Ndi chitukuko chosalekeza ndi kupititsa patsogolo luso la satellite positioning, luso lapamwamba lapamwamba lakhala likugwiritsidwa ntchito pazochitika zonse za moyo wamakono, monga kufufuza ndi kupanga mapu, ulimi wolondola, uav, kuyendetsa galimoto popanda anthu ndi madera ena, luso lapamwamba lapamwamba. zitha kuwoneka paliponse.Makamaka, pakutha kwa maukonde a m'badwo watsopano wa Beidou navigation satellite system komanso kubwera kwa nthawi ya 5G, chitukuko chopitilirabe cha Beidou +5G chikuyembekezeka kulimbikitsa kugwiritsa ntchito ukadaulo wapamwamba kwambiri pakukonza ndege. , kuyendera maloboti, kuyang'anira magalimoto, kasamalidwe kazinthu ndi zina.Kukwaniritsidwa kwaukadaulo wapamwamba kwambiri sikungasiyanitsidwe ndi chithandizo cha mlongoti wolondola kwambiri, algorithm yolondola kwambiri komanso khadi ya board yolondola kwambiri.Pepalali makamaka limayambitsa chitukuko ndi kugwiritsa ntchito mlongoti wolondola kwambiri, luso lamakono ndi zina zotero.

1. Kupanga ndi kugwiritsa ntchito mlongoti wa GNSS wolondola kwambiri

1.1 Antenna yolondola kwambiri

Mu FIELD ya GNSS, mlongoti wolondola kwambiri ndi mtundu wa antenna womwe uli ndi zofunikira zapadera kuti pakhale kukhazikika kwapakati pagawo la mlongoti.Nthawi zambiri amaphatikizidwa ndi bolodi yolondola kwambiri kuti azindikire kukhazikika kwapamwamba kwa centimeter-level kapena millimeter-level.Pamapangidwe a antenna olondola kwambiri, nthawi zambiri pamakhala zofunikira zapadera pazizindikiro zotsatirazi: m'lifupi mwa mlongoti wa mlongoti, kutsika kokwera, kusakhala mozungulira, kutsika kwa mpukutu, chiŵerengero cha kutsogolo ndi kumbuyo, mphamvu zotsutsana ndi multipath, ndi zina zotero. mwachindunji kapena m'njira zina zimakhudza gawo lapakati kukhazikika kwa mlongoti, ndiyeno zimakhudza kulondola kwa malo.

1.2 Kugwiritsa ntchito ndi kugawa mlongoti wolondola kwambiri

Mlongoti wa GNSS wolondola kwambiri poyamba unkagwiritsidwa ntchito pofufuza ndi kupanga mapu kuti akwaniritse malo olondola a millimeter-level positioning in the process of engineering lofting, topographic map and various control surveying.Ndi luso lapamwamba loyang'ana malo omwe akukhala okhwima, mlongoti wolondola kwambiri umagwiritsidwa ntchito pang'onopang'ono m'madera ambiri, kuphatikizapo malo ogwiritsira ntchito mosalekeza, kuyang'anira kusintha, kuyang'anira zivomezi, kuyeza kwa kufufuza ndi kupanga mapu, magalimoto osayendetsa ndege (uavs), madera olondola. ulimi, kuyendetsa basi, kuyendetsa mayeso oyendetsa galimoto, makina opangira uinjiniya ndi madera ena a mafakitale, m'magawo osiyanasiyana ofunikira pa index ya mlongoti alinso ndi kusiyana koonekeratu.

1.2.1 dongosolo la CORS, kuwunika kwa deformation, kuwunika kwa seismic - antenna station station

Mlongoti wolondola kwambiri amagwiritsa ntchito malo ogwiritsira ntchito nthawi zonse, poyang'anitsitsa kwa nthawi yaitali kuti adziwe zambiri za malo, komanso kudzera mu njira yolumikizirana ndi data mu nthawi yeniyeni yotumizira deta ku malo olamulira, zolakwika za malo owerengetsera olamulira pambuyo pa magawo owongolera kuti apititse patsogolo dongosolo la dothi, ndi nyenyezi mu waas kulimbikitsa dongosolo, ndi zina zotero, kutumiza mauthenga olakwika kwa rover (kasitomala), Pomaliza, wogwiritsa ntchito atha kupeza chidziwitso cholondola chogwirizanitsa [1].

