阅读说明：本技术 用于利用热启动提供卫星校正信号的方法和系统 (For providing the method and system of satellite correction signal using thermal starting ) 是由 索尼亚·U·孔茨 尼拉维·R·帕里克 万俊堃 戴立文·L 于 2019-05-10 设计创作，主要内容包括：在一个实施例中,在热启动模式期间,所述估算器基于从存储的所接收的原始卫星信号测量值得到的卫星轨道数据、卫星时钟数据和卫星偏差数据估算卫星校正信号。如果或当存储的所接收的原始卫星信号测量值中的被最后处理的一个测量值的相应的测量时间标记接近或达到所述当前时间,所述数据源选择器将测量值数据源从存储的所接收的原始卫星信号测量值无缝切换到现场、实时原始卫星信号测量值。(In one embodiment, during thermal starting mode, the estimator based on from storage received raw satellite signal measured value obtain satellite orbit data, satellite clock data and satellite deviation data estimation satellite correction signal.If or when the corresponding time of measuring label of finally handled the measured value in the received raw satellite signal measured value of institute of storage is close to or up to the current time, measured value data source is seamlessly switched to live, real-time raw satellite signal measured value from the received raw satellite signal measured value of institute of storage by the data source selector.)

1. it is a kind of for providing the method for satellite correction signal, this method comprises:

Receive a series of raw satellite signal measured values；

It is each to be received for a series of received raw satellite signal measured value of time windows storage institute before current time The time of measuring label that stores with corresponding of raw satellite signal measured value it is associated；

During thermal starting mode, based on from storage the obtained satellite orbit number of received raw satellite signal measured value Satellite correction signal is estimated according to, satellite clock data and satellite deviation data；With

If or when storage finally handled a measured value in received raw satellite signal measured value it is corresponding Time of measuring label be close to or up to the current time, wherein the corresponding storage finally handled institute it is received original The corresponding time of measuring of satellite signal measurements marks the difference between the current time to be less than threshold time model It encloses, measured value data source is seamlessly switched into live, original in real time defend from the received raw satellite signal measured value of institute of storage Star signal measurements.

2. according to the method described in claim 1, further include:

It is parsed using fuzziness, determines how are the satellite orbit data, the satellite clock data and the satellite deviation data When have converged to reliable satellite correction data.

3. according to the method described in claim 1, further include:

It is parsed using fuzziness, provides the reliable satellite correction data to terminal user by satellite communication channel.

4. according to the method described in claim 1, wherein, the duration of the time window is at least 24 hours.

5. according to the method described in claim 1, wherein, the range of the duration of the time window is about 24 hours to about 48 hours.

6. according to the method described in claim 1, wherein, updating satellite correction signal at least 1Hz or higher rate.

7. according to the method described in claim 1, wherein:

During normal manipulation mode, it is based on the received original measurement value of real-time live, utilizes satellite orbit data, satellite clock Data and satellite deviation data estimate differential correction signal.

8. according to the method described in claim 1, further include:

Two parallel clock estimation process for including slow clock and low latency clock are integrated.

9. according to the method described in claim 1, wherein, during start-up mode, by the DATA REASONING of storage in about 6 hours Value is fed in slow clock estimation block to reach stable state orbital estimation value.

10. according to the method described in claim 9, wherein, during start-up mode, not needing the DATA REASONING of historical storage Value is fed to low latency clock module.

11. a kind of for providing the system of satellite correction signal, which includes:

Satellite reference receiver, the satellite reference receiver is for receiving a series of raw satellite signal measured values；

Data storage device, a series of time windows storage institute before the data storage device is directed to current time are received Raw satellite signal measured value, each received raw satellite signal measured value mark phase with the corresponding time of measuring stored Association；

Estimator, during thermal starting mode, the estimator is used for based on the received raw satellite signal survey of institute from storage Satellite orbit data, satellite clock data and the satellite deviation data that magnitude obtains estimate satellite correction signal；With

Data source selector, if or when storage one finally handled in received raw satellite signal measured value The corresponding time of measuring label of measured value is close to or up to the current time, wherein the corresponding storage finally handled Received raw satellite signal measured value corresponding time of measuring label the current time between difference it is small In threshold timeframe, the data source selector measures measured value data source from the received raw satellite signal of institute of storage Value seamlessly switches to scene, real-time raw satellite signal measured value.

12. system according to claim 11, wherein the estimator is suitable for parsing using fuzziness, defends described in determination When star orbital track data, the satellite clock data and the satellite deviation data have converged to reliable satellite correction number According to.

13. system according to claim 11, further includes:

Satellite uplink transmitter, the satellite uplink transmitter are used to parse using fuzziness, believe in satellite communication Reliable satellite correction data is sent to terminal user via satellite downlink receiver on road.

14. system according to claim 11, wherein the duration of the time window is at least 24 hours.

15. system according to claim 11, wherein the range of the duration of the time window be about 24 hours extremely About 48 hours.

16. system according to claim 11, wherein satellite correction signal is updated at least 1Hz or higher rate.

17. system according to claim 11, in which:

During normal manipulation mode, the estimator is suitable for being based on the received original measurement value of real-time live, utilizes satellite rail Track data, satellite clock data and satellite deviation data estimate differential correction signal.

18. system according to claim 11, further includes:

Two parallel clock estimation process for including slow clock and low latency clock are integrated.

19. system according to claim 11, wherein during start-up mode, the data of storage in about 6 hours are surveyed Magnitude is fed in slow clock estimation block to reach stable state orbital estimation value.

20. system according to claim 19, wherein not needing during start-up mode by the DATA REASONING of historical storage Value is fed to low latency clock module.

21. system according to claim 11, wherein ambiguously estimate the wide lane deviation of satellite reference receiver, and It is that the wide lane deviation is combined in homodyne float ambiguities state.

22. system according to claim 11, wherein select within sweep of the eye not cycle slip highest elevation satellite make For the reference satellite of each respective satellite parametric receiver.

23. a kind of for providing the system of satellite correction signal, which includes:

Satellite reference receiver, the satellite reference receiver is for receiving a series of raw satellite signal measured values；

Data storage device, a series of time windows storage institute before the data storage device is directed to current time are received Raw satellite signal measured value, each received raw satellite signal measured value mark phase with the corresponding time of measuring stored Association；

Estimator, during thermal starting mode, the estimator is used for based on the received raw satellite signal survey of institute from storage Satellite orbit data, satellite clock data and the satellite deviation data that magnitude obtains estimate satellite correction signal；With

Data source selector, if or when storage one finally handled in received raw satellite signal measured value Measured value corresponding time of measuring label be not close to or up to the current time also, wherein it is corresponding finally handled deposit Storage received raw satellite signal measured value corresponding time of measuring label the current time between difference Value is greater than threshold timeframe, and the data source selector uses the mixing or combination of multiple measured value data sources, the multiple Measured value data source includes the received raw satellite signal measured value of institute and the scene, the measurement of real-time raw satellite signal of storage Value.

Technical field

This disclosure relates to for providing the method and system of satellite correction signal using thermal starting.

Background technique

It is certain in the prior art, service provider by wireless signal to the terminal user of satellite navigation receiver provide Correction signal, wireless signal are, for example, the satellite radio signal on satellite L-band.In GNSS cluster, each satellite clock can Can be defended with reference to GNSS system clock time and other alternative solutions to measure with satellite clock biases or clocking error Star clock jitter or clocking error.Correction data includes in the visual field or range of receiving at the mobile receiver of terminal user Corresponding clock jitter or clock solution for each satellite.Satellite clock biases with respective satellite identifier, which are sent to, to be defended The terminal user or subscriber of star correction signal.There is delay, phase measurement between the phase measurement of reference satellite receiver Value is for determining correction data and determining reception of the correction data at the mobile receiver of terminal user.To defending for terminal user Timeliness, renewal rate and the delay that star navigation receiver provides satellite clock biases can influence the position of satellite navigation receiver The accuracy of estimation.For example, the estimation reference orbit position of satellite may be by the shadow of the error in clock jitter or clock solution It rings, this may cause error or accuracy in the position solution of satellite receiver in turn.

In the prior art, satellite correction system estimator is determining and distributes correction signal to mobile-satellite receiver.By (such as update, the International Earth Rotation of satellite and receiver antenna information is updated in system maintenance, software upgrading and hardware configuration It is sat with frame of reference service (IERS) earth orientation bulletin A (Earth Orientation Bulletin A) or reference station network Target updates), the determination and distribution of correction signal can be interrupted sometimes.For example, frame of reference service (IERS) earth orientation is public Accuse the information that A includes related earth orientation parameters, polar coordinates (x, y)；Time scale based on international standard, zebra time-generation Coordinate time (UT1-UTC) (UT1-UTC) in boundary；And relevant wrong and prediction.Complete system maintenance, software upgrading and hardware After configuration updates, restarting satellite corrects estimator.

It is some in the prior art, satellite, which corrects estimator, can use multiple reference stations in each maincenter or processing center And server.Therefore, it is certain in the prior art, satellite corrects estimator may be super after satellite correction estimator initialization The orbital data in correction signal will not be converged on by crossing in five days periods or in the period of fortnight even up to Solution and clock data solution.Therefore, it is necessary to a kind of for providing the method and system of satellite correction signal using thermal starting, with Reduce the convergence time of the orbital data and clock data in correction signal.

Summary of the invention

According to one embodiment, a kind of method and system offer satellite correction signal.One or more reference satellites receive Device receives a series of raw satellite signal measured values.Data storage device is suitable for being directed to current time (current GNSS time of measuring) A series of received raw satellite signal measured value of time windows storage institute before.Each satellite signal measurements with it is corresponding The time of measuring label of storage is associated.During thermal starting mode, estimator is based on the received original satellite of institute from storage Satellite orbit data, satellite clock data and the satellite deviation data that signal measurements obtain estimate satellite correction signal.If Or when storage finally handled a measured value in received raw satellite signal measured value corresponding measurement when Between label be close to or up to the current time, wherein the received raw satellite signal of institute of the corresponding storage finally handled The corresponding time of measuring of measured value marks the difference between the current time to be less than threshold timeframe, data source Selector seamlessly switches to measured value data source from the received raw satellite signal measured value of institute of storage live, original in real time Satellite signal measurements.

Detailed description of the invention

Figure 1A is for providing the satellite with accurate, low latency Global Navigation Satellite System (GNSS) satellite clock The block diagram of one embodiment of the system of correction signal, Satellite correction signal are provided by telecommunication satellite.

Figure 1B is for providing the satellite with accurate, low latency Global Navigation Satellite System (GNSS) satellite clock The block diagram of another embodiment of the system of correction signal, Satellite correction signal are that system provides by wireless communication.

Fig. 2A is the figure for showing the associated delay of offer with correction signal, and is used for more specifically, showing and having The correction signal of one group of clocking error of corresponding satellite, wherein collecting measured value with moderate delay.

Fig. 2 B is the figure for showing the associated delay of offer with correction signal, and is used for more specifically, showing and having The correction signal of one group of clocking error of corresponding satellite, wherein collecting measured value with the lower delay of the measured value than Fig. 2A.

Fig. 3 is for providing the satellite with accurate, low latency Global Navigation Satellite System (GNSS) satellite clock The block diagram of another embodiment of the system of correction signal.

Fig. 4 illustrates in greater detail the illustrated examples of the correction data estimator of Fig. 3.

Fig. 5 is to illustrate slow clock process (for example, moderate delayed clock process) and fast clock process (for example, when low latency Clock process) parallel work-flow figure.

Fig. 6 is for providing the satellite with accurate, low latency Global Navigation Satellite System (GNSS) satellite clock The flow chart of one illustrative methods of correction signal.

Fig. 7, venue refer to Fig. 7 A and Fig. 7 B, are to have accurate, low latency Global Navigation Satellite System for providing (GNSS) flow chart of another embodiment of the method for the satellite correction signal of satellite clock.

Fig. 8 A provides the calculating time illustrative graph corresponding with GNSS time for providing slow clock solution.

Fig. 8 B provides the calculating time illustrative graph corresponding with GNSS time for providing low latency clock solution.

Fig. 9 shows an implementation of the system for providing the satellite correction signal with thermal starting (warm start) The block diagram of example.

Figure 10 shows the block diagram of another embodiment of the system for providing the satellite correction signal with thermal starting.

Figure 11 shows one embodiment of the method for providing the satellite correction signal with thermal starting.

Figure 12 shows another embodiment of the method for providing the satellite correction signal with thermal starting.

Figure 13 shows another embodiment of the method for providing the satellite correction signal with thermal starting.

Figure 14 shows the further embodiment of the method for providing the satellite correction signal with thermal starting.

Specific embodiment

As used herein, module or estimator may refer to software, hardware or both.If module is implemented as Software, then it can store in data storage device 24 for the processing of data processor 20.It is suitable for, configures or is arranged to meaning Taste module, estimator or other devices be able to carry out the function of describing in the description or supported feature.For example, being suitable for, matching Setting or being arranged to may include the module programmed with software instruction, which is stored in data storage device 24, with For being handled by data processor 20 to execute specific function described herein.

Unless otherwise expressly provided, positive and negative 25% tolerance of any value, quantity or numerical value otherwise should about or be about indicated.

The position of such as Global Navigation Satellite System (GNSS) receiver etc determine receiver or satellite receiver (12, 30) can receive carrier-phase measurement, the carrier-phase measurement the period of received satellite-signal quantity or point Influence in terms of one number time by fuzziness, such as integer ambiguity.Epoch or time of measuring mean navigational satellite system Particular moment or time interval, during the particular moment or time interval, mobile receiver is (for example, with some corresponding frequency Rate or rate) measurement carrier phase.Receiver (12,30) determines or the fuzziness of parsing carrier-phase measurement, with accurately Estimate exact position or the coordinate of receiver.Although the code phases (code) or pseudo-range measurements of GNSS receiver (12,30) It is unrelated with the integer ambiguity in received period of satellite, but code phase measurement value cannot provide it is certain using required centimetre Level position accuracy.As used in this document, fuzziness is typically dedicated to the case where particular equation, and the equation is related to coming from The observation of one or more receivers of the carrier phase signal of one or more satellites.Accordingly, it is possible to have wide lane (WL) mould Paste degree, narrow lane (NL) fuzziness, homodyne (ZD) fuzziness, single poor (SD) fuzziness, double difference (DD) fuzziness, in real time-movement (RTK) fuzziness and refraction correction (RC) fuzziness, refraction correction (RC) fuzziness with from one or more receivers or one The phase measurement of a or multiple satellites is related.In addition, certain fuzzinesses will be specific to certain module because different module or The different update rate of predictive filter (for example, Kalman filter) adaptive filter in these modules and the shape of filter The communication or state of data between state and the filter of disparate modules.Herein, all may be used to any reference of fuzziness To refer to single fuzziness or multiple fuzzinesses.

If satellite navigation receiver can receive at least two frequencies, such as L1 and L2 frequency, then can combine L1 and The difference of L2 carrier-phase measurement is to form wide lane (WL) measured value (for example, having about 86.25 centimetres that are used for GPS Wavelength), and the summation of L1 and L2 carrier-phase measurement can be combined to form narrow lane (NL) measured value (for example, having big About 10.7 centimetres of wavelength).Wide lane measured value helps fast and effeciently to parse wide lane integer ambiguity, and narrow lane measured value has Help precisely and accurately parse the narrow lane ambiguity with the smallest phase noise.The fuzziness of refraction correction compensates for The atmosphere delay of level-one.

It is formed usually relative to a satellite, parametric receiver 30 and roving receiver (12) (for example, carrier phase or generation Code phase (code)) list aberration measurements.Alternatively, can relative to a receiver (parametric receiver 30 or roaming station 12) and A pair of satellite forms single aberration measurements.

In contrast, usually relative to two satellites, parametric receiver 30 and roving receiver (12), or by subtracting Two single aberration measurements are to form double difference measured value.However, it is possible to using two different times, receive from same reference Two single aberration measurements device and associated with a pair of satellite form certain double difference measured values, will such as retouch in Fig. 6 later As stating.

