KR100812387B1 - Error Compensation System and Method of Satellite Navigation Receiver with Multiple Satellite Signal Receivers - Google Patents

Abstract

According to the present invention, each satellite signal transmitted from a plurality of satellites is received, and a correlation value between the received satellite signal and a pre-stored code signal is calculated to determine which satellite is the received satellite signal transmitted from each satellite. A plurality of satellite signal receivers for calculating pseudo distances and transmitting correlation information including correlation values and pseudo distances; A priority designator for transmitting priority information designated to each of the plurality of satellite signal receivers; A satellite receiver judging whether the specific satellite signal, which is the satellite signal of a specific satellite, received from the satellite signal receiver having the highest priority by receiving the correlation information and the priority information, is received at the remaining satellite signal receiver which is the satellite signal receiver having the highest priority. part; When a specific satellite signal is received in the remaining satellite signal receivers, a difference value between the pseudo distances of the satellite signal receiver of the highest priority and the specific satellite signal calculated by the remaining satellite signal receivers is respectively calculated, and the specific satellites for the remaining satellite signal receivers are calculated. A pseudo distance compensator for correcting pseudo distances by adding or subtracting a difference value to pseudo ranges of all satellite signals including a signal; And an error correction system and method of a satellite navigation receiver having a multiple satellite signal receiver including a navigation information calculation unit for calculating the navigation information using the corrected pseudo distance of the pseudo distance correction.

Description

System and error compensation system of satellite navigation receiver with multiple satellite signal receiver

1 is a block diagram showing an error correction system of a satellite navigation receiver having a multiple satellite signal receiver according to an embodiment of the present invention;

2A through 2C are pseudorange correction examples of pseudorange correction or indirect correction of FIG. 1;

3 is a flowchart of an error correction method according to the system of FIG. 1.

<Explanation of symbols for the main parts of the drawings>

10.Satellite

100. Error Correction System of Satellite Navigation Receiver with Multiple Satellite Signal Receivers

110 ... Satellite signal receiver 115 ... Converter

116 ... correlations 120 ... priority government

130 ... Satellite reception unit 140 ...

150 ... Navigation Information and Computation ...

170.Satellite navigation receiver

The present invention relates to an error correction system and method for a satellite navigation receiver having multiple satellite signal receivers, and more particularly, to correct pseudo distance errors generated in each satellite signal receiver in a satellite navigation receiver having a plurality of satellite signal receivers. A system and method for doing so.

In general, a global navigation satellite system is a satellite signal transmitted from a navigation satellite traveling in a specific orbit through an antenna of a satellite navigation receiver mounted on the antibody, and based on the satellite signal, the position and velocity of the antibody And it is a system configured to calculate the navigation information, such as time.

According to this satellite navigation system, the navigation is possible regardless of weather conditions regardless of the world, and there is an advantage that error does not accumulate, and the usage continues to increase, and GPS (Global Positioning System) is a representative satellite navigation receiver. ) Receiver, Global Navigation Satellite System (GNSS) receiver, and the like.

The satellite navigation receiver receives the satellite signal using the antenna and then calculates the navigation information by using it. In order to calculate the 3D location information, the satellite navigation receiver must receive satellite signals from four or more satellites at once.

The satellite navigation receiver may be provided with a single satellite signal receiver composed of one antenna when installed in an antibody capable of securing a wide visible area. However, in the case of an antibody that cannot secure a wide visible area, a special satellite navigation receiver having a plurality of multiple satellite signal receivers is required to process satellite signals received through a plurality of antennas at once.

The navigation information of the satellite navigation receiver is calculated based on the relative distance between the satellite and the satellite navigation receiver. The relative distance is a time t1 when the satellite signal is transmitted from the satellite and a time t2 when the satellite signal is received at the satellite navigation receiver. It can be calculated through the transmission and reception time difference (t2-t1) between the (). Here, the relative distance is different from the actual distance because it includes various errors such as time error or transmission delay error, and the distance in which the error is reflected in the actual distance is called a pseudorange.

In calculating the pseudo distance, the error can be less generated by accurately knowing the t1 time and the t2 time, and the error of t2 time is larger than the t1 time due to the influence of the clock error of the satellite navigation receiver.

