CN109633717A - A kind of Doppler frequency shift localization method applied to low orbit satellite positioning system - Google Patents
A kind of Doppler frequency shift localization method applied to low orbit satellite positioning system Download PDFInfo
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- CN109633717A CN109633717A CN201811312461.7A CN201811312461A CN109633717A CN 109633717 A CN109633717 A CN 109633717A CN 201811312461 A CN201811312461 A CN 201811312461A CN 109633717 A CN109633717 A CN 109633717A
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- 230000004807 localization Effects 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 26
- 230000000694 effects Effects 0.000 claims description 13
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- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
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- 230000003993 interaction Effects 0.000 description 2
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- 230000004075 alteration Effects 0.000 description 1
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Classifications
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- 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
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention proposes a kind of Doppler frequency shift localization methods applied to low orbit satellite positioning system, comprising: the reception device of monitoring wave frequency is configured in ground satellite station, as point of observation；Point of observation calculates the low-orbit satellite close to during the point of observation, the frequency received, until the low-orbit satellite is located at the surface of the point of observation；During point of observation calculates the low-orbit satellite far from the point of observation, the frequency received, until the point of observation is monitored less than the satellite；According to the above-mentioned Variation Features for the frequency that the point of observation receives, at the time of determining low-orbit satellite by right above the point of observation, and setpoint frequency threshold value, the transmission of information is completed in the threshold value corresponding period.The present invention can preferably monitor the position to orbiter, reduce the dependence of pair warp and weft degree, ephemeris figure accuracy, increase the accuracy to satelloid, reduce system complexity.
Description
Technical field
The present invention relates to satellite communication network field, in particular to a kind of Doppler's frequency applied to low orbit satellite positioning system
Move localization method.
Background technique
What LEO satellite mobile communication system generally referred to be made of multiple satellites can carry out defending for the large size of real time information processing
The distribution of star system, Satellite is referred to as satellite constellation.Low-orbit satellite is mainly used for military target detection, utilizes low rail
Road satellite is easy to get object high-definition picture.Low-orbit satellite is also used for mobile communication, and the orbit altitude of satellite is low, makes
The delay that must be transmitted is short, and path loss is small.Real Global coverage may be implemented in the communication system of multiple satellite compositions, and frequency is multiple
With more effective.
Currently, running on the artificial earth satellite of earth low orbit (1000km or less), including imaging reconnaissance satellite, electronics
Reconnaissance satellite, ocean surveillance satellite and Commercial Remote Sensing Satellites have and are much all used directly or indirectly in military purposes.
Low-orbit satellite is made of the satellite in a plurality of tracks.Since low-orbit satellite and the earth are asynchronous, so constellation
Constantly changing, the relative position of each satellite is also constantly changing.For the ease of managing and realizing more star systems
Real time communication, satellite will not only be connected with ground based terminal and juncture station, and also be connected between each satellite, can pass through
Terrestrial links are connected, and can also be connected by inter-satellite link.Due to need to consider satellite for the communication mode of Global coverage, just
It is necessary to study satellite when can pass through point of observation surface.It is previous to need according to ephemeris figure and earth longitude and latitude, ability
It is directed at near-earth satellite, is implemented relative complex.
Summary of the invention
The purpose of the present invention aims to solve at least one of described technological deficiency.
For this purpose, it is an object of the invention to propose a kind of Doppler frequency shift positioning side applied to low orbit satellite positioning system
Method.
To achieve the goals above, the embodiment of the present invention provides a kind of Doppler applied to low orbit satellite positioning system
Frequency displacement localization method, includes the following steps:
Step S1 configures the reception device of monitoring wave frequency in ground satellite station, as point of observation, wherein the point of observation
There is relative motion between low-orbit satellite, there are Doppler effect；
Step S2 calculates the low-orbit satellite close to during the point of observation after the observer sitting threshold value, connects
The frequency and wavelength received, until the low-orbit satellite is located at the surface of the point of observation, in the process, the observation
The frequency that point receives gradually increases, and maximum value is the frequency f that low-orbit satellite issues；
Step S3 connects during calculating the low-orbit satellite far from the point of observation after the observer sitting threshold value
The frequency and wavelength received, until the point of observation is monitored less than the satellite, in the process, the point of observation is received
Frequency be gradually reduced since f；
Step S4 is obtained according to the step S2, and during low-orbit satellite is close to point of observation, the point of observation is connect
The frequency received gradually increases, and maximum value is the frequency f that low-orbit satellite issues；It is obtained according to the step S3, in low rail
During road satellite is far from point of observation, the frequency that the point of observation receives is gradually reduced since f；According to the point of observation
The above-mentioned Variation Features of the frequency received at the time of determining low-orbit satellite by right above the point of observation, and set frequency
Rate threshold value completes the transmission of information in the threshold value corresponding period.
