CN110058287A - A kind of Orbit determination for LEOs method, apparatus and system - Google Patents

A kind of Orbit determination for LEOs method, apparatus and system Download PDF

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Publication number
CN110058287A
CN110058287A CN201910406386.9A CN201910406386A CN110058287A CN 110058287 A CN110058287 A CN 110058287A CN 201910406386 A CN201910406386 A CN 201910406386A CN 110058287 A CN110058287 A CN 110058287A
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China
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navigation satellite
track
satellite
location information
ground system
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CN201910406386.9A
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CN110058287B (en
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王军
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Beijing Unistrong Science & Technology Co Ltd
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Beijing Unistrong Science & Technology Co Ltd
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Priority to CN201910406386.9A priority Critical patent/CN110058287B/en
Publication of CN110058287A publication Critical patent/CN110058287A/en
Priority to PCT/CN2020/090127 priority patent/WO2020228754A1/en
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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
    • G01S19/40—Correcting position, velocity or attitude
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the present application discloses a kind of Orbit determination for LEOs method and device, the first broadcast ephemeris of reception navigation satellite transmission, and the track and clock deviation for obtaining navigation satellite are calculated according to broadcast ephemeris.Then, the update information for receiving the location information that ground system is sent obtains revised location information to be modified to location information.Orbit determination is carried out to low orbit satellite using revised location information and observation data again.That is, the embodiment of the present application introduces the update information of location information, orbit determination is carried out to low orbit satellite using accurate revised location information, to improve the orbit determination accuracy of low orbit satellite.

Description

A kind of Orbit determination for LEOs method, apparatus and system
Technical field
This application involves technical field of satellite communication, and in particular to a kind of Orbit determination for LEOs method, apparatus and system.
Background technique
As technology is or not Global Navigation Satellite System (Global Navigation Satellite System, GNSS) The features such as disconnected development, global, high-precision and low cost, so that GNSS measuring technique is increasingly becoming low orbit satellite positioning Technical way.Low orbit satellite carry GNSS receiver, with obtain in real time GNSS observation data and GNSS satellite send it is wide Broadcast ephemeris, wherein it includes Pseudo-range Observations and carrier phase observation data that GNSS, which observes data,.In practical orbit determination, first with wide Position and clock deviation that ephemeris determines navigation satellite are broadcast, determines low rail further according to the position of navigation satellite, clock deviation and observation data The position of satellite.However, because there is error in broadcast ephemeris itself, low orbit satellite using broadcast ephemeris and observation data into When row orbit determination, it will lead to orbit determination accuracy and be only capable of reaching 0.3-0.5 meters.Along with the continuous development in all kinds of fields, to low orbit satellite The requirement of orbit determination is higher, generally reaches Centimeter Level.Obviously, existing Satellite Orbit Determination method is difficult to meet industry development demand.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of Satellite Orbit Determination method, apparatus and system, to promote Satellite Orbit Determination essence Degree.
To solve the above problems, technical solution provided by the embodiments of the present application is as follows:
In a first aspect, providing a kind of Orbit determination for LEOs method, the method is applied to described low the embodiment of the present application Rail satellite, which comprises
Obtain the broadcast ephemeris and observation data of navigation satellite；
According to the broadcast ephemeris, location information, the location information for obtaining and sending based on ground system are obtained Update information, the location information is modified；
Orbit determination is carried out to the low orbit satellite using revised location information and the observation data.
In one possible implementation, the update information is the position by the ground system according to ground system It sets, the observation data of navigation satellite and broadcast ephemeris calculate acquisition.
In one possible implementation, the location information includes the track and clock deviation of navigation satellite, the amendment Information includes the track profile irregularity and clock error correction number of navigation satellite；The revised location information includes revised track With revised clock deviation.
In one possible implementation, the track profile irregularity is the reality by the ground system according to navigation satellite When Precise Orbit and navigation satellite track obtain；
The real-time accurate track of the navigation satellite is position by the ground system according to ground system, the observation Data and the broadcast ephemeris and obtain；
The track of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris；
The clock error correction number is the real-time accurate clock deviation and navigation satellite by the ground system according to navigation satellite What clock deviation obtained；
The real-time accurate clock deviation of the navigation satellite be by the ground system according to the observation data and it is described in real time Precise Orbit and obtain；
The clock deviation of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris.
In one possible implementation, it is described using the revised track and the revised clock deviation and The observation data carry out orbit determination to the low orbit satellite, comprising:
It is filtered calculating according to the revised track, the revised clock deviation and the observation data, is obtained Obtain orbit parameter of the low orbit satellite in default all directions；
Calculate the sum of variance of orbit parameter of the low orbit satellite in default all directions；
When the sum of variance of orbit parameter of the low orbit satellite in default all directions is less than preset threshold, according to institute State the track that orbit parameter of the low orbit satellite in default all directions determines the low orbit satellite.
In one possible implementation, the location information for being obtained and being sent based on ground system is repaired Positive information, before being modified to the location information, the method also includes:
Judge whether the temporal information of the location information and the update information matches；
If it does, being modified to the location information.
In one possible implementation, described before being modified to the location information, the method is also wrapped It includes:
The integrity information for obtaining and sending according to the ground system, judges whether the update information can be used；Institute Stating integrity information includes the whether available label of the update information；
If it is, being modified to the location information.
The embodiment of the present application second aspect, provides a kind of Orbit determination for LEOs method, and the method is applied to ground system System, which comprises
Obtain the observation data and broadcast ephemeris of navigation satellite；
According to the position of ground system, the observation data and broadcast ephemeris, the update information of navigation satellite is obtained；It is described Update information is modified location information for low orbit satellite, obtains revised location information；The revised positioning The observation data for the navigation satellite that information and the low orbit satellite obtain carry out orbit determination in real time for the low orbit satellite.
In one possible implementation, the update information includes the track profile irregularity and clock error correction of navigation satellite Number；The location information includes the track and clock deviation of navigation satellite, and the revised location information includes revised track With revised clock deviation.
It is in one possible implementation, described according to the position of ground system, the observation data and broadcast ephemeris, Obtain the update information of navigation satellite, comprising:
According to the position of ground system, the observation data and the broadcast ephemeris, the real-time of the navigation satellite is obtained Precise Orbit；
The track of the navigation satellite is obtained according to the broadcast ephemeris；
According to the track of the real-time accurate track and the navigation satellite, the orbit correction of the navigation satellite is obtained Number；
According to the observation data and the real-time accurate track, the real-time accurate clock deviation of the navigation satellite is obtained；
The clock deviation for stating navigation satellite is obtained according to the broadcast ephemeris；
According to the clock deviation of the real-time accurate clock deviation and the navigation satellite, the clock error correction of the navigation satellite is obtained Number.
In one possible implementation, described according to the position of ground system, the observation data and the broadcast Ephemeris obtains the real-time accurate track of the navigation satellite, comprising:
The track of the navigation satellite is obtained, according to the broadcast ephemeris to be determined as the first of the navigation satellite track Value；
The initial value of the navigation satellite track is modified according to the position of the ground system, the observation data, The revised navigation satellite track is determined as to the real-time accurate track of the navigation satellite.
