locate under many circumstances.

Summary of the invention

The object of the present invention is to provide a kind of marine GNSS hi-Fix service system and method that hi-Fix and environmental monitoring forecast service are provided to the ocean user.

To achieve these goals, the present invention proposes a kind of marine GNSS hi-Fix service system, it is characterized in that: comprise that at least three marine fixed reference stations are arranged on fixedly GNSS observed quantity acquisition station on the island, ocean, the observation data of every satellite receiving; Some mobile oceanographic buoys load GNSS receiver and marine environment sensor, obtain observation data; Data link, fixed reference station and buoy communication link, user's communications link; The central station station is issued the user with the information data result that described antenna receives by the BD1 telstar; Line module comprises GNSS receiver and BD1 communication module, the rough coordinates that the BD1 communication module is incited somebody to action is issued the central station station, the differential correcting number at data processing centre (DPC) station is handed down to the user with other information by the BD1 telstar receives by the GNSS receiver.

Wherein, preferred version is: described observation data comprises information such as every satellite-signal intensity receiving, pseudo-range measurements, carrier phase measurement value, navigation message, time.

Wherein, preferred version is: described data link comprises two-way communication, and the user at first needs the rough coordinates oneself, is sent to the central station station; The central station station need be handed down to the user to information such as differential correcting, availability, completenesses.

Wherein, preferred version is: described large-scale dual-mode antenna is generally 8～15 meters parabola antennas, and deepwater user, base station and buoy antenna just can adopt small-sized antenna.

The present invention also comprises a kind of marine GNSS hi-Fix method of servicing, it is characterized in that: the collection of the GNSS observation data of step a, marine fixed reference station, mobile buoy; The GEO telstar passback of step b, GNSS observation data; Step c, central station to the processing of data and the distribution of GNSS differential correcting number and environmental data, steps d, user's hi-Fix.

The invention has the advantages that: GNSS observation data and the collection of oceanographic observation data, the GEO telstar passback of GNSS observation data, data processing, GNSS differential correcting number and the distribution of environmental data, user's the hi-Fix etc. of central station by the GNSS observation data collection of marine fixed reference station, mobile buoy provide marine GNSS hi-Fix service system and the method for hi-Fix and environmental monitoring forecast service to the ocean user.

Description of drawings

Fig. 1 is the structural representation of the marine GNSS hi-Fix of the present invention service system.

Embodiment

Describe the specific embodiment of the present invention in detail below in conjunction with accompanying drawing.

Fig. 1 is a kind of marine GNSS hi-Fix service system of the present invention, it is characterized in that: comprise information such as at least three marine fixed reference stations are arranged on fixedly GNSS observed quantity acquisition station on the island, ocean, the pseudo range observed quantity of every satellite receiving, carrier phase observed quantity, text, time, according to certain coding and signal modulation, launch by antenna, signal is transmitted to the central station station through the GEO telstar; Some mobile oceanographic buoys load GNSS receiver and marine environment sensor, described GNSS receiver receives some observation datas of GNSS, the marine environment sensor can be gathered meteorology and hydrology data such as the seawater salinity, temperature, humidity, ocean current of ocean, described data according to the form similar to base station encode, signal modulation launches by antenna, signal is transmitted to the central station station through the GEO telstar; Data link, fixed reference station and buoy communication link, user's communications link, wherein, the communication link of fixed station and oceanographic buoy is responsible for the data of base station and buoy are sent to the central station station by the GEO telstar, and the user is two-way communication by the communication link of BD1 telstar; The central station station owner will dispose large-scale dual-mode antenna, Data Control and processing enter, observed quantity, meteorology, the water temperature data of the GNSS of the observed quantity of user's rough coordinates, marine fixed reference station GNSS and marine marker on the dual-mode antenna reception ocean, Data Control and processing enter are issued the user with the information data result that described antenna receives by the BD1 telstar; Line module comprises GNSS receiver and BD1 communication module, the rough coordinates that the BD1 communication module is incited somebody to action is issued the central station station, the central station station is according to user's grade and classification, at the virtual base station of user's annex, and differential correcting number and other information are handed down to the user by the BD1 telstar receive by the GNSS receiver.