Conventionally, the accuracy of navigation information is increased by calculating the clock error generated by the satellite navigation receiver by reducing the error of t2 hours. The clock error calculated by the satellite navigation receiver having the multiple satellite signal receiver is one satellite signal receiver. Only a common clock error such as a satellite navigation receiver is corrected, and an error relatively generated by a multiple satellite signal receiver is not separately corrected.

Accordingly, it is difficult to determine which satellite signal receiver is calculated based on the calculated position of the navigation information, and between the plurality of satellite signal receivers at a pseudo distance calculated by the satellite signal received from the satellite signal receiver. As the relative error is reflected, this error is also reflected in the navigation information calculated as a result, thereby degrading the accuracy and reliability of the navigation information.

The present invention has been made to solve the above problems, and the accuracy and reliability of the navigation information calculated by calculating the navigation information based on the pseudo distance corrected by the error generated by the satellite signal receiver having the multiple satellite signal receiver. An object of the present invention is to provide an error correction system and method for a satellite navigation receiver having multiple satellite signal receivers.

Other objects and advantages of the invention will be described below and will be appreciated by the embodiments of the invention. Furthermore, the objects and advantages of the present invention can be realized by means and combinations indicated in the claims.

The error correction system and method of the satellite navigation receiver having a multiple satellite signal receiver of the present invention for achieving the above object, receiving each satellite signal transmitted from a plurality of satellites, the received satellite signal and pre-stored code signal A plurality of satellite signal receivers which calculate a pseudo distance from each satellite by calculating a correlation value with the satellite signal, calculate a pseudo distance from each satellite, and transmit correlation information including the correlation value and the pseudo distance; A priority designator for transmitting priority information designated to each of the plurality of satellite signal receivers; A satellite receiver for determining whether a specific satellite signal, which is a satellite signal of a specific satellite, which is received by the correlation information and priority information and is received by the satellite signal receiver of the highest priority, is received by the remaining satellite signal receiver, which is a satellite signal receiver of the highest priority. Determination unit; When the specific satellite signal is received in the remaining satellite signal receiver, the difference value between the pseudo-distance of the specific satellite signal calculated by the highest priority satellite signal receiver and the remaining satellite signal receiver is calculated, respectively, and the remaining satellite signal receiver A pseudo-range correction unit for correcting the pseudo-range by adding or subtracting the difference value to the pseudo-ranges of all satellite signals including a specific satellite signal with respect to the pseudo-range; And a navigation information calculation unit that calculates navigation information by using the corrected pseudo distance of the pseudo range correction unit.

In addition, when the satellite receiver determining unit receives only the correlation information of one of the satellite signal receivers of the satellite signal receivers, the satellite receiver determines the correlation information of the one satellite signal receiver to calculate navigation information using only the received correlation information. It can be sent to the information computing unit.

In addition, when there are a plurality of specific satellite signals, the pseudo distance compensator calculates a difference value between the pseudo distances of each of the specific satellite signals calculated by the highest priority satellite signal receiver and the remaining satellite signal receivers, respectively. The pseudo-range can be corrected by calculating an average value of the calculated difference values and adding or subtracting each mean value to the pseudoranges of all satellite signals including each specific satellite signal with respect to the remaining satellite signal receiver.

Here, the pseudo distance compensator, when it is determined that the signal-to-noise ratio (SNR) of any one of the plurality of specific satellite signals is above or below a predetermined reference range, the pseudo distance of the specific satellite signal Can be excluded from the difference calculation and correction.

And, if it is determined by the satellite receiver that the particular satellite signal received by the satellite signal receiver of the highest priority has not been received by the remaining satellite signal receiver, the satellite signal receiver of the highest priority is generated. Calculate the PPS difference value between the 1-PPS value and the 1-PPS value of the remaining satellite signal receiver, multiply the calculated PPS difference value by the speed of light and add to each pseudo distance of the satellite signal to the remaining satellite signal receiver or It may further include an indirect correction to correct the pseudo range by subtracting.