In one possible implementation, the location information is the navigation by the low orbit satellite according to acquisition What the broadcast ephemeris of satellite obtained.
In one possible implementation, the method also includes:
Integrity information is obtained according to the update information, the integrity information includes whether the update information can be used Label.
The embodiment of the present application third aspect provides a kind of Orbit determination for LEOs system, the system comprises: ground system System, low orbit satellite；
The ground system, for executing method described in first aspect；
The low orbit satellite, for executing method described in second aspect.
The embodiment of the present application fourth aspect, provides a kind of Orbit determination for LEOs device, and described device is applied to described low Rail satellite, described device include:
First acquisition unit, for obtaining the broadcast ephemeris and observation data of navigation satellite；
Amending unit is obtained and is sent based on ground system for obtaining location information according to the broadcast ephemeris The update information of the location information is modified the location information；
First computing unit, for using revised location information and the observation data to the low orbit satellite into Row orbit determination.
In one possible implementation, the update information is the position by the ground system according to ground system It sets, the observation data of navigation satellite and broadcast ephemeris calculate acquisition.
In one possible implementation, the location information includes the track and clock deviation of navigation satellite, the amendment Information includes the track profile irregularity and clock error correction number of navigation satellite；The revised location information includes revised track With revised clock deviation.
In one possible implementation, the track profile irregularity is the reality by the ground system according to navigation satellite When Precise Orbit and navigation satellite track obtain；
The real-time accurate track of the navigation satellite is position by the ground system according to ground system, the observation Data and the broadcast ephemeris and obtain；
The track of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris；
The clock error correction number is the real-time accurate clock deviation and navigation satellite by the ground system according to navigation satellite What clock deviation obtained；
The real-time accurate clock deviation of the navigation satellite be by the ground system according to the observation data and it is described in real time Precise Orbit and obtain；
The clock deviation of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris.
In one possible implementation, first computing unit, comprising:
First obtains subelement, for according to the revised track, the revised clock deviation and the observation Data are filtered calculating, obtain orbit parameter of the low orbit satellite in default all directions；
First computation subunit, for calculate orbit parameter of the low orbit satellite in default all directions variance it With；
First determines subelement, and the sum of variance for the orbit parameter when the low orbit satellite in default all directions is small When preset threshold, the track of the low orbit satellite is determined according to orbit parameter of the low orbit satellite in default all directions.
In one possible implementation, described device further include:
First judging unit, for judging whether the temporal information of the location information and the update information matches；
The amending unit, specifically for when the judging result of first judging unit is matching, then utilizing described Update information is modified the location information.
In one possible implementation, described device further include:
Second judgment unit, the integrity information for obtaining and sending according to the ground system are repaired described in judgement Whether positive information can be used；The integrity information includes the whether available label of the update information；
The amending unit, it is available for the update information specifically for the judging result when the second judgment unit When, the location information is modified.
The 5th aspect of the embodiment of the present application, provides a kind of Orbit determination for LEOs device, and described device is applied to ground system System, described device include:
Second acquisition unit, for obtaining the observation data and broadcast ephemeris of navigation satellite；
Second computing unit, for obtaining navigation and defending according to the position of ground system, the observation data and broadcast ephemeris The update information of star；The update information is modified location information for low orbit satellite, obtains revised location information； The observation data for the navigation satellite that the revised location information and the low orbit satellite obtain are used for the low rail Satellite carries out orbit determination in real time.
In one possible implementation, the update information includes the track profile irregularity and clock error correction of navigation satellite Number；The location information includes the track and clock deviation of navigation satellite, and the revised location information includes revised track With revised clock deviation.
In one possible implementation, second computing unit, comprising:
Second computation subunit, for obtaining according to the position of ground system, the observation data and the broadcast ephemeris The real-time accurate track of the navigation satellite；
Third computation subunit, for obtaining the track of the navigation satellite according to the broadcast ephemeris；
4th computation subunit, for the track according to the real-time accurate track and the navigation satellite, described in acquisition The track profile irregularity of navigation satellite；
5th computation subunit, for obtaining the navigation and defending according to the observation data and the real-time accurate track The real-time accurate clock deviation of star；
6th computation subunit, for obtaining the clock deviation for stating navigation satellite according to the broadcast ephemeris；
7th computation subunit, for the clock deviation according to the real-time accurate clock deviation and the navigation satellite, described in acquisition The clock error correction number of navigation satellite.
In one possible implementation, second computation subunit, comprising:
Second determines subelement, for obtaining the track of the navigation satellite according to the broadcast ephemeris, to be determined as State the initial value of navigation satellite track；
Third determines subelement, for according to the position of the ground system, the observation data to the navigation satellite The initial value of track is modified, and the revised navigation satellite track is determined as to the real-time accurate rail of the navigation satellite Road.
In one possible implementation, the location information is the navigation by the low orbit satellite according to acquisition What the broadcast ephemeris of satellite obtained.
In one possible implementation, described device further include:
Third acquiring unit, for obtaining integrity information according to the update information, the integrity information includes institute State the whether available label of update information.
It can be seen that the embodiment of the present application has the following beneficial effects:
The embodiment of the present application low orbit satellite obtains the broadcast ephemeris and observation data of navigation satellite first, according to broadcast ephemeris Calculate the location information for obtaining navigation satellite.Then, the update information for the location information that ground system is sent is received, and to positioning Information is modified, and obtains revised location information.Finally, using revised location information and observation data to low rail Satellite carries out orbit determination.As it can be seen that the embodiment of the present application introduces the update information of location information, using revised location information to low Rail satellite carries out orbit determination, improves orbit determination accuracy.
Detailed description of the invention
Fig. 1 is a kind of Orbit determination for LEOs example scene graphs provided by the embodiments of the present application；
Fig. 2 is a kind of flow chart of Orbit determination for LEOs method provided by the embodiments of the present application；
Fig. 3 is the flow chart of another Orbit determination for LEOs method provided by the embodiments of the present application；
Fig. 4 is the flow chart of another Orbit determination for LEOs method provided by the embodiments of the present application；
Fig. 5 is a kind of Orbit determination for LEOs frame diagram provided by the embodiments of the present application；
Fig. 6 is a kind of Orbit determination for LEOs system construction drawing provided by the embodiments of the present application；
Fig. 7 is a kind of Orbit determination for LEOs structure drawing of device provided by the embodiments of the present application；
Fig. 8 is another Orbit determination for LEOs structure drawing of device provided by the embodiments of the present application.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real Mode is applied to be described in further detail the embodiment of the present application.
Technical solution provided by the embodiments of the present application for ease of understanding, below first to the discovery procedure of technical scheme It is illustrated.