A, Figure 1B, Fig. 3 and Fig. 4 referring to Fig.1, a kind of method or system, which provide, has accurate, low latency satellite clock The satellite correction signal of estimated value.Electronic data processing centre 18 is arranged to from known corresponding position is located at (for example, three-dimensional Coordinate) at multiple parametric receivers 30 collect original phase measured value.Measured value pre-processes (MPP) module (36 in Fig. 3) Or the data processor 20 of data processing centre 18 determines the wide lane ambiguity of the phase measurement of the collection for each satellite With the wide lane deviation of corresponding satellite, with for effectively or the narrow lane ambiguity of fast resolving provide help or constraint condition appropriate.Rail Road solution module 38 or data processor 20 are according to the original phase measured value and code measurements and identified track of collection Narrow lane ambiguity and the narrow lane deviation of corresponding orbiter, with orbit correction rate determine in track solution for each satellite Satellite correction data 16, the identified narrow lane ambiguity of track and the narrow lane deviation of corresponding orbiter can be by identified The auxiliary of wide lane ambiguity and wide lane deviation and be estimated.Advantageously, in embodiment, it is determined by measured value preprocessing module 36 Wide lane ambiguity and corresponding wide lane deviation can be in one in other modules (38,44,42) of correction data estimator 34 It shares and utilizes between a or multiple predictive filters (39,43,412).Clock solution module 44 or data processor 20 are based on defending Star orbital channel correction data 50, the original phase measured value collected and code measurements and the narrow lane ambiguity of clock and corresponding The narrow lane deviation of satellite determines slow satellite clock correction (for example, moderate delay with renewal rate at a slow speed (or moderate renewal rate) Satellite clock correction), the narrow lane ambiguity of clock and the narrow lane deviation of corresponding satellite can be in identified wide lane ambiguity and width It is estimated with the help of the deviation of lane.The original phase measured value of low latency clock module 42 or data processor 20 based on collection Recently or the measured value of recent renewal with quick renewal rate come determine for slow satellite clock have compared with low latency satellite Clock correction data 16 or clock increments regulated quantity, to provide the clock correction data 16 having compared with low latency, collected original Beginning phase measurement recently or the measured value of recent renewal than for slow satellite clock correction collected original phase survey Multiple previous measured values of magnitude are closer to current value.In one embodiment, quick renewal rate is greater than at a slow speed more The fixed rate of new rate or orbital rate (for example, track renewal rate).However, in alternative embodiments, it can be with base Change quick renewal rate in the following contents (dynamically): (1) being measured from the raw carrier phase of particular satellite or reference station Availability, reliability or the quality (for example, signal strength, the accuracy factor or other quality metrics) of value, or (2) actively select Satellite measurement or the subgroup of reference station with for availability, reliability or quality based on raw carrier phase measured value frequently Estimate correction data in ground.

Satellite orbital corrections data 50 and clock correction data 16 with low latency are merged by data processing centre 18 In correction data 16, which has the global validity for GNSS, to be used for transmission (for example, satellite or wireless Transmission) to one or more mobile receivers 12, the one or more mobile receiver 12 is to be accurately positioned mode, such as accurately The work of point location (PPP) mode.For example, data processing centre 18 by the wide lane deviation of satellite, satellite orbital corrections data, from slow The narrow lane deviation of the satellite of clock solution and the clock correction data with low latency are merged into global satellite differential correction signal In the correction data of coding, which has global validity, is received with being transferred to one or more movements for GNSS Device.Accurate positioning mode (for example, PPP mode) using the reception signal for satellite accurate clock and track solution and defend Star deviation provides accurate correction data 16, which is global effective or independent of locally significant Differential data, for example, real time kinematics (RTK) correction data 16, real time kinematics (RTK) correction data 16 for reference station and Short baseline between movement station is locally valid, accurate (for example, for needing answering greater than reliable decimeter grade accuracy With or off-road vehicle).

In one embodiment, it is slow to be less than (for example, being less than or equal to) for orbital rate (for example, track renewal rate) Fast renewal rate；Using track homodyne filter 404 in order to passing through narrow lane estimator 39 (for example, the narrow lane filter) base of track In collection original phase measured value with the narrow lane ambiguity of track renewal rate estimated trajectory and corresponding narrow lane satellite deviation.Another In one embodiment, quick renewal rate is greater than renewal rate or orbital rate at a slow speed；It can be with applied clock homodyne filter 408 In order to pass through narrow original phase measured value of the lane estimator 43 (for example, narrow lane filter) based on collection of clock to update at a slow speed The narrow lane ambiguity of rate estimation clock and corresponding narrow lane satellite deviation.

According to Figure 1A, which can provide the correction data 16 encoded with satellite correction signal, correction number in real time There is accurate, low latency Global Navigation Satellite System (GNSS) satellite clock solution or accurate, low latency clock number according to 16 According to.Final satellite clock solution includes accurate low latency clock data, which represents for estimating Two of GNSS satellite clock estimated value simultaneously or the Integral Solution of parallel procedure: (1) slow clock solution, and (2) low latency clock solution Or middle low latency solution.

It can be based on related to collection of the phase measurement of satellite-signal at one or more parametric receivers 30 The survey later of the more early time of measuring (for example, epoch) of connection and the measured value that processing is received at mobile receiver 12 or roaming station Time difference between amount time (for example, epoch) postpones to measure.For example, above-mentioned delay difference is divided by Fig. 2A and Fig. 2 B The different periods is with for additional analysis, this be will be described later.Low latency mean than clock solution module 44 it is slow when The lower delay of moderate delay of clock solution.(for example, low latency clock module 42) be referred to alternatively as compared with low latency solution (for example, coming From fast clock process) fast clock solution, however (for example, clock solution module 44) moderate delay solution is properly termed as (for example, coming from Slow clock process) slow clock solution.The original phase measured value of low latency clock module 42 or data processor 20 based on collection Recently or the measured value of recent renewal come determine for slow satellite clock have compared with low latency satellite clock correction data Or clock increments regulated quantity, with provide have compared with low latency clock correction data 16, the original phase measured value of collection it is new Multiple previous surveys of close or recent renewal the measured value than the original phase measured value of the collection for slow satellite clock correction Magnitude is closer to current value.Total smoothed clock correction data is referred to the clock correction data 16 compared with low latency, is had There is delay more lower than slow clock solution, total smoothed clock correction data includes from the satellite clock correction having compared with low latency The contribution of data and slow satellite clock correction data.

Low latency clock data or low latency clock solution can indicate it is following either or both: (1) with low latency process Associated clock data, or (2) final satellite clock solution, final satellite clock solution is by being based on slow clock solution and middle low latency solution Integral Solution and generate.Low latency clock data improves the accuracy of satellite clock and reduces prolonging for last solution in real time (or increasing timeliness) late, this is incorporated into correction data 16 to distribute to mobile receiver 12 or roaming station.

In one embodiment, slow clock process can use most of or all possible measured value (for example, from ginseng Examine the carrier-phase measurement of the reference data network 32 of receiver 30) estimate slow clock solution, but have and be associated Slow clock delay, slow clock delay or moderate delay (for example, about 6 seconds to about 10 seconds): (1) by data processing centre 18 The narrow lane deviation of absolute satellite clock, troposphere deviation, satellite and the narrow lane ambiguity of satellite are estimated with reference data network 32 (for example, narrow lane ambiguity through refraction correction), or (2) by data processing centre 18 and reference data network 32 collect Lai The original phase measured value of self-reference receiver 30 is estimated and is collected more than (3).In one embodiment, slow clock solution is used for It carries out fuzziness parsing and estimates the troposphere deviation and gradient of each parametric receiver, in order to determine the narrow lane ambiguity of clock With the refraction correction of corresponding narrow lane deviation.The solution from slow clock process can be shared or used in low latency clock solution The fuzziness of analysis and/or the troposphere deviation of estimation.For example, can remaining convection current based on prior model and from slow clock solution Layer Error estimation value estimates troposphere deviation.Slow clock process support is collected and analyzed more to be measured than low latency process Value, accurate or absolute accuracy and finer slow clock models in order to clock estimated value.In one embodiment In, slow clock process has the data-handling capacity or throughput demands bigger than low latency clock process, so that slow clock solution Calculating can spend about one second to about two seconds, even if data processing centre 18 support parallel data processing environment.

Meanwhile low latency clock process use measured value more less than slow clock process is (for example, come from reference data network 32 carrier-phase measurement), and there is low latency process low latency or low latency clock to delay (for example, about one second arrives Two seconds), satellite clock variation is collected with low latency rate or collects and calculate satellite clock variation, when which is greater than slow Clock rate rate or the rate of moderate delay.Data processor 20 or data processing centre 18 are with low latency rate by low latency clock data It is integrated with slow clock data and orbital data, to provide one group of consistent, accurately and timely correction data 16.

It is worked together with track solution and slow clock solution with low latency rate, data processing centre 18 can be in a timely mannner (for example, with delay or low latency relative to slow clock process reduction) transmits consistent one group of correction data 16, group correction Data 16 include satellite orbit, clock (for example, absolute clock estimated value), wide lane satellite deviation, narrow lane satellite deviation and quality Information.Particularly, data processing centre 18 can by satellite-signal (for example, L-band signal) in Figure 1A, pass through channel radio Letter system 135 (in fig. ib) or by wireless communication system 57 (in Fig. 3) (for example, pass through internet 56) are by correction number It is transmitted to one or more mobile receivers with correction wireless device 14 in real time according to 16.In one embodiment, it corrects Data real-time transmission is without (at the time of measuring or original phase measured value and mobile receiver 12 at parametric receiver 30 Correction data availability between) significant delays, which can tend at mobile receiver 12 will to have big The accuracy of the location estimate of about 5 centimetres of level (for example, navigation channel to navigation channel) accuracy or more preferable accuracy, the position The reliability that estimated value has 95 about percent is set, and there is the variation standard deviation less than one.

In figure 1A, in one embodiment, which includes the collection of the satellite of (for example, with satellite launch vehicle 10) Group includes at least in the visual field of one or more reference satellite receivers (for example, with reference to GNSS receiver) or range of receiving Those of satellite.In fact, parametric receiver 30 (for example, GNSS reference station) is globally distributed in good satellite geometry shape Shape and for one group of satellite at visible position.

Each parametric receiver 30 has the numerical portion of receiver, which includes electronic data processing system, The electronic data processing system include data into electronic data processing, data storage device, data port and support the data processor, The data/address bus of communication between data storage device and data port.In addition, receiver includes measurement module, for measuring The received satellite-signal of one or more from navigation satellite transmitter 10.In one embodiment, measurement module (for example, Carrier phase measurement module) it is associated with base band or in the data storage device in the numerical portion of receiver 30 by intermediate frequency Rate processing is stored as software instruction.

Each parametric receiver 30 has measurement module, which measures observable quantity, such as from each satellite The received satellite-signals of one or more carrier phase.The measurement module of parametric receiver 30 can also measure at one or The pseudorange or code phases for the pseudo-random noise code being encoded in multiple carrier signals.In addition, the demodulation of parametric receiver 30 Device or decoder (for example, being stored as the software instruction in data storage device) can with decoded navigation message, such as almanac data, The navigation information combines pseudo-random noise code on received satellite-signal or encodes in other ways.Parametric receiver 30 is real When send and receive measured value, almanac data, other observable quantitys and any information obtained from observable quantity, and will more than Items are sent to data processing centre 18 or the hinge with the ability that is processed similarly.

In figure 1A, one group of parametric receiver and communication link are referred to as reference data network 32.In one embodiment, Each parametric receiver 30 is (for example, via communication link, communication network, wireless channel, communication channel, communication line.Transmission line Or other modes) send received satellite-signal one group of carrier-phase measurement and relevant satellite identifier and star Evidence is counted one by one to electronic data processing centre 18 (for example, reference data processing hinge).

In one embodiment, data processing centre 18 include data into electronic data processing 20, data storage device 24 and It is connected to one or more data port 26 of data/address bus 22.Data processor 20, data storage device 24 and one are more A data port 26 can communicate with one another via data/address bus 22.The software instruction and data being stored in data storage device 24 It can be executed as data processor 20 to realize described in the present disclosure any piece, component or module be (for example, electronic die Any one of block, software module or both).Data processor 20 may include microcontroller, microprocessor, may be programmed and patrol Volume array, specific integrated circuit (ASIC), digital signal processor or for handling data, manipulation, access, retrieval and storage number According to another device.Data storage device 24 may include electronic component, non-volatile electronic memory, optical storage device, Magnetic memory apparatus is used to store number or analogue data on tangible media (such as CD, disk, electronic memory) Another device.Data port 26 may include buffer storage, transceiver or both, to be used for and other network element interfaces Connection, other network elements are, for example, parametric receiver 30 or ground satellite uplink station 28.

In one embodiment, data processing centre 18, data processor 20 or correction data estimator 34 connect from reference It receives 30 receiving phase measured value of device and corresponding satellite identifier, parametric receiver identifier (or corresponding coordinate) and handles phase Position measured value is used for each satellite to estimate, or is more specifically used for the clock jitter or corresponding clock of each satellite-signal Solution, for being integrated in correction data 16.For example, correction data estimator 34 includes software instruction or module, which refers to It enables or module is used to determine correction data 16 based on from reference data network 32 or the received phase measurement of parametric receiver 30. As shown in Figure 1A, clock solution, clock jitter or correction data 16 are provided to ground uplink station 28 or another communication link. For example, clock solution, clock jitter or correction data 16 are communicated or are transferred to telecommunication satellite 35 (in for example, by ground uplink After device).

In turn, telecommunication satellite 35 is suitable for making correction data 16 that can be sent to correction wireless device with or by correction data 16 14.Correction wireless device 14 is connected to mobile receiver 12 (for example, mobile GNSS receiver or mobile-satellite receiver) or unrestrained Trip station.Mobile receiver 12 also receives the satellite-signal from one or more satellite launch vehicles 10 (for example, GNSS satellite), and Measure the carrier phase of the received satellite-signal from satellite launch vehicle 10.In conjunction with the phase measurement of mobile receiver 12, Mobile receiver 12 precision clock solution in correction data 16 or clock jitter can be used estimate mobile receiver 12 or its Exact position, posture or the speed of antenna.For example, accurate positioning estimator, such as Accurate Points can be used in mobile receiver 12 (PPP) estimator is positioned, is accurately positioned estimator using precision clock and track solution for the received of satellite launch vehicle 10 Signal.

Herein, this method and real-time Global Navigation Satellite System (GNSS) receiver airmanship can be by using realities When global differential correction data 16 realize that Centimeter Level accuracy positions.The correction data 16 is by means of one in the following terms Or multiple but global obtainable and effective: (1) satellite communication in Figure 1A is (for example, the communication of L-band geostationary is defended Star), the wireless communication system 135 (for example, cellular communication) in (2) Figure 1B, or (3) wireless communication system 57 is (for example, connection To the cellular wireless system or WiFi system of internet 56, for receiving correction data 16 from server 54).With local reference Correction stand compared to (for example, can use the wide area school of PPP model by the real time kinematics base station (RTK) or certain whole world that do not strictly observe Just), global differential correction eliminates the needs to local reference station and radio communication, and otherwise local reference station and radio are logical Letter will be used to establish (for example, less than 20 kilometers to 30 kilometers) short baseline between parametric receiver 30 and roaming station, to obtain Obtain accurate position accuracy.

The system that the system of Figure 1B is similar to Figure 1A, in addition to the ground uplink station 28, telecommunication satellite 35 and school of Figure 1A Positive wireless device 14 is respectively by the wireless communication device of Figure 1B 128, wireless communication system 135 and correction 114 generation of wireless device It replaces.In addition, correction wireless device 14 may include satellite receiver, and correct wireless device 114 may include cellular transceiver, Wireless receiver or another wireless communication device.In Figure 1A, similar appended drawing reference indicates similar element in Figure 1B.

In fig. ib, data processing centre 18 or correction data estimator 34 are logical directly or indirectly through one or more Correction data 16 is supplied to wireless communication dress by communication network (for example, internet), communication link, packet networks or communication channel Set 128.In turn, wireless communication device 128 transmits data to one or more wireless communication systems 135.If using more A wireless communication system 135, then communication network, communication link, packet networks, exchange network, Mobile Telephone Exchange, microwave Link, communication line, optical fiber link or communication channel can interconnect wireless system 136 to support the slave channel radio of correction data 16 Communication of the T unit 128 to correction wireless device 114.Therefore, mobile receiver 12 from correction wireless device 114 obtain have can The horizontal correction data of the delay of receiving.