Further, in the step S2, the low-orbit satellite is during, frequency that the point of observation is observed
Are as follows:
Wherein, f' is the frequency that the point of observation is observed；F is the original transmitted frequency of the low-orbit satellite；V is low
The spread speed of orbiter transmitted wave；V0 is the point of observation movement speed；Vs is the movement speed of the low-orbit satellite.
Further, in the step S3, the low-orbit satellite is far from during, frequency that the point of observation is observed
Are as follows:
Wherein, f' is the frequency that the point of observation is observed；F is the original transmitted frequency of the low-orbit satellite；V is low
The spread speed of orbiter transmitted wave；V0 is the point of observation movement speed；Vs is the movement speed of the low-orbit satellite.
Further, when the low-orbit satellite is located at right above the point of observation, frequency that the point of observation receives
Are as follows:
Doppler frequency shift localization method according to an embodiment of the present invention applied to low orbit satellite positioning system, can be applied to
Satellite communication field realizes the function to near-earth satellite real-time monitoring.It is different from the past by ephemeris figure and longitude and latitude
Monitoring function receives satellite wave frequency now with Doppler effect, can be directly realized by the alignment function of near-earth satellite.The present invention
The position to orbiter can be preferably monitored, the dependence of pair warp and weft degree, ephemeris figure accuracy is reduced, is increased to satelloid
Accuracy reduces system complexity, realizes following function: using Doppler effect, threshold value is arranged, is not needing to be concerned about ephemeris
In the case where figure and longitude and latitude, the function of alignment low-orbit satellite can be realized.
The Doppler frequency shift localization method applied to low orbit satellite positioning system of the embodiment of the present invention, by test and in fact
Application is trampled, which has the advantage that
(1) real-time: putting the frequency situation of change received according to the observation, can grasp in real time locating for low-orbit satellite
Position；
(2) high efficiency: the location of the low-orbit satellite grasped according to system can choose and when carry out information
Transmission, does not need to be calculated by ephemeris figure and longitude and latitude.
(3) it realizes when point of observation judges by the crown low-orbit satellite, passes through point of observation in low-orbit satellite
The period of top completes the transmission and interaction of information, and the efficiency that information transmission may be implemented maximizes, and reduces unnecessary meter
Calculation amount.
(4) it in the case where low-orbit satellite realizes Global coverage real time communication, needs to be aligned low-orbit satellite in real time, slaps
Hold the position of low-orbit satellite, in order to realize the specific requirement of Global coverage, and improve information transmission efficiency, save at
This.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the stream according to the Doppler frequency shift localization method applied to low orbit satellite positioning system of the embodiment of the present invention
Cheng Tu；
Fig. 2 is the schematic diagram according to the low-orbit satellite of the embodiment of the present invention close to observation point process；
Fig. 3 is the low-orbit satellite according to the embodiment of the present invention far from the schematic diagram of observation point process；
Fig. 4 is that schematic diagram right above point of observation is according to the low-orbit satellite of the embodiment of the present invention；
Fig. 5 is the frequency variation curve figure received according to the point of observation of the embodiment of the present invention；
Fig. 6 is the schematic diagram according to multiple low-orbit satellites of the embodiment of the present invention close to observation point process.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The present invention proposes a kind of Doppler frequency shift localization method applied to low orbit satellite positioning system, is imitated using Doppler
The basic principle answered solves the alignment issues of near-earth satellite position.Core of the invention is the monitoring configured in ground satellite station
The reception device of wave frequency, the device calculate wavelength and frequency by Doppler effect, threshold value are arranged, thus according to wavelength and frequency
Variation low-orbit satellite is positioned, realize and do not need through ephemeris figure and longitude and latitude real-time monitoring low-orbit satellite
Purpose.
As shown in Figure 1, the Doppler frequency shift localization method applied to low orbit satellite positioning system of the embodiment of the present invention, packet
Include following steps:
Step S1 configures the reception device of monitoring wave frequency in ground satellite station, as point of observation, wherein point of observation and low
There is relative motion between orbiter, there are Doppler effect.
Doppler effect is illustrated below:
When there is relative motion between point of observation and low-orbit satellite, the frequency and low-orbit satellite of the wave observed are issued
The different phenomenon of frequency.When low-orbit satellite to point of observation and come when, the frequency that point of observation receives is got higher；When low orbit is defended
When star is gone away from point of observation, the frequencies go lower that point of observation receives, this phenomenon becomes Doppler effect.
Before the low-orbit satellite of movement, wave is compressed, and wavelength becomes shorter, and frequency becomes higher；After movement
Face, wavelength become longer, and frequency becomes lower；The speed of low-orbit satellite is higher, and generated effect is bigger.