Pogwiritsira ntchito kuwunika kowonongeka, kuyang'anira zivomezi ndi zina zotero, chifukwa cha kufunikira koyang'anira molondola kuchuluka kwa mapindikidwe, kuzindikira kwazing'ono, kuti athe kuneneratu zochitika za masoka achilengedwe.

Chifukwa chake, pakupanga kwa antenna olondola kwambiri pamagwiritsidwe ntchito ngati malo ogwiritsira ntchito mosalekeza, kuyang'anira ma deformation ndi kuwunika kwa zivomezi, chofunikira choyamba chiyenera kukhala kukhazikika kwapakati pagawo lake komanso kuthekera kotsutsana ndi njira zambiri zosokoneza, kuti apereke zolondola zenizeni zenizeni. zidziwitso zamakasitomala osiyanasiyana owonjezera.Kuphatikiza apo, kuti apereke magawo ambiri owongolera ma satellite momwe angathere, mlongoti uyenera kulandira ma satelayiti ochulukirapo momwe angathere, gulu la ma frequency anayi amtundu wathunthu wasintha.Pakugwiritsa ntchito kwamtunduwu, antenna station station (reference station antenna) yomwe imaphimba gulu lonse la machitidwe anayi nthawi zambiri imagwiritsidwa ntchito ngati mlongoti wowonera dongosolo.

1.2.2 Kuyang'ana ndi kupanga mapu - Mlongoti wowunika womangidwa

Pankhani yowunika ndi kupanga mapu, ndikofunikira kupanga antenna yowunikira yomwe imakhala yosavuta kuphatikiza.Mlongoti nthawi zambiri umamangidwa pamwamba pa cholandirira RTK kuti akwaniritse nthawi yeniyeni komanso yolondola kwambiri pankhani yowunika ndi kupanga mapu.

Kufikira kwa antenna omangika pakuwunika kwakukulu pamapangidwe a kukhazikika kwafupipafupi, kuphimba kwamitengo, malo apakati, kukula kwa mlongoti, ndi zina zambiri, makamaka pogwiritsa ntchito netiweki RTK, yophatikizidwa ndi 4 g, bluetooth, WiFi onse netcom yomangidwa- poyezera mlongoti pang'onopang'ono umatenga gawo lalikulu pamsika, kuyambira pomwe idakhazikitsidwa mu 2016 ndi ambiri opanga ma RTK olandila, Yakhala ikugwiritsidwa ntchito ndikulimbikitsidwa kwambiri.

1.2.3 Kuyesa kuyendetsa galimoto ndi maphunziro oyendetsa galimoto, kuyendetsa popanda munthu - mlongoti woyezera kunja

Dongosolo loyeserera lakale loyendetsa galimoto lili ndi zovuta zambiri, monga mtengo wolowera, kukwera mtengo kwa magwiridwe antchito ndi kukonza, kukhudzidwa kwakukulu kwa chilengedwe, kulondola kochepa, ndi zina. Pambuyo pakugwiritsa ntchito mlongoti wolondola kwambiri pamayeso oyendetsa, dongosololi limasintha kuchokera pakuwunika pamanja. kuwunika mwanzeru, ndipo kulondola kwake ndikwambiri, zomwe zimachepetsa kwambiri mtengo wamunthu ndi zinthu zoyeserera poyendetsa.

M'zaka zaposachedwapa, njira zoyendetsera galimoto zopanda anthu zakula mofulumira.Poyendetsa mopanda munthu, ukadaulo woyika RTK wokhazikika kwambiri komanso malo osasunthika ophatikizidwa nthawi zambiri amatengera, zomwe zimatha kukwaniritsa malo olondola kwambiri m'malo ambiri.

Poyesa kuyendetsa galimoto, monga machitidwe osayendetsedwa, nthawi zambiri mlongoti umayesedwa ndi mawonekedwe akunja, kufunikira kogwira ntchito pafupipafupi, mlongoti wamtundu wambiri wokhala ndi machitidwe angapo amatha kukwaniritsa malo olondola kwambiri, chizindikiro cha multipath chimakhala ndi zopinga zina, komanso chilengedwe chabwino. kusinthika, kumatha kugwiritsidwa ntchito nthawi yayitali m'malo akunja popanda kulephera.

