CN106970398A - Take the satellite visibility analysis and ephemeris forecasting procedure of satellite obstruction conditions into account - Google Patents

Take the satellite visibility analysis and ephemeris forecasting procedure of satellite obstruction conditions into account Download PDF

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CN106970398A
CN106970398A CN201710187043.9A CN201710187043A CN106970398A CN 106970398 A CN106970398 A CN 106970398A CN 201710187043 A CN201710187043 A CN 201710187043A CN 106970398 A CN106970398 A CN 106970398A
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satellite
elevation angle
account
ephemeris
sin
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CN106970398B (en
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李祖锋
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PowerChina Northwest Engineering Corp Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver

Abstract

The invention discloses the satellite visibility analysis method for taking satellite obstruction conditions into account, step 1, measure target point position satellite and block elevation angle Ei；Step 2, satellite spatial position is resolved and Coordinate Conversion；Step 3, in the topocentric coordinate system that ground survey station R is the origin of coordinates, the elevation angle e and azimuth A of instantaneous satellite are tried to achieve；Then calculate the correspondence time and correspondence orientation A blocks elevation angle Ei；The time is corresponded into the elevation of satellite e in orientation again and elevation angle E is blockediIt is compared, if e≤Ei, then illustrate the satellite-invisible, reject the satellite；If e ＞ Ei, then illustrate that the satellite is visible, retain the satellite；According to said method satellite is filtered, accurate satellite visibility result is obtained.And assessed according to the dilution of precision that satellite visibility analysis result carries out single survey station, realize that ephemeris is forecast.The present invention is suitable to the ephemeris forecast that GNSS observations are carried out in high-mountain gorge areas and the inferior observation area in hardship of city housing-group effect, solves the situation that traditional ephemeris forecast result is not inconsistent with actual observation condition.

Description

Take the satellite visibility analysis and ephemeris forecasting procedure of satellite obstruction conditions into account
Technical field
The invention belongs to GNSS control net field of measuring technique, and in particular to a kind of satellite for taking satellite obstruction conditions into account can Opinion property analysis method, has further related to a kind of ephemeris forecasting procedure for taking satellite obstruction conditions into account.
Background technology
The accuracy for the precision influence institute gathered data that GNSS control net measurements can reach, it is by institute in the unit interval The number of satellite and the distribution situation of satellite that can be received, and the factor such as duration of received satellite-signal influence.Therefore When measuring programme planning, it usually needs carry out ephemeris forecast to surveying area, do sth. in advance to know following one section by Almanac Satellite distribution situation and the forecast precision factor (DOP values) in time, the precision of the whole net of Engineering Network is estimated according to these information Situation, then GPS measurement net forms and observation program are optimized, to obtain more accurately metrical information.
In Almanac, DOP values determine that a critically important step is the calculating of satellite visibility, existing single survey station dilution of precision Calculate satellite visibility screening general by setting a fixed elevation angle (such as 10 ° or 15 °), it is visible in this, as satellite Property Rule of judgment, but barrier actually due to satellite position with respect to survey station point blocks, such as high-mountain gorge areas, city building Group's effects, actual receivable satellite-signal will have very big gap, when elevation mask E is 30 °, see 4 And time of above gps satellite account for the 90% of whole day, when elevation mask E is 40 °, see 4 and above gps satellite when Between account for the 47% of whole day.In high-mountain gorge areas, the situation that the elevation angle more than 30 ° is blocked is frequently encountered, this is resulted in pair Satellite visibility and dilution of precision accuracy of the forecast have very big error.
Existing many stars go through forecast and do not account for survey station obstruction conditions, and its DOP value estimated result has relatively large deviation, because This is necessary a kind of satellite visibility analysis method for taking satellite obstruction conditions into account of research, calculates accurate forecast dilution of precision DOP values, could obtain accurate ephemeris forecast.On this basis, the precision feelings of the whole net of Engineering Network could more accurately be estimated Condition, obtains more optimal GNSS measurement net forms and observation program.
