DE19616469A1 - Differential GPS navigation system - Google Patents

Differential GPS navigation system

Info

Publication number
DE19616469A1
DE19616469A1 DE1996116469 DE19616469A DE19616469A1 DE 19616469 A1 DE19616469 A1 DE 19616469A1 DE 1996116469 DE1996116469 DE 1996116469 DE 19616469 A DE19616469 A DE 19616469A DE 19616469 A1 DE19616469 A1 DE 19616469A1
Authority
DE
Germany
Prior art keywords
reference station
mobile
station
user
fixed points
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE1996116469
Other languages
German (de)
Inventor
Ruediger Dr Ing Leschhorn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rohde and Schwarz GmbH and Co KG
Original Assignee
Rohde and Schwarz GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rohde and Schwarz GmbH and Co KG filed Critical Rohde and Schwarz GmbH and Co KG
Priority to DE1996116469 priority Critical patent/DE19616469A1/en
Publication of DE19616469A1 publication Critical patent/DE19616469A1/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

Abstract

The system has at least one mobile GPS (Global Positioning System) user (1), a reference station (2) the precise geodetic position of which is known, and a telemetry link (6,7) between user and reference station. The reference station is also mobile and can be set up in the immediate vicinity of the GPS user. The reference station has equipment for providing the geodetic reference coordinates corresponding to its specific location. The reference coordinates of selected fixed points of the operational area can be stored in the reference station which, when setting up the station at these fixed points, can be read in to the station processor.

Description

Die Erfindung betrifft und geht aus von einem DGPS-Ortungs­ system laut Oberbegriff des Hauptanspruches.The invention relates to and is based on a DGPS location system according to the preamble of the main claim.

DGPS (Differential Global Positioning System)-Ortungssysteme beispielsweise nach dem RTCM 104 Standard (Radio Technical Committee for Marine Services) sind bekannt und werden zwischenzeitlich auch auf dem zivilen Sektor zur genauen Positionierung von Fahrzeugen, Schiffen und dergleichen mobilen Nutzern eingesetzt (Datenblatt der Firma MAGNAVOX). Sie ermöglichen zwar die Positionsbestimmung eines Nutzers mit einer Genauigkeit besser als fünf Meter, die jedoch um so ungenauer wird, je weiter die Referenz­ station von dem mobilen Nutzer entfernt ist. Bei großen Entfernungen zwischen Referenzstation und mobilem Nutzer ergeben sich außerdem häufig Komplikationen mit der Telemetrie für die Übertragung der Referenzdaten.DGPS (Differential Global Positioning System) location systems for example according to the RTCM 104 standard (Radio Technical Committee for Marine Services) are known and will be meanwhile also in the civilian sector for the exact Positioning of vehicles, ships and the like mobile users (data sheet from MAGNAVOX). They do allow the position determination of a Users with an accuracy better than five meters, however, the more inaccurate the farther the reference station is away from the mobile user. With large ones Distances between reference station and mobile Users also often experience complications with telemetry for the transmission of the reference data.

Es ist Aufgabe der Erfindung, ein DGPS-Ortungssystem bezüglich dieser sich aus großer Entfernung zwischen Referenzstation und mobilem Nutzer ergebenden Nachteile zu verbessern. It is an object of the invention to provide a DGPS tracking system regarding this from a great distance between Reference station and mobile user disadvantages to improve.  

Diese Aufgabe wird ausgehend von einem DGPS-Ortungssystem laut Oberbegriff des Hauptanspruches durch dessen kennzeichnende Merkmale gelöst. Eine vorteilhafte Weiterbildung ergibt sich aus dem Unteranspruch.This task is based on a DGPS tracking system according to the preamble of the main claim characteristic features solved. An advantageous one Further training results from the subclaim.