Inventor has found that low orbit satellite using GNSS carry out orbit determination when, due to by real-time and independence Condition limitation, it is generally the case that using broadcast ephemeris calculate obtain navigation satellite track and clock deviation, further according to navigation satellite Track, clock deviation and GNSS observation data determine the track of low orbit satellite.However, due to broadcast ephemeris itself there are error compared with Greatly, cause low orbit satellite to carry out orbit determination in real time using inaccurate reference information (track and clock deviation of navigation satellite), influence low The orbit determination accuracy of rail satellite.
Based on this, the embodiment of the present application provides a kind of Orbit determination for LEOs method, specifically, low orbit satellite is led in utilization The broadcast ephemeris that satellite is sent that navigates obtains the location information of navigation satellite, and receives the amendment of the location information of ground system transmission Information obtains revised location information to be modified to location information.Revised location information and observation are used again Data carry out orbit determination to low orbit satellite.That is, carrying out orbit determination to low orbit satellite using accurate location information, defended to improve low rail The orbit determination accuracy of star.
The technical solution of the embodiment of the present application for ease of understanding, below will be first to the practical application scene of the embodiment of the present application It is illustrated.
Referring to Fig. 1, which is a kind of Orbit determination for LEOs Application Scenarios-Example figure provided by the embodiments of the present application, in this reality It applies in example, may include ground system, low orbit satellite to realize Orbit determination for LEOs.
Wherein, ground system can obtain the observation data and broadcast of navigation satellite in real time by global GNSS tracking station Then ephemeris calculates the update information obtained about navigation satellite according to the position of ground system, observation data and broadcast ephemeris, And update information is sent to low orbit satellite, so that low orbit satellite calculates the navigation satellite obtained to itself according to update information Location information be modified, obtain revised location information.Finally, low orbit satellite according to revised location information and It observes data and carries out orbit determination.
It should be noted that needing frequently to carry out more update information in view of update information effective time is very limited Newly.Since the low orbit satellite speed of service is very fast, sub-satellite track is all over the world, if directly led to low orbit satellite by ground system Letter then needs ground system that can carry out short time Continued communication with low orbit satellite in global many places place, occupies a large amount of The communication resource.Therefore, it in possible implementation a kind of in the present embodiment, is defended telecommunication satellite as ground system and low rail Relay station between star carries out the forwarding of data.
It is understood that the embodiment of the present application medium and low earth orbit satellites are the update informations according to ground system offer to itself The location information for calculating acquisition navigation satellite is modified, for ease of understanding technical solution provided by the embodiments of the present application, below The method for first determining update information to ground system in the application is illustrated.
Embodiment of the method one
Referring to fig. 2, which is a kind of flow chart of Orbit determination for LEOs method provided by the embodiments of the present application, such as Fig. 2 institute Show, this method is applied to ground system, and this method may include:
S201: the observation data and broadcast ephemeris of navigation satellite are obtained.
In the present embodiment, ground system can obtain GNSS observation data and broadcast star in real time by global GNSS tracking station It goes through.In specific implementation, GNSS receiver can be carried in each GNSS tracking station, to obtain GNSS observation by GNSS receiver Data and broadcast ephemeris.Wherein, it is that ground system is obtained by satellite-signal transmitted by parsing navigation satellite that GNSS, which observes data, ?.
Wherein, observation data may include the information such as carrier phase observation data, Pseudo-range Observations.Wherein, carrier phase is seen Measured value refers to GNSS receiver in the instantaneous carrier phase value for receiving the navigation satellite carrier signal moment；Pseudorange refers to navigation satellite Emit the signal that a certain structure is " Pseudo-Random Noise Code ", referred to as ranging code signal (i.e. thick code C/A code or essence according to spaceborne clock Code P code).The signal emits after time Δ t from navigation satellite, reaches receiver antenna；Multiplied with above-mentioned signal propagation time Δ t It is exactly distance of the satellite to receiver with the speed c of electromagnetic wave in a vacuum.When due to including satellite in propagation time Δ t Clock is propagated in an atmosphere with the nonsynchronous error of receiver clock, satellite ephemeris error, receiver measurement noise and ranging code Delay error etc., the distance value thus acquired not real station star geometric distance, therefore be referred to as " pseudorange ".
Broadcast ephemeris is the text that the radio signal of navigation satellite broadcast is loaded with satellite radical in forecast certain time Information can be used for calculating the track of navigation satellite, i.e. position.
S202: according to the position of ground system, observation data and broadcast ephemeris, the update information of navigation satellite is obtained.
In the present embodiment, when obtain navigation satellite observation data and broadcast ephemeris after, due to ground system position Know, then the update information for obtaining navigation satellite can be calculated according to the position of ground system, observation data and broadcast ephemeris.Its In, update information is modified location information for low orbit satellite, obtains revised location information, the revised positioning The observation data for the navigation satellite that information and low orbit satellite obtain carry out orbit determination in real time for low orbit satellite.Wherein, positioning letter Breath is to be obtained by low orbit satellite according to the broadcast ephemeris of the navigation satellite of acquisition.
In practical applications, update information may include the track profile irregularity and clock error correction number of navigation satellite, positioning letter Breath may include the track and clock deviation of navigation satellite, then revised location information includes revised track and revised clock Difference.Wherein, track profile irregularity is modified the track of navigation satellite for low orbit satellite, to obtain revised track；Clock Poor correction is modified the clock deviation of navigation satellite for low orbit satellite, to obtain revised clock deviation.Low orbit satellite utilizes Revised track, revised clock deviation and observation data carry out orbit determination in real time.Wherein, the track of navigation satellite and navigation are defended The clock deviation of star is the broadcast ephemeris of the navigation satellite obtained by low orbit satellite according to low orbit satellite and obtains.
It should be noted that being obtained about ground system according to the position of ground system, observation data and broadcast ephemeris, calculating The specific implementation of the track profile irregularity and clock error correction number of navigation satellite is obtained, and utilizes track profile irregularity and clock about low orbit satellite Poor correction is modified the track of navigation satellite, clock deviation, and according to revised track, revised clock deviation and sight The specific implementation that measured data carries out orbit determination will be illustrated in subsequent embodiment.
It is understood that guarantee that low orbit satellite can obtain the track profile irregularity and clock deviation of ground system acquisition in time Correction, the telecommunication satellite that can use between low orbit satellite and ground system are forwarded, that is, ground system is by orbit correction Several and clock error correction number is sent to telecommunication satellite, track profile irregularity and clock error correction number are sent to low rail by telecommunication satellite Satellite.It is, the track profile irregularity and clock error correction number that ground system is sent are transmitted to low orbit satellite using telecommunication satellite, Guarantee the real-time of track profile irregularity and clock error correction number.
As can be seen from the above description, ground system can according to own location information, navigation satellite observation data and Broadcast ephemeris calculates the update information for obtaining navigation satellite, so that update information is sent to low orbit satellite, so that low rail is defended Star is modified the location information for calculating the navigation satellite obtained using broadcast ephemeris using update information, after being corrected Location information, and then according to revised location information and observation data carry out orbit determination, improve orbit determination accuracy.