Wherein, the observation data of described mobile oceanographic buoy comprises information such as every satellite-signal intensity receiving, pseudo-range measurements, carrier phase measurement value, navigation message, time.

Wherein, described two-way communication comprises: the user at first needs the rough coordinates oneself, is sent to the central station station; The central station station need be handed down to the user to information such as differential correcting, availability, completenesses.

Wherein, described large-scale dual-mode antenna is generally 8～15 meters parabola antennas, and deepwater user, base station and buoy antenna just can adopt small-sized antenna.

A kind of marine GNSS hi-Fix method of servicing based on oceanographic buoy and virtual reference station of the present invention, the exact position at step a, prior precision measurement fixed reference station, the observed quantity of GNSS is gathered at the fixed reference station, and the central station station is issued by the GEO telstar in these observed quantity packing backs; Oceanographic buoy is observed quantity and the marine environment information of dynamic acquisition GNSS also, also issues central station by the GEO satellite; Step B, in the course of the work, user at first the GNSS receiver that carries of utilization itself calculate a rough coordinates, and this rough coordinates is passed to central station with the BD1 communication module; Certain mathematical model is adopted after uniting the observed quantity of the base station received and buoy in step c, central station station, near the virtual base station user, and the GNSS correction at virtual reference station issued the user by the BD1 telstar; Steps d, user correct local GNSS receiver observed quantity after receiving these information, thereby realize user's hi-Fix.Simultaneously, ground central station judges whether to be distributed to user's marine environment information also or according to user's type and rank.

Wherein, comprise step a1, the acquisition of fixed reference station, ocean GNSS observed quantity and the process of distribution among the step a: ocean fixed reference station addressing is chosen 3 stations at least on fixing island, the position at fixed reference station accurately records in advance.Be equipped with the GNSS receiver on the base station, this receiver can be gathered information such as the pseudorange, carrier phase, navigation message, time of GNSS; Data are handled baseband module, this module is put the GNSS observed quantity in order, according to certain form packing, coding and modulation (can adopt the BPSK modulation), after the up-conversion module is converted to C-band (be C frequency range because of the GEO transponder), send through antenna, and be transmitted to the central station station through the GEO telstar; Simultaneously, base station also need dispose certain continued power equipment, as solar cell etc.

The process that the GNSS observed quantity of step a2, oceanographic buoy obtains and distributes: dispose the GNSS receiver on the oceanographic buoy, this receiver can be gathered information such as GNSS signal intensity, pseudorange, carrier phase, navigation message, time; The marine environment sensor is gathered as data such as meteorology such as seawater salinity, temperature, humidity, ocean current and the hydrology; Data are handled baseband module, this module is GNSS and the arrangement of ocean environment observation amount, according to certain form packing, coding and modulation (modulation system is identical with base station), after the up-conversion module is converted to C-band, send through antenna, and be transmitted to the central station station through the GEO telstar; Simultaneously, buoy also is equipped with battery, control system etc.

The process that the data at step b, central station station are handled: ground data is handled center line and is equipped with large-scale parabolic dual-mode antenna, low-converter, baseband signal processing module, mainframe computer data processing module, BD1 communication module, continued power equipment, antenna receives the signal of sending out of fixed reference station and buoy, after the low-converter frequency conversion, baseband signal realizes despreading and decoding, obtains GNSS observed quantity and the ocean environment observation data of fixed reference station and buoy.

Step c, in the user job process, the user earlier by the BD1 communication module from oneself rough coordinates to the central station station.Data processing centre (DPC) simulates a virtual reference station at user's annex, and this card number of GNSS difference is passed to the user by the BD1 communication module.