Fig. 2A is the figure for showing the associated delay of offer with correction signal, and is used for more specifically, showing and having The correction signal of one group of clocking error of corresponding satellite, measures wherein being collected during measured value acquisition time with moderate delay Value.Fig. 2A is the figure for showing the associated delay of offer with correction signal, and more specifically, is shown with correction data 16 Correction signal, correction signal may include one group for corresponding to the clocking error of satellite.It measures and postpones along horizontal axis 60 Time.Corrective delay be the key that influence to provide to terminal user or subscriber the overall system performance of GNSS correction data service because One of element.For example, the corrective delay, which can be defined as, is receiving the ginseng from treated the measured value of reference data network 32 Examine measurement epoch (or the measured value pretreatment for this group of parametric receiver at receiver 30 or one group of parametric receiver 30 Pretreatment in module 37 completes epoch) and correction data 16 be applied or apply in one or more mobile receivers 12 With reference to the time difference between epoch.In one embodiment, the corrective delay of correction data 16 or the correction of correction signal are prolonged It is the combination in following three basic sources late: 1) for 30 measured value of parametric receiver (for example, the GNSS from parametric receiver 30 Data can be located geographically in the whole world) arrival data processing centre 18 (or server) measured value acquisition time 62 (for example, from T0 to T1) of section；(2) the processing period of data processing centre 18 or clock estimation processing the period 64 (for example, From T1 to T2 or T1 to T3)；(3) sent at mobile receiver 12 terminal user the correction delivery time section 66 (for example, T3 to T4).

In alternative embodiments, additional source of delay is the clock information handled between period and correction passing time section Delivery time 65 (for example, T2 to T3) of section.

As shown in Figure 2 A, the first delay or measured value acquisition time 62 are in parametric receiver 30 or one group of parametric receiver 30 Time of measuring and electronic data processing centre 18 at receiving time between.First delay is associated with following factor, such as joins The distance between position and data processing centre 18 of receiver 30 and electric signal or electromagnetic signal are examined in parametric receiver 30 The associated propagation delay of transmission between (in different positions that may be all over the world) and data processing centre 18.At certain In a little embodiments, the first delay may include pretreatment time, to prolong for position estimation, fuzziness, tropospheric delay, atmosphere Late, clock jitter, receiver deviation or by one or more parametric receivers 30 or by measured value pre-process (MPP) module 36 Or other pretreatment estimated values that both parametric receiver 30 and MPP module 36 provide.For example, when carrier-phase measurement and coming When the code phase measurement value of self-reference data network 32 reaches data processing centre 18, carrier-phase measurement and carry out self-reference The code phase measurement value of data network 32 is collected and pre-processes.

Data processing centre 18 can adjust measured value collection time period 62 in a certain range be conducive to accuracy or Speed.Data processing centre 18 waited before processing measures Value Data from grid of reference 32 collect measurement Value Data (and it is pre- from Manage data) time it is longer, the measured value that data processing centre 18 can collect is more, to support track, clock and satellite inclined The reliability of the improved accuracy of difference and the parsing of online fuzzy degree.However, because when correction data 16 is finally in movement station Whether it will be outmoded or out-of-date when being received at 12, and because be outmoded at movement station 12 in assessment correction data 16 Or it is enough and constantly, it is necessary to consider other delays in addition to measured value acquisition time or delay, so if measured value is received Collecting the period 62 is more than max-thresholds or too long, then longer data collection time can reduce the accuracy of correction data 16.

Second delay or clock processing period 64 receiving time at the heart 18 and data processing centre in data handling Between the processing time at 18, this may be influenced by following factor, i.e. handling capacity or ability, the data of data processor 20 The specification or operation executed in the clock speed of processor 20, each time quantum of data processor 20.Data processing centre 18 or processing time of correction data estimator 34 (for example, innovation clock track real-time estimation device (iCORE)) must be as far as possible Ground minimizes, and to allow data processor 20 with 1Hz (Hz) or higher rate output calibration data 16, and makes roaming station side Correction of a final proof delay minimization.

Third delay or clock information delivery time section 65 and the completion number of data processor 20 at data processing centre 18 According to processing and data to ground uplink station 28, telecommunication satellite 35 or other communication devices (for example, cordless communication network) Time correlation connection between transmission.For example, the 4th delay or correction passing time section 66 with from telecommunication satellite 35 or other are logical The transmitting of 16 message of correction data of T unit is associated.Although the first delay (62) is listed in about 6 seconds in fig. 2；Second Delay (64) is classified as about two seconds；Third delay (65) is listed in about zero to three seconds, and the 4th delay (66) is listed in about one Second was by two seconds；Other duration of delay are possible, and can be intended to fall within the scope of the appended claims.Due to satellite channel The limitation of bandwidth (for example, L-band bandwidth) and the propagation delay of Geo-synchronous satellite need some times (for example, about 4 seconds) To provide a full set of correction to mobile receiver 12 or roaming station from data processing centre 18.According to the certain of position accuracy Model, each volume higher than total target delay (for example, receiving time from time of measuring to from roaming station) of clock correction The path that the second outer delay or target delay range may be used in roaming station navigation reaches 5% to path accuracy.

Fig. 2 B is the figure for showing the associated delay of offer with correction signal, and is used for more specifically, showing and having The correction signal of one group of clocking error of corresponding satellite, wherein collecting measured value with the lower delay of the measured value than Fig. 2A.It removes The first delay 162 and the second delay 164 of Fig. 2 B with the first of Fig. 2A postpone 62 and second delay 64 compared to being respectively shortened, figure 2A is similar to Fig. 2 B.Similar appended drawing reference in Fig. 2A with Fig. 2 B indicates similar element.

As shown in Figure 2 B, other than the first delayer 162 was with about two seconds or shorter duration, first prolongs Slow 162 or measured value acquisition time similar to Fig. 2A first delay 62.First delay 162 can pass through one in following factor It is a or multiple and reduce relative to the first delay 62: (1) to collect measurement from one group of parametric receiver 30 within the shorter period The measurement Value Data from satellite, satellite-signal or parametric receiver is ignored by data processing centre 18 in Value Data, (2), this A little measurement Value Datas do not pass through quality examination or statistical analysis, such as the standard deviation that the fuzziness for wide lane ambiguity parses The fuzziness after narrow lane ambiguities or refraction correction at difference, one or more parametric receivers 30, and (3) pass through it is higher Clock speed, parallel data processing, improved effective software instruction in correction data estimator 34 etc. enhance data processing The handling capacity or data-handling capacity at center 18.

Similarly, other than the second delay 164 is with about ten milliseconds or shorter of duration, the second delay 164 Or the clock processing time is similar to the second delay 64 of Fig. 2A.Second delay 164 can pass through one or more in following factor It is a and reduce relative to the second delay 64: (1) during shorter period from one group parametric receiver 30 collect measurement Value Data, (2) the measurement Value Data from satellite, satellite-signal or parametric receiver, these measured values are ignored by data processing centre 18 Data do not pass through quality examination or statistical analysis, for example, the fuzziness for wide lane ambiguity parse standard deviation, one or The fuzziness after narrow lane ambiguity or refraction correction at multiple parametric receivers 30, and (3) by higher clock speed, Parallel data processing, improved effective software instruction in correction data estimator 34 etc. enhance gulping down for data processing centre 18 The amount of spitting or data-handling capacity.

Fig. 3 is for providing the satellite with accurate, low latency Global Navigation Satellite System (GNSS) satellite clock The block diagram of another embodiment of the system of correction signal.In addition to data storage device 24 stores or supports correction data estimator 34 And provide correction data 16 to mobile receiver 12 terminal user flowing two optional paths, the system class of Fig. 3 The system for being similar to Figure 1A or Figure 1B.In Figure 1A, Figure 1B, similar appended drawing reference indicates similar element in Fig. 3.

Correction data estimator 34 (for example, innovation clock track real-time estimation device (iCORE)) includes can be by data processing The module or software instruction that device 20 executes, to be connect for the input based on carrier-phase measurement and from one or more reference The related data for receiving device 30 is provided as the correction data 16 exported.The related data may include such as satellite identifier, satellite The data of signal identifiers (for example, frequency or frequency band), or almanac data associated with received satellite-signal, reference station mark Know symbol (for example, or reference station coordinates), time of measuring label relevant to the carrier phase of measurement and other auxiliary datas. In addition, in other embodiments, which may include known or fixed position (for example, three-dimensional coordinate) for having The preprocessed data of any parametric receiver 30 or reference station, the wide lane ambiguity of parsing, the narrow lane ambiguity of parsing or parsing Refraction correction after fuzziness.

Correction data estimator 34 generates correction data 16, which can receive via correction wireless device Solution of fuzzy degree analysis is carried out on the one or more mobile receivers 12 or roaming station of correction data 16.Correction data estimator 34 is adopted Low latency clock data and satellite deviation are generated with the fuzziness analytical algorithm of innovation.For example, correction data estimator 34 or The framework of data processing centre 18 is very suitable for supporting many (for example, 100 or more) parametric receivers 30 or reference Processing measurement Value Data (and associated preprocessed data) stood, including all necessary calculating within part second, Such as measured value pretreatment, track and clock determination, fuzziness parsing and correction of a final proof data 16 generate.

In one embodiment, correction data estimator 34 includes that measured value pre-processes (MPP) module 36, track solution mould Block, clock solution module 44, low latency clock module 42 and correction distribution module, to provide global differential correction data 16.One In a embodiment, measured value pre-processes reference data network 32 of (MPP) module 36 from one or more reference satellite receivers Receive grid of reference data 46.Grid of reference data 46 may include one or more of the following terms: original measurement value comes Raw carrier phase measured value from each reference satellite receiver, the source code phase from each reference satellite receiver Measured value, reference satellite receiver identifier, positional shift of the parametric receiver 30 from its known location or positional shift vector, Phase offset, atmosphere deviation data, satellite deviation data, the receiver variation of positional shift corresponding to parametric receiver 30 According to, receiver clock deviation data, satellite clock biases data or other data.Original measurement value can refer to from one or more The raw carrier phase measured value of a reference satellite receiver, or the source code from one or more reference satellite receivers Phase measurement, or both.

In one embodiment, correction data estimator 34 can be based on the grid of reference number from reference data network 32 Correction data 16 or correction signal are generated in real time according to the measurement Value Data of 46 or collection, and wherein correction data 16 is generated to provide Centimeter Level accuracy estimated value, the Centimeter Level accuracy estimated value include: (1) satellite orbit estimated value, the estimation of (2) satellite clock Value and (3) Satellite Phase deviation and its quality information.

In one embodiment, measured value preprocessing module 36 receives grid of reference data 46 as input data and applies Wide lane estimator 37 (for example, fuzziness parsing estimator (ARE)) is to export wide lane ambiguity and corresponding wide lane deviation.Example Such as, preprocessing module 36 or wide lane estimator 37 (for example, wide lane filter or Kalman filter) can export fixed width Lane ambiguity and relevant wide lane deviation (48).

Wide lane ambiguity and corresponding wide lane deviation data are transmitted to track solution module 38 by measured value preprocessing module 36 With clock solution module 44.Track solution module 38 receives the input of wide lane ambiguity with corresponding wide lane deviation data and using track Narrow lane estimator 39 (for example, narrow lane ARE (fuzziness parsing estimator)) with provide prediction satellite orbit data 50 (for example, O2C data) output.The satellite orbit data 50 of prediction can be used for correcting the orbit error in slow clock and low latency solution, and produce Orbit correction signal is given birth to be integrated in correction data 16 to be supplied to terminal user.

The satellite orbit data of prediction is transmitted to clock solution module 44 by track solution module 38.Clock solution module 44 receives pre- The input of the satellite orbit data 50 of survey and wide lane ambiguity and relevant wide lane deviation (48).Clock solution module 44 is applied The narrow lane estimator 43 (for example, narrow lane (fuzziness parsing estimator), narrow lane filter or Kalman filter) of clock simultaneously exports Orbital data 50, clock satellite deviation data and the satellite deviation quality data (52) of prediction.For example, in one embodiment, Clock solution module 44 exports one or more of the following terms: predicted orbit data, clock satellite deviation data, satellite deviation The wide lane deviation correction of the slow clock correction of qualitative data, satellite, satellite and the narrow lane deviation correction of satellite.

Low latency clock module 42 and clock solution module 44 are communicated to receive orbital data 50, the clock satellite deviation of prediction Data and satellite deviation quality data (52), wherein clock satellite deviation data may include the wide lane deviation correction of satellite and satellite Narrow lane deviation correction.In addition, in one embodiment, low latency clock module 42 receives the slow clock correction of satellite.When low latency The output of clock module 42 includes the low latency correction data 16 of one or more of the following terms: the low latency for respective satellite Accurate satellite orbital corrections data 50, the accurate clock data of low latency for respective satellite, wide lane satellite deviation, With narrow lane satellite deviation.In one embodiment, with bigger than the similar higher delay data provided by clock solution module 44 Message transmission rate provide low latency data, wherein low latency data regularly update, opposite with bigger message transmission rate It answers, to provide accurate and current correction data 16.

In certain configurations, data processing centre 18 can be via communication link and geographically (for example, in global basis On) distribution one or more auxiliary datas processing hinge (not shown) communication, wherein each auxiliary data processing hinge configuration There is the hardware and software for being similar to the data processing centre 18 with correction data estimator 34, and data processing centre 18 can Hinge is handled to control one or more auxiliary datas.

For example, correction manager 40 can select in combination individually or with one or more auxiliary datas processing hinge The correction data 16 (for example, best correction data 16 or most reliable correction data 16) provided by data processing centre 18 with In being assigned to terminal user.In addition, correction manager 40 can choose the geographic range of measurement Value Data or the identity (example of satellite Such as, the exceptional value from fault satellites or insecure measured value can be ignored) for via satellite or wireless communication system 57 are assigned in the correction data 16 of terminal user.

Correction manager 40 can monitor that correction data 16 to carry out error correction, and assigns data to Data correction number According to the terminal user or subscriber of 16 services.Correct manager 40 can via satellite communication network, wireless network (for example, WiFi, 802.11 or cellular network) or both distribute correction data 16.Broadcast system can generate 54 (example of server from multiple corrections As data processing centre 18 and one or more auxiliary datas handle hinge) optimal global differential school is transmitted to user's receiver Just.For example, can choose this group of global differential correction, and INMARSAT telecommunication satellite is up to by land earth station (LES), As shown in Figure 3.

Correction data 16 can be transmitted or be distributed to satellite uplink communications device or via defending by correction manager 40 Star communication network distributes satellite data.In turn, satellite uplink communications device utilizes transceiver, transmitter and receiver Combination provides signal to telecommunication satellite 35, to be passed correction data 16 by electromagnetism or satellite-signal (for example, L-band signal) It is sent to mobile receiver 12 or roaming station configured with correction wireless device 14.In some embodiments it is possible to having correction The electromagnetism or satellite-signal of data 16 are encrypted or are encoded, so that only subscriber or licensee are accessible, decode or decrypt Correction data 16 or the correction data of certain class of accuracies 16 (for example, SF3 correction data 16).

Correction data 16 can be transmitted or be assigned to the electricity of accessible such as internet 56 etc by correction manager 40 The server 54 of sub- communication network.For example, server 54 may include accessing internet 56 by ISP Computer, so that correction data 16 being capable of the transmission in one or more data packets 55 (for example, Internet Protocol Data packet).It should Data packet can be by cordless communication network 57 (such as WiFi wireless system, Local wireless network, wide area wireless network or via school The just cellular communication system of wireless device 14) processing, correction wireless device 14 may include smart phone, WiFi enabling communication receipts Device is sent out, or for receiving correction data 16 and the correction data 16 received being supplied to the another of mobile receiver 12 or roaming station One device.Such as with the satellite-signal of correction data 16, the correction data 16, the data packet that are sent by server 54 55 or both can be encrypted or encode, so that only subscriber or licensee are accessible, decode or decrypt correction data 16, or The correction data 16 of the certain level of accuracy of person.

The mobile receiver 12 of terminal user can receive correction data 16, and correction data 16 is corrected including global differential. Mobile receiver 12 or roaming station can be based on received 16 analytic fuzzy degree of correction data and realize that Centimeter Level is navigated.

Fig. 4 illustrates in greater detail the illustrated examples of the correction data estimator 34 of Fig. 3.In figs. 3 and 4 similar Appended drawing reference indicate similar element, module or feature.

Correction data estimator 34 includes measured value preprocessing module 36, track solution module 38, clock solution module 44 and low Delayed clock module 42.Measured value pre-processes (MPP) module and is prepared " only by correction data estimator 34 and its other modules Change " measured value and provide the fixed fuzziness in wide lane and wide lane deviation product.Track solution module 38 provides accurate satellite position And velocity estimation, to help with particular reference to carrying out geometry estimation appropriate between receiver 30 and respective satellite or distance is estimated It calculates.Track solution or precise orbit data are provided so that correction data estimator 34 and its other modules use.Clock solution module 44 with low rate, slow clock rate or at a slow speed renewal rate provides the slow clock solution estimated value of satellite and narrow lane deviation product.It is low to prolong Slow clock module 42 is mentioned with low latency renewal rate (for example, about 1Hz (Hz) or higher), fast velocity or quick renewal rate For quick satellite clock estimated value, quick renewal rate is greater than slow clock rate.In addition, low latency module integral, management and biography Send status data and filter result to share between fuzziness parsing filter, so that MPP module, track solution module 38 and slow Clock solution module 44 can export or generate in real time one group of consistent correction data 16 or signal.