1.2.4 UAV - Mlongoti wolondola kwambiri

M'zaka zaposachedwa, ntchito ya uav yakula kwambiri.Uav yakhala ikugwiritsidwa ntchito kwambiri poteteza mbewu zaulimi, kufufuza ndi kupanga mapu, kulondera pamakina amagetsi ndi zochitika zina.Muzochitika zotere, zokhala ndi mlongoti wokhazikika kwambiri zimatha kutsimikizira kulondola, kuchita bwino komanso chitetezo cha ntchito zosiyanasiyana.Chifukwa cha mawonekedwe a liwiro lalitali, katundu wopepuka komanso kupirira kwakanthawi kochepa kwa uav, mapangidwe a mlongoti wa uav wolondola kwambiri makamaka amayang'ana kulemera, kukula, kugwiritsa ntchito mphamvu ndi zinthu zina, ndikuzindikira kapangidwe ka burodibandi momwe kungathekere potengera kutsimikizira. kulemera ndi kukula.

2, GNSS ukadaulo wa antenna kunyumba ndi kunja

2.1 Mkhalidwe wamakono waukadaulo wa antenna akunja

Kafukufuku wakunja wokhudzana ndi mlongoti wolondola kwambiri adayamba msanga, ndipo mndandanda wazinthu zotsogola zapamwamba zokhala ndi magwiridwe antchito abwino zapangidwa, monga GNSS 750 mndandanda watsamwitsa mlongoti wa NoVatel, mlongoti wa Zepryr wa Trimble, Leica AR25 antenna, ndi zina zambiri, pakati pawo. zomwe pali mitundu yambiri ya tinyanga zokhala ndi tanthauzo lalikulu.Chifukwa chake, m'mbuyomu kwa nthawi yayitali, msika waku China wolondola kwambiri wa tinyanga tatuluka kuchokera kuzinthu zakunja.Komabe, m'zaka khumi zaposachedwapa, ndi kuwuka kwa ambiri opanga m'nyumba, GNSS yachilendo mkulu-mlongoti mlongoti ntchito kwenikweni alibe ubwino, koma zoweta mkulu-mwatsatanetsatane opanga anayamba kukulitsa msika ku mayiko akunja.

Kuphatikiza apo, opanga ena atsopano a GNSS antenna apanganso m'zaka zaposachedwa, monga Maxtena, Tallysman, ndi zina zotero, zomwe zogulitsa zake zimakhala tinyanga tating'ono ta GNSS zomwe zimagwiritsidwa ntchito pa uav, galimoto ndi machitidwe ena.Mtundu wa mlongoti nthawi zambiri umakhala ndi mlongoti wa microstrip wokhala ndi dielectric wokhazikika kapena wozungulira mikono inayi.Mumtundu uwu waukadaulo wopanga mlongoti, opanga akunja alibe mwayi, zogulitsa zapakhomo ndi zakunja zikulowa nthawi ya mpikisano wofanana.

2.2 Mkhalidwe wamakono waukadaulo wapamwamba kwambiri wa mlongoti

M'zaka khumi zapitazi, ambiri opanga tinyanga tapakhomo tating'onoting'ono tating'onoting'ono adayamba kukula ndi develop, monga Huaxin Antenna, Zhonghaida, Dingyao, Jiali Electronics, ndi zina zotero, zomwe zinapanga mndandanda wazinthu zolondola kwambiri za mlongoti wokhala ndi ufulu wodziyimira pawokha.

Mwachitsanzo, pankhani ya mlongoti wa siteshoni ndi mlongoti woyezera momwemo, mlongoti wa HUaxin wa 3D watsamwitsa ndi mlongoti wophatikizana wa full-netcom sikuti amangofika pamlingo wotsogola wapadziko lonse lapansi, komanso amakwaniritsa zofunikira za ntchito zosiyanasiyana zachilengedwe zodalirika kwambiri, moyo wautali wautumiki komanso kulephera kochepa kwambiri.

Pamakampani agalimoto, uav ndi mafakitale ena, ukadaulo wamapangidwe a mlongoti woyezera kunja ndi mlongoti wozungulira wa mikono inayi wakhala wokhwima, ndipo wakhala akugwiritsidwa ntchito kwambiri pakugwiritsa ntchito mayeso oyendetsa galimoto, kuyendetsa mopanda anthu, uav ndi mafakitale ena, ndipo wapeza zabwino pazachuma ndi chikhalidwe cha anthu.