In addition, the error correction method of the satellite navigation receiver having a multi-satellite signal receiver of the present invention for achieving the above object, the priority designation step of transmitting the priority information assigned to each of the plurality of satellite signal receivers of the priority setting unit; ; The plurality of satellite signal receivers receive each satellite signal transmitted from a plurality of satellites, and calculate a correlation value between the received satellite signal and a pre-stored code signal to determine which satellite the received satellite signal is transmitted from. A correlation information transmitting step of calculating a pseudo distance from each satellite and transmitting correlation information including the correlation value and the pseudo distance; The satellite receiver judges whether the specific satellite signal, which is a satellite signal of a specific satellite, received by the correlation information and the priority information received by the satellite signal receiver of the highest priority, is received by the remaining satellite signal receiver, which is a satellite signal receiver of the highest priority. A specific satellite signal reception determination step of determining; When the specific satellite signal is received in the remaining satellite signal receiver, the pseudo distance compensator calculates a difference value between the pseudo distance of the specific satellite signal calculated by the highest priority satellite signal receiver and the remaining satellite signal receiver, respectively, A pseudorange correction step of correcting a pseudorange by adding or subtracting the difference value to the pseudoranges of all satellite signals including a specific satellite signal with respect to the remaining satellite signal receiver; And a navigation information calculation step of the navigation information calculation unit calculating navigation information using the corrected pseudo distance of the pseudo distance correction unit.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. It should be interpreted as meanings and concepts corresponding to the technical idea of the present invention based on the principle of definition.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

1 is a block diagram showing an error correction system of a satellite navigation receiver having a multiple satellite signal receiver according to an embodiment of the present invention, Figures 2a to 2c is a pseudo distance correction of the pseudo distance correction or indirect correction of Figure 1 3 is a flowchart of an error correction method according to the system of FIG. 1.

As shown, the error correction system 100 of the satellite navigation receiver having a multiple satellite signal receiver according to an embodiment of the present invention is a satellite signal receiver 110, priority setting unit 120, satellite receiver determination unit 130 ), The pseudo distance correction unit 140 and the navigation information calculation unit 150.

The satellite signal receiver 110 receives each satellite signal transmitted from a plurality of satellites 10 and calculates a correlation value between the received satellite signal and a pre-stored code signal to determine which satellite (10) the received satellite signal is. It determines whether the signal transmitted from the) and calculates the pseudo distance with each satellite 10 to transmit the correlation information including the correlation value and the pseudo distance, 1 to N are provided in plurality.

Each of the satellite signal receivers 110 may include a converter 115 and a correlator 116 as shown in FIG. 1.

The converter 115 converts the satellite signal received from the antenna of each satellite signal receiver 110 into an intermediate frequency signal, and then converts the converted satellite signal of the intermediate frequency band from an analog signal to a digital signal. ) Convert.

The correlator 116 calculates a correlation between the satellite signal converted into the digital signal and a pre-stored code signal to determine which satellite 10 the satellite signal is transmitted from. Here, the code signal is a unique value stored to distinguish which satellite 10 the received satellite signal is a signal transmitted from, and any information can be used as long as the satellite signal for the satellite 10 can be distinguished. Of course it is possible.

When the correlator 116 determines that the received signal is a signal transmitted from which satellite, the pseudo distance between the satellite to which the satellite signal is transmitted and the satellite signal receiver 110 is calculated, and the calculated pseudo distance and the Correlation information including a correlation value is transmitted to the satellite receiver 130.

On the other hand, the priority setting unit 120 is a portion for transmitting the priority information specified in each of the plurality of satellite signal receivers 110 to the satellite receiver 130.

The priority setting unit 120 may of course receive and transmit the priority information for each satellite signal receiver 110 from the outside.

Here, among the satellite signal receivers 110 included in the satellite navigation receiver 170 of FIG. 1, one satellite signal receiver installed closest to a position where navigation information is to be known may be designated as the highest priority. The ranking example is not limited to the above.

For example, the satellite navigation receiver 170 is for a vehicle, and each satellite signal receiver 110 is installed at the front, rear, left, and right sides of the vehicle, and when navigation information about the front of the vehicle is required, The installed satellite signal receiver can be assigned the highest priority.