Each of MPP module, track solution module 38 and clock solution module 44 include two parts: (1) homodyne filters Device and (2) online fuzzy degree parsing module or filter.In one embodiment, each homodyne (ZD) filter is (for example, karr Graceful filter) execute one or more of the following terms: ZD measured value (a) is handled, the shape of ZD filter (b) is limited or formed State variable, (c) and (for example, state variable and state based on restriction) executes or handles the update and/or dynamic of ZD filter It updates.In one embodiment, online fuzzy degree analytic estimation (ARE) module pass through one or more predictive filters execute or Fuzziness parsing is carried out, which is, for example, wide lane estimator 37 (for example, wide lane filter), narrow lane Estimator 39 (for example, narrow lane filter) or another predictive filter (for example, Kalman filter).Online fuzzy degree solution Analysis estimation block can parse wide lane ambiguity and narrow lane ambiguity.Because the renewal rate and data mode of disparate modules can be with It is different, so different ZD filters and ARE module are (for example, wide lane estimator 37 (for example, wide lane filter), narrow lane Estimator 39 (for example, narrow lane filter) or both) it is used for disparate modules, such as MPP module, track solution module 38 and clock solution Module 44.

In one embodiment, low latency clock module 42 can export two differences using only carrier-phase measurement Clock variation between epoch.In order to improve computational efficiency, the Double deference method between time and satellite is for reducing estimation shape The size of state, such as fringe and receiver clock estimated value.Using prior model and the remaining convection current from slow clock solution Layer Error estimation value corrects troposphere deviation.Low latency clock module 42 estimates satellite clock variation, rather than refers to and receive The variation of 30 clock of device.The calculating of data processing centre 18 is highly effective.For example, if the disclosure is being submitted by data processing centre 18 When realized on existing desktop computer, then data processing centre 18 may spend several milliseconds to complete to handle for any epoch All surveys for any epoch of many positions or parametric receiver 30 (for example, 60 or more parametric receivers 30) Magnitude.

Measured value preprocessing module

As shown, measured value preprocessing module 36 further includes measured value pretreatment homodyne filter 400 and the wide lane of network Fuzziness parses estimator (for example, wide lane estimator 37 (for example, wide lane filter)).Measured value pre-processes homodyne filter 400 support accurate point location (PPP).Optional measured value pretreatment homodyne filter 400 can be used for determining for reference data One or more parametric receivers 30 in network 32, with raw carrier phase measured value (for example, L1 raw carrier phase, The wide lane difference of the L1/L2 combination of L2 carrier phase, carrier phase) associated no difference or homodyne (ZD) fringe or floating Dynamic model paste state.Homodyne filter is shown in dotted line in Fig. 4, and it is optional for showing homodyne filter, and replaceable Embodiment in may include in wide lane estimator 37 (for example, wide lane filter).For example, can be based on comprising carrying out self-reference The correction data 16 of the satellite deviation information of the network or group of receiver 30 determines homodyne fringe.

Original measurement value is received from each parametric receiver 30 of reference data network 32 in measured value preprocessing module 36 Later, measured value preprocessing module 36 is with aturegularaintervals or sampling interval processing, pretreatment and " purification " measured value, and parses Wide lane (WL) fuzziness, the wide lane ambiguity in the visual field of each parametric receiver 30 with the received carrier wave phase of each satellite Position measured value is associated.By the carrier wave measured value of offer " purification " and corresponding fixed wide lane ambiguity and respective Satellite WL deviation, measured value preprocessing module 36 provide support for track/clock solution and low latency clock.

In one embodiment, measured value preprocessing module 36 usesLinear combination is made Following state variable is estimated for homodyne (ZD) measured value:

1) the ZD floating WL fuzziness of each visible satellite and reference position (parametric receiver 30), a combination thereof receiver Wide lane deviation and WL integer ambiguity.

2) each one lane Ge Kuan deviation of satellite.

3) one GLONASS IFB WL coefficient of each tracing positional.

Use ZD floating WL fuzziness as wide lane estimator 37 (for example, wide lane filter) (for example, Kalman filtering Device) constraint condition or search restriction condition, the either wide lane estimator 37 of measured value preprocessing module 36 is (for example, wide Lane filter) the parsing WL fuzziness in the form of double difference (DD) and single poor (SD), wherein receiver WL deviation is cancelled.

In the alternative embodiment of the parametric receiver 30 of tracking GLONASS satellite, measured value preprocessing module 36 is determined The GLONASS IFB WL coefficient of each tracing positional, wherein the sensitivity coefficient of GLONASS IFB WL coefficient is satellite frequency Quantity.This state variable is only applicable to GLONASS situation, and other GNSS systems such as be not suitable for GPS.

In order to make to calculate effectively, if not detecting cycle slip, measured value preprocessing module 36 is between such as 60 seconds Every the ZD to each positionMeasured value is averaged.For example, parametric receiver 30 includes cycle slip Detector, for detecting from given satellite or reliably most group needed for the three-dimensional position of track reference receiver 30 Carrier cycle slip in the carrier-phase measurement of each reception signal of satellite (for example, five satellites).For between each sampling Every measured value preprocessing module 36 or ZD filter (for example, ZD Kalman filter) are handled on the basis of position one by one and put down Sliding ZDMeasured value.Interval is updated with each measured value, ZD Kalman filter dynamic is more New and measured value updates processed to update state variable.

In alternative embodiments, GPS and GLONASS system has two lists associated with measured value preprocessing module 36 The lane Du Kuan estimator 37 (for example, wide lane filter).Because the deviation of parametric receiver 30 is not used in the navigation of user's receiver, So the deviation of parametric receiver 30 is not desired global differential product.Therefore, multiple in order to reduce filter size and calculating Miscellaneous degree, the WL deviation of parametric receiver 30 are not estimated clearly and are alternatively incorporated into ZD floating fringe.

Specifically, preprocessing module 36 or the wide lane ambiguity filter of network use the homodyne (ZD) in equation (1)The lane a Ge Kuan floating die of each visible satellite is estimated in linear combination as input measurement value Paste state.Wide lane satellite deviation can in correction data 16 or correction signal real-time transmission to mobile receiver 12, and Equation (2) will be used to compensate this.

In one embodiment, it can be applied under wide lane estimator 37 (for example, wide lane filter) use that PPP is determined The following equation of face description.Given code and phase measurement from two frequencies, such as the L1 and L2 of GPS, be used for The G1 and G2 of GLONASS, can form as followsLinear combination

By the way that above-mentioned equation (1) is unfolded, geometric distance continuous item can be shown and be cancelled, geometric distance continuous item include away from Terminate item from, receiver and satellite clock, ionosphere and tropospheric error and phase.It can be expressed as with equation (2)

Wherein:

λ_WLIt is wide lane wavelength, is about 86.4 centimetres for GPS, and c is the light velocity,

It is the wide lane ambiguity of complete cycle of satellite j,

b_WLIt is wide lane receiver deviation (each receiver one, cluster are used for all visible satellites), it is that L1 and L2 connect The combination for receiving device code deviation and phase deviation, as shown in formula (5):

Wherein most of GLONASS frequency offsets in code measurementsWithUsually it is assumed that GLONASS is defended The linear function or trigonometric function of star number of frequencies；For all visible satellites, the case where with CDMA signal (such as GPS) It is different；

Wherein IFB^jIt is the frequency offset of satellite j, satellite j such as GLONASS satellite；

WhereinIt is wide lane satellite j deviation (one, each satellite)；With

WhereinIt is the wide lane measurement error of satellite j, and including white noise, multipath and remaining unmodeled dynamiocs.

About the frequency offset of each satellite, for GLONASS cluster, linear model can be approximated to be equation (6):

IFB^j≈k·n^j (6)

Wherein k is the IFB coefficient of receiver code deviation.IFB changes from receiver to receiver, from an addressing (antenna and wiring setting) is also different to another addressing.It models in this way, usual k is less than 0.1.

Wide lane satellite j deviation(one, each satellite) is the combination of L1 and L2 satellite code deviation and Satellite Phase deviation, As shown in formula (7)；Satellite deviation is slowly varying at any time；Satellite and the wide lane deviation of receiver can all change with the time:

WhereinIt is the satellite deviation of the satellite j of code phases or pseudorange encoded or combined on frequency L1 (f1) letter Number, whereinIt is the pseudorange in the satellite deviation or frequency L2 (f2) of the satellite j of code phases, whereinIt is on frequency L1 The satellite deviation of the satellite j of carrier phase, whereinIt is the satellite deviation of the satellite j of the carrier wave code on frequency L2.

Track solution module

Track solution module 38 is related to track and determines.In correction data estimator 34, including slow clock estimation block and low Other main modulars of delayed clock module 42 do not estimate satellite orbit.Other modules place one's entire reliance upon from the corresponding of track solution Predicted orbit in effective orbit time section (for example, a few minutes).Because GNSS satellite track is smooth, track solution mould Block 38 is run with orbit correction rate or compared with low rate, compared with low rate should be, for example, each iteration 300 seconds or track solution it is each It updates 300 seconds.In correction data estimator 34, including measured value preprocessing module 36, rail module, clock module and low prolong The module of slow clock module 42 can be run parallel.

Track solution uses refraction correction code and carrier-phase measurement from universal reference station network.In track solution mould To consider the state variable of three types in block 38 and its correlation filter, such as track homodyne filter 404 and for obscuring Spend the network N L filter of parsing:

1) state variable of satellite, including the narrow lane deviation of satellite position, speed, satellite clock, satellite, yaw speed are depended on Rate and experience solar radiation force modeling parameter.

2) state variable of receiver, including reference position, receiver clock, residual tropospheric deviation and ladder are depended on Degree, carrier phase ambiguity.

3) common state variable, including the earth orientation parameters such as polar region movement and UT1-UTC.

In order to provide global differential positioning service, such as the service of STARFIRETM correction data 16, it is necessary to which estimation is accurate Accurate satellite clock and track are simultaneously real-time transmitted to terminal user's receiver by satellite clock and track.STARFIRE correction number It is the trade mark of the Illinois not Deere & Co. (Deere&Company) of woods according to 16 services.Typically, since pre- in a few minutes The error of the satellite orbit (for example, referred to as O2C data) of survey is fairly small and stablizes and the clock that can even be estimated absorbs, So these predicted orbits are considered known in clock estimation.The track of prediction can be used in correction data estimator 34 Data come correct the track error in slow clock solution and low latency solution and in real time generate correction data 16.

In one embodiment, track solution module 38 may include track homodyne filter 404 and the narrow lane ambiguity of network Analytic estimation device (ARE).Utilize the benefit of the result (for example, floating fringe) of pretreatment homodyne filter 400, track zero Poor filter 404 can be used for determining for one or more parametric receivers 30 in reference data network 32 without difference or zero Poor (ZD) fringe or floating fringe, no difference or homodyne (ZD) fringe or floating fringe and primary carrier Phase measurement is (for example, wide lane difference or load that the L1/L2 of L1 raw carrier phase, L2 carrier phase, carrier phase is combined The narrow lane difference of the L1/L2 combination of wave phase) it is associated.

In advance using the narrow lane difference with raw carrier phase measured value or raw carrier phase measured value and by measured value The relevant no difference of WL fuzziness or homodyne (ZD) fringe or floating fringe after managing the parsing that module 36 provides Benefit, the narrow lane ambiguity estimator of network (associated with track solution module 38) can be evaluated whether in reference data network 32 The narrow lane ambiguity (for example, fixed complete cycle NL fuzziness) or the lane refraction correction Hou Zhai mould of one or more parametric receivers 30 Paste degree.The WL fuzziness of parsing may be used as constraint in search process or for assisting NL fuzziness estimator (for example, NL Filter) quickly converge on integer ambiguity solution for carrier-phase measurement.

Clock solution module

In one embodiment, clock solution module 44 may include clock homodyne filter 408 and the narrow lane ambiguity of network Analytic estimation device (ARE).Utilize the benefit of the result (for example, floating fringe) of pretreatment homodyne filter 400, clock zero Poor filter can be used for determining for one or more parametric receivers 30 in reference data network 32 without difference or homodyne (ZD) fringe or floating fringe, no difference or homodyne (ZD) fringe or floating fringe and primary carrier phase Position measured value is (for example, wide lane difference or carrier wave that the L1/L2 of L1 raw carrier phase, L2 carrier phase, carrier phase is combined The narrow lane difference of the L1/L2 combination of phase) it is associated.Although ZD obscures quick condition and other filter status and can share Filter status be timely share in degree, but clock ZD filter can with its in correction data estimator 34 His ZD filter is different, operates for the renewal rate of state.

Using the narrow lane difference with raw carrier phase measured value or raw carrier phase measured value and by providing constraint The relevant no difference of WL fuzziness or homodyne (ZD) fringe or floating fringe that measured value preprocessing module 36 provides Benefit, the narrow lane ambiguity estimator of network (associated with clock solution module 44) can be evaluated whether in reference data network 32 One or more parametric receivers 30 narrow lane ambiguity (for example, refraction correction, fixed complete cycle NL fuzziness).

Slow clock solution module

All or most of measured values (for example, carrier-phase measurement) from reference data network 32 reach at them It is collected, pre-processes when data processing centre 18 and by batch processing.Data processing centre 18 or correction data estimator etc. To time it is longer, collection can be used for handle measured value it is more, but delay longer and clock solution incoming terminal use A possibility that may being run ragged when the mobile receiver 12s at family, is bigger.In certain embodiments, slow clock solution module 44 or school Correction data estimator 34 estimates thousands of states usually to determine clock solution.For example, data processing centre 18 may spend several seconds To complete the calculating process of slow clock solution.In order to reduce the corrective delay and utilize more multiple measuring values, correction data estimator 34 makes With two clock solutions, including slow clock solution and low latency clock solution.In slow clock solution module 44, as long as they prolong in fixation Late, such as 6-15 seconds, it reaches before, batch processing just is carried out to all measured values.

Other than several main differences, slow 44 measured value of clock solution module and clock homodyne (ZD) filter are (for example, ZD Kalman filter) use the measured value similar with track solution module 38.Firstly, slow clock solution module 44 is with different rates The update of (such as every 30 seconds or 60 seconds) operation or offer to slow clock solution.In contrast, because clock correction compares orbit correction Quickly change, so the update of operation in track solution module 38 every 300 seconds or offer to orbital data or track solution.Secondly, In In slow clock solution module 44, other than satellite orbit correlated condition, all or most of state variables are kept and track solution mould Corresponding states variable in block 38 is same or similar.State relevant to satellite orbit is not estimated, but is used and come from track solution The orbital estimation result of the track solution of module 38.

In one embodiment, the complete global differential correction of 44 exportable one group of slow clock solution module or correction data 16 comprising one or more of following correction: satellite orbital corrections, satellite clock correction, satellite WL deviation, satellite NL are inclined Difference and quality information.The convection current layer parameter of correction data 16 and estimation can be transmitted to low latency clock by slow clock solution module 44 Module 42.As it is used herein, such as satellite WL and NL will be related to by not being identified as " deviation " of satellite or receiver deviation The satellite deviation of deviation etc.Global differential correction product is lost interest in or is not concerned with to the deviation of parametric receiver 30, and Therefore it is not solved in parametric receiver 30, and the deviation of mobile receiver 12 can be processed in mobile receiver 12.

Slow clock solution module 44 estimates satellite and receiver using no difference refraction correction code and carrier phase observation The narrow lane deviation of clock, troposphere deviation, satellite.In one embodiment, the very low (example of track renewal rate of orbital data Such as, 5 minutes renewal rates), the speed renewal rate (for example, 30 seconds) of slow clock is even longer.Because of necessary and receiver Estimate a large amount of fuzzinesses together with satellite clock parameters, so especially in the case where fuzziness parsing and satellite Error estimation, The calculating of data processing centre 18 is time-consuming.When data processing centre 18 or correction data estimator 34 can wait longer Between with ensure they reach StarFire data processing centre 18s when collect and processing from reference data network 32 (for example, Global network) enough measured values.The time that data processing centre 18 waits is longer, the measurement that data processing centre 18 collects Value is more, this also leads to the more long delay of clock correction, with the mobile receiver 12 of real-time incoming terminal user in time.Data Processing center 18 and correction data estimator 34 timely enough keep Data correction for roving receiver use in real time, make Satellite clock and satellite deviation the complete cycle property that keeps the fuzziness of roving receiver to parse together.Fuzziness fixation can subtract The accuracy of few convergence time and the navigation for improving mobile receiver 12 or roaming station.