Embodiment of the method two
The reality of the track profile irregularity and clock error correction number that obtain navigation satellite is calculated below in conjunction with attached drawing ground system Now it is illustrated.
Referring to Fig. 3, which is a kind of acquisition track profile irregularity and clock error correction counting method provided by the embodiments of the present application Flow chart, as shown in figure 3, this method is applied to ground system, this method may include:
S301: according to the position of ground system, observation data and broadcast ephemeris, the real-time accurate rail of navigation satellite is obtained Road.
In the present embodiment, ground system utilizes the position of ground system after receiving GNSS observation data and broadcast ephemeris Set, observe the real-time accurate track of data and broadcast ephemeris calculating acquisition navigation satellite.
In specific implementation, the track of navigation satellite is calculated first with broadcast ephemeris, and determines it as navigation satellite Then the initial value of track is modified navigation satellite track initial value using the position of ground system, observation data, after amendment Navigation satellite track be determined as the real-time accurate track of navigation satellite.
It is understood that as known to the position of ground system and accurate, i.e., the position of GNSS receiver is known and quasi- Really, and GNSS observation data indicate GNSS receiver at a distance from navigation satellite, therefore, can according to the position of ground system with And observation data calculate the position for obtaining more accurately navigation satellite.And in the position for calculating navigation satellite using broadcast ephemeris When, since broadcast ephemeris itself is there are error, leading to the position of determining navigation satellite, there are certain errors.To eliminate error, Then the position of the navigation satellite obtained by broadcast ephemeris is carried out using the position of the navigation satellite obtained by observation data Amendment, to obtain the position of accurate navigation satellite, i.e. real-time accurate track.
In real time in application, can use the real-time accurate rail of least square batch processing method calculating acquisition navigation satellite Road, specifically, (1) calculates the track of navigation satellite using broadcast ephemeris, and as track initial value；(2) it is tracked to global GNSS When the observation data accumulation that station is got is to certain time length, changed using least square batch processing method to track initial value In generation, updates until the sum of observation residual error is less than preset limit value.Wherein, observation residual error can be practical for ground system Residual error between position and estimated value.
It is understood that there is also a degree of errors for observation data acquired in GNSS tracking station, for guarantee pair The accuracy for obtaining the position correction of navigation satellite is calculated using broadcast ephemeris, can observe data pair using multiple groups under normal conditions It is repeatedly corrected the position of navigation satellite.It is implemented as, first with the position actual value of ground system, first group of observation number It is modified according to the position for obtaining navigation satellite using broadcast ephemeris, obtains first position.Then recycle first position with And observation data calculate the estimated value of ground system position, according to estimating for the position actual value of ground system and ground system position Evaluation obtains the first residual error and shows that first position is accurate if the first residual error meets preset threshold.If the first residual error is discontented Sufficient preset threshold is then modified first position using the position actual value of ground system, second group of observation data, obtains the Two positions.Then the estimated value that ground system position is calculated using the second position and observation data, according to the position of ground system The estimated value for setting actual value and ground system position obtains the second residual error, if the root mean square of the first residual error and the second residual error meets Preset threshold then shows that the second position is accurate.If the root mean square of the first residual error and the second residual error is unsatisfactory for preset threshold, benefit The second position is modified with the position actual value of ground system, third group observation data, obtains the third place.Then it utilizes The third place and observation data calculate the estimated value of ground system position, according to the position actual value of ground system and ground system The estimated value of system position obtains third residual error, if the root mean square of the second residual error and third residual error meets preset threshold, shows The third place is accurate.If the root mean square of the second residual error and third residual error is unsatisfactory for preset threshold, other groups of sights are continued with Measured data is iterated update, until the root mean square of two neighboring residual error meets preset threshold.
S302: the track of navigation satellite is obtained according to broadcast ephemeris.
S303: according to the track of real-time accurate track and navigation satellite, the track profile irregularity of navigation satellite is obtained.
It, can be according to real-time accurate track after obtaining the track of real-time accurate track and navigation satellite in the present embodiment The track profile irregularity about navigation satellite is obtained with the track of navigation satellite.
S304: according to observation data and real-time accurate track, the real-time accurate clock deviation of navigation satellite is obtained.
S305: the clock deviation of navigation satellite is obtained according to broadcast ephemeris.
S306: according to the clock deviation of real-time accurate clock deviation and navigation satellite, the clock error correction number of navigation satellite is obtained.
In the present embodiment, ground system is after calculating the real-time accurate track for obtaining navigation satellite, according to real-time accurate rail Road and observation data, calculate the real-time accurate clock deviation for obtaining navigation satellite, and calculate using broadcast ephemeris and obtain navigation satellite Clock deviation.It in specific implementation, can be with real-time accurate when obtaining the real-time accurate clock deviation of navigation satellite using observation data Track is constraint condition, to calculate the real-time accurate clock deviation for obtaining navigation satellite.Then, it is defended according to real-time accurate clock deviation and navigation The clock deviation of star obtains the clock error correction number of navigation satellite.
In a kind of possible implementation of the embodiment of the present application, ground system is calculating acquisition update information simultaneously, also Integrity information can be obtained according to update information, which may include the whether available label of update information, with Just low orbit satellite, can be according to label included in integrity information after the integrity information for receiving ground system transmission Judge whether currently received update information can be used for correcting location information.It in specific implementation, can be by ground system In integrity monitoring system judge that update information, it is available or can not then to provide the update information according to judging result Label, then it is by integrity information that update information is available by ground system or not available label is sent to low rail and defends Star.
It is understood that guarantee that low orbit satellite can obtain the integrity information of ground system transmission, ground in time System sends integrity information to low orbit satellite by telecommunication satellite, so that low orbit satellite determines whether according to integrity information It is modified using track profile irregularity and the clock error correction number, to guarantee the reality of integrity information acquired in low orbit satellite Shi Xing.
In specific implementation, ground system first can send track profile irregularity and clock error correction number to infuse on satellite and stand, Track profile irregularity, clock error correction number and integrity information are uploaded into telecommunication satellite by infusing station on satellite again, work as telecommunication satellite Low orbit satellite is sent to after receiving track profile irregularity and clock error correction number.
As can be seen from the above description, ground system can provide track profile irregularity and clock error correction number for low orbit satellite, It, can be first with track profile irregularity and clock error correction number to adopting when the parameter that low orbit satellite is sent according to navigation satellite carries out orbit determination The track of the navigation satellite obtained is calculated with broadcast ephemeris and clock deviation is modified, to utilize more accurately navigation satellite Track and clock deviation carry out itself orbit determination, to improve orbit determination accuracy.
Embodiment of the method three
Above-described embodiment describes the acquisition of update information, below in conjunction with attached drawing to low rail provided by the embodiments of the present application Satellite is illustrated using the method that update information carries out orbit determination.
Referring to fig. 4, which is a kind of flow chart of Orbit determination for LEOs method provided by the embodiments of the present application, such as Fig. 4 institute Show, this method is applied to low orbit satellite, and this method may include:
S401: the broadcast ephemeris and observation data of navigation satellite are obtained.