The content of the invention
It is an object of the present invention to provide a kind of satellite visibility analysis method for taking GNSS satellite obstruction conditions into account, solution When survey station point under narrow valley region or city housing-group environment of having determined has barrier and blocked, existing GNSS satellite visibility analysis does not have Have and take no survey station obstruction conditions into account and cause the problem of analysis result has relatively large deviation.
It is a further object to provide a kind of ephemeris forecasting procedure for taking satellite obstruction conditions into account, survey station is solved When point has barrier and blocked, existing DOP values calculating does not account for the problem of survey station obstruction conditions cause ephemeris the forecast is inaccurate true.
A technical scheme of the present invention is, a kind of satellite visibility analysis side for taking satellite obstruction conditions into account Method, comprises the following steps：
Step 1, measure target point position satellite and block elevation angle；
Under topocentric coordinates, it is first determined coordinate of ground point, then centered on target point since the north to ing it is clockwise Often it is separated by certain angle and measures a section, according to the cut surface character point measured, the maximum for calculating correspondence direction is blocked Angle, repeats to measure all directions, obtains that target point all directions are corresponding to block elevation angle Ei。
Step 2, satellite spatial position is resolved and Coordinate Conversion；
Broadcast ephemeris information is obtained, position of the satellite in track areal coordinate system is then calculated, finally by Coordinate Conversion, Position of the satellite in instantaneous terrestrial coordinate system and the position in conventional terrestrial coordinate system are obtained respectively.
Step 3, filtering barrier blocks satellite
Geocentric coordinates of the satellite that step 2 is calculated in conventional terrestrial coordinate system is converted into the station using survey station as origin Heart coordinate system, and then try to achieve the elevation angle e and azimuth A of satellite；Then, according to it is specified when inscribe one party position satellite height Angle e and azimuth A is spent, and the target point all directions that step 1 is calculated corresponding block elevation angle Ei, obtain moment party Position block elevation angle Ei；By the elevation of satellite e in moment orientation and block elevation angle E againiIt is compared, if e≤Ei, Then illustrate the satellite-invisible, reject the satellite；If e>Ei, then illustrate that the satellite is visible, retain the satellite；According to said method to defending Star is filtered one by one, obtains accurate satellite visibility result.
The characteristics of technical scheme, also resides in：
Further, elevation angle E is blocked in step 1iComputational methods be：
Defining the section form measured is：Di,Hi, wherein DiFor cut surface character point to the plan range of target point position, Hi For cut surface character point height；Secondly the elevation angle of characteristic point is calculated according to cross sectionIf target point measures n elevation angle altogether, Then target point all directions are corresponding blocks elevation angle EiFor：
Further, it is above-mentionedCalculation formula beOr H in formula0For target point height.
Further, in step 3 elevation of satellite e and azimuth A computational methods be：
Coordinate during satellite is calculated using survey station as the topocentric coordinate system of origin：
Wherein,
[XR YR ZR]TFor survey station space coordinate, then have：
Wherein, B and L systems survey station the earth warp, latitude.
Then the corresponding elevation angle e of satellite is：
Azimuth A corresponding to satellite is：
In formula：
Further, the timing of step 3 middle finger is carved and elevation angle E is blocked in orientationiComputational methods be：
Known two adjacent elevation angles of blocking are：(Ai-1, Ei-1), (Ai+1, Ei+1), specified using being solved by linear interpolation Elevation angle is blocked in orientation：E=aA+b；By (Ai-1, Ei-1), (Ai+1, Ei+1) substitute into above formula just can obtain parameter a, b；Then will Specify the satellite aximuth A at momentiAbove formula is substituted into, the height for obtaining correspondence direction blocks angle and is：Ei=aAi+b。
Wherein, when obstruction conditions be proximal line deformation when, elevation angle interpolation use i (set block elevation angle quantity as N, i≤n) individual point is linear fits point to be located elevation angle：
E=a0+a1A+a2A2+...+anAn
Another technical scheme of the present invention is that a kind of ephemeris forecasting procedure for taking satellite obstruction conditions into account is wrapped Include following steps：The satellite visibility taken into account under barrier obstruction conditions is obtained using the above method, with the observation satellite of acquisition The state matrix of group is foundation, using direction cosine method computational geometry dilution of precision DOP values.