As shown in figure 4, in one configuration, low latency clock module 42 further includes clock increments filter 412.Although Module is shown as individual box in the block diagram of Fig. 4, it will be appreciated that correction data estimator 34 shown in Fig. 3 and Fig. 4 It can be realized by one or more predictive filters, such as Kalman filter, and the expression of these boxes can be used for promoting Or execute a kind of possible explanation of the illustrative software of method and system described in the disclosure.

Fig. 5 is to illustrate slow clock process 500 (for example, moderate delayed clock process) and fast clock process 502 (for example, low Delayed clock process) parallel work-flow figure.Two in Fig. 5 parallel to the axis show to the right will increase the time to it is identical when Between scale.Slow clock process 500 is supported or executed to clock solution module 44 (for example, updating interval or moderate update with slow clock Interval), and low latency clock module 42 is supported or executes fast clock process 502 or low latency clock process (for example, with fast clock It updates interval or low latency updates interval).In one embodiment, clock solution module 44 is at a regular interval (for example, In At T0, T30 and T60), interval is such as updated (for example, as shown, about 30 chronomeres, such as about 30 with slow clock Second), it is inclined that slow clock data (504,506), the wide lane deviation correction data of satellite, the narrow lane of satellite are provided to low latency clock module 42 Poor correction data, slow clock data (504,506) is, for example, the slow clock correction data of satellite.In one embodiment, track solution Satellite orbital corrections data 50 can be provided separately with orbit correction rate in module 38, and in another embodiment, clock solution Module 44 provides satellite orbital corrections data 50 and the slow clock correction data 16 of satellite.For example, clock solution module 44 is with rule Time interval, such as at time T0, T30 and T60, provide slow clock data, as shown in Figure 4.

Meanwhile low latency clock module 42 using or use slow clock data (504,506) as basic data or input Data, to update interval or fast clock update interval calculation for the clock increments tune of slow clock correction data 16 with low latency It saves (508,510).Low latency clock module 42 with low latency update interval output calibration data 16 or clock increments adjust (508, 510), which updates interval to update the rate of larger interval or the update of shorter renewal time interval than slow clock.Example Such as, low latency clock module 42 generates low latency correction data 16, low latency correction with low latency rate (or fast clock rate) Data 16 can be the integral multiple of slow clock renewal rate.In addition, low latency clock module 42 or estimator can be by effective times Section distributes to correction data 16 (for example, low latency clock data) or suitable (for example, being approximately equal to) with slow clock update interval Clock increments adjust.

In one embodiment, low latency clock module 42 or clock increments filter 412 use (for example, being used only) to carry Wave phase measured value changes (clock increments increment) to calculate clock, as shown in Figure 5.Slowly varying parameter, such as convection current Layer and the narrow lane deviation of satellite, are fixed to, are synchronized with the estimated value of slow clock solution module 44, or the estimation by slow clock solution module 44 Value provides.Slow clock module is with slow clock renewal rate, such as every 30 seconds primary, periodically from slow clock module to low latency Module, which provides, updates (for example, from slow clock process to low latency clock process).Low latency clock module 42 is using T0 and currently Increment carrier phase between epoch Ti estimates clock increments data.When slow clock module provides the new ginseng of such as T30 epoch When examining epoch, low latency clock module 42 will change from T0 to T30 with reference to epoch.

Fig. 6 is for providing the satellite with accurate, low latency Global Navigation Satellite System (GNSS) satellite clock One embodiment of the method for correction signal.The method of Fig. 6 starts from box 600.

In box 600, data processor 20, correction data estimator 34 or track solution module 38 are based on from one or more The received grid of reference data of a parametric receiver 30 46 are (for example, be used for the batch data or original measurement value of time or epoch Ti Data) and from track solution module 38 or data storage device 24 is stored in (for example, register, electronic memory or non-volatile Property random access memory) in previous prediction orbital data (for example, be used for time T), when being used to accordingly measure to determine Between the predicted orbit data (for example, epoch Ti) or the update to predicted orbit data.Time of measuring or epoch (for example, Ti) can With next epoch after the epoch or the first epoch (for example, T0) before being.In addition, track solution module 38 can be based on wide lane Fuzziness and corresponding wide lane ambiguity deviation data provide the orbital data of prediction (for example, being used for time of measuring or epoch Ti Predicted orbit data) or update to predicted orbit data, wherein wide lane ambiguity and corresponding wide lane ambiguity variation It is provided according to by measured value preprocessing module 36.

In an example for executing box 600, correction data estimator 34 or track solution module 38 are based on track solution and exist Regular time in low latency clock module 42, with track renewal rate (such as every 300 seconds primary), estimation is pre- in a few minutes The orbital data (for example, O2C data) of survey.

In box 602,44 track based on prediction of data processor 20, correction data estimator 34 or clock solution module Data (for example, at time of measuring or epoch Ti or epoch T0) and based on from one or more parametric receivers 30 it is received Grid of reference data 46 (for example, batch data or original measurement Value Data for being used for time or epoch T0), to determine that clock inputs Data or update, slow clock solution data, wide lane deviation and the narrow lane variation of the clock input at time of measuring or epoch T0 According to.As used herein, time of measuring or epoch Ti are after time of measuring or epoch T0.

For example, data processor 20, correction data estimator 34 or clock solution module 44 determine clock in box 602 Input data, or with slow clock rate or the update of the clock input updated with slow clock interval.Therefore, from time of measuring T0 to The transformation of time of measuring Ti not necessarily triggers the update of clock input data, unless between Ti and next update of slow clock process Every consistent.For example, the preprocessed measurement from measured value preprocessing module 36 was batch processing and at several second for box 604 Low latency clock module 42 is sent to after the waiting window of (such as 1-2 seconds).Meanwhile by pretreated measured value longer (such as 6-15 seconds) are sent to track/clock solution module after period.

After box 602, this method continues in box 604.In box 604, data processor 20, correction data Estimator 34 or low latency module are that each position of grid of reference selects reference satellite, or each reference for grid of reference Receiver 30 selects a pair of of reference satellite.For example, in one embodiment, correction data estimator 34 or the selection of low latency module There is no cycle slip, reference satellite of the satellite as each reference position with highest elevation.For troposphere deviation compensation, answer Consider any difference in height between parametric receiver 30 and mobile receiver 12.Using prior model and from the residual of slow clock solution Remaining troposphere Error estimation value corrects troposphere deviation.

In block 606, data processor 20, correction data estimator 34 or low latency module determine at this to satellite and The double difference between carrier-phase measurement or narrow lane carrier-phase measurement at time of measuring or epoch T1 and T0.For example, In At time of measuring or epoch Ti and T0 and this is to the carrier-phase measurement determined at each parametric receiver 30 at satellite Double difference.Double difference (DD) narrow lane ambiguity is parsed with the carrier-phase measurement of the accurate refraction correction of determination, wherein for accurate Refraction correction carrier-phase measurement, certain deviations are cancelled.For example, in Double deference technology, with one in lower deviation A or multiple can be cancelled: receiver code phases deviation is (for example, receiver code phases deviation and satellite code phase are inclined Difference), carrier phase deviation (for example, receiver phase deviation and Satellite Phase deviation) and clock jitter be (for example, receiver clock Deviation and satellite clock biases), these deviations are shared between satellite and receiver, and can pass through satellite and reception Double deference between device operates to offset.Some ionospheric propagation delay distortions are offset in double-difference equation.In different time, In After the Double deference of Double deference between same reference receiver 30, the residue including ionosphere and troposphere extension can be ignored Atmosphere errors.However, the ionospheric error between the different parametric receivers 30 separated by Long baselines can be estimated by correction data It calculates the estimation of device 34 and uses.

In one embodiment, low latency clock module 42 reduces the corrective delay, using from the absolute of slow clock solution Clock improves clock accuracy.In order to improve computational efficiency, using the Double deference measured value between time and satellite, so that disappearing Except some unnecessary states of such as fuzziness and receiver clock etc.Low latency module or clock increments filter 412 Only estimate satellite clock state change, so as to provided for mobile receiver 12 correction data 16 treatment effeciency and enhancing it is fast The delay of fast availability/reduction.

In one example, clock solution module 44 determines prediction based on the narrow lane ambiguity of the Double deference refraction correction of parsing Orbital data, satellite deviation data and satellite deviation quality data (for example, variance-covariance data).

In block 608, after data processor 20, correction data estimator 34 or low latency clock module 42 are based on parsing , orbital data, satellite deviation data and the satellite deviation matter for being received by Double deference and the narrow lane ambiguity of refraction correction prediction It measures data (for example, variance-covariance data), and the update of clock increments filter 412 is provided.With at a slow speed in box 602 Before renewal rate carries out the update next time of clock solution module 44, low latency clock module 42 only estimates satellite clock increment, So as to the low latency big with the renewal rate at a slow speed of track renewal rate and clock solution module 44 than track solution module 38 Rate, which updates, to be calculated.

In an example of the method for Fig. 6, in the box 604,606 and 608 of each position or parametric receiver 30 After each iteration, this method continues to execute box 604, until being all positions or the reference in reference data network 32 All calculating of the progress box 604,606 and 608 of receiver 30.In addition, each iteration of box 604,606 and 608 with low It is consistent that delay interval or low latency data rate provide low latency correction data 16.

In box 610, (receiver is independently complete by RAIM for data processor 20, correction manager 40 or low latency clock The monitoring of whole property) algorithm is applied to clock increments filter 412.RAIM algorithm includes solution or redundant computation using overdetermination to check The software of the consistency of satellite measurement, satellite measurement are, for example, the one or more of each parametric receiver 30 in network The carrier-phase measurement and code phase measurement of satellite.RAIM algorithm needs at least five satellites to detect in range of receiving Great carrier phase error measured value or significant error in the clock correction of any satellite in cluster.Correct manager 40 or Data processor 20, which can be deleted, suspends or be marked, to be confirmed as mistake (as suspicious or unreliable) or insecure is used for one The low latency clock correction data 16 of a or multiple satellites is ignored mobile receiver 12 or roaming station and has been marked as Suspicious or insecure low latency clock correction data 16, or to being marked as suspicious or insecure low latency clock correction Data 16 provide lower weight.

In an example for executing box 610, the received satellite-signal of institute, low latency clock module 42 or clock increments Filter 412 uses the priori satellite clock rate from broadcast ephemeris to estimate satellite clock increment using as error checking machine System, such as support RAIM algorithm.In low latency clock module 42, additional prediction filter can be used (for example, Kalman filters Wave device or least-squares estimation device) estimate the clock increments of RAIM algorithm.Furthermore, it is possible to the estimation that will be obtained from broadcast ephemeris Satellite clock increment and the satellite clock increment of estimation associated with predictive filter or least-squares estimation device compared Compared with.The state variable of estimation or the quantity of unknown quantity are equal to the quantity of effective satellite.RAIM algorithm is for ensuring to examine using cycle slip Survey and remove any measured value.

In box 612, data processor 20, correction data estimator 34 or low latency clock module 42 add up clock increasing It measures data and calculates the clock data for corresponding to time of measuring or epoch Ti, to be incorporated to correction data 16 or low latency correction number According to 16.For example, low latency correction data 16 include connect based on a satellite satellite, accurate orbit correction data 50, Accurate low latency clock data, accurate low latency clock quality data and wide lane satellite deviation data and narrow lane satellite Deviation data, these data can be applied to the particular satellite in the visual field in mobile receiver 12 or reliable reception range.In In a kind of configuration, for each corresponding time of measuring or epoch and each satellite for being applicable in for its, correction data 16 can To be global effective in GNSS system.

Fig. 7, which is disclosed, has accurate, low latency Global Navigation Satellite System (GNSS) satellite clock for providing The flow chart of another embodiment of the method for satellite correction signal.The method of Fig. 7 starts from step S800.

In step S800, the measurement module of multiple parametric receivers 30 or multiple parametric receivers 30 is located at known phase Answer at position (for example, the position being geographically distributed, such as the position in worldwide, to receive from one or more The satellite-signal of GNSS system), and the measurement of parametric receiver 30 is surveyed for the original phase measured value of corresponding position, code phases Magnitude or both.Time of measuring of the measurement module in referred to as epoch carries out original phase measurement.For example, parametric receiver 30 can be with Collect in one or more time of measuring of instruction Global Navigation Satellite System (GNSS) system time or at epoch original phase Measured value and code phase measurement value (for example, pseudo-range measurements).Code phase measurement value received is defended one or more The measured value of the code (for example, pseudo-random noise code) encoded on the carrier wave of star signal or received satellite-signal.With reference to connecing It receives device 30 to send the original phase measured value of collection or be transmitted to data processing centre 18, to estimate correction data 16, example Such as the correction data 16 of accurate point location (PPP).

In step S802, original phase measured value, code are collected from multiple parametric receivers 30 by data processing centre 18 Phase measurement or both and corresponding 30 identifier of parametric receiver or location identifier.Data processing centre 18 can make With original phase measured value and code phase measurement value for estimating correction data 16.In addition to original phase measured value, code Except phase measurement, parametric receiver 30 can provide preprocessed data or other grid of reference including following any one Data 46: wide lane ambiguity, fuzziness, carrys out free received its obtained known location of satellite-signal at narrow lane ambiguity The location error of the estimation of reference station, troposphere deviation, satellite clock biases, the deviation of satellite launch vehicle 10, almanac data and Navigation data.

In step S804, measured value preprocessing module 36 or correction data estimator 34 determine the receipts for being used for each satellite The wide lane deviation of the wide lane ambiguity and satellite of the phase measurement of collection.For example, measured value preprocessing module 36 or correction data are estimated Calculate device 34 determine for each satellite collection phase measurement the wide lane ambiguity of fixation complete cycle and the wide lane deviation of satellite with In one or more modules of auxiliary (for example, providing constraint condition to restrain quickly or effectively) estimation correction data estimator 34 Narrow lane ambiguity.

In an example for executing step S804, measured value preprocessing module 36 includes predictive filter (for example, wide lane Estimator 37 (for example, wide lane filter) or Kalman filter), to be solely based on original phase measured value and the generation of collection Code phase measuring value, or original phase measured value and code phases based on the collection in conjunction with the auxiliary data as constraint are surveyed Magnitude, for estimate be used for each parametric receiver 30 received satellite-signal wide lane ambiguity or its position.In addition, Identified wide lane ambiguity promote the narrow lane estimator of the one or more for determining track solution and slow clock solution 39 (for example, Narrow lane filter) (for example, Kalman filter) effective and quick convergence, retouched in other steps of the method for Fig. 7 It states.

In step S806, collected original phase measured value and code measurements are based on, for every in track solution The phase measurement of the collection of a satellite, track solution module 38, narrow lane ambiguity analytic estimation device or correction data estimator 34 Determine (or application is previously determined) the narrow lane ambiguity of track and the narrow lane deviation of orbiter, the narrow lane ambiguity of the track and track The narrow lane deviation of satellite and identified wide lane ambiguity and the wide lane deviation of corresponding satellite are consistent.In one example, in the time In period in the case where no cycle slip and great troposphere delay to change, fixed narrow lane ambiguity may not be needed to update, But in this group of carrier-phase measurement and generation, are updated with orbit correction rate (for example, primary every about 300 seconds) for track solution Code phase measuring value, orbit correction rate can be with this group of carrier-phase measurement of slow clock solution and code phase measurement values Renewal rate (for example, primary every about 30 seconds to 60 seconds) is different at a slow speed.There are the cycle slip of carrier phase or any carrier wave letter In the case where the low signal quality for the signal of number losing lock or any satellite being received, the narrow lane ambiguity of track can use track school Positive rate is updated by input state or the narrow lane ambiguity of clock, and orbit correction rate can be different from the slow of slow clock solution Fast renewal rate.

In step S808, the original phase measured value of track solution module 38 or correction data estimator 34 based on collection and Code measurements come (for example, with orbit correction rate) and determine satellite orbital corrections, the satellite orbital corrections and identified rail The narrow lane ambiguity in road is consistent with the narrow lane deviation of corresponding orbiter.