Gemäß der Erfindung ist auch die Referenzstation als Mobilstation ausgebildet, die Referenzstation kann damit unmittelbar in den Nahbereich der die Referenzstation nutzenden mobilen GPS-Empfänger gefahren werden und dort an einem geodätisch genau bekannten Fixpunkt abgestellt werden. Die Referenzkoordinaten des Fixpunktes können dann vom Betreiber der Referenzstation (Fahrer) einfach über eine entsprechende Benutzeroberfläche in den Prozessor der Referenzstation eingegeben werden. Diese Daten werden beispielsweise vom Katasteramt des Operationsgebietes dem Betreiber zur Verfügung gestellt. Vorzugsweise sind diese Referenzkoordinaten der ausgewählten Fixpunkte des Operationsgebietes in einer Datenbank abgespeichert, die dem Prozessor der Referenzstation zugeordnet ist, so daß diese beim Abstellen der mobilen Referenzstation an einem dieser ausgewählten Fixpunkte auf einfache Weise in den Prozessor eingelesen werden können. Eine andere Möglichkeit besteht darin, die gewählte Position der mobilen Referenz­ station durch eine Mittelwertbildung der vom GPS-Empfänger der Referenzstation ausgegebenen Daten über einen längeren Zeitraum von beispielsweise 24 Stunden hinreichend genau zu bestimmen.According to the invention, the reference station is also as Mobile station trained, the reference station can thus directly in the vicinity of the reference station using mobile GPS receivers and there at a geodetically well-known fixed point be turned off. The reference coordinates of the fixed point can then be operated by the operator of the reference station (driver) simply via an appropriate user interface can be entered into the processor of the reference station. This data is used, for example, by the land registry of the operating area is available to the operator posed. These are preferably reference coordinates the selected fixed points of the operation area stored in a database that the processor is assigned to the reference station, so that this at Parking the mobile reference station at one of these selected fixed points in a simple manner in the processor can be read. Another possibility is the chosen position of the mobile reference station by averaging that from the GPS receiver data from the reference station via a sufficient period of time, for example 24 hours to determine exactly.

Da beim erfindungsgemäßen Ortungssystem die mobile Referenzstation in unmittelbare Nähe des Nutzers abgestellt werden kann, kann letzterer seine Position wesentlich genauer beispielsweise mit einer Genauigkeit von nur 1 Meter bestimmen. Auch die Übertragung der Korrekturdaten von der Referenzstation zum Nutzer ist wegen der kurzen Übertragungsstrecken mit einfacheren Übertragungseinrich­ tungen durchführbar.Since in the location system according to the invention the mobile Reference station parked in the immediate vicinity of the user the latter can change its position significantly  more precisely, for example, with an accuracy of only Determine 1 meter. Also the transmission of the correction data from the reference station to the user is because of the short Transmission lines with simpler transmission equipment feasible.

Die Erfindung wird im folgenden anhand einer schematischen Zeichnung an einem Ausführungsbeispiel näher erläutert.The invention is based on a schematic Drawing explained in more detail using an exemplary embodiment.

Die Figur zeigt den Prinzipaufbau eines DGPS-Ortungssystems mit einem mobilen GPS-Nutzer 1 und einer ebenfalls mobilen Referenzstation 2. Die über den GPS-Empfänger 3 der Referenzstation empfangenen Positionsdaten werden in einem Prozessor 4 mit den geodätisch genau bekannten Referenzkoordinaten des Aufstellungsortes der Referenz­ station 2, die über eine Eingabe-Benutzeroberfläche 5 in den Prozessor 4 eingegeben werden, verglichen und als Fehlerkorrekturdaten über eine Telemetrieverbin­ dungsstrecke 6, 7 zum Prozessor 8 des mobilen GPS-Nutzers 1 übertragen. Im Prozessor 8 werden die vom GPS-Empfänger 9 des Nutzers empfangenen Ortungsdaten korrigiert und über eine Ausgabeeinrichtung 10 dem Nutzer angezeigt.The figure shows the basic structure of a DGPS location system with a mobile GPS user 1 and a likewise mobile reference station 2 . The position data received via the GPS receiver 3 of the reference station are compared in a processor 4 with the geodetically known reference coordinates of the location of the reference station 2 , which are entered into the processor 4 via an input user interface 5 , and as error correction data via a telemetry link transmission path 6 , 7 to the processor 8 of the mobile GPS user 1 transmitted. The location data received by the user's GPS receiver 9 are corrected in the processor 8 and displayed to the user via an output device 10 .