Wherein, DOP values include combined influence dilution of precision GDOP, three-dimensional position dilution of precision PDOP, horizontal component precision Factor HDOP, vertical component dilution of precision VDOP and clock correction dilution of precision TDOP values.
The ephemeris forecast that account for satellite obstruction conditions can be obtained by above-mentioned steps, including DOP values, satellite sky are regarded Figure, satellite visibility, satellite visible number, elevation of satellite change.
The beneficial effects of the invention are as follows the present invention is suitable to difficult in high-mountain gorge areas and the inferior observation of city housing-group effect Area carries out the ephemeris forecast of GNSS observations, and less important work personnel formulate observation program and observation scheduling plan, it is possible to estimate Go out and receive the precision index that situation is identical with real satellite.The feelings that traditional ephemeris forecasting index does not conform to the actual conditions can be solved Condition.According to predicting condition in fishing time, with reference to area's distribution situation is surveyed, observation scheduling plan is made.Suitable for high mountain gorge And the GNSS observation schedulings under the effect of city block.
Brief description of the drawings
Fig. 1 is that the present invention takes the satellite visibility analysis method of satellite obstruction conditions and the schematic diagram of ephemeris forecast into account；
Fig. 2 is the schematic diagram that four stars integrate ephemeris file format.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description, but the present invention is not limited to These embodiments.
The satellite visibility analysis method for taking satellite obstruction conditions into account of the present invention, with reference to Fig. 1, comprises the following steps：
Step 1, measure target point position satellite and block elevation angle；
Other digital geo-information products based on topographic map, digital elevation model (DEM) or with Height attribute enter The measurement of row list survey station elevation of satellite.
Coordinate of ground point is determined first, is then often separated by certain angle clockwise to since the north centered on target point (such as 5 °) measure a section (cross section distance is determined according to actual conditions), according to the cut surface character point measured, meter The maximum for calculating correspondence direction blocks angle, repeats to measure all directions, obtains that target point all directions are corresponding to block elevation angle Ei。
Measuring section form is：
Di,Hi
Wherein DiFor cut surface character point to the plan range of target point position, HiFor cut surface character point height, if target point is measured altogether Survey n elevation angle.The elevation angle of characteristic pointFor：
H0For target point height, then target point all directions are corresponding blocks elevation angle EiFor：
GNSS elevation angles are usually to be expressed in topocentric coordinates form, and height is being carried out using topographic map and DEM model datas Need to convert it to topocentric coordinates form during degree angle measurements.
Influenceed by earth curvature, when replacing level surface using the horizontal plane of topocentric coordinates, it calculates public to discrepancy in elevation influence Formula is as follows：
When D is 2Km and 3Km, it is 0.31m and 0.71m on discrepancy in elevation influence.Therefore, in general height angle measurements process In can ignore its influence, when have higher requirement be need consider its influence, the elevation angle of characteristic pointCalculation formula It is changed into：
The elevation angle of all directions just can be measured successively, thus just complete single survey station height angle measurements.
The elevation angle form that single survey station is measured is as follows：
Step 2, satellite spatial position is resolved and Coordinate Conversion；
The target point measured according to step 1 blocks elevation angle, downloads and parses newest broadcast ephemeris information, broadcasts star It is the forecast of GNSS ephemeris and the basis of accuracy evaluation module to go through download and parsing, is the precondition of satellite position calculation.