Doppler effect formulas:
Wherein, f' is the frequency observed；F is original transmitted frequency of the low-orbit satellite in the medium；V is the biography of wave
Broadcast speed；
V0 is point of observation movement speed, when point of observation is close to low-orbit satellite oeprator be+number, otherwise for-number；
Vs is low-orbit satellite movement speed, when low-orbit satellite is close to point of observation oeprator be-number, otherwise for+number.
Step S2, point of observation calculate low-orbit satellite close to during point of observation, the frequency and wavelength received, until low
Orbiter is located at the surface of point of observation, and in the process, the frequency that point of observation receives gradually increases, and maximum value is as low
The frequency f that orbiter issues.
Low-orbit satellite is during, frequency that point of observation is observed are as follows:
Wherein, f' is the frequency that point of observation is observed；F is the original transmitted frequency of low-orbit satellite；V is low-orbit satellite
The spread speed of transmitted wave；V0 is point of observation movement speed；Vs is the movement speed of low-orbit satellite.
As shown in Fig. 2, angle theta and angle α can be gradually reduced during low-orbit satellite is close to point of observation, until
When low-orbit satellite is in right above point of observation, two included angles are reduced to 0.In this process, low-orbit satellite is opposite
It does in point of observation close to movement, point of observation is done relative to low-orbit satellite far from movement, and the frequency f ' that point of observation receives is gradually
Increase, f '=f when satellite is right above point of observation.
Step S3, during point of observation calculates low-orbit satellite far from point of observation, the frequency and wavelength received, until seeing
Until a monitoring is examined less than the satellite, in the process, the frequency that point of observation receives is gradually reduced since f.
Low-orbit satellite is far from during, frequency that point of observation is observed are as follows:
Wherein, f' is the frequency that point of observation is observed；F is the original transmitted frequency of low-orbit satellite；V is low-orbit satellite
The spread speed of transmitted wave；V0 is point of observation movement speed；Vs is the movement speed of low-orbit satellite.
As shown in figure 3, being in right above point of observation during low-orbit satellite is far from point of observation from low-orbit satellite
Start, angle theta and angle theta can be gradually reduced since 0, that is, negative increase.In this process, low-orbit satellite relative to
Point of observation is done far from movement, and point of observation is done relative to low-orbit satellite close to movement, and the frequency f ' that point of observation receives can be by f '
=f starts to be gradually reduced, until point of observation is monitored less than the satellite.
Step S4 is obtained according to step S2, during low-orbit satellite is close to point of observation, frequency that point of observation receives
Rate gradually increases, and maximum value is the frequency f that low-orbit satellite issues；It is obtained according to step S3, in low-orbit satellite far from sight
During examining a little, the frequency that point of observation receives is gradually reduced since f；The above-mentioned change of the frequency received is put according to the observation
Change feature, at the time of determining low-orbit satellite by right above point of observation, and setpoint frequency threshold value, in the threshold value corresponding period
Complete the transmission of information.
When low-orbit satellite is located at right above point of observation, frequency that point of observation receives are as follows:
As shown in figure 4, when low-orbit satellite is located at right above point of observation, angle theta and angle α value are 0, so that observation
The frequency f ' that point is observed is original transmitted frequency f.According to the frequency f ' received, so as to be inferred to low-orbit satellite
When right above point of observation.By choosing a frequency threshold, when the frequency received is in this threshold range, pass
Defeated information.Fig. 5 is the frequency variation curve figure received according to the point of observation of the embodiment of the present invention.
Fig. 6 is the schematic diagram according to multiple low-orbit satellites of the embodiment of the present invention close to observation point process.
It is known that condition are as follows: n is low orbit satellite number；R is earth radius；H is low orbit satellite and ground distance；F is
Original transmitted frequency of the transmitting in the medium；V is the spread speed of wave；v0For point of observation movement speed, point of observation is approached
When emission source oeprator be+number, otherwise for-number；vsFor emission source movement speed, oeprator when emission source is close to point of observation
For-number, otherwise for+number.
The value to be determined are as follows:
F' is the frequency observed；
R, H is fixed value, according to n it can be learnt that the value (formula 5) of α, and then obtains 0 value (formula 6).It is by 0+ α, 0
It can determine frequency threshold (formula 7), point of observation only receives the signal higher than this frequency threshold.
Such as:
Known n=6, R=6371km, H=1500km.
ThenIt can find outThus may be used
With determinationFrequency threshold (formula 7) can be found out.