S402: according to broadcast ephemeris, obtaining location information, is obtained based on ground system and the location information that sends is repaired Positive information, is modified location information.
In the present embodiment, low orbit satellite can receive the broadcast ephemeris of navigation satellite transmission, be obtained according to the broadcast ephemeris Location information, and the update information of the location information of ground system transmission is received, to be carried out using update information to location information Amendment, obtains revised location information.Wherein, update information is to be defended by ground system according to the position of ground system, navigation The observation data and broadcast ephemeris of star calculate acquisition, and the acquisition about update information may refer to embodiment of the method one.
In specific implementation, location information may include the track and clock deviation of navigation satellite, and update information includes that navigation is defended The track profile irregularity and clock error correction number of star；Revised location information may include revised track and revised clock Difference.Wherein, the acquisition about track profile irregularity and clock error correction number may refer to embodiment of the method two.
In practical applications, low orbit satellite can install GNNS receiver, lead to be obtained in real time using GNSS receiver The broadcast ephemeris and GNSS of boat satellite observe data.Wherein, it is that low orbit satellite passes through parsing navigation satellite institute that GNSS, which observes data, The satellite-signal of transmission obtains.
S403: orbit determination is carried out to low orbit satellite using revised location information and observation data.
In the present embodiment, after obtaining revised location information by S402, using revised location information and It observes data and orbit determination is carried out to low orbit satellite.
In specific implementation, due to track and clock deviation that location information may include navigation satellite, update information be can wrap Include the track profile irregularity and clock error correction number of navigation satellite, then it can be using revised track and revised clock deviation and sight Measured data carries out orbit determination to low orbit satellite.Wherein, about the revised track of utilization and revised clock deviation and observation data The specific implementation for carrying out orbit determination to low orbit satellite will be illustrated in subsequent embodiment.
As can be seen from the above description, low orbit satellite is in the broadcast ephemeris and observation data for obtaining navigation satellite, according to broadcast While ephemeris computation obtains the location information of navigation satellite, the update information for the location information that ground system is sent is received, and Location information is modified, revised location information is obtained.Again using revised location information and observation data pair Low orbit satellite carries out orbit determination.As it can be seen that the embodiment of the present application introduces the update information for the location information that ground system obtains, using repairing Location information after just carries out orbit determination to low orbit satellite, improves orbit determination accuracy.
In a kind of possible implementation of the embodiment of the present application, track profile irregularity is by ground system according to navigation satellite Real-time accurate track and navigation satellite track obtain；The real-time accurate track of navigation satellite is by ground system base area The position of plane system is observed data and broadcast ephemeris and is obtained；The track of navigation satellite is by ground system according to broadcast star Go through acquisition；Clock error correction number is to be obtained by ground system according to the real-time accurate clock deviation of navigation satellite and the clock deviation of navigation satellite 's；The real-time accurate clock deviation of navigation satellite is to be obtained by ground system according to observation data and real-time accurate track；Navigation The clock deviation of satellite is to be obtained by ground system according to broadcast ephemeris.
Wherein, the specific implementation for obtaining track profile irregularity and clock error correction number, the side of may refer to are calculated about ground system Method embodiment two.
In practical applications, low orbit satellite can install telecommunication satellite receiver, to utilize the telecommunication satellite receiver Receive the track profile irregularity and clock error correction number of telecommunication satellite forwarding.In specific implementation, low orbit satellite can be installed while have The standby integrated receiving device for receiving navigation satellite signal, telecommunication satellite semiotic function can also install the different letters of multiple receptions Number autonomous device.
In specific implementation, when the track and clock deviation and track profile irregularity and clock deviation of low orbit satellite acquisition navigation satellite change Positive number can be calculated by the following formula the revised track for obtaining navigation satellite and revised clock deviation:
[R T N]precise=[R T N]brdc±[dR dT dN]SSR-orbit (1)
dtprecise=dtbrdc±dtSSR-clock (2)
Wherein, R/T/N is respectively satellite orbit in radial direction (Radial)/tangential (Tangential)/normal direction (Normal) Component, [R T N]preciseFor the high-precision real-time track of recovery, [R T N]brdcIt is defended for the navigation that broadcast ephemeris calculates The track of star, [dR dT dN]SSR-orbitCorrection for track in tri- directions R/T/N.dtpreciseFor the high-precision of recovery Real-time clock deviation, dtbrdcFor the clock deviation for the navigation satellite that broadcast ephemeris calculates, dtSSR-clockFor clock error correction number.It needs to illustrate It is that tri- directions R/T/N can also change the direction X/Y/Z into, it is only necessary to multiplied by corresponding spin matrix, be used on the right of equation "+" or "-" number, it is related with correction number calculating method.
It is understood that being defended when getting using the navigation that broadcast ephemeris calculates when low orbit satellite is in orbit determination in real time The track and clock deviation of star and from ground system send track profile irregularity and clock error correction number after, utilize formula (1) and formula (2) can calculate obtain navigation satellite amendment after track and revised clock deviation, recycle revised track and amendment after Clock deviation and observation data carry out orbit determination.
As can be seen from the above description, low orbit satellite is receiving the broadcast ephemeris and obtain observation number that navigation satellite is sent According to receiving ground system and obtain and send while calculating the track and clock deviation that obtain navigation satellite according to broadcast ephemeris The track profile irregularity and clock error correction number of navigation satellite.Track profile irregularity is utilized respectively again to be led to according to broadcast ephemeris calculating The track of boat satellite is modified, and is repaired using clock error correction number to the clock deviation for obtaining navigation satellite is calculated according to broadcast ephemeris Just, thus obtain navigation satellite revised track and revised clock deviation.Further according to navigation satellite revised track, Revised clock deviation and observation data determine the track and speed of low orbit satellite.Change as it can be seen that the embodiment of the present application introduces track Positive number and clock error correction number, to improve the overall precision of navigation satellite track and clock deviation, and then in the rail according to navigation satellite When road and clock deviation position the track of low orbit satellite, orbit determination accuracy is improved.
It is the revised track of utility, revised clock in a kind of possible implementation of the embodiment of the present application Difference and observation data carry out the precision of Orbit determination for LEOs, after each step filtering, in conjunction with the sum of variance of orbit parameter Judge whether filtering restrains, if filtering equations restrain, shows that the orbit determination result for currently obtaining low orbit satellite is reliable.Specifically, root It is filtered calculating according to revised track, revised clock deviation and observation data, obtains low orbit satellite in default all directions On orbit parameter；The low orbit satellite is calculated in the sum of variance of default each side's upward trajectory parameter；When the low orbit satellite When the sum of variance of the orbit parameter in default all directions is less than preset threshold, according to the low orbit satellite in default all directions On orbit parameter determine the track of low orbit satellite.