GNSS integrates ephemeris file designation rule：
Example：brdm3550.15p
First four are title " brdm ", and following three characters are a year days of year, segment number (generally 0) when last position is, Suffix name is the numeral and file identification character " p " for representing year (it is that the systems of GNSS tetra- integrate ephemeris that p, which is represented).It is each in comprehensive ephemeris Parameter and implication are shown in Table 1.
Parameter and implication in the ephemeris of table 1
It is as shown in Figure 2 that GNSS integrates ephemeris file format.
Pass through the mean angular velocity for calculating satellite motion, the equalization point angle for observing moment satellite, eccentric anomaly, true near point Angle, the argument of latitude, perturbation correction member, and then position of the satellite in track areal coordinate system is calculated, finally by Coordinate Conversion, obtain Obtain position of the satellite in instantaneous terrestrial coordinate system and the position in conventional terrestrial coordinate system.The technology path of realization is such as Under：
(1) the mean angular velocity n of satellite motion is calculated
First according to the parameter provided in broadcast ephemerisCalculate with reference to moment toeMean angular velocity n0：
In formula, G is universal gravitational constant, and M is earth gross mass, and product is GM=3.986005 × 1014m3/s2。
Then according to the mean angular velocity n of broadcast ephemeris perturbation parameter Δ n calculating observation moment satellites：
N=n0+Δn
(2) the equalization point angle M of calculating observation moment satellite
M=M0+n(t-toe)
In formula, M0To refer to moment toeWhen equalization point angle, provided by broadcast ephemeris.
(3) eccentric anomaly is calculated
The Kepler's equations represented with radian is：
E=M+e sin E
The Kepler's equations represented with angle is：
E °=M °+ρ ° of e sin E °
Iterative method or Differential corrector can be used by solving above-mentioned equation.
(4) true anomaly f is calculated
In formula, e is the eccentricity of satellite orbit, is provided by broadcast ephemeris.So,
(5) argument of latitude u ' is calculated
U '=ω+f
In formula, ω is the argument of perigee, has broadcast ephemeris to provide.
(6) perturbation correction member δ is calculatedu、δr、δi
Following 6 perturbation parameters are given in broadcast ephemeris：Cuc, Cus, Crc, Crs, Cic, Cis, can obtain due to J accordingly2 Argument of latitude u correction member δ caused byu, satellite vector distance r correction member δrWith satellite inclination i perturbation correction member δi.Meter Calculate formula as follows：
(7) to μ ', r ', i0Carry out perturbation correction
In formula, a is the major radius of satellite orbit,Provided by broadcast ephemeris；i0For toeThe rail at moment Road inclination, is provided by the parameter of Kepler 6 in broadcast ephemeris；For i rate of change, given by the parameter of perturbation nine in broadcast ephemeris Go out.
(8) position of the satellite in track areal coordinate system is calculated
The flat square of (origin of coordinates is located at the earth's core, and X-axis points to ascending node) satellite in track plane right-angle coordinate Coordinate is：
(9) the longitude L of calculating observation moment ascending node
If with reference to moment toeWhen ascending node right ascension beAscending node is to the rate of change of timeSo observe wink Between t right ascension of ascending node Ω should be：
It can be provided from the perturbation parameter of broadcast ephemeris.
If (during Sunday 0) Greenwich sidereal time start time this week is GASTweek.Then observe the Greenwich of moment Sidereal time is:
GAST=GASTweek+ωet
In formula, ωeFor rotational-angular velocity of the earth, its value is ωe=7.292115 × 10-5Rad/s, t be this week in when Between (s), thus can in the hope of observe moment ascending node longitude be：
OrderThen have：
(10) position of the satellite in instantaneous terrestrial coordinate system is calculated
After the geodetic longitude L of the known ascending node and inclination angle i of orbit plane, so that it may easily tried to achieve by rotating twice Position of the satellite in body-fixed coordinate system：
(11) position of the satellite in conventional terrestrial coordinate system is calculated
Observing position of the moment satellite in conventional terrestrial coordinate system is：
Satellite spatial position is resolved and coordinate transformation, the orbital position of the satellite in forecast following a period of time.