In step S810, collected original phase measured value and code measurements are based on, in slow clock solution The phase measurement of the collection of each satellite, clock solution module 44, narrow lane ambiguity analytic estimation device or correction data estimator 34 determine (or application is previously determined) the narrow lane ambiguity of clock and the narrow lane deviation of corresponding clock satellite, the narrow lane ambiguity of the clock Degree and the narrow lane deviation of corresponding clock satellite and identified wide lane ambiguity and the wide lane deviation of corresponding satellite are consistent.At one In example, within the time cycle in the case where no cycle slip and great troposphere delay to change, fixed narrow lane ambiguity can It can not need to update, it should but updated for slow clock solution with renewal rate at a slow speed (for example, primary every about 30 seconds to 60 seconds) Group carrier-phase measurement and code phase measurement value.There are the losing lock of the cycle slip of carrier phase or any carrier signal or appoint In the case where the low signal quality for the signal of what satellite being received, the narrow lane ambiguity of clock can be relied on renewal rate at a slow speed Input state and be updated, renewal rate can be different from the orbit correction rate of track solution at a slow speed.

In step S812, original phase measured value and code measurements based on collection are (for example, that had previously collected is original Data and the code measurements updated with renewal rate at a slow speed) and export data from original phase and code measurements, when Clock solution module 44 or correction data estimator 34 determine the slow satellite clock correction of each parametric receiver 30 (for example, and convection current Layer delay distortion and gradient), wherein the export data include one or more of the following terms: identified satellite orbit school Correction data 50, identified wide lane integer ambiguity and the wide lane deviation of corresponding satellite, the narrow lane integral circumference ambiguity of identified clock Degree and the narrow lane deviation data of respective satellite.

In step S814, low latency clock module 42 or correction data estimator 34 are measured based on the original phase of collection Value recently or the measured value of recent renewal with being greater than the quick renewal rate of renewal rate or low latency at a slow speed (for example, updated Rate update) come determine for slow satellite clock have compared with low latency satellite clock correction data 16 or clock increments adjust Amount, with provide have compared with low latency clock correction data 16, collected original phase measured value recently or recent renewal Measured value than the original phase measured value of the collection for slow satellite clock correction multiple previous measured values closer to Current value.In some embodiments, low latency clock module 42 or clock solution module 44 can be by clock increments regulated quantity applications In slow clock solution.

Step S814 can be executed according to various technologies, these technologies individually or can be applied cumulatively.

Under the first technology, clock solution module 44, low latency clock module 42 or correction data estimator 34 are for lower Delay correction data (for example, selecting not no cycle slip, reference satellite of the satellite as each position with highest elevation) make With double difference technology (for example, between time Ti and To and between reference satellite of each reference position of local reference station) With first rate (for example, relatively high rate (for example, about 1Hz or bigger)) estimation relative clock error.

Under the second technology, lower delay correction data include fast clock solution, and higher delay correction data 16 (for example, Moderate delay correction data 16) it include slow clock solution；Clock solution module 44 or correction data estimator 34 are in integration period (example Such as, about 30 seconds) in fast clock solution and slow clock solution are integrated, with provide absolute satellite clock estimated value (for example, The GPS frame of reference time).

Under third technology, when lower delay correction data include fast clock solution and higher delay correction data 16 includes slow Zhong Xie；Clock solution module 44 or correction data estimator 34 provide longer delay for slow clock solution, which includes Longer GNSS source data collection time (for example, about 6 seconds to about 10 seconds) and use for more GNSS initial data In several seconds of complicated slow clock solution or the data processing time of several seconds.

Under the 4th technology, when lower delay correction data include fast clock solution and higher delay correction data 16 includes slow Zhong Xie；Clock solution module 44 or correction data estimator 34 are with the satellite clock correction data 16 compared with low latency (for example, fast Clock solution) low latency is provided, which includes the shorter GNSS source data collection time (for example, about 1 second arrives about 2 Second) and (for example, several milliseconds) data processing time, for extremely efficiently estimating the satellite clock school having compared with low latency Correction data 16 (for example, fast clock solution).

Under the 5th technology, when lower delay correction data include fast clock solution and higher delay correction data 16 includes slow Zhong Xie；Clock solution module 44 or correction data estimator 34 are estimated using the troposphere of the slow clock solution in fast clock solution. (for example, based on prior model and residual tropospheric Error estimation value from slow clock solution estimates troposphere deviation).

Under the 6th technology, when lower delay correction data include fast clock solution and higher delay correction data 16 includes slow Zhong Xie；Clock solution module 44 or correction data estimator 34 slow clock solution and low latency satellite clock correction data 16 (for example, Fast clock solution) in use the orbit correction data 50 (for example, common rail correction data 50) from track solution.

Under the 7th technology, when lower delay correction data include fast clock solution and higher delay correction data 16 includes slow Zhong Xie；Clock solution module 44 or correction data estimator 34 are used from the satellite clock correction data 16 having compared with low latency The clock increments of (for example, fast clock solution) update slow clock solution.For example, correction data estimator 34 is to update interval or at a slow speed Renewal rate updates slow clock solution, and renewal rate is, for example, about 30 seconds to about 60 seconds (for example, to predict slow clock solution at a slow speed In satellite clock dynamic or the cumulative clock increments or change from fast clock solution.) with to slow clock solution carry out it is any when While clock increment is adjusted, slow clock solution, fast clock solution or both are all by track solution or orbit correction data 50 with for example about Primary orbit correction rate updates within every 300 seconds, to predict and the satellite clock of track decorrelation dynamic.

Under the 8th technology, when lower delay correction data include fast clock solution and higher delay correction data 16 includes slow Zhong Xie；Clock solution module 44 or correction data estimator 34 use lower delay correction, which includes main base In the change of the satellite clock correction of raw carrier phase measured value (for example, only GNSS carrier phase data).

Under the 9th technology, when lower delay correction data include fast clock solution and higher delay correction data 16 includes slow Zhong Xie；Clock solution module 44 or correction data estimator 34 estimate moderate delayed data to include absolute satellite clock, troposphere The narrow lane deviation of deviation, satellite and narrow lane ambiguity solution.

Under the tenth technology, when lower delay correction data include fast clock solution and moderate delay correction data 16 include slow Zhong Xie；Clock solution module 44 or correction data estimator 34 estimate that correction data 16, correction data 16 include satellite orbital corrections Data 50, the school with the wide lane deviation data of satellite clock correction data 16, satellite, the narrow lane deviation data of satellite compared with low latency Correction data 16, the satellite quality index with clock and narrow lane deviation compared with low latency.Correction data 16 can indicate have Available integral and absolute satellite clock data compared in the satellite correction signal of low latency.

In step S816, manager 40 or correction data estimator 34 are corrected by satellite orbital corrections data 50 and low is prolonged Slow clock correction data 16 is merged into correction data 16, which is compiled in global satellite differential correction signal Code has global validity to be transferred to one or more mobile receivers 12 for GNSS.For example, correction data estimator 34 Or data processor by the wide lane deviation of satellite, satellite orbital corrections data, the narrow lane deviation of the satellite from slow clock solution and low prolongs Slow clock correction data is merged into the correction data encoded in global satellite differential correction signal, which has complete Ball validity, to be transferred to one or more mobile receivers for GNSS.

In step S818, correction manager 40, wireless communication system 57 or correction data estimator 34 pass through correction number It will tool according to 16 message (for example, passing through satellite L-band signal or the cellular network communicated with 56 feedings of internet/correction data 16) Have compared with the satellite correction data 16 of low latency (for example, the satellite orbit, clock, the lane satellite Kuan Xianghezhai for each satellite are inclined Difference and quality signal) it is sent to one or more mobile receivers 12.

As used herein, delay is based on following time difference, which is and the measured value for processing It collects (and observation at reference station) associated more early epoch and applies handled measured value in mobile roaming receiver Time difference between Shi Hou epoch.

Fig. 8 A provides the typical time interval for providing slow clock solution or explanation corresponding with GNSS time of delaying Property chart.As shown in Figure 8 A, vertical axis 700 provides slow clock delay time or slow clock updates the instruction at interval.

Meanwhile horizontal axis 702 provides GNSS time, such as the GPS time of respective satellite.In one embodiment, it is One or more reference stations (for example, about 60 parametric receivers 30) and at least five satellites in the visual field or confidence band Group provide illustrative graph.In the illustrated examples of Fig. 8 A, slow clock solution spends went through by 3 seconds to complete one for about 2 seconds The measurement processing of member.After the measurement processing for completing each epoch, satellite clock changes (for example, clock increments data) and comes It is integrated from the absolute clock of slow clock solution, to obtain the accurate absolute clock for any epoch.Finally, these are with quality Track, clock correction and the wide lane of satellite (WL) of information, narrow lane (NL) deviation product pass through satellite channel (for example, L-band is believed Road) or cordless communication network (for example, pass through internet 56) real-time transmission to user.

Fig. 8 B, which is provided, provides the illustrative graph of low latency clock the solution time lag or extension opposite with GNSS time. As shown in figure 8B, vertical axis 704 provides low latency clock delay time or fast clock updates between interval or low latency update Every index.Meanwhile horizontal axis 706 provides GNSS time, such as the GPS time of respective satellite.In one embodiment, it is The group of one or more reference stations and at least five satellites in the visual field or confidence band provides illustrative graph.If data Processing center 18 includes desktop computer or server 54, then data processing centre 18 may spend several milliseconds to complete processing figure All measured values of low latency solution in 8B, more than fast 300 times of the slow clock solution of low latency solution ratio Fig. 8 A.The calculating of low latency is very Effectively.

It is big that the illustrated examples of Fig. 8 B show the typical correction period for correction data 16 from real-time reception device It is approximately 4 seconds comprising network data reaches the time of data processing centre 18 (for example, computer or server 54), at data The net processing time at reason center 18；And correction data 16 or 16 message of correction data are transmitted to from data processing centre 18 The correction transmission time of the mobile receiver 12 of terminal user.Regardless of whether there are any opposite language, but Fig. 8 A and figure The result of correction data 16 shown in 8B or extension are shown merely for illustrative purpose, and even if using in the disclosure When the method for elaboration, system or information, the extension of real world may with based on delaying not those of shown in many possible factors Together.

One embodiment according to Fig. 9, the system 911 for providing satellite correction signal include for receiving a system The satellite receiver of column raw satellite signal measured value.The system 911 of Fig. 9 is similar to the system 11 of Figure 1A, wherein identical attached Icon note indicates identical element.

In Fig. 9, data processing centre 118 is similar to the data processing centre 18 of Figure 1A, in addition to the Data processing of Fig. 9 The heart 118 includes the data of data collector 19, data source selector 15 and off-line data 23 or storage.Data collector 19, number It is may be coupled to data/address bus 22 according to source selector 15 and data storage device 24, for communicating with one another and at electronic data It manages device 20 and one or more data port 26 communicates.

In other embodiments, for example, data collector 19, data source selector 15, data port 26 and data storage Virtual data communication path, physical data communication path between device 24 or both are possible.For example, virtual data communicates Path can indicate logical communication path by software, link or calling.Physical data communication path may include transmission line, Cable, data/address bus, strip line, micro-strip, board traces or other physical communication paths, with the heart 118 in data handling Signal or data are transmitted between module or component.

In one embodiment, data collector 19 can via data port 26 and reference data network 32 or one or Multiple parametric receivers 30 communicate.In turn, data collector 19 can store or promote to store in data storage device 24 Off-line data, historical measurements data and the relevant almanac data recorded, during start-up mode or thermal starting mode For subsequent reference, reach the convergent starting time to reduce.The off-line data 23 of record may include one of the following or It is multiple: the historical measurements data from one or more parametric receivers 30, from one or more parametric receivers 30 Original measurement Value Data, and the related ephemeris number as measurement Value Data from identical measurement epoch or sampling time interval According to.

In one embodiment, before data storage device 24 is for current time (for example, current GNSS time of measuring) A series of time windows store the received raw satellite signal measured value of recorded off-line data 23 or institute.It can be according to can Time window is selected with the various technologies accumulating or be used alternatingly.Under the first technology, a series of time windows are based on using In the convergence data available of thermal starting and object time.Under second of technology, a series of duration of time windows is accumulative At least 24 hours.Under the third technology, a series of about 24 hours in the accumulation or completely duration of time windows is extremely In the range of about 48 hours.

Each of satellite signal measurements (for example, to each of at corresponding parametric receiver 30 institute received defend The associated carrier phase signal measured value of star signal) it is associated with the corresponding time of measuring label stored.In start-up mode Or during thermal starting mode, estimator 34 be suitable for based on from storage received raw satellite signal measured value or record from Satellite orbit data, satellite clock data and satellite deviation data that line number is obtained according to 23 estimates satellite correction data or satellite Correction signal.In some configurations, correction data or satellite correction signal are effective for accurate point location in global basis , and in other configurations, satellite correction signal can be effective for being less than global defined geographic area.

In one embodiment, data source selector 15 can pass through data port 26 and one or more parametric receivers 30 communications.In addition, data source selector 15 can by data/address bus 22 or pass through another virtual data path or physics number It is communicated according to path with data storage device 24.If or when storage it is last in received raw satellite signal measured value The corresponding time of measuring label of one measured value of processing is close to or up to the current time, wherein corresponding finally located The storage of reason received raw satellite signal measured value corresponding time of measuring label with the current time it Between difference be less than threshold timeframe, then data source selector 15 original is defended the institute of measured value data source from storage is received Star signal measurements (for example, off-line data 23 of record) seamlessly switch to or change to scene, real-time raw satellite signal and survey Magnitude.

As shown in figure 9, correction data estimator or multiple estimators 34 are stored in data storage device 24.For example, estimating Calculating device 34 may include software instruction, and the software instruction is for being explained or being handled by data into electronic data processing 20, to estimate correction number According to the correction data is such as satellite orbit data, satellite clock data, satellite deviation data or other deviation datas.One In kind configuration, estimator 34 is suitable for determining when that satellite orbit data, satellite clock data and satellite are inclined using fuzziness parsing Difference data (for example, wide-narrow lane deviation data) has converged to reliable satellite correction data.

Once correction data estimator 34 is using fuzziness analytic estimation or determines correction data, satellite uplink station 28 Or satellite uplink transmitter can on satellite communication channel via telecommunication satellite 35 and wireless means for correcting 14 (such as Satellite downlink receiver) reliable correction data is sent to terminal user.

In another embodiment, once data estimator 34 is using fuzziness analytic estimation or determines correction data, nothing Line communication system (such as cellular system, CDMA (CDMA) system or time-division multiple address system (TDMA)) can be via wireless Reliable correction data is sent to terminal user by communication channel by communication system.

In another alternate embodiment, once the estimation of data estimator 34 or determining correction data, server Distribute or provide correction to authorized user by internet via Virtual Private Network, encrypted communication channel or another communication channel Data.

In one embodiment, data processing centre 118 updates with the rate of at least 1Hz or bigger or refreshes correction number According to.In one embodiment, as shown in Figure 10, data processing system 218 includes for providing the clock solution of slow clock estimated value Module 44 and for providing the low latency clock module 42 of low latency clock estimated value, wherein data processing system is parallel to two Clock estimation process is integrated, and two parallel clock estimation process include slow clock estimation and the estimation of low latency clock.

Data processing system (118 or 218) can operate under start-up mode or thermal starting mode or normal mode.It is opening During dynamic model formula, the data measurement of storage in about six hours is fed to slowly by data storage device 24 or data processor 20 Clock module 44 (for example, slow clock estimation block) is to reach steady state clock estimated value.However, being not required to during start-up mode The DATA REASONING of historical storage is fed to low latency clock module 42.During normal manipulation mode, estimator 34 is suitable for Based on the received original measurement value of real-time live, estimated using satellite orbit data, satellite clock data and satellite deviation data Calculate differential correction signal.

Firstly, data collector 19 can be in order to storing about 24 to about 48 hours historical measurements data and ephemeris Data.Secondly, in one example, estimator 34 or data processor 20 are by historical measurements data stored and relevant The first part of the almanac data (individually or venue, the off-line data 23 of record) stored is (for example, about 24 to about 48 hours) it is input to MPP module 36 and track solution module 38.Third, estimator 34 or data processor 20 are gone through what is stored History measures second of Value Data and relevant stored almanac data (individually or venue, the off-line data 23 of record) It is divided to (for example, two hours about last) to be input to low latency clock module 42, wherein the data of second part are less than first part, Or second part is collected within shorter period a longer period of time than first part.4th, at estimator 34 or data Real-time measurement Value Data and relevant almanac data are only input to low latency clock module 42 by reason device 20.5th, when from record Off-line measurement Value Data or storage measurement Value Data feeding newest GNSS time of measuring label reach or near real-time GNSS time of measuring label, estimator 34 input source of measured value is seamlessly switched to from the off-line data 23 of record from one or The real time data 32 of multiple parametric receivers 30 or whole world GNSS reference data network collection.