In specific implementation, by revised track, revised clock deviation and observation data input filter equation, work as filter The low orbit satellite of wave equation output is when the sum of variance of the orbit parameter in default all directions is less than preset threshold, according to filtering Orbit parameter of the low orbit satellite of equation output in default all directions determines the position of low orbit satellite.Wherein, filtering equations can Think Kalman filter equation.
In practical application, the initial value and covariance matrix of state parameter can be preset for filtering equations Initial value, the covariance matrix for indicate low orbit satellite in the location error in three directions, then using revised track, Revised clock deviation, is updated original state parameter and covariance matrix observation data, when updated covariance square Battle array medium and low earth orbit satellites are when the sum of the position variance in three directions is less than preset threshold, then it represents that filtering convergence, then it will be defeated at this time The orbit parameter of low orbit satellite out is determined as the position of low orbit satellite.
In specific implementation, the spaceborne GNSS observation of current time acquisition, revised track, revised clock are utilized Difference carries out state update to filtering equations, obtains updated covariance information, if the sum of variance of location parameter is less than in advance The limit value first set, then it is assumed that filtering convergence；Otherwise it is assumed that filtering does not restrain, the position being calculated using this filtering and speed Parameter is spent, using the low orbit satellite position and speed information of kinetic model prediction subsequent time, filters and joins as subsequent time Several priori values.In practical applications, filtering algorithm can be the Extended Kalman filter decomposed based on UD, utilize spaceborne GNSS Observation, the revised track of navigation satellite and revised clock deviation are as input, lasting filtering, until Kalman filtering is received It holds back.
In a kind of possible implementation of the embodiment of the present application, since navigation satellite track is constantly changing, to guarantee Ground system is in the temporal information for obtaining the broadcast ephemeris of navigation satellite based on update information and observation data and low rail Satellite is obtaining the broadcast ephemeris of navigation satellite based on location information and is observing the temporal information matching of data, Jin Erbao Card low orbit satellite can be modified matched location information according to the update information transmitted by ground system, in amendment Before, low orbit satellite may determine that whether the temporal information of location information and the temporal information of update information match, if it matches, then sharp Location information is modified with update information.
In specific implementation, ground system can add timestamp in the update information when calculating acquisition update information, It is at the time of the location information that the update information is modified can be used at the time of corresponding to the timestamp；Low orbit satellite is obtaining It takes location information simultaneously, adds timestamp, at the time of at the time of corresponding to the timestamp to obtain specified by location information.When low It, can be according to the timestamp and location information in update information after the update information that rail satellite reception is sent to ground system Timestamp judges whether the two matches, if it does, then being modified to location information.Wherein, the two matching can be the two Timestamp is equal or the time difference of the two in preset time range.
In specific implementation, can use the every satellite provided in broadcast ephemeris IODE value and each track profile irregularity Values match is carried out with the additional IODE value of clock error correction number, if numerical value is equal, using track profile irregularity to broadcast ephemeris The track calculated is corrected, and is corrected using clock error correction number the clock deviation that broadcast ephemeris calculates.
In a kind of possible implementation of the embodiment of the present application, ground system using update information to location information into Before row amendment, can also judge whether the received update information of institute can be used, to avoid using not available update information to fixed Position information is modified, and influences the accuracy of orbit determination.Specifically, low orbit satellite obtain and send according to ground system it is intact Property information, judges whether update information can be used；The integrity information includes the whether available label of update information.If amendment letter Breath is available, then is modified to location information.That is, being utilized if including the available label of update information in integrity information Update information is modified location information；If in integrity information including the not available label of update information, not to fixed Position information is modified.
The implementation principle of the application for ease of understanding, referring to Fig. 5, which is that a kind of low rail provided by the embodiments of the present application is defended Star orbit determination frame diagram, low orbit satellite carry the broadcast star that GNSS receiver obtains spaceborne GNSS observation data, navigation satellite is sent Go through and ground system send track profile irregularity and clock error correction number.Then, the revised rail for obtaining navigation satellite is calculated Road, i.e. actual track and revised clock deviation, i.e., practical clock deviation, further according to the actual track of navigation satellite, practical clock deviation and GNSS observes data and calculates the track and speed for obtaining low orbit satellite.The track and speed that calculate acquisition low orbit satellite are blocked Kalman Filtering, if filtering convergence, shows that orbit determination result is reliable, then export result.If do not restrained, result is not exported.Often After secondary filtering, the position and speed parameter being calculated is filtered using this, subsequent time is predicted using kinetic model Low orbit satellite position and speed information be filtered again as the priori value of subsequent time filtering parameter, circuit sequentially.
Apparatus embodiments
Based on above method embodiment, present invention also provides a kind of Orbit determination for LEOs systems, below in conjunction with attached drawing The system is illustrated.
Referring to Fig. 6, which is a kind of Orbit determination for LEOs system construction drawing provided by the embodiments of the present application, as shown in fig. 6, The system may include:
It may include ground system 601, low orbit satellite 602.
Ground system 601, for executing method described in embodiment of the method one and embodiment of the method two；
Low orbit satellite 602, for executing method described in embodiment of the method three.
In specific implementation, ground system 601 can obtain the observation of navigation satellite in real time by global GNSS tracking station Then data and broadcast ephemeris are calculated to obtain and be defended about navigation according to the position of ground system, observation data and broadcast ephemeris The track profile irregularity and clock error correction number of star, and track profile irregularity and clock error correction number are sent to low orbit satellite 602, so that Low orbit satellite 602 carries out the track and clock deviation that itself calculate the navigation satellite obtained according to track profile irregularity and clock error correction number Amendment, obtain navigation satellite revised track and revised clock deviation.Low orbit satellite 602 further according to revised track, Revised clock deviation and observation data carry out orbit determination.
In one possible implementation, system can also include: telecommunication satellite.The telecommunication satellite is located at ground system Between low orbit satellite, the data forwarding for sending ground system is to low orbit satellite.
It should be noted that the specific implementation of ground system and low orbit satellite may refer to the above method in the present embodiment Embodiment, details are not described herein for the present embodiment.
Installation practice one
Based on above method embodiment, present invention also provides a kind of Orbit determination for LEOs devices, below in conjunction with attached drawing The device is illustrated.
Referring to Fig. 7, which is a kind of Orbit determination for LEOs structure drawing of device provided by the embodiments of the present application, as shown in fig. 7, The device is applied to low orbit satellite, the apparatus may include:
First acquisition unit 701, for obtaining the broadcast ephemeris and observation data of navigation satellite；
Amending unit 702, for obtaining location information, being obtained and sent based on ground system according to the broadcast ephemeris The update information for the location information come, is modified the location information；
First computing unit 703, for being defended using revised location information and the observation data to the low rail Star carries out orbit determination.
In one possible implementation, the update information is the position by the ground system according to ground system It sets, the observation data of navigation satellite and broadcast ephemeris calculate acquisition.
In one possible implementation, the location information includes the track and clock deviation of navigation satellite, the amendment Information includes the track profile irregularity and clock error correction number of navigation satellite；The revised location information includes revised track With revised clock deviation.