Step 3, filtering barrier blocks satellite.
The visible number of satellite, the observability of single survey station are carried out according to satellite almanac and the survey station elevation of satellite file measured And DOP value analysis and predictions.
Geocentric coordinates of the satellite that step 2 is calculated in conventional terrestrial coordinate system is converted into the station using survey station as origin Heart coordinate system, and then try to achieve elevation angle and the azimuth of satellite, the elevation angle of other system-satellites and azimuthal computational methods It is similar therewith.After the elevation angle of satellite and azimuth is obtained, according to the circumstance of occlusion of step 1 barrier, and target point Coordinate elevation information, so as to obtain target point position visible satellite situation, height angle information is blocked with reference to the survey station that step 1 is measured, The i.e. achievable filtering that satellite is blocked to barrier, realizes the screening of visible satellite.Calculating process is as follows：
(1) elevation of satellite and azimuthal computation model are as follows.
Satellite station heart rectangular coordinate system coordinate be：
In formula,
[XR YR ZR]TFor survey station space coordinate.
Wherein, B and L are survey station the earth warp, latitude respectively.
The corresponding elevation angle e of satellite is：
The corresponding azimuth A of satellite is：
(2) screening of visible satellite
According to the elevation angle block information in step 1, it is known that two adjacent elevation angles of blocking are：
(Ai-1, Ei-1), (Ai+1, Ei+1)
By linear interpolation solve herein block elevation angle：
E=aA+b
By (Ai-1, Ei-1), (Ai+1, Ei+1) substitute into above formula just can obtain parameter a, b.By the satellite aximuth A at specified momenti Above formula is substituted into, the height for obtaining correspondence direction blocks angle and is：
Ei=aAi+b
Compare the elevation angle e of satellite herein and block elevation angle Ei, judge whether satellite is visible, satellite is visible to be differentiated Formula：
E ＞ Ei
If e ＞ Ei, then illustrate that the satellite is visible, retain the satellite；Otherwise, then the satellite is rejected.
For the obstruction conditions of proximal line deformation, elevation angle interpolation can use i (set and block elevation angle quantity as n, i ≤ n) individual point is linear fits point to be located elevation angle:
E=a0+a1A+a2A2+...+anAn
Thus satellite condition is blocked to barrier to filter one by one, determined satellite visibility.
Based on the above-mentioned satellite visibility analysis method taken into account under barrier obstruction conditions, further computational geometry precision because Sub- DOP values, just can obtain taking into account the ephemeris forecast under barrier obstruction conditions.Specifically implement according to following steps：
The state matrix of the satellite group obtained using the analysis of above-mentioned satellite visibility method is foundation, using direction cosine method meter DOP values are calculated, i.e., are calculated using the direction cosines of satellite constellation.The DOP values calculated include GDOP, PDOP, HDOP, VDOP and TDOP values.
Technology path is as follows：
In GNSS navigates and positions, so-called geometric dilution of precision DOP values are defined, in this, as measurement satellite spatial geometry It is distributed the standard to location precision.
Point position accuracy of observation assesses modularization technique route and utilizes survey station coordinate and co-ordinates of satellite, to satellites in view and survey station Between the calculating of DOP values (GDOP, PDOP, HDOP, VDOP and TDOP value) obtain a position accuracy of observation information.