Meanwhile, the satellite receiver 130 receives the correlation information transmitted from the satellite signal receiver 110 and the priority information transmitted from the priority control unit 120, respectively, and has the highest priority satellite signal receiver. It is determined whether a specific satellite signal, which is a satellite signal of a specific satellite, is received in the remaining satellite signal receiver, which is a satellite signal receiver other than the highest priority, and transmits the determination result to the pseudo distance correction unit 140.

For example, when there are three satellite signal receivers 111, 112, and 113 that receive satellite signals from four satellites 10A, 10B, 10C, and 10D, as shown in FIG. 2A, the satellite signal receiver 111 of priority 1 Each of the satellite signal receivers 112 and 113 having the highest priority satellite signal receivers and having priority 2 and 3 may correspond to the remaining satellite signal receivers 112 and 113.

If the satellite signals transmitted from the satellites 10A, 10B, 10C, and 10D are A, B, C, and D, respectively, A ₁ and B ₁ of FIG. 2A are assigned to the satellite signal receiver 111 of priority 1. Mean pseudo-range calculated using the satellite signals A and B of the satellites A and 10B, and A ₂ and C ₂ are received by the satellite signal receiver 112 of priority 2 The pseudorange calculated using the satellite signals A and C of the satellites 10A and 10C.

Even though the satellite signals received by the satellite signal receivers 111, 112, and 113 are the same as A, the calculated pseudo distance values are different depending on the installation positions of the satellite signal receivers 111, 112, and 113, which means the corresponding satellite signals. The pseudo distances calculated for the same satellite signal differ from each satellite signal receiver 111, 112, 113 by giving subscripts ₁ , ₂ , and ₃ representing the satellite signal receivers 111, 112, and 113, respectively, at the rear end of C, D). Indicated.

In FIG. 2A, the specific satellite signal A is shown, that is, the specific satellite signal A which is the satellite signal of the specific satellite 10A received by the highest priority satellite signal receiver 111 is the remaining satellite signal. This means that the reception unit 112 and 113 are also received.

Meanwhile, when the satellite receiver 130 receives only correlation information of any one of the satellite signal receivers 110, the satellite receiver 130 may calculate navigation information using only the received correlation information. The correlation information of the satellite signal receiver 110 may be transmitted to the navigation information calculator 150.

For example, at least one satellite signal (for example, A and B) is transmitted only to the highest priority satellite signal receiver 111 of FIG. 2A, and no satellite signal is transmitted to the remaining satellite signal receivers 112 and 113. In this case, the navigation information calculator 150 may calculate the navigation information using only the pseudo distance calculated for the satellite signals A and B received by the satellite signal receiver 111 having the highest priority. This example also applies to the case where the satellite signal is transmitted only to the satellite signal receiver 112 of priority 2 or the satellite signal receiver 113 of priority 3.

The pseudo-distance correction unit 140, when the specific satellite signal A is received in the remaining satellite signal receiver as a result of the determination of the satellite receiver 130, and the satellite signal receiver 111 of the highest priority; Compute the difference value between the pseudoranges of the specific satellite signals A calculated by the remaining satellite signal receivers 112 and 113, respectively, and include all the satellite signals including the specific satellite signals A to the remaining satellite signal receivers 112 and 113 ( The pseudo distance is corrected by adding or subtracting the difference value to the pseudo distance of B, C, and D).

That is, referring to the satellite signal receiver 112 of priority 2, the pseudo distance between the satellite signal receiver 111 of the highest priority and the satellite signal receiver 112 of the priority 2 is calculated. The difference value A ₁ -A ₂ is calculated, and the difference value is included in the pseudo distances A ₂ and C ₂ of all satellite signals A and C received by the satellite signal receiver 112 of priority 2. The pseudo distance is corrected by adding (A ₁ -A ₂ ).

For example, the pseudo distance of the specific satellite signal A calculated by the satellite signal receiver 111 having the highest priority is 23,000,001 m and that of the specific satellite signal A calculated by the satellite signal receiver 112 of the priority 2 is higher. If the pseudorange is 23,000,000m, the relative error generated at each of the satellite signal receivers 111, 112 and 113 can be corrected by adding 1m of the pseudorange difference to the 23,000,000m.