In one possible implementation, the track profile irregularity is the reality by the ground system according to navigation satellite When Precise Orbit and navigation satellite track obtain；
The real-time accurate track of the navigation satellite is position by the ground system according to ground system, the observation Data and the broadcast ephemeris and obtain；
The track of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris；
The clock error correction number is the real-time accurate clock deviation and navigation satellite by the ground system according to navigation satellite What clock deviation obtained；
The real-time accurate clock deviation of the navigation satellite be by the ground system according to the observation data and it is described in real time Precise Orbit and obtain；
The clock deviation of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris.
In one possible implementation, first computing unit, comprising:
First obtains subelement, for according to the revised track, the revised clock deviation and the observation Data are filtered calculating, obtain orbit parameter of the low orbit satellite in default all directions；
First computation subunit, for calculate orbit parameter of the low orbit satellite in default all directions variance it With；
First determines subelement, and the sum of variance for the orbit parameter when the low orbit satellite in default all directions is small When preset threshold, the track of the low orbit satellite is determined according to orbit parameter of the low orbit satellite in default all directions.
In one possible implementation, described device further include:
First judging unit, for judging whether the temporal information of the location information and the update information matches；
The amending unit, specifically for when the judging result of first judging unit is matching, then utilizing described Update information is modified the location information.
In one possible implementation, described device further include:
Second judgment unit, the integrity information for obtaining and sending according to the ground system are repaired described in judgement Whether positive information can be used；The integrity information includes the whether available label of the update information；
The amending unit, it is available for the update information specifically for the judging result when the second judgment unit When, the location information is modified.
It should be noted that the realization of each unit may refer to above method example in the present embodiment, the present embodiment exists This is repeated no more.
Installation practice two
Referring to Fig. 8, which is another Orbit determination for LEOs structure drawing of device, and described device is applied to ground system, institute Stating device includes:
Second acquisition unit 801, for obtaining the observation data and broadcast ephemeris of navigation satellite；
Second computing unit 802, for being led according to the position of ground system, the observation data and broadcast ephemeris The update information of boat satellite；The update information is modified location information for low orbit satellite, obtains revised positioning Information；The observation data for the navigation satellite that the revised location information and the low orbit satellite obtain are for described Low orbit satellite carries out orbit determination in real time.
In one possible implementation, the update information includes the track profile irregularity and clock error correction of navigation satellite Number；The location information includes the track and clock deviation of navigation satellite, and the revised location information includes revised track With revised clock deviation.
In one possible implementation, second computing unit, comprising:
Second computation subunit, for obtaining according to the position of ground system, the observation data and the broadcast ephemeris The real-time accurate track of the navigation satellite；
Third computation subunit, for obtaining the track of the navigation satellite according to the broadcast ephemeris；
4th computation subunit, for the track according to the real-time accurate track and the navigation satellite, described in acquisition The track profile irregularity of navigation satellite；
5th computation subunit, for obtaining the navigation and defending according to the observation data and the real-time accurate track The real-time accurate clock deviation of star；
6th computation subunit, for obtaining the clock deviation for stating navigation satellite according to the broadcast ephemeris；
7th computation subunit, for the clock deviation according to the real-time accurate clock deviation and the navigation satellite, described in acquisition The clock error correction number of navigation satellite.
In one possible implementation, second computation subunit, comprising:
Second determines subelement, for obtaining the track of the navigation satellite according to the broadcast ephemeris, to be determined as State the initial value of navigation satellite track；
Third determines subelement, for according to the position of the ground system, the observation data to the navigation satellite The initial value of track is modified, and the revised navigation satellite track is determined as to the real-time accurate rail of the navigation satellite Road.
In one possible implementation, the location information is the navigation by the low orbit satellite according to acquisition What the broadcast ephemeris of satellite obtained.In one possible implementation, described device further include:
Third acquiring unit, for obtaining integrity information according to the update information, the integrity information includes institute State the whether available label of update information.
It should be noted that the realization of each unit may refer to above method embodiment, the present embodiment in the present embodiment Details are not described herein.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis is said Bright is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.For reality For applying system or device disclosed in example, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, phase Place is closed referring to method part illustration.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c (a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also To be multiple.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims (27)

1. a kind of Orbit determination for LEOs method, which is characterized in that the method is applied to the low orbit satellite, the method packet It includes:
Obtain the broadcast ephemeris and observation data of navigation satellite；
According to the broadcast ephemeris, location information is obtained, is obtained based on ground system and the location information that sends is repaired Positive information is modified the location information；
Orbit determination is carried out to the low orbit satellite using revised location information and the observation data.
2. the method according to claim 1, wherein the update information is by the ground system according to ground The position of system, the observation data of navigation satellite and broadcast ephemeris calculate acquisition.
3. the method according to claim 1, wherein the location information includes the track and clock of navigation satellite Difference, the update information include the track profile irregularity and clock error correction number of navigation satellite；The revised location information includes Revised track and revised clock deviation.
4. according to the method described in claim 3, it is characterized in that, the track profile irregularity is by the ground system according to leading What the real-time accurate track of boat satellite and the track of navigation satellite obtained；
The real-time accurate track of the navigation satellite is position by the ground system according to ground system, the observation data It is obtained with the broadcast ephemeris；
The track of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris；
The clock error correction number is by the ground system according to the real-time accurate clock deviation of navigation satellite and the clock deviation of navigation satellite It obtains；
The real-time accurate clock deviation of the navigation satellite is by the ground system according to the observation data and the real-time accurate Track and obtain；
The clock deviation of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris.
5. according to the method described in claim 3, it is characterized in that, after the use revised track and the amendment Clock deviation and the observation data to the low orbit satellite carry out orbit determination, comprising:
It is filtered calculating according to the revised track, the revised clock deviation and the observation data, obtains institute State orbit parameter of the low orbit satellite in default all directions；
Calculate the sum of variance of orbit parameter of the low orbit satellite in default all directions；
When the sum of variance of orbit parameter of the low orbit satellite in default all directions is less than preset threshold, according to described low Orbit parameter of the rail satellite in default all directions determines the track of the low orbit satellite.
6. the method according to claim 1, wherein it is described obtain and send based on ground system it is described fixed The update information of position information, before being modified to the location information, the method also includes:
Judge whether the temporal information of the location information and the update information matches；
If it does, being modified to the location information.
7. method according to claim 1-6, which is characterized in that described to be modified to the location information Before, the method also includes:
The integrity information for obtaining and sending according to the ground system, judges whether the update information can be used；It is described complete Good property information includes the whether available label of the update information；
If it is, being modified to the location information.
8. a kind of Orbit determination for LEOs method, which is characterized in that the method is applied to ground system, which comprises
Obtain the observation data and broadcast ephemeris of navigation satellite；
According to the position of ground system, the observation data and broadcast ephemeris, the update information of navigation satellite is obtained；The amendment Information is modified location information for low orbit satellite, obtains revised location information；The revised location information And the observation data of the navigation satellite of the low orbit satellite acquisition carry out orbit determination in real time for the low orbit satellite.