In GNSS navigates and positions, so-called geometric dilution of precision DOP values are defined, in this, as measurement satellite spatial geometry It is distributed the standard to location precision.Influenceed when in view of clock correction precision, association's factor battle array of unknown parameter is：
The element of each in formula reflects the precision information clock correction dilution of precision TDOP under specific satellite spatial geometry distribution
Definition
Then error is in corresponding clock correction
mT=σ0·TDOP
1) three-dimensional position dilution of precision PDOP
Definition
Then error is in corresponding three-dimensional position
mP=σ0·PDOP
2)GDOP
Comprehensive TDOP and PDOP, the precision that definable reflection satellite spatial distribution influences on receiver clock-offsets and position Synthesis The factor
Thus, error is in corresponding space-time precision
mG=σ0·GDOP
3) vertical component dilution of precision VDOP
Definition
Reflect that satellite spatial geometry is distributed error in the influence to receiver location vertical component, corresponding vertical component and is
mv=σ0·VDOP
VDOP another definition is referred to as the height accuracy factor
In formula, r={ x, y, z } is survey station general location vector；Q={ q11,q22,q33It is three-dimensional accuracy factor vector.
4) horizontal component dilution of precision HDOP
Definition
The ephemeris forecast that account for satellite obstruction conditions can be obtained by above-mentioned steps.
The present invention is suitable to carry out GNSS observations in high-mountain gorge areas and the inferior observation area in hardship of city housing-group effect Ephemeris forecasts that less important work personnel formulate observation program and observation scheduling plan, it is possible to estimates and receives shape with real satellite The precision index that condition is identical.The situation that traditional ephemeris forecast result is not inconsistent with actual observation condition can be solved.
Above description of the present invention is section Example, but the invention is not limited in above-mentioned embodiment. Above-mentioned embodiment is schematical, is not restricted.Every material and method using the present invention, is not taking off In the case of present inventive concept and scope of the claimed protection, it is all it is specific expansion category protection scope of the present invention it It is interior.

Claims (9)

1. a kind of satellite visibility analysis method for taking satellite obstruction conditions into account, it is characterised in that comprise the following steps：
Step 1, measure target point position satellite and block elevation angle；
Under topocentric coordinates, it is first determined coordinate of ground point, then since northern every phase clockwise to centered on target point A section is measured every certain angle, according to the cut surface character point measured, the maximum for calculating correspondence direction blocks angle, weight Complexor surveys all directions, obtains that target point all directions are corresponding to block elevation angle Ei；
Step 2, satellite spatial position is resolved and Coordinate Conversion；
Elevation angle E is blocked according to step 1iBroadcast ephemeris information is obtained, position of the satellite in track areal coordinate system is then calculated Put, finally by Coordinate Conversion, position of the satellite in instantaneous terrestrial coordinate system is obtained respectively and in conventional terrestrial coordinate system In position；
Step 3, filtering barrier blocks satellite；
The station heart that geocentric coordinates of the satellite that step 2 is calculated in conventional terrestrial coordinate system is converted into using survey station as origin is sat Mark system, and then try to achieve the elevation angle e and azimuth A of satellite；Then, according to it is specified when inscribe one party position satellite elevation angle E and azimuth A, and the target point all directions that step 1 is calculated corresponding block elevation angle Ei, obtain moment orientation Block elevation angle Ei；By the elevation of satellite e in moment orientation and block elevation angle E againiIt is compared, if e≤Ei, then say The bright satellite-invisible, rejects the satellite；If e>Ei, then illustrate that the satellite is visible, retain the satellite；According to said method to satellite by It is individual to be filtered, obtain accurate satellite visibility result.
2. the satellite visibility analysis method according to claim 1 for taking satellite obstruction conditions into account, it is characterised in that step Elevation angle E is blocked described in 1iComputational methods be：
Defining the section form measured is：Di,Hi, wherein DiFor cut surface character point to the plan range of target point position, HiIt is disconnected Region feature point height；Secondly the elevation angle of characteristic point is calculated according to cross sectionIf target point measures n elevation angle altogether, then mesh Punctuate all directions are corresponding to block elevation angle EiFor：
3. the satellite visibility analysis method according to claim 2 for taking satellite obstruction conditions into account, it is characterised in that described The elevation angle of characteristic pointCalculation formula beH in formula0For target point height.