3. Zomwe zikuchitika komanso chiyembekezo cha msika wa GNSS antenna

Mu 2018, mtengo wathunthu wamakampani oyendetsa satellite ku China ndi malo ogwira ntchito zamalo adafika 301.6 biliyoni YUAN, kukwera 18.3% poyerekeza ndi 2017 [2], ndipo ifika 400 biliyoni mu 2020;Mu 2019, mtengo wonse wamsika wapadziko lonse wa satellite navigation unali ma euro 150 biliyoni, ndipo kuchuluka kwa ogwiritsa ntchito ma terminal a GNSS adafika 6.4 biliyoni.Makampani a GNSS ndi amodzi mwa mafakitale ochepa omwe athetsa kugwa kwachuma padziko lonse lapansi.Bungwe la European GNSS Agency linaneneratu kuti msika wapadziko lonse wa satellite navigation upitilira ma euro 300 biliyoni mzaka khumi zikubwerazi, pomwe ma terminals a GNSS akuchulukirachulukira mpaka 9.5 biliyoni.

Msika wapadziko lonse wa satellite navigation, womwe umagwiritsidwa ntchito pamagalimoto apamsewu, magalimoto osayendetsedwa ndi ndege m'malo ngati zida zomaliza ali mzaka 10 zikubwerazi gawo lomwe likukula mwachangu pamsika: luntha, magalimoto osayendetsedwa ndiye njira yayikulu yachitukuko, njira yamtsogolo yamsewu yoyendetsa galimoto. Galimotoyo iyenera kukhala ndi mlongoti wa GNSS imakhala yolondola kwambiri, chifukwa chake kufunikira kwakukulu kwa msika wa GNSS antenna automatic drive.Ndi chitukuko chosalekeza cha chitukuko chamakono chaulimi ku China, kugwiritsa ntchito uav wokhala ndi mlongoti wapamwamba kwambiri, monga chitetezo cha uav, chidzapitirira kuwonjezeka.

4. Kukula kwa mlongoti wa GNSS wolondola kwambiri

Pambuyo pazaka zachitukuko, matekinoloje osiyanasiyana a mlongoti wa GNSS ali okhwima, komabe pali njira zambiri zoti zithyoledwe:

1. Miniaturization: The miniaturization ya zida zamagetsi ndizochitika zachitukuko zamuyaya, makamaka pamapulogalamu monga uav ndi handheld, kufunikira kwa tinyanga tating'onoting'ono ndikofunikira kwambiri.Komabe, ntchito ya antenna idzachepetsedwa pambuyo pa miniaturization.Momwe mungachepetsere kukula kwa mlongoti ndikuwonetsetsa kuti magwiridwe antchito athunthu ndi njira yofunikira yofufuzira ya mlongoti wolondola kwambiri.

2. Ukadaulo wothana ndi njira zambiri: Ukadaulo wothana ndi njira zambiri za mlongoti wa GNSS makamaka umaphatikizapo ukadaulo wa koyilo [3], umisiri wopangira maginito amagetsi [4][5], ndi zina zotero. m'lifupi ndi kukwera mtengo, ndipo sangathe kukwaniritsa chilengedwe chonse.Chifukwa chake, ndikofunikira kuti muphunzire ukadaulo wotsutsana ndi multipath wokhala ndi mawonekedwe a miniaturization ndi Broadband kuti mukwaniritse zofunikira zosiyanasiyana.

3. Multi-function: Masiku ano, kuwonjezera pa mlongoti wa GNSS, antenna yolumikizirana yopitilira imodzi imaphatikizidwa muzipangizo zosiyanasiyana.Njira zosiyanasiyana zoyankhulirana zingayambitse kusokoneza kwa ma siginecha osiyanasiyana ku mlongoti wa GNSS, zomwe zimakhudza kulandila kwa satellite.Chifukwa chake, mapangidwe ophatikizika a mlongoti wa GNSS ndi mlongoti wolumikizirana umazindikirika kudzera mu kuphatikiza kwamitundu yambiri, ndipo kusokoneza pakati pa tinyanga kumaganiziridwa panthawi yopanga, yomwe imatha kupititsa patsogolo digirii yophatikizira, kuwongolera mawonekedwe amagetsi amagetsi ndikuwongolera magwiridwe antchito. makina onse.