9. according to the method described in claim 8, it is characterized in that, the update information includes the track profile irregularity of navigation satellite With clock error correction number；The location information includes the track and clock deviation of navigation satellite, and the revised location information includes repairing Track and revised clock deviation after just.
10. according to the method described in claim 8, it is characterized in that, the position according to ground system, the observation data And broadcast ephemeris, obtain the update information of navigation satellite, comprising:
According to the position of ground system, the observation data and the broadcast ephemeris, the real-time accurate of the navigation satellite is obtained Track；
The track of the navigation satellite is obtained according to the broadcast ephemeris；
According to the track of the real-time accurate track and the navigation satellite, the track profile irregularity of the navigation satellite is obtained；
According to the observation data and the real-time accurate track, the real-time accurate clock deviation of the navigation satellite is obtained；
The clock deviation for stating navigation satellite is obtained according to the broadcast ephemeris；
According to the clock deviation of the real-time accurate clock deviation and the navigation satellite, the clock error correction number of the navigation satellite is obtained.
11. according to the method described in claim 10, it is characterized in that, the position according to ground system, the observation number According to the broadcast ephemeris, obtain the real-time accurate track of the navigation satellite, comprising:
The track of the navigation satellite is obtained, according to the broadcast ephemeris to be determined as the initial value of the navigation satellite track；
The initial value of the navigation satellite track is modified according to the position of the ground system, the observation data, will be repaired The navigation satellite track after just is determined as the real-time accurate track of the navigation satellite.
12. according to the method described in claim 8, it is characterized in that, the location information is by the low orbit satellite according to obtaining What the broadcast ephemeris of the navigation satellite taken obtained.
13. according to the described in any item methods of claim 8-12, which is characterized in that the method also includes:
Integrity information is obtained according to the update information, the integrity information includes the whether available mark of the update information Note.
14. a kind of Orbit determination for LEOs system, which is characterized in that the system comprises: ground system, low orbit satellite；
The ground system requires any one of 8-13 the method for perform claim；
The low orbit satellite requires any one of 1-7 the method for perform claim.
15. a kind of Orbit determination for LEOs device, which is characterized in that described device is applied to the low orbit satellite, described device packet It includes:
First acquisition unit, for obtaining the broadcast ephemeris and observation data of navigation satellite；
Amending unit is obtained and described in sending for obtaining location information according to the broadcast ephemeris based on ground system The update information of location information is modified the location information；
First computing unit, for being determined using revised location information and the observation data the low orbit satellite Rail.
16. device according to claim 15, which is characterized in that the update information is by the ground system base area The position of plane system, the observation data of navigation satellite and broadcast ephemeris calculate acquisition.
17. device according to claim 16, which is characterized in that the location information includes the track and clock of navigation satellite Difference, the update information include the track profile irregularity and clock error correction number of navigation satellite；The revised location information includes Revised track and revised clock deviation.
18. device according to claim 17, which is characterized in that the track profile irregularity be by the ground system according to What the real-time accurate track of navigation satellite and the track of navigation satellite obtained；
The real-time accurate track of the navigation satellite is position by the ground system according to ground system, the observation data It is obtained with the broadcast ephemeris；
The track of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris；
The clock error correction number is by the ground system according to the real-time accurate clock deviation of navigation satellite and the clock deviation of navigation satellite It obtains；
The real-time accurate clock deviation of the navigation satellite is by the ground system according to the observation data and the real-time accurate Track and obtain；
The clock deviation of the navigation satellite is to be obtained by the ground system according to the broadcast ephemeris.
19. device according to claim 17, which is characterized in that first computing unit, comprising:
First obtains subelement, for according to the revised track, the revised clock deviation and the observation data It is filtered calculating, obtains orbit parameter of the low orbit satellite in default all directions；
First computation subunit, for calculating the sum of variance of orbit parameter of the low orbit satellite in default all directions；
First determines subelement, and the sum of variance for the orbit parameter when the low orbit satellite in default all directions is less than pre- If when threshold value, the track of the low orbit satellite is determined according to orbit parameter of the low orbit satellite in default all directions.
20. device according to claim 15, which is characterized in that described device further include:
First judging unit, for judging whether the temporal information of the location information and the update information matches；
The amending unit, specifically for when the judging result of first judging unit is matching, then utilizing the amendment Information is modified the location information.
21. the described in any item devices of 5-20 according to claim 1, which is characterized in that described device further include:
Second judgment unit, the integrity information for obtaining and sending according to the ground system judge the amendment letter Whether breath can be used；The integrity information includes the whether available label of the update information；
The amending unit, it is right specifically for when the judging result of the second judgment unit is that the update information is available The location information is modified.
22. a kind of Orbit determination for LEOs device, which is characterized in that described device is applied to ground system, and described device includes:
Second acquisition unit, for obtaining the observation data and broadcast ephemeris of navigation satellite；
Second computing unit, for obtaining navigation satellite according to the position of ground system, the observation data and broadcast ephemeris Update information；The update information is modified location information for low orbit satellite, obtains revised location information；It is described The observation data for the navigation satellite that revised location information and the low orbit satellite obtain are used for the low orbit satellite Carry out orbit determination in real time.
23. device according to claim 22, which is characterized in that the update information includes the orbit correction of navigation satellite Several and clock error correction number；The location information includes the track and clock deviation of navigation satellite, and the revised location information includes Revised track and revised clock deviation.
24. device according to claim 23, which is characterized in that second computing unit, comprising:
Second computation subunit, for according to the position of ground system, the observation data and the broadcast ephemeris, described in acquisition The real-time accurate track of navigation satellite；
Third computation subunit, for obtaining the track of the navigation satellite according to the broadcast ephemeris；
4th computation subunit obtains the navigation for the track according to the real-time accurate track and the navigation satellite The track profile irregularity of satellite；
5th computation subunit, for obtaining the navigation satellite according to the observation data and the real-time accurate track Real-time accurate clock deviation；
6th computation subunit, for obtaining the clock deviation for stating navigation satellite according to the broadcast ephemeris；
7th computation subunit obtains the navigation for the clock deviation according to the real-time accurate clock deviation and the navigation satellite The clock error correction number of satellite.
25. device according to claim 24, which is characterized in that second computation subunit, comprising:
Second determines subelement, for obtaining the track of the navigation satellite according to the broadcast ephemeris, to be determined as described lead The initial value of boat satellite orbit；
Third determines subelement, for according to the position of the ground system, the observation data to the navigation satellite track Initial value be modified, the revised navigation satellite track is determined as to the real-time accurate track of the navigation satellite.
26. device according to claim 22, which is characterized in that the location information is by the low orbit satellite according to obtaining What the broadcast ephemeris of the navigation satellite taken obtained.
27. according to the described in any item devices of claim 22-26, which is characterized in that described device further include:
Third acquiring unit, for obtaining integrity information according to the update information, the integrity information includes described repairs The whether available label of positive information.
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