Its computation process is as follows:

The pseudorange at three fixed reference stations and carrier phase observation equation are:

${\mathrm{\ρ}}_i^j=\sqrt{{(x^j-x_i^g)}^2+{(y^j-y_i^g)}^2+{(z^j-z_i^g)}^2}+\mathrm{\Δ}{\mathrm{\ρ}}_i^j-{\mathrm{cdt}}^j+d_i^{\mathrm{ion}}+d_i^{\mathrm{trop}}---\left(1\right)$

${\mathrm{\Φ}}_i^j=\sqrt{{(x^j-x_i^g)}^2+{(y^j-y_i^g)}^2+{(z^j-z_i^g)}^2}+\mathrm{\Δ}{\mathrm{\ρ}}_i^j-{\mathrm{cdt}}^j-d_i^{\mathrm{ion}}+d_i^{\mathrm{trop}}---\left(2\right)$

In the formula,

It is the three-dimensional position of the individual base station of i (i=1,2,3);

Be respectively pseudo-range measurements and the carrier phase measurement value of j satellite of i station observation;

Be j the pseudorange error that the satellite position error causes at the i station; Dt ^jIt is the satellite clock error;

Be i base station ionospheric error; Be i base station tropospheric error; (x ^j, y ^j, z ^j) be the actual position of j satellite.

Got by equation (1) and (2):

$d_i^{\mathrm{ion}}=({\mathrm{\ρ}}_i^j-{\mathrm{\Φ}}_i^j)/2---\left(3\right)$

So, can obtain the ionospheric error of three base stations.

Because the position distance of three base stations is not far, can be three base stations

Dt ^jWith Regard identical error as.That is, $\mathrm{\Δ}{\mathrm{\ρ}}_1^j=\mathrm{\Δ}{\mathrm{\ρ}}_2^j=\mathrm{\Δ}{\mathrm{\ρ}}_3^j=\mathrm{\Δ}{\mathrm{\ρ}}^j,$ $d_1^{\mathrm{trop}}=d_2^{\mathrm{trop}}=d_3^{\mathrm{trop}}=d^{\mathrm{trop}}.$

$\left\{\begin{array}{c}{\mathrm{\ρ}}_1^j=\sqrt{{(x^j-x_1^g)}^2+{(y^j-y_1^g)}^2+{(z^j-z_1^g)}^2}+\mathrm{\Δ}{\mathrm{\ρ}}^j-{\mathrm{cdt}}^j+d_1^{\mathrm{ion}}+d^{\mathrm{trop}}\\ {\mathrm{\ρ}}_2^j=\sqrt{{(x^j-x_2^g)}^2+{(y^j-y_2^g)}^2+{(z^j-z_2^g)}^2}+\mathrm{\Δ}{\mathrm{\ρ}}^j-{\mathrm{cdt}}^j+d_2^{\mathrm{ion}}+d^{\mathrm{trop}}\\ {\mathrm{\ρ}}_3^j=\sqrt{{(x^j-x_3^g)}^2+{(y^j-y_3^g)}^2+{(z^j-z_3^g)}^2}+\mathrm{\Δ}{\mathrm{\ρ}}^j-{\mathrm{cdt}}^j+d_3^{\mathrm{ion}}+d^{\mathrm{trop}}\end{array}\right.---\left(4\right)$

In 3 equations of following formula 3 unknown numbers are only arranged, so can be in the hope of Δ ρ ^j, dt ^jAnd d ^Trop

In the time of user job, to provide its rough coordinates (x earlier _u, y _u, z _u), in order to simplify the ionosphere mathematical model, remove the influence of height, study the ionosphere mathematical model on the same surface level, earlier user coordinates is converted into terrestrial coordinate, namely

Simultaneously the position of three base stations also is converted to terrestrial coordinate

With

Learn that from top calculating this ionosphere of 3 obtains, adopt plane equation to ionosphere modeling:

The ionosphere numerical value of three reference points is brought into top equation, can determine that (a, b c), have namely determined the ionosphere mathematical model to constant.For any user

Bring equation (5) into, can obtain ionospheric error.