Da beim erfindungsgemäßen Ortungssystem auch die Referenz­ station mobil ist kann sie unmittelbar in die Nähe des Nutzers 1 gefahren werden, so daß dieser seine Ortung wesentlich genauer durchführen kann als dies bei einer weiter abliegenden Referenzstation möglich wäre.Since in the location system according to the invention the reference station is mobile, it can be moved directly into the vicinity of the user 1 , so that the user can carry out his location much more precisely than would be possible with a further remote reference station.

So kann beispielsweise ein mit einem GPS-Empfänger ausgestattetes Entstörfahrzeug zur Reparatur einer vergrabenen Leitung, deren Koordinaten genau bekannt sind, in die Nähe des Reparaturortes gefahren werden, die mobile Referenzstation fährt ihrerseits zu einem möglichst benachbarten Fixpunkt, beispielsweise einem Grenzstein mit bekannten vom Katasteramt vorgegebenen Referenzkoordinaten, dort werden dann diese Referenz­ koordinaten in den Prozessor der Referenzstation eingelesen und das Entstörfahrzeug ist dann in der Lage, den Ort der zu reparierenden Leitung auf z. B. ein Meter genau festzustellen. An dieser genau vermessenen Stelle kann dann beispielsweise mit einem Bagger die gesuchte Leitung ausgegraben werden.For example, one with a GPS receiver  Equipped interference suppression vehicle for the repair of a buried pipe, whose coordinates are known exactly are driven near the repair location, the mobile reference station in turn drives to one possible neighboring fixed point, for example one Boundary stone with known from the land registry office Reference coordinates, there will be this reference coordinates read into the processor of the reference station and the suppression vehicle is then able to Location of the line to be repaired on z. B. one meter determine exactly. At this precisely measured point can then use an excavator, for example Line to be excavated.

Claims (2)

1. DGPS-Ortungssystem mit mindestens einem mobilen GPS-Nutzer (1), einer Referenzstation (2), deren Position geodätisch genau bekannt ist, und einer Telemetrieverbindung (6, 7) zwischen mobilem Nutzer und Referenzstation, dadurch gekennzeichnet, daß auch die Referenz­ station (2) mobil ist, im Nahbereich von die Referenz­ station nutzenden mobilen GPS-Nutzern (1) abstellbar ist und eine Einrichtung (5) zum Eingeben der dieser jeweiligen Abstellposition entsprechenden geodätischen Referenzkoordinaten aufweist.1. DGPS location system with at least one mobile GPS user ( 1 ), a reference station ( 2 ) whose position is known geodetically, and a telemetry connection ( 6 , 7 ) between the mobile user and reference station, characterized in that the reference station ( 2 ) is mobile, can be switched off in the close range by mobile GPS users ( 1 ) using the reference station and has a device ( 5 ) for entering the geodetic reference coordinates corresponding to this respective parking position. 2. DGPS-Ortungssystem nach Anspruch 1, dadurch gekennzeichnet, daß in der mobilen Referenzstation (2) die Referenzkoordinaten von ausgewählten Fixpunkten des Operationsgebietes abgespeichert sind, die beim Abstellen der mobilen Referenzstation an einem dieser Fixpunkte in den Prozessor (4) der Referenzstation einlesbar sind.2. DGPS location system according to claim 1, characterized in that in the mobile reference station ( 2 ) the reference coordinates of selected fixed points of the operating area are stored, which can be read into the processor ( 4 ) of the reference station when the mobile reference station is turned off at one of these fixed points .
DE1996116469 1996-04-25 1996-04-25 Differential GPS navigation system Ceased DE19616469A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE1996116469 DE19616469A1 (en) 1996-04-25 1996-04-25 Differential GPS navigation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE1996116469 DE19616469A1 (en) 1996-04-25 1996-04-25 Differential GPS navigation system

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DE19616469A1 true DE19616469A1 (en) 1997-11-06