Doppler frequency shift localization method according to an embodiment of the present invention applied to low orbit satellite positioning system, can be applied to
Satellite communication field, using Doppler effect, by the way that threshold value is arranged, in the case where not needing to be concerned about ephemeris figure and longitude and latitude,
Alignment near-earth satellite can be realized, to the function of near-earth satellite real-time monitoring.Different from the past passes through ephemeris figure and longitude and latitude
Monitoring function, now with Doppler effect receive satellite wave frequency, the alignment function of near-earth satellite can be directly realized by.This hair
The bright position that can preferably monitor to orbiter reduces the dependence of pair warp and weft degree, ephemeris figure accuracy, increases to satelloid
Accuracy, reduce system complexity, realize following function: using Doppler effect, threshold value is set, do not needing to be concerned about star
In the case where going through figure and longitude and latitude, the function of alignment low-orbit satellite can be realized.
The Doppler frequency shift localization method applied to low orbit satellite positioning system of the embodiment of the present invention, by test and in fact
Application is trampled, which has the advantage that
(1) real-time: putting the frequency situation of change received according to the observation, can grasp in real time locating for low-orbit satellite
Position；
(2) high efficiency: the location of the low-orbit satellite grasped according to system can choose and when carry out information
Transmission, does not need to be calculated by ephemeris figure and longitude and latitude.
(3) it realizes when point of observation judges by the crown low-orbit satellite, passes through point of observation in low-orbit satellite
The period of top completes the transmission and interaction of information, and the efficiency that information transmission may be implemented maximizes, and reduces unnecessary meter
Calculation amount.
(4) it in the case where low-orbit satellite realizes Global coverage real time communication, needs to be aligned low-orbit satellite in real time, slaps
Hold the position of low-orbit satellite, in order to realize the specific requirement of Global coverage, and improve information transmission efficiency, save at
This.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention
By appended claims and its equivalent limit.
Claims (4)
1. a kind of Doppler frequency shift localization method applied to low orbit satellite positioning system, which comprises the steps of:
Step S1 configures the reception device of monitoring wave frequency in ground satellite station, as point of observation, wherein the point of observation and low
There is relative motion between orbiter, there are Doppler effect；
Step S2 calculates the low-orbit satellite close to during the point of observation after the observer sitting frequency threshold, connects
The frequency and wavelength received, until the low-orbit satellite is located at the surface of the point of observation, in the process, the observation
The frequency that point receives gradually increases, and maximum value is the frequency f that low-orbit satellite issues；
Step S3 connects during calculating the low-orbit satellite far from the point of observation after the observer sitting frequency threshold
The frequency and wavelength received, until the point of observation is monitored less than the satellite, in the process, the point of observation is received
Frequency be gradually reduced since f；
Step S4 is obtained according to the step S2, and during low-orbit satellite is close to point of observation, the point of observation is received
Frequency gradually increase, maximum value be low-orbit satellite issue frequency f；It is obtained according to the step S3, is defended in low orbit
During star is far from point of observation, the frequency that the point of observation receives is gradually reduced since f；It is received according to the point of observation
The above-mentioned Variation Features of the frequency arrived, at the time of determining low-orbit satellite by right above the point of observation, in the frequency threshold
It is worth the transmission of corresponding period completion information.
2. being applied to the Doppler frequency shift localization method of low orbit satellite positioning system as described in claim 1, which is characterized in that
In the step S2, the low-orbit satellite is during, frequency that the point of observation is observed are as follows:
Wherein, f' is the frequency that the point of observation is observed；F is the original transmitted frequency of the low-orbit satellite；V is low orbit
The spread speed of satellite launch wave；V0 is the point of observation movement speed；Vs is the movement speed of the low-orbit satellite.
3. being applied to the Doppler frequency shift localization method of low orbit satellite positioning system as described in claim 1, which is characterized in that
In the step S3, the low-orbit satellite is far from during, frequency that the point of observation is observed are as follows:
Wherein, f' is the frequency that the point of observation is observed；F is the original transmitted frequency of the low-orbit satellite；V is low orbit
The spread speed of satellite launch wave；V0 is the point of observation movement speed；Vs is the movement speed of the low-orbit satellite.
4. being applied to the Doppler frequency shift localization method of low orbit satellite positioning system as described in claim 1, which is characterized in that
When the low-orbit satellite is located at right above the point of observation, frequency that the point of observation receives are as follows:
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| JP7432013B2 (en) | 2020-12-22 | 2024-02-15 | 三菱電機株式会社 | Satellite constellation, flying object countermeasure system, information collection system, satellite information transmission system, satellite, hybrid constellation, hybrid constellation formation method, ground system, mission satellite, and ground equipment |
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| JP7432013B2 (en) | 2020-12-22 | 2024-02-15 | 三菱電機株式会社 | Satellite constellation, flying object countermeasure system, information collection system, satellite information transmission system, satellite, hybrid constellation, hybrid constellation formation method, ground system, mission satellite, and ground equipment |
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