Of course, the difference value between the pseudo-distance of the specific satellite signal A calculated by the satellite signal receiver 111 of the highest priority and the satellite signal receiver 112 of priority 2 by changing the position of the subtractor and the subtractor. Is (A ₂ -A ₁ ), the difference value (A ₂ ) to the pseudo distances (A ₂ , C ₂ ) of all satellite signals (A, C) received by the satellite signal receiver 112 of priority _2. -A ₁ ) can be subtracted to correct pseudo range.

On the other hand, the navigation information calculation unit 150 receives the corrected pseudo distance of the pseudo distance correction unit 140, and calculates the navigation information by using the pseudo distance.

That is, the navigation information calculation unit 150 uses the pseudo distance of each satellite signal received by the satellite signal receiver 111 of the highest priority as it is, while the satellite signals received by the remaining satellite signal receivers 112 and 113 are not described above. As described above, accuracy and reliable navigation information can be calculated through the pseudorange value corrected based on the satellite signal receiver 111 having the highest priority.

On the other hand, the pseudo-distance correction unit, when there are a plurality of specific satellite signals, for example, when two specific satellite signals (A, B), as shown in Figure 2b, and the highest priority satellite signal receiver 111 Computing the difference value between the pseudo distances of the specific satellite signals A and B calculated by the remaining satellite signal receivers 112 and 113, respectively, and calculating the average value of the difference values calculated for the specific satellite signals A and B. The pseudorange can be corrected by adding or subtracting the respective average values to the pseudoranges of all the satellite signals including the specific satellite signals A and B with respect to the remaining satellite signal receivers 112 and 113.

That is, referring to the satellite signal receiver 112 of priority 2, the satellite signal receiver 111 of the highest priority and the satellite signal receivers 112 of the satellite signal receiver 112 of priority 2 Compute the difference value (A ₁ -A ₂ , B ₁ -B ₂ ) between the pseudoranges and calculate the average value of the difference value (((A ₁ -A ₂ ) + (B ₁ -B ₂ )) / 2) The average value (((A ₁ -A ₂ ) is equal to the pseudo distances A ₂ , B ₂ , D ₂ of all the satellite signals A, B, D received by the satellite signal receiver 112 of the priority _2. The pseudorange is corrected by adding) + (B ₁ -B ₂ )) / 2).

Meanwhile, when the signal to noise ratio (SNR) of a specific satellite signal of the plurality of specific satellite signals is determined to be greater than or equal to a predetermined reference range, the pseudo-distance correction unit 140 includes the specific satellite. The pseudorange of the signal can be excluded from the difference calculation and correction target.

That is, when a specific satellite signal is A, B, and the satellite signal A has a signal-to-noise ratio above or below a predetermined reference range, the satellite signal A is excluded from the difference calculation, and thus the method shown in FIG. Pseudorange correction can be achieved. Of course, when a particular satellite signal is A, B, C, and the satellite signal A has a signal-to-noise ratio above or below a predetermined reference range, the pseudo distance can be corrected using the method shown in FIG. 2B using the satellite signals B and C. do.

Here, when the signal-to-noise ratio is less than a predetermined reference range, because the satellite signal component is not clean by the noise component may cause an error in the pseudo distance, it may be excluded from the correction target, and if the signal-to-noise ratio is more than the predetermined reference range Since the received signal may be an unexpected external disturbance signal, it is preferable to be excluded from correction.

On the other hand, the present invention, when the satellite receiver judging unit 130, it is determined that the specific satellite signal received by the satellite signal receiver 111 of the highest priority is not received by the remaining satellite signal receivers 112,113. As shown in FIG. 2C, the indirect correction unit 160 may further include an error correction using 1-PPS (Pulse Per Second) signals of the satellite signal receivers 111, 112, and 113. Referring to FIG. 2C, it can be seen that the specific satellite signals A and B received by the satellite signal receiver 111 of the highest priority are not transmitted to any satellite signal receivers among the remaining satellite signal receivers 111 and 113. .

In this case, the indirect correction unit 160 calculates a PPS difference value between the 1-PPS value generated by the satellite signal receiver 111 having the highest priority and the 1-PPS value of the remaining satellite signal receivers 112 and 113. The pseudo-distance is corrected by multiplying the calculated PPS difference by the speed of light and adding or subtracting each pseudorange of the satellite signals with respect to the remaining satellite signal receivers 112 and 113.