In one embodiment, estimator 34 (such as clock track real-time estimation device 34 (iCORE) of innovation) estimation is complete Ball navigational satellite system (GNSS) orbital data and clock data, wherein estimator 34 usually requires to be up to 24 hours to 48 hours Measured value with the location estimate for reaching or introducing parametric receiver 30 and relevant correction data (for example, difference correction number According to or Accurate Points location data) stable and reliable state.It in one configuration, will most when starting 34 software of estimator 24 to 48 hours off-line measurement values are stored in data collector 19 (for example, 19 server of data collector) per hour afterwards In file, and it is fed in estimator 34 first to carry out data processing.

It is reached in the case where minimum lag or when the newest GNSS time of measuring read from off-line data is marked close in fact When GNSS time of measuring mark when, data selector from the off-line data in data storage device 24 or goes through measured value input source History measurement Value Data is switched to the real time data collected from global GNSS reference station network receiver.In estimator 34 or its quality After module determines the convergence of track and clock solution, estimator 34 or data processing centre (118 or 218) can be with timely sides Formula (such as L-band satellite channel, honeycomb channel, CDMA (CDMA) communication channel, time division multiple acess by wireless communication (TDMA) channel, internet) one group of consistent correction signal is provided or transmits in real time (for example, StarFire^TMCorrection signal), this A little correction signals include satellite orbit, clock, the narrow satellite deviation of width-and quality information.Thermal starting can start correction signal Time was reduced significantly to about 1.5-3 hours from about 24-48 hours, to support to improve operational efficiency and productivity.

StarFire is a kind of real-time global navigational satellite enhancing system (GNSS), by using real-time global differential school It is positive to realize a centimetre class precision positioning.This correction can be by Internet Protocol (IP) or L-band geostationary telecommunication satellite complete It is obtained within the scope of ball.Compared with the correction of local reference station, global differential correction is eliminated to local reference station and radio communication Demand.

The correction system of thermal starting with correction estimator 34 is very suitable for minimizing or reducing software upgrading and dimension The downtime of shield.The performance of correction system can be based on the assessment of starting time.Starting the time can be defined as when Between section: from starting to calculate correction estimated value and server software preparation is ready broadcasts or transmit to by correction signal real-time radio It is defended to (terminal user or subscribed users) equipped with wireless means for correcting 14 (for example, satellite receiver or cellular transceiver) The required time section of star mobile receiver 12.The starting time is mainly influenced by long GNSS track and clock convergence time, especially It is GNSS orbital estimation value.

Usually there is conflict between rapid boot-up time and the reliable steady-state performance of correction estimated value.Reliable and stable GNSS track and clock estimated value need GNSS measured values more more than measured value needed for realizing rapid boot-up time.For example, In practice, for reliable steady-state performance, the accumulation data window of at least 24 hours historical measurements data is needed.So And the GNSS measured value used is more, estimator 34 will take longer time reliable to obtain to handle these measured values Clock data estimated value and orbital data estimated value.

According to Figure 10, in one configuration, the framework of correction system 1011 constructs as follows: GNSS parametric receiver 30 is having There is distribution on global in the case where good satellite geometry shape and visibility.Parametric receiver 30 and satellite uplink station 28 or Other communication systems are associated, in real time by measured value and almanac data (independent and venue, off-line data 23) hair It is sent to data collector 19 or data processing centre 118.Data collector 19 can be (independent by measurement Value Data and almanac data Ground and venue, off-line data 23) it is stored in data storage device 24.

In one embodiment, data storage device 24 may include disk, CD, electronic memory, it is non-volatile with Machine accesses memory or any other data storage device 24.The data of collection are stored in data storage device 24 so as in heat Start-up mode is accessed, to be used for processed offline or handle again.In one embodiment, data collector 19 individually or with number Together according to source selector 15, data can be not only recorded in data storage device 24, but also can be sent real time data in real time The estimator 34 of data processing centre 118.

In one embodiment, when GNSS measured value reaches data processing centre (118 or 218), data processing centre The GNSS measured value from parametric receiver 30 is collected, stores and pre-processed in (118 or 218) or multiple data processing centres.Number The time waited before handling measured value according to processor 20 or estimator 34 is longer, and the measured value of collection is more.Pass through receipts Collect more multiple measuring values, track, the accuracy of clock and satellite deviation and net can be improved in data processor 20 or estimator 34 The reliability of network fuzziness parsing.If data processing centre (118 or 218) in worldwide with parametric receiver 30 1 Distribution is played, then the total processing time for reaching convergence solution may be very long；Especially for more GNSS locations using fuzziness parsing For solution estimation.Multiple GNSS location solution estimated values are needed for different GNSS satellite systems (such as global position system GPS (U.S.)；GALILEO (Europe), Quazi-Zenith satellite system, QZSS (Japan)；Beidou navigation satellite system, BDS (in State)；Global Navigation Satellite System, GLONASS (Russia) etc.)) fuzziness parsing.

Because correction data is provided by satellite communication, this L-band satellite channel is limited with relevant bandwidth, So when providing correction data to the mobile receiver 12 of terminal user, there may be delays.Estimator 34 is configured as reducing The processing time of estimator 34, to minimize the delay when providing correction data to mobile receiver 12, to allow processor The 20 at least 24 hours data with 1Hz operation for starting.Estimator 34 minimizes the processing time to generate correction signal, is somebody's turn to do Correction signal makes it possible to carry out solution of fuzzy degree analysis on user's receiver.Estimator 34 uses the fuzziness analytical algorithm innovated To generate clock and satellite deviation.In addition, estimator 34 helps to handle one or more data sources from following data source Up to 100 parametric receivers 30 data: (a) from the live or real-time GNSS of movable GNSS parametric receiver 30 Measured value (for example, real-time measurement values data flow), storage (b) from GNSS parametric receiver 30, history or offline note Record the GNSS measured value measured value data flow of record (for example) (for example, it is last or before 24 hours to 48 small periods Between), (c) any mixing or combination of the GNSS measured value of GNSS measured value and record in real time.

An example according to shown in the step S914 such as Figure 14, if or when the received raw satellite signal of institute stored The corresponding time of measuring label of finally handled a measured value in measured value is not close to or up to current time (example also Such as, current GNSS time of measuring), wherein the corresponding storage finally handled received raw satellite signal measured value Difference between corresponding time of measuring label and the current time is greater than threshold timeframe, data source selector 15 Suitable for using the mixing or combination of multiple measured value data sources, multiple measured value data sources, which include that the institute of storage is received, original to be defended Star signal measurements and scene, real-time raw satellite signal measured value.In one embodiment, estimator 34 can several points it All necessary calculating, such as measured value pretreatment, track and clock determination, fuzziness parsing and correction of a final proof are provided in one second It generates.

In one embodiment, estimator 34 includes clock solution module 44 and low latency clock module 42, so that estimator 34 provide the integrated clock solution of two parallel clock estimation process (for example, the slow clock and low latency clock of clock solution module 44 The low latency clock of module 42).Clock solution module 44 and low latency clock module 42 are in the position estimation using correction data The common accuracy for improving absolute clock estimated value and reduction clock delay.In one embodiment, clock solution module 44 determines Slow clock solution, this will use all possible GNSS measured value (coming from parametric receiver 30), and such GNSS measured value includes coming The longer latency measurement (for example, being up to 6 seconds) of self-reference receiver 30 or network of relation is to estimate absolute satellite clock, convection current Layer deviation, the narrow lane deviation of satellite and fuzziness, and carry out fuzziness parsing.In some instances, clock solution module 44 needs Intensive calculations determine slow clock estimated value, may spend handle within several seconds.

On the contrary, low latency clock module 42 only with the newest available measured value compared with short delay (such as with delay The receiver measured value of (delay is limited to about 1 to 2 second)) to calculate satellite clock variation with high-speed.Low latency clock Module 42, data processor 20 or estimator 34 are estimated low latency clock estimated value and slow clock estimated value and track with low rate Calculation value is integrated, thus in a timely mannner by L-band wireless channel, wireless communication system, electronic communication network or because Spy net in real time distribution one group of consistent correction signal, these correction signals include satellite orbit, clock, the narrow satellite deviation of width-and Quality information.

In one embodiment, data processing centre (118 or 218) includes central navigation algorithm software, such as clock track Road real-time estimation device 34 is referred to alternatively as the clock track real-time estimation device (iCORE) of innovation.Estimator 34 includes that measured value is pre- (MPP) module 36, track solution module 38, clock solution module 44 and low latency clock module 42 are handled, they are global differential schools Positive critical component.Data processing centre (118 or 218) or estimator 34 generate correction signal to provide Centimeter Level precision estimation Value, these estimated values include: (1) satellite orbit estimated value, (2) satellite clock estimated value and (3) Satellite Phase deviation and its Correlated quality information.

When the starting of the estimation software of estimator 34, by the historical collection data (if available) of measured value and relevant star It counts one by one and is fed to MPP module 36 and track solution mould according to (such as about 24 to about 48 hours collection data or measurement Value Data) In block 38, for enhancing or accelerating the convergence of GNSS orbital estimation value.In addition, last six hours historical collection datas also by It is fed to the clock solution module 44 of estimator 34 or the slow clock estimated value of estimation.In general, the needs about 24 to 48 of estimator 34 are small When historical measurements data reach stable state, reliable orbital estimation value, and need about 6 hours historical measurements data To be used for slow clock estimated value.Because low latency clock is not require time to introduce stable state, low latency clock module 42 do not need the data of historical measurements data or collection to estimate low latency clock solution.

In one embodiment, when the newest GNSS time of measuring fed from off-line data reach current time or in real time When GNSS time of measuring, estimator 34 is by the measured value input source of all modules from the off-line data 23 in data storage device 24 Or storage data seamless be switched to from global GNSS reference station network receiver collect real time data.Correction system uses Communication system or broadcast system are defended from one or more data processing centres (the 118 or 218) Xiang Yidong being distributed in all over the world Star receiver 12 provides global differential correction.For example, can choose this group of global differential correction data, and pass through satellite uplink chain Road transmitter or land earth station (LES) send it to telecommunication satellite 35 (for example, INMARSAT telecommunication satellite).In a reality It applies in example, user's satellite mobile receiver 12 can receive the correction of this group of global differential, analytic fuzzy degree and for navigation Centimetre class precision is realized in position estimation.

Figure 10 shows data correction system 1011 associated with data processing centre 218 and estimator 134.Estimator 134 comprise the following modules: real-time data capture device 19, measured value watermark pre-processor 36, track solution module 38, clock solution module 44 and low latency clock module 42.In some configurations, real-time data capture device 19 further includes data source selector 15 (in Fig. 9 In), but in other configurations, data source selector 15 can be individual module.

As shown, data collector 19 (for example, real-time data capture device) is deposited with the data in data processing centre 218 Storage device 24 and one or more parametric receivers 30 communicate.Data collector 19 or data storage device 24 can be by measured values Data, almanac data or both (for example, off-line data 23), which provide, arrives MPP module 36.For example, data collector 19 can be via Data source selector 15 provides measurement Value Data, almanac data or both to MPP module 36.In turn, MPP module 36 can incite somebody to action Measurement Value Data and one of the following or multiple: track solution module is supplied to from the obtained preprocessed data of measurement Value Data 38, clock solution module 44 and low latency clock module 42.For example, MPP module 36 can be via data/address bus 22, virtual communication road Diameter, the combination of physical communication paths or above-mentioned path and track solution module 38, clock solution module 44 and low latency clock module 42 Communication.

In one embodiment, real-time data capture device 19 can collect measured value from satellite reference receiver 30 in real time Data, and can be in order to the measurement Value Data of collection to be stored in data storage device 24.In addition, in some embodiments In, real-time data capture device 19 may include data selector module 15, and the data of collection or measured value data distribution are arrived Other modules in data processing system 1011.In other embodiments, data collector 19 can be by the data or survey of collection Magnitude data is distributed to other modules or data processing server.

In one configuration, measured value pre-processes data source preparation " purification " based on one or more of (MPP) module 36 Measured value simultaneously provides the fixed fuzziness in wide lane and wide lane deviation product, wherein being such as real time data measured value, offline or deposit The data measurement (for example, last 24-48 hour data measured value of storage) or off-line data of storage are (for example, storage is most 24-48 hour data measured value afterwards) or storage data measurement and real time data measured value (for example, real-time DATA REASONING Value stream) mixing.

As shown, track solution module 38, which is suitable for data source based on one or more, provides accurate satellite position estimated value With satellite velocities estimated value, wherein one or more data sources are such as real time data measured value, offline or storage data Measured value (for example, last 24-48 hour data measured value of storage) or off-line data are (for example, the last 24-48 of storage Hour data measured value) or storage data measurement and real time data measured value (for example, in real time data measurement stream) Mixing.

In one embodiment, it is slow with low rate offer satellite to be suitable for data source based on one or more for clock solution module 44 Clock solution estimated value and narrow lane deviation product, wherein one or more data sources are such as real time data measured values, it is offline or The data measurement (for example, last 6 hour data measured value of storage) or off-line data of storage are (for example, storage is last 6 hour data measured values) or storage data measurement and real time data measured value (for example, in real time data measurement stream) Mixing.

Low latency clock module 42 or estimator 134 are suitable for providing quick satellite clock estimated value with the rate of 1Hz, and MPP solution, track solution and the slow clock solution of output are integrated, to generate one group of consistent correction data signal in real time.In In a kind of configuration, only receive the data source of low latency clock module 42 from real-time measurement values stream.

In one embodiment, low latency clock module 42 exports two different epoch using only carrier-phase measurement Between clock variation.In order to improve computational efficiency, the Double deference method between time and satellite is for reducing estimated state Size, such as fuzziness and receiver clock.Using model (for example, prior model) and the residual tropospheric from slow clock solution Error estimation value corrects troposphere deviation.Low latency clock module 42 estimates that satellite clock changes, rather than clock data Absolute value.Therefore, low latency clock calculation is highly effective.For example, within several milliseconds or shorter of time, low latency clock module 42 can correlation measure determining for any epoch or all parametric receivers 30 of estimation satellite clocks variation or low prolong Slow data.

In one embodiment, each of MPP module 36, track solution module 38 and clock solution module 44 include two Part or component: (1) homodyne (ZD) Kalman filter or data processor 20；(2) network A RE is (for example, fuzziness parsing is estimated Calculate device (ARE)) module.The received measurement Value Data of each homodyne Kalman filter processing institute is to form ZD measured value, with fixed Adopted state variable, and update (for example, dynamically) Kalman filter measured value.Network A RE resume module measures Value Data To execute fuzziness parsing.In one embodiment, measured value preprocessing module receives the measurement from reference data network 32 Value Data is as input data, and the wide lane estimator 34 of application is to export wide lane ambiguity and corresponding wide lane deviation.

Measured value preprocessing module

In one embodiment, measured value preprocessing module 36 with aturegularaintervals (for example, once per second) be based in real time or In-site measurement Value Data, record offline or the measurement Value Data, or both of storage come from one or more to pre-process and purify The original measurement Value Data of a satellite reference receiver 30 or reference station network 32.In addition, MPP module 36 can parse wide lane (WL) fuzziness.In one configuration, MPP module 36 will be through measured value that is filtering or " purifying ", fixed wide lane ambiguity Degree and satellite WL deviation are supplied to low latency clock module 42, clock solution module 44 and track solution module 38.

In certain configurations, MPP module 36 is usedLinear combinationAs homodyne (ZD) measured value estimates following state variable:

The ZD floating WL fuzziness of each visible satellite and position, a combination thereof wide lane deviation of receiver and WL complete cycle mould Paste degree.Fuzziness is parsed in the form of double difference (DD) and single poor (SD), wherein receiver WL deviation is cancelled；

Every one lane Ge Kuan deviation of satellite；With

One GLONASS frequency offset (IFB) WL coefficient of each tracing positional.The spirit of GLONASS IFB WL coefficient Sensitivity coefficient is the quantity of satellite frequency.This state variable is only applicable to GLONASS situation.

In order to make to calculate effectively, if not detecting cycle slip, with such as 60 seconds intervals to the ZD of each positionMeasured value is averaged.For example, cycle slip refers to the carrier phase for any satellite-signal Locking or introducing loss.For each time interval, for each satellite reference receiver, in ZD Kalman filter Position by position to ZD filtered or smoothMeasured value is handled.In each survey Magnitude updates interval, and in MPP module 36, ZD Kalman filter dynamic updates, and measured value update is processed to update shape State variable.