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1229343A1 (en) * 2001-01-31 2002-08-07 BRITISH TELECOMMUNICATIONS public limited company A system and method for determining the location of a mobile
DE10119886A1 (en) * 2001-04-24 2002-10-31 Mueller Umwelttechnik Position finding system for use in large towns, has Global Positioning System receiver for coarse position determination, and correction transmitters at distance for making measurement more accurate
WO2006086055A1 (en) * 2004-12-16 2006-08-17 Raytheon Company Determining usability of a navigation augmentation system

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4011316C2 (en) * 1990-04-07 1992-03-12 Rheinbraun Ag, 5000 Koeln, De
US5225842A (en) * 1991-05-09 1993-07-06 Navsys Corporation Vehicle tracking system employing global positioning system (gps) satellites
GB2264837A (en) * 1992-02-20 1993-09-08 Kokusai Denshin Denwa Co Ltd Gps for a vehicle
US5323322A (en) * 1992-03-05 1994-06-21 Trimble Navigation Limited Networked differential GPS system
DE4312670A1 (en) * 1993-04-19 1994-10-20 Nord Systemtechnik Device for determining the position of a moving object
DE4439768A1 (en) * 1993-11-08 1995-05-11 Telia Ab Arrangement for information transmission and positioning in a guidance system
DE4432736A1 (en) * 1993-12-20 1995-06-22 Esg Elektroniksystem Und Logis Goods loading position determining system using satellite navigation system
WO1995018978A1 (en) * 1994-01-03 1995-07-13 Trimble Navigation A network for carrier phase differential gps corrections
WO1995018977A1 (en) * 1994-01-03 1995-07-13 Trimble Navigation A network for code phase differential gps corrections
US5471218A (en) * 1993-07-01 1995-11-28 Trimble Navigation Limited Integrated terrestrial survey and satellite positioning system
DE4433750C1 (en) * 1994-09-22 1995-12-14 Bail Guenther Control system for self-propelled vehicle e.g. golf-trolley
DE4428261A1 (en) * 1994-08-10 1996-02-15 Sel Alcatel Ag Navigation system for track guided vehicle equipped with on board control unit

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4011316C2 (en) * 1990-04-07 1992-03-12 Rheinbraun Ag, 5000 Koeln, De
US5225842A (en) * 1991-05-09 1993-07-06 Navsys Corporation Vehicle tracking system employing global positioning system (gps) satellites
GB2264837A (en) * 1992-02-20 1993-09-08 Kokusai Denshin Denwa Co Ltd Gps for a vehicle
US5323322A (en) * 1992-03-05 1994-06-21 Trimble Navigation Limited Networked differential GPS system
DE4312670A1 (en) * 1993-04-19 1994-10-20 Nord Systemtechnik Device for determining the position of a moving object
US5471218A (en) * 1993-07-01 1995-11-28 Trimble Navigation Limited Integrated terrestrial survey and satellite positioning system
DE4439768A1 (en) * 1993-11-08 1995-05-11 Telia Ab Arrangement for information transmission and positioning in a guidance system
DE4432736A1 (en) * 1993-12-20 1995-06-22 Esg Elektroniksystem Und Logis Goods loading position determining system using satellite navigation system
WO1995018978A1 (en) * 1994-01-03 1995-07-13 Trimble Navigation A network for carrier phase differential gps corrections
WO1995018977A1 (en) * 1994-01-03 1995-07-13 Trimble Navigation A network for code phase differential gps corrections
DE4428261A1 (en) * 1994-08-10 1996-02-15 Sel Alcatel Ag Navigation system for track guided vehicle equipped with on board control unit
DE4433750C1 (en) * 1994-09-22 1995-12-14 Bail Guenther Control system for self-propelled vehicle e.g. golf-trolley

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1229343A1 (en) * 2001-01-31 2002-08-07 BRITISH TELECOMMUNICATIONS public limited company A system and method for determining the location of a mobile
DE10119886A1 (en) * 2001-04-24 2002-10-31 Mueller Umwelttechnik Position finding system for use in large towns, has Global Positioning System receiver for coarse position determination, and correction transmitters at distance for making measurement more accurate
WO2006086055A1 (en) * 2004-12-16 2006-08-17 Raytheon Company Determining usability of a navigation augmentation system

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