Therefore, data processing centre (DPC) stands these error corrections, and connection adopts the BD1 communication module to pass to the user with marine environment information as interference source, seawater salinity, ocean temperature, wind direction etc. together.

The precision positioning of steps d, subscriber station

Subscriber station is equipped with GNSS receiver and BD1 communication module, during user job, obtain user's rough coordinates earlier with the GNSS receiver, and issue the central station station with the BD1 communication module, the central station station calculates user's GNSS error correction and marine environment information, and issuing the user by the BD1 communication module, the user obtains these error corrections

The GNSS receiver positioning result of correction itself,

${\mathrm{\ρ}}_u^j=\sqrt{{(x^j-x_u)}^2+{(y^j-y_u)}^2+{(z^j-z_u)}^2}+(\mathrm{\Δ}{\mathrm{\ρ}}_u^j-{\mathrm{cdt}}^j+d_u^{\mathrm{ion}}+d_u^{\mathrm{trop}})$

$-(\mathrm{\Δ}{\stackrel{\‾}{\mathrm{\ρ}}}_u^j-{\mathrm{cd}\stackrel{\‾}{t}}^j+{\stackrel{\‾}{d}}_u^{\mathrm{ion}}+{\stackrel{\‾}{d}}_u^{\mathrm{trop}})+{\mathrm{cdt}}_u$

$=\sqrt{{(x^j-x_u)}^2+{(y^j-y_u)}^2+{(z^j-z_u)}^2}+{\mathrm{cdt}}_u---\left(6\right)$

When observing 4 and above satellite simultaneously, just can reach user's accurate position.

The invention has the advantages that: GNSS observation data and the collection of oceanographic observation data, the GEO telstar passback of GNSS observation data, data processing, GNSS differential correcting number and the distribution of environmental data, user's the hi-Fix etc. of central station by the GNSS observation data collection of marine fixed reference station, mobile buoy provide marine GNSS hi-Fix service system and the method for hi-Fix and environmental monitoring forecast service to the ocean user.

The above person only for most preferred embodiment of the present invention, is not be used to limiting the scope of the invention, and all equivalences of doing according to the present patent application claim change or modify, and are all the present invention and contain.

Claims (9)

1. marine GNSS hi-Fix service system is characterized in that: comprise that at least three marine fixed reference stations are arranged on fixedly GNSS observed quantity acquisition station on the island, ocean, the observation data of every satellite receiving; Some mobile oceanographic buoys load GNSS receiver and marine environment sensor, obtain observation data; Data link, fixed reference station and buoy communication link, user's communications link; The central station station is issued the user with the information data result that described antenna receives by the BD1 telstar; Line module comprises GNSS receiver and BD1 communication module, the rough coordinates that the BD1 communication module is incited somebody to action is issued the central station station, the differential correcting number at data processing centre (DPC) station is handed down to the user with other information by the BD1 telstar receives by the GNSS receiver.

2. marine GNSS hi-Fix service system according to claim 1 is characterized in that: described observation data comprises information such as every satellite-signal intensity receiving, pseudo-range measurements, carrier phase measurement value, navigation message, time.

3. marine GNSS hi-Fix service system according to claim 1, it is characterized in that: described data link comprises two-way communication, the user at first needs the rough coordinates oneself, is sent to the central station station; The central station station need be handed down to the user to information such as differential correcting, availability, completenesses.

4. marine GNSS hi-Fix service system according to claim 1, it is characterized in that: described large-scale dual-mode antenna is generally 8～15 meters parabola antennas, and deepwater user, base station and buoy antenna just can adopt small-sized antenna.

5. a marine GNSS hi-Fix method of servicing is characterized in that: the collection of the GNSS observation data of step a, marine fixed reference station, mobile buoy; The GEO telstar passback of step b, GNSS observation data; Step c, central station to the processing of data and the distribution of GNSS differential correcting number and environmental data, steps d, user's hi-Fix.