4. the satellite visibility analysis method according to claim 1 for taking satellite obstruction conditions into account, it is characterised in that step Elevation of satellite e described in 3 and azimuth A computational methods are：
Satellite is obtained using ground survey station R as the coordinate in the topocentric coordinate system of the origin of coordinates：
X R S Y R S Z R S = H ΔX R S ΔY R S ΔZ R S
In formula,
ΔX R S ΔY R S ΔZ R S = X S Y S Z S - X R Y R Z R
[XR YR ZR]TFor ground survey station R WGS-84 coordinate vectors, then have：
H = - sin B cos L - sin B sin L cos B - sin L cos L 0 cos B cos L cos B sin L sin B
Wherein, B and L are survey station R geodetic latitude and geodetic longitude respectively；
Then elevation of satellite e is：
e = arctan Z R S ( X R S ) 2 + ( Y R S ) 2 ;
Satellite aximuth A is：
A = arctan n m
Wherein,
m n = - sin B cos L sin B sin L cos B - sin L cos L 0 ΔX R S ΔY R S ΔZ R S .
5. the satellite visibility analysis method according to claim 1 for taking satellite obstruction conditions into account, it is characterised in that step That moment and orientation are specified described in 3 blocks elevation angle EiComputational methods be：
Known two adjacent elevation angles of blocking are：(Ai-1, Ei-1), (Ai+1, Ei+1), specify orientation using being solved by linear interpolation Block elevation angle：E=aA+b；By (Ai-1, Ei-1), (Ai+1, Ei+1) substitute into above formula just can obtain parameter a, b；Then it will specify The satellite aximuth A at momentiAbove formula is substituted into, the height for obtaining correspondence direction blocks angle and is：Ei=aAi+b。
6. the satellite visibility analysis method according to claim 5 for taking satellite obstruction conditions into account, it is characterised in that work as screening When blend stop part is proximal line deformation, the elevation angle interpolation of blocking fits point to be located elevation angle using i point is linear：
E=a0+a1A+a2A2+...+anAn
In formula, n is the quantity for blocking elevation angle, i≤n.
7. a kind of ephemeris forecasting procedure for taking satellite obstruction conditions into account, it is characterised in that to be obtained by claim 1 methods described The state matrix of the observation satellite group obtained is foundation, and computational geometry dilution of precision DOP values, acquisition account for satellite obstruction conditions Ephemeris is forecast.
8. the ephemeris forecasting procedure according to claim 7 for taking satellite obstruction conditions into account, it is characterised in that the geometry essence The calculating for spending factor D OP values uses direction cosine method and its similar approach.
9. the ephemeris forecasting procedure according to claim 7 for taking satellite obstruction conditions into account, it is characterised in that the geometry essence Spending factor D OP values includes combined influence dilution of precision GDOP, three-dimensional position dilution of precision PDOP, horizontal component dilution of precision HDOP, vertical component dilution of precision VDOP and clock correction dilution of precision TDOP values.
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CN111505686A (en) * 2020-04-17 2020-08-07 中国科学院国家授时中心 Coarse difference elimination method based on Beidou navigation system
CN111830536A (en) * 2020-08-10 2020-10-27 南京林业大学 Satellite visibility judgment method combined with terrain influence
CN114252888A (en) * 2020-09-23 2022-03-29 苏州宝时得电动工具有限公司 Autonomous robot, base station site selection method, device and storage medium
CN112526617A (en) * 2020-11-19 2021-03-19 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Ionospheric tomography system observation data simulation method based on multi-source satellite signals
CN114791299A (en) * 2021-01-25 2022-07-26 深圳市万普拉斯科技有限公司 Method, device and equipment for identifying switching between motion layers of terminal equipment
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CN115015969A (en) * 2022-06-02 2022-09-06 长安大学 GNSS satellite visibility forecasting method under mountain area sheltering environment

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