That is, referring to the satellite signal receiver 113 of priority 3 of FIG. 2C, the 1-PPS signals generated by the satellite signal receivers 111, 112, and 113 are 1-PPS ₁ , 1-PPS ₂ , and 1-PPS _{3, respectively} . If the indirect correction unit 160 is the highest priority PPS difference between the 1-PPS ₃ value of rank satellite signal receiving the and the _1-PPS 1 value generated in 111. priority 3 satellite signal reception unit 113 of the Calculate the value ((1-PPS ₁ )-(1-PPS ₃ )) and multiply the calculated PPS difference by the speed of light (((1-PPS ₁ )-(1-PPS ₃ )) × Speed) and the multiplied value is added to each pseudorange of the satellite signals C and D with respect to the satellite signal receiver 113 of priority 3 to correct the pseudorange.

In the case of pseudo-range correction using the 1-PPS signal and the speed of light by the indirect correction unit 160, it is assumed that the speed of the satellite signal received by each satellite signal receiver 111, 112, 113 is the same as the speed of light. As an example, an error of pseudorange according to this assumption may also occur, but the magnitude of the error may be reduced as compared with the case of not performing pseudorange correction using 1-PPS.

Hereinafter, an error correction method using the error correction system 100 of the satellite navigation receiver having the multiple satellite signal receivers as described above will be described with reference to FIG. 3.

First, the priority setting unit 120 transmits priority information designated to each of the plurality of satellite signal receivers 110 to the satellite receiver 130 (S300).

The priority setting unit 120 may of course receive and transmit the priority information for each satellite signal receiver 110 from the outside.

After the priority setting step (S300), a plurality of satellite signal receiver 110 receives each satellite signal transmitted from the plurality of satellites 10, and the correlation value between the received satellite signal and the stored code signal Determine the received satellite signal is a signal transmitted from the satellite to calculate the pseudo distance with each satellite and transmits the correlation information including the correlation value and the pseudo distance to the satellite receiver 130 ( S310).

Next, the satellite receiver 130 determines whether satellite signals are transmitted to the plurality of satellite signal receivers 110 using the correlation information transmitted from the satellite signal receivers 110 (S320). ).

In step S320, when it is determined that the satellite signal is transmitted only to one satellite signal receiver, that is, the satellite receiver 130 receives only one of the satellite signal receivers of the satellite signal receiver 110. In this case, the navigation information calculating unit 150 may transmit the correlation information of the satellite signal receiver to calculate the navigation information using only the received correlation information.

In addition, when it is determined in step S320 that the satellite signals have been transmitted to the plurality of satellite signal receivers, the satellite receiver determining unit 130 transmits the correlation information and the priority setting unit transmitted from the satellite signal receiver 110. Using the priority information transmitted at 120, it is determined whether a specific satellite signal, which is a satellite signal of a specific satellite, received at the highest priority satellite signal receiver is received at the remaining satellite signal receiver, which is a satellite signal receiver other than the highest priority. (S330).

In the satellite signal reception determination step (S330), when it is determined that the specific satellite signal is received in the remaining satellite signal receiver, the satellite receiver 130 determines whether the received specific satellite signal is a single number or a plurality of satellite signals. It determines the recognition (S340).

If it is determined in step S340 that the specific satellite signal is a single number, the pseudo-distance correction unit 140 calculates the specific satellite signal calculated by the highest priority satellite signal receiver and the remaining satellite signal receivers as shown in FIG. 2A. Compute the difference value between the pseudo distances of each other, and correct the pseudo distance by adding or subtracting the difference value to the pseudo distances of all satellite signals including the specific satellite signal with respect to the remaining satellite signal receiver (S341).

Then, the navigation information calculator 150 calculates navigation information by using the corrected pseudo distance of the pseudo distance compensator 140 (S360).

In addition, when it is determined that the specific satellite signal is a plurality of different in step S340, as shown in Figure 2b, the pseudo-distance correction unit 140 is calculated by the satellite signal receiver of the highest priority and the remaining satellite signal receiver Compute a difference value between pseudo distances of each specific satellite signal, calculate an average value of the difference values calculated for each particular satellite signal, and calculate the difference between the pseudo distances of all satellite signals including each specific satellite signal with respect to the remaining satellite signal receivers. The pseudorange can be corrected by adding or subtracting the average value (S342).