6. as marine GNSS hi-Fix method of servicing as described in the claim 5, it is characterized in that: step a, fixed reference station are gathered the observed quantity of GNSS and oceanographic buoy also observed quantity and the marine environment information of dynamic acquisition GNSS are issued the central station station by the GEO telstar; The antenna at step b, central station station receives the signal of sending out of fixed reference station and buoy, and after the low-converter frequency conversion, baseband signal realizes despreading and decoding, obtains GNSS observed quantity and the ocean environment observation data of fixed reference station and buoy; Certain mathematical model is adopted after uniting the observed quantity of the base station received and buoy in step c, central station station, near the virtual base station user, and the GNSS correction at virtual reference station issued the user by the BD1 telstar; Steps d, user receive and correct local GNSS receiver observed quantity after these information, thereby realize user's hi-Fix, and simultaneously, ground central station judges whether to be distributed to user's marine environment information also or according to user's type and rank.

7. as marine GNSS hi-Fix method of servicing as described in the claim 6, it is characterized in that: described step a comprises that step a1 and step a2 carry out simultaneously, wherein, step a1 is: the position at marine fixed reference station accurately records in advance, information such as the pseudorange of GNSS receiver collection GNSS, carrier phase, navigation message, time; Data processing module is GNSS observed quantity arrangement, and form packing, coding and modulation according to certain after the up-conversion module is converted to C-band, send through antenna, and be transmitted to the central station station through the GEO telstar; Step b2 is: dispose the GNSS receiver on the oceanographic buoy, this receiver can be gathered information such as GNSS signal intensity, pseudorange, carrier phase, navigation message, time; The marine environment sensor is gathered as data such as meteorology such as seawater salinity, temperature, humidity, ocean current and the hydrology; Data processing module is GNSS and the arrangement of ocean environment observation amount, and form packing, coding and modulation according to certain after the up-conversion module is converted to C-band, send through antenna, and be transmitted to the central station station through the GEO telstar.

8. as marine GNSS hi-Fix method of servicing as described in the claim 6, it is characterized in that: step c, utilize its rough coordinates (z _u, y _u, z _u), in order to simplify the ionosphere mathematical model, remove the influence of height, study the ionosphere mathematical model on the same surface level, earlier user coordinates is converted into terrestrial coordinate, namely Simultaneously the position of three base stations also is converted to terrestrial coordinate

With Learn that from top calculating this ionosphere of 3 obtains, adopt plane equation to ionosphere modeling:

The ionosphere numerical value of three reference points is brought into top equation, can determine that (a, b c), have namely determined the ionosphere mathematical model to constant.For any user Bring equation (5) into, can obtain ionospheric error.

9. as marine GNSS hi-Fix method of servicing as described in the claim 6, it is characterized in that: the rough coordinates that obtains the user earlier with the GNSS receiver, and issue the central station station with the BD1 communication module, the central station station calculates user's GNSS error correction and marine environment information, and issuing the user by the BD1 communication module, the user obtains these error corrections

The GNSS receiver positioning result of correction itself,

${\mathrm{\ρ}}_u^j=\sqrt{{(x^j-x_u)}^2+{(y^j-y_u)}^2+{(z^j-z_u)}^2}+(\mathrm{\Δ}{\mathrm{\ρ}}_u^j-{\mathrm{cdt}}^j+d_u^{\mathrm{ion}}+d_u^{\mathrm{trop}})$

$-(\mathrm{\Δ}{\stackrel{\‾}{\mathrm{\ρ}}}_u^j-{\mathrm{cd}\stackrel{\‾}{t}}^j+{\stackrel{\‾}{d}}_u^{\mathrm{ion}}+{\stackrel{\‾}{d}}_u^{\mathrm{trop}})+{\mathrm{cdt}}_u$

$=\sqrt{{(x^j-x_u)}^2+{(y^j-y_u)}^2+{(z^j-z_u)}^2}+{\mathrm{cdt}}_u---\left(6\right)$

When observing 4 and above satellite simultaneously, just can reach user's accurate position.

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