In one embodiment, each GNSS system satellite can use independent and different wide lane modeling filter.For example, GPS, GLONASS, GALIEO and dipper system with Quazi-Zenith satellite system (QZSS) all have individually wide lane Filter.QZSS is a kind of satellite-based enhancing system, can supplement GPS for Asia.It note that parametric receiver deviation It is not desired global differential product, because it is not used in the navigation of user's receiver.Therefore, in certain embodiments, in order to Reduce filter size and computation complexity, ambiguously estimates the WL deviation of parametric receiver；On the contrary, WL deviation is incorporated into In ZD float ambiguities state.

Track solution module

Track solution module 38 is one or more clusters of the estimation GNSS satellite of estimator 34 or the satellite orbit of group Main modular.Clock solution module 44 and low latency clock models 42 are depended on from track solution module 38 and in time interval (example Such as, per a few minutes) in provide predicted orbit.Track solution module 38 with compared with low rate (such as every 300 seconds) provide track solution, because It is usually smooth for GNSS satellite track.

The data source of track solution module 38 can come from real-time measurement values, off-line data 23 (for example, record measured value or The measured value of storage, such as about 24 to about 48 hours offline historical measurements data) or real-time measurement values and offline number According to any mixing of 23 (such as about 24 Dao about 48 hours measured values of storage).In one embodiment, MPP module 36 The off-line data 23 that needs at least 24 hours so that track solution to stable state.In one configuration, in estimator 34, MPP module 36, track solution module 38, slow clock solution module 44 and low latency clock module 42 can be processed according to parallel data Cheng Binghang operation.

In one embodiment, track solution module 38 is used from one or more parametric receivers 30 or universal reference station The refraction correction code and carrier-phase measurement of network 32.Track solution module 38 can be configured as the three types of processing Filter status variable, such as following one or more:

(1) state variable of satellite, including satellite position, speed, satellite clock, the narrow lane deviation of satellite, yaw are depended on Rate and experience solar radiation force modeling parameter；

(2) state variable of receiver, including reference position, receiver clock, residual tropospheric deviation and ladder are depended on Degree, carrier phase ambiguity；With

(3) common state variable, including the ground such as polar region movement and world concordant time zebra time-(UT1-UTC) Ball orientation parameter.

In order to provide the correction data of global differential positioning service, track solution module 38 estimates precise orbit, and uplink Link station 28 or other wireless telecom equipments send precise orbit to terminal user's mobile receiver 12 in real time.In general, when Thought in clock estimated value in the satellite orbit of certain maximum time interval (for example, a few minutes) interior prediction (for example, referred to as o2c Data) it is known, because the error of these predicted orbits is fairly small and stablizes and the clock that can even be estimated is inhaled It receives.The satellite orbit (for example, track o2c data) of prediction can be used for generating orbit correction value with the precise orbit for estimation. In addition, the satellite orbit of prediction can be used for correcting the orbit error in slow clock solution module 44 and low latency clock module 42, example Such as by providing the accurate rail of the estimation of orbit correction or correction to slow clock solution module 44, low latency clock module 42 or both Road.

Clock solution module

In one embodiment, the measured value from parametric receiver 30 is collected, be pretreated and by mass with System 1011 is corrected when they reach one or more data processing centres 218 to handle.What data processing centre 218 waited Time is longer, and the measured value of collection is more, this delays the output and distribution of correction data.Clock solution module 44 estimates many shapes For state to determine or estimate clock solution, this may cause the lag in calculating process.In order to reduce the corrective delay and be surveyed using more Magnitude, we consider two kinds of clock solutions including slow clock solution and low latency clock solution.In slow clock solution, as long as all surveys Magnitude reaches before the fixed delay (such as in about 6 seconds to about 15 seconds time range), all measured values all by Batch processing.

Clock solution module 44 is determining from data source or estimates slow clock solution, and the data source is such as parametric receiver 30 The measured value (for example, 2-3 hours offline storage) or real-time measurement of real-time measurement values, the measured value recorded offline or storage The combination or mixing of Value Data and the measured value recorded offline or stream.Clock solution module 44 usually requires at least 6 hours to reach The stable state of slow clock solution.In one example, slow clock solution module 44 uses the measured value similar with track solution module 38 With ZD Kalman filter, other than several main differences: firstly, clock solution module 44 is run with different rate, such as About 30 seconds or 60 seconds, about 300 seconds rate differences with track solution module 38, because clock correction is quickly than orbit correction Variation.Secondly, all state variables keep identical as in track solution module 38, in addition to not estimating in slow clock solution module 44 The satellite orbit correlated condition of calculation, but use the orbital estimation result from track solution.Third, slow clock solution module 44 or estimation Device 34 exports one group of complete global differential and corrects, including satellite orbital corrections, satellite clock correction, satellite WL deviation, NL inclined Difference and quality information.The convection current layer parameter of above-mentioned correction and estimation will be sent to low latency clock module 42.Note that all inclined Difference all refers to satellite WL and NL deviation, because distributing to the global differential correction product of mobile receiver 12 to the deviation of receiver not It is interested or be not concerned with.

In clock solution module 44, satellite and reception are estimated using no difference refraction correction code and carrier phase observation The narrow lane deviation of device clock, troposphere deviation, satellite.Renewal rate is usually lower, such as lower renewal rate is (for example, be used for 5 minutes renewal rates of track or for 30 seconds of slow clock, or even longer).Because must with receiver parameters and defend Star timing parameter estimates a large amount of fuzzinesses together, thus clock solution module 44 using solution of fuzzy degree and satellite Error estimation with it is low more New rate is determining and updates slow clock solution.Estimator 34 or slow clock solution module 44 can carry out batch calculating or slow clock solution Calculating before wait a longer time, to ensure to collect enough measured values from parametric receiver 30 or grid of reference, and It is processed when measured value reaches one or more data processing centres 218.The time that clock solution module 44 waits is longer, data The measured value that collector 19 is collected is more, and the delay for generating clock correction is longer.In one configuration, clock solution module 44 Real-time satellite clock and satellite deviation are configured to determine that keep the complete cycle property of the fuzziness of mobile receiver 12.It is fuzzy The fixed accuracy that for example can reduce convergence time and improve navigation of degree.

Low latency clock module

Low latency clock module 42 determines being altered or modified to reduce the corrective delay to slow satellite clock.In order to utilize one The satellite deviation product of cause improves clock accuracy and also reduces the corrective delay, clock solution module 44 and low latency clock module Run to 42 coordination with one another two parallel clock processes.Low latency clock module 42 is using only carrier-phase measurement come when calculating Clock changes (increment clock).The slowly varying parameter of the narrow lane deviation of such as troposphere and satellite etc be fixed to from it is slow when The estimated value of clock solution module 44, these parameters with from slow clock process to low latency clock process renewal time interval (such as Update interval every 30 seconds) regularly (for example, periodically) update.

The increment carrier phase between epoch T0 (at zero second) and current epoch Ti can be used in low latency clock module 42 To estimate increment clock.When slow clock provides new reference epoch (such as T30 epoch (when at 30 seconds)), low latency clock will T30 is changed into from T0 with reference to epoch.

In one embodiment, a few minutes after reaching track solution, such as 300 seconds, low latency clock is in low latency The track (O2C data) of the fixed prediction of Zhong Xiezhong.Low latency clock only estimates increment satellite clock, so as to very high Rate updates (increment satellite clock) calculating.Preprocessed measurement from MPP module 36 is batch processing and waited at several seconds Low latency clock module 42 is sent to after window (such as 1 to 2 seconds).Meanwhile track solution module 38 and clock solution module 44 are divided Track solution and clock solution are not provided after longer period of time (such as 6 seconds to 15 seconds).Low latency clock solution is intended to through slow clock The absolute clock of solution reduces the corrective delay and improves clock accuracy.In order to improve computational efficiency, using between time and satellite Double difference measured value, some unnecessary states, such as fuzziness and receiver clock to remove.In one configuration, depending on (for example, in reliable range of receiving and with enough azimuths) of Yezhong not cycle slip (for example, in reference satellite The received carrier phase signals of one or more phase in), the satellite of highest elevation be selected as each corresponding ginseng Examine the reference satellite of receiver 30 or corresponding position.

Using prior model and residual tropospheric Error estimation value from slow clock solution corrects troposphere deviation.Estimation The unique states of satellite clock variation.When priori satellite clock rate from broadcast ephemeris is widely used in estimating increment satellite Clock.Certainly, RAIM (monitoring of receiver autonomous integrity) algorithm is for ensuring to detect and remove any measured value with cycle slip.

Data processor 20 corrects manager 40 or low latency clock for RAIM algorithm and is applied to increment clock filter 412.RAIM algorithm includes following software, and the solution or redundant computation that overuse determining checks the consistent of satellite measurement Property, for example, in network one or more satellites of each parametric receiver 30 carrier-phase measurement and code phase measurement Value.

In one configuration, Kalman filter or least square method can be used for estimating increment clock.The state of estimation The quantity of variable or unknown number is equal to the quantity of movable satellite.Data processing centre 218 usually can be at several milliseconds or shorter Time in processing low latency clock measured value, this is than providing the clock solution module 44 of slow clock solution faster (for example, fast several hundred Times).

In some configurations, at the measured value that slow clock solution module 44 can spend two seconds by three seconds to complete an epoch Reason.After first epoch, the offer of low latency clock module 42 is defended with what the absolute clock from slow clock solution was integrated Star clock variation, to export the absolute clock of any epoch.For low latency clock module 42, only receive parametric receiver 30 Real time data source for real-time to handle, because low latency clock solution does not introduce time (pull-in time).Finally, track Data, clock correction data and the satellite WL/NL deviation product with quality information pass through satellite L-band, wireless communication system Or internet is sent to the user at mobile receiver 12 in real time.

Figure 11 shows the flow chart of one embodiment of the method for providing satellite correction signal.The method of Figure 11 is opened Start from step S900.

In step S900, one or more parametric receivers receive a series of raw satellite signal measured values.It is original to defend Star signal measurements by from one or more parametric receivers 30 send or be transmitted to data processing centre (118,218) (for example, Data processing maincenter).For example, parametric receiver 30 can be communicated with one or more data port 26 of data processing system.

In step S902, data storage device 24 is for a series of before current time (current GNSS time of measuring) The received raw satellite signal measured value of time window (or time interval) storage institute.Each of satellite signal measurements with The time of measuring label stored accordingly is associated.It can be come by using the time window or time interval of various duration Execute step S902.In one example, data storage device 24 is according to the received raw satellite signal of time window storage institute Measured value, wherein the duration of time window adds up to be at least 24 hours.In another example, time window it is lasting when Between accumulated in the range of about 24 hours to about 48 hours.

In step S904, during thermal starting mode, data processor 20, data processing centre 118 or estimator 34 Based on from storage received raw satellite signal measured value obtained satellite orbit data, satellite clock data and satellite it is inclined Satellite correction signal is estimated or determined to difference data.During thermal starting mode or start-up mode, data processor 20 or estimation The data measurement of storage in about six hours is fed to slow clock estimation block to reach stable state orbital estimation value by device 34.In During start-up mode or thermal starting mode, do not need the data measurement of historical storage being fed to low latency clock.

In step S906, if or when storage finally being handled in received raw satellite signal measured value The corresponding time of measuring label of one measured value is close to or up to the current time, wherein it is corresponding finally handled deposit Storage received raw satellite signal measured value corresponding time of measuring label the current time between difference Value is less than threshold timeframe, then data processing centre 118, data processor 20 or data source selector 15 are (for example, open Close) measured value data source is seamlessly switched into live, original in real time defend from the received raw satellite signal measured value of institute of storage Star signal measurements.For example, after thermal starting mode, during normal manipulation mode, if or when the institute of storage is received The corresponding time of measuring label of finally handled a measured value in raw satellite signal measured value is close to or up to institute Current time is stated, then data processing centre (118 or 218), data processor 20 or data source selector 15 (for example, switch) Measured value data source is seamlessly switched into scene, real-time original satellite letter from the received raw satellite signal measured value of institute of storage Number measured value.

Figure 12 shows the flow chart of one embodiment of the method for providing satellite correction signal.In addition to the side of Figure 12 Method further includes the method that the method for Figure 12 is similar to Figure 11 except step S908 and S910.

In step S908, data processing centre (118 or 218) or data processor 20 parse what is determined using fuzziness When satellite orbit data, satellite clock data and satellite deviation data (for example, wide-narrow lane deviation data) have converged to reliable Satellite correction data.

In step S910, data processing centre (118 or 218) or data processor 20 are parsed using fuzziness by defending Star communication channel provides reliable correction data to terminal user.For example, data processing centre (118 or 218) or data processing Device 20 wirelessly provides to mobile-satellite receiver and updates correction data at least 1Hz or higher rate.Satellite uplink chain Road direction telecommunication satellite sends correction data and the update to correction data, which repeats or retransmit uplink transmission To be received by terrestrial wireless means for correcting 14 associated or positioned jointly with mobile receiver 12.

Figure 13 shows the flow chart of one embodiment of the method for providing satellite correction signal.In addition to the side of Figure 13 Method further includes the method that the method for Figure 13 is similar to Figure 11 except step S912.

In step S912, during normal manipulation mode, data processor 20 or data processing centre 118 are based in real time The received original measurement value in scene estimates difference correction using satellite orbit data, satellite clock data and satellite deviation data Signal.Clock data and satellite deviation data are derived from the integral to two parallel clock estimation process, and two parallel clocks are estimated Calculation process includes slow clock solution and low latency clock solution, and wherein low latency clock solution is estimated as the increment relative to slow clock solution Or variation.

It corrects system and method and supports reliable, thermal starting accurately and quickly, because of the data recorded offline and in real time number According to being all fed in estimator or relevant server software to accelerate GNSS correction convergence.Thermal starting and usage record from Line measures Value Data and relevant almanac data is associated, and to reduce the starting time, the starting time is to mobile receiver Mobile receiver user or terminal user provide and distribution correction data needed for.In some instances, single for having The local correction system of a position data processing center, thermal starting can (the starting time can for providing by the starting time The accurate correction data of the stable state leaned on) from about 24 hours to about 48 hour it is reduced to about 1.5 hours to about 3 hours. For the correction global correction system with multiple position data processing centers, thermal starting can will start the time (starting Time is for providing reliable stable state accurate correction data) it was reduced to about 2 to 3 days from about 14 days.In track solution and clock After solution convergence, one group of consistent correction signal (including satellite orbit, clock, width satellite deviation and quality information) can pass through Satellite L-band, wireless communication or internet wirelessly real-time Transmission in a timely mannner.

Figure 14 shows the flow chart of one embodiment of the method for providing satellite correction signal.In addition to the side of Figure 14 Except method replaces step S906 with step S914, method that the method for Figure 14 is similar to Figure 11.

An example according to shown in the step S914 such as Figure 14, if or when the received raw satellite signal of institute stored The corresponding time of measuring label of finally handled a measured value in measured value is not close to or up to current time (example also Such as, current GNSS time of measuring), wherein the corresponding storage finally handled received raw satellite signal measured value Difference between corresponding time of measuring label and the current time is greater than threshold timeframe, data source selector 15 Suitable for using the mixing or combination of multiple measured value data sources, multiple measured value data sources, which include that the institute of storage is received, original to be defended Star signal measurements and scene, real-time raw satellite signal measured value.In one embodiment, estimator 34 can several points it All necessary calculating, such as measured value pretreatment, track and clock determination, fuzziness parsing and correction of a final proof are provided in one second It generates.Advantageously, step S914 can handle storage using parallel processing technique in each data processing centre 218 simultaneously Signal measurements and current live signal measured value, wherein measured value includes satellite carrier phase measurement, to promote to correct The thermal starting of data and/or the convergence time for potentially reducing fuzziness parsing relevant to correction data.For example, parallel processing Data processing centre 218 may be needed primary or execute the estimation in data processing centre 218 using multiple servers simultaneously One or more modules of device (34 or 134) or multiple data into electronic data processing 20 (for example, multi-microprocessor core), to hold Row software instruction associated with one or more modules of estimator (24 or 134).

For purposes of illustration, foregoing description is illustrated by reference to specific embodiment.However, illustrative discussion above It is not intended to exhaustion or limits the invention to disclosed precise forms.In view of above-mentioned introduction, many modifications and variations are all It is possible.Embodiment is selected and is described to best explain the principle of the present invention and its practical application, so as to make in ability The technical staff in domain best utilizes multiple embodiments of the invention and with the various modifications for being suitable for specific desired use.