Thereafter, the navigation information calculation unit 150 calculates navigation information by using the pseudo distance calculated by the pseudo distance correction unit 140 in step S342 (S360).

Here, the pseudo distance correction unit 140, in the pseudo distance correction step 342, the signal-to-noise ratio (SNR) of a specific satellite signal of the plurality of specific satellite signals is greater than a predetermined reference range or If it is determined to be less than or equal to, the pseudo distance of the specific satellite signal may be excluded from the difference value calculation and correction target.

Meanwhile, in the satellite signal reception determining step (S330), it is determined by the satellite receiver determining unit 130 that a specific satellite signal received by the satellite signal receiver having the highest priority is not received by the remaining satellite signal receiver. In this case, the indirect correction unit 160 calculates a PPS difference value between the 1-PPS value generated by the satellite signal receiver of the highest priority and the 1-PPS value of the remaining satellite signal receiver, and calculates the PPS difference value. The pseudo distance is corrected by multiplying the speed of light by adding or subtracting each pseudo distance of the satellite signal to the remaining satellite signal receiver (S350).

Thereafter, the navigation information calculation unit 150 calculates navigation information by using the pseudo distance calculated in the pseudo range correction unit 140 of the indirect correction step S350 (S360).

The error correction system and method of the satellite navigation receiver having the multiple satellite signal receiver of the present invention as described above, the satellite navigation receiver having a multiple satellite signal receiver for receiving a satellite signal from the satellite 10 to calculate navigation information Of course, it can be applied to any means such as a specific antibody such as a satellite launch vehicle, as well as a general antibody such as a vehicle.

As described above, the present invention has been described by means of limited embodiments and drawings, but the present invention is not limited thereto and is described below by the person skilled in the art and the following description of the present invention. Various modifications and variations are possible without departing from the scope of the appended claims.

According to an error correction system and method of a satellite navigation receiver having a multiple satellite signal receiver according to the present invention, the relative error generated by the satellite signal receiver having a multiple satellite signal receiver is corrected based on the satellite signal receiver having the highest priority. After the navigation information is calculated based on the corrected pseudo distance, the accuracy and reliability of the calculated navigation information can be improved.

Claims (10)

Receives each satellite signal transmitted from a plurality of satellites, calculates a correlation value between the received satellite signal and a pre-stored code signal to determine which satellite signal is received from the satellite signal and pseudo distance from each satellite A plurality of satellite signal receivers for calculating and transmitting correlation information including the correlation value and a pseudo distance; A priority designator for transmitting priority information designated to each of the plurality of satellite signal receivers; A satellite receiver for determining whether a specific satellite signal, which is a satellite signal of a specific satellite, which is received by the correlation information and priority information and is received by the satellite signal receiver of the highest priority, is received by the remaining satellite signal receiver, which is a satellite signal receiver of the highest priority. Determination unit; When the specific satellite signal is received in the remaining satellite signal receiver, the difference value between the pseudo-distance of the specific satellite signal calculated by the highest priority satellite signal receiver and the remaining satellite signal receiver is calculated, respectively, and the remaining satellite signal receiver A pseudo-range correction unit for correcting the pseudo-range by adding or subtracting the difference value to the pseudo-ranges of all satellite signals including a specific satellite signal with respect to the pseudo-range; And Error correction system of a satellite navigation receiver having a multiple satellite signal receiver including a navigation information calculation unit for calculating navigation information using the corrected pseudo distance of the pseudo distance correction. The method of claim 1, wherein the satellite receiving unit, When only one of the satellite signal receivers receives the correlation information of the satellite signal receiver, the one of the satellite signal receiver transmits the correlation information of the satellite signal receiver so that the navigation information is calculated using only the received correlation information. An error correction system of a satellite navigation receiver having multiple satellite signal receivers. The method of claim 1, wherein the pseudo range correction unit, When there are a plurality of specific satellite signals, Compute the difference value between the pseudoranges of the specific satellite signals calculated by the satellite signal receiver having the highest priority and the remaining satellite signal receivers, and calculate an average value of the difference values calculated by the specific satellite signals, Error correction system of a satellite navigation receiver having a multiple satellite signal receiver, characterized in that for correcting the pseudo distance by adding or subtracting the respective average value to the pseudo distance of all satellite signals including each specific satellite signal. The method of claim 3, wherein the pseudo range correction unit, If it is determined that a signal-to-noise ratio (SNR) of a specific satellite signal of the plurality of specific satellite signals is above or below a predetermined reference range, the pseudo distance of the particular satellite signal is calculated and corrected. Error correction system of a satellite navigation receiver having a multiple satellite signal receiver, characterized in that excluded. The method of claim 1, If it is determined by the satellite receiver that the particular satellite signal received at the highest priority satellite signal receiver has not been received at the remaining satellite signal receiver, Computing the PPS difference value between the 1-PPS value generated by the satellite signal receiver of the highest priority and the 1-PPS value of the remaining satellite signal receiver, and multiplying the calculated PPS difference value by the speed of light, the remaining satellite signal receiver And an indirect correction unit for correcting the pseudo distance by adding or subtracting each pseudo distance of the satellite signals with respect to the satellite signal receiver. A priority designation step of the priority designator transmitting priority information designated to each of the plurality of satellite signal receivers; The plurality of satellite signal receivers receive each satellite signal transmitted from a plurality of satellites, and calculate a correlation value between the received satellite signal and a pre-stored code signal to determine which satellite the received satellite signal is transmitted from. A correlation information transmitting step of calculating a pseudo distance from each satellite and transmitting correlation information including the correlation value and the pseudo distance; The satellite receiver judging unit receives the correlation information and the priority information to determine whether a particular satellite signal, which is a satellite signal of a specific satellite, received at the highest priority satellite signal receiver is received at the remaining satellite signal receiver, which is a satellite signal receiver outside the highest priority. Determining a specific satellite signal reception step of determining; When the specific satellite signal is received in the remaining satellite signal receiver, the pseudo distance compensator calculates a difference value between the pseudo distance of the specific satellite signal calculated by the highest priority satellite signal receiver and the remaining satellite signal receiver, respectively, A pseudorange correction step of correcting a pseudorange by adding or subtracting the difference value to the pseudoranges of all satellite signals including a specific satellite signal with respect to the remaining satellite signal receiver; And And a navigation information calculating step in which a navigation information calculating unit calculates navigation information using the corrected pseudo distance of the pseudo distance correction unit. The method of claim 6, When the satellite receiver determining unit receives only the correlation information of any one of the satellite signal receivers, the navigation information calculating unit converts the correlation information of the satellite signal receiver into one such that navigation information using only the received correlation information is calculated. An error correction method of a satellite navigation receiver having a multiple satellite signal receiver further comprising a step of transmitting a single correlation information. The method of claim 6, wherein the pseudo-distance correction unit, When there are a plurality of specific satellite signals, Compute the difference value between the pseudoranges of the specific satellite signals calculated by the satellite signal receiver having the highest priority and the remaining satellite signal receivers, and calculate an average value of the difference values calculated by the specific satellite signals, And calibrating the pseudorange by adding or subtracting the respective average values to the pseudoranges of all satellite signals including each specific satellite signal with respect to the satellite signal receiver. The method of claim 8, wherein the pseudo-distance correction unit, If it is determined that a signal-to-noise ratio (SNR) of a specific satellite signal of the plurality of specific satellite signals is above or below a predetermined reference range, the pseudo distance of the particular satellite signal is calculated and corrected. Error correction method of a satellite navigation receiver having a multiple satellite signal receiver, characterized in that excluded. The method of claim 6, If it is determined by the satellite receiver that the particular satellite signal received at the highest priority satellite signal receiver has not been received at the remaining satellite signal receiver, The indirect correction unit calculates a PPS difference value between the 1-PPS value generated by the satellite signal receiver of the highest priority and the 1-PPS value of the remaining satellite signal receiver, and multiplies the calculated PPS difference by the speed of light. And an indirect correction step of correcting the pseudo distance by adding or subtracting each pseudo distance of the satellite signal to the satellite signal receiver.

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