CN110907954B - Calibration data broadcasting device - Google Patents
Calibration data broadcasting device Download PDFInfo
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- CN110907954B CN110907954B CN201911005145.XA CN201911005145A CN110907954B CN 110907954 B CN110907954 B CN 110907954B CN 201911005145 A CN201911005145 A CN 201911005145A CN 110907954 B CN110907954 B CN 110907954B
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- satellite
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radio Relay Systems (AREA)
Abstract
The invention provides a calibration data broadcasting device which comprises a GNSS receiver, a GNSS receiving antenna, an on-board computer, a broadcasting module and a broadcasting transmitting antenna, wherein the GNSS receiving antenna is connected with the GNSS receiver, the GNSS receiver is connected with the input end of the on-board computer, the output end of the on-board computer is connected with the broadcasting module, and the broadcasting module is connected with the broadcasting transmitting antenna. The invention has the beneficial effects that: 1. the calibration data broadcasting device and the control method solve the data organization problem that the satellite broadcasting data needs not only current real-time data but also historical delay data, thereby improving the precision and timeliness of the calibration data processing application; 2. the calibration data broadcasting device and the control method solve the problem of autonomous fixed point switch control of a satellite broadcasting link, thereby reducing the operation management burden of a ground operation control system and improving the application efficiency of calibration satellites.
Description
Technical Field
The invention relates to the field of satellite development and the field of standard and school satellite application, in particular to a standard and school data broadcasting device.
Background
The calibration satellite mainly provides a motion state reference for the ground measurement and control equipment and is used for calibrating the performance of the ground measurement and control equipment. The calibration satellite application mode comprises a central calibration application mode and an autonomous calibration application mode.
In the center calibration mode, when the calibration satellite passes through the calibration mode, the ground measurement and control equipment measures the satellite through a measurement link to obtain the motion state of the satellite, and transmits the data of the measured motion state to a ground application system through a ground network; after that, the satellite transmits the data thereof to a ground application system through a data transmission link, and the ground application system calculates and obtains the accurate motion state of the satellite by utilizing the data of the satellite; and comparing the satellite running state obtained by the measurement of the ground measurement and control equipment with the post-processing accurate motion state, thereby evaluating the performance of the ground measurement and control equipment. The center calibration mode is shown in figure 1, and has the advantages of high calibration precision and poor timeliness.
Under the autonomous calibration mode, the ground measurement and control equipment measures the satellite through a measurement link when calibrating the satellite to pass the border, and the motion state of the satellite is obtained; meanwhile, the calibration satellite downloads high-precision self motion state data through a broadcast link; the ground measurement and control equipment directly compares the self measurement result with the broadcast received data, thereby evaluating the performance of the ground measurement and control equipment. The autonomous calibration mode is shown in figure 2, and has the advantages of good timeliness and lower precision than the central calibration mode.
The autonomous calibration mode application of the calibration satellite has two more key problems: 1) how the satellite broadcast data is organized, the broadcast data not only needs current real-time data, but also needs historical delay data, so as to improve the processing and application precision and timeliness of the calibration data; 2) how to independently fix a point on-off control of the broadcast link, the broadcast link needs to be independently opened when the satellite crosses the border and independently closed when the satellite leaves the border, so that the operation management burden of a ground operation control system is reduced, and the application efficiency of the satellite is improved.
Disclosure of Invention
The invention provides a calibration data broadcasting device which comprises a GNSS receiver, a GNSS receiving antenna, an on-board computer, a broadcasting module and a broadcasting transmitting antenna, wherein the GNSS receiving antenna is connected with the GNSS receiver;
the GNSS receiver receives satellite navigation signals through a GNSS receiving antenna, and the satellite navigation signals are resolved to obtain calibration satellite motion state information including position, speed and corresponding time;
the satellite-borne computer is responsible for receiving satellite motion state data from the GNSS receiver, then storing and processing the received motion state data, framing, packaging and sending the motion state data to the broadcasting module; the satellite-borne computer calculates and judges whether the satellite is in the action range of the ground measurement and control equipment or not by utilizing the received satellite motion state data;
and the broadcasting module is responsible for receiving satellite motion state data and switching instructions sent by the satellite-borne computer.
As a further improvement of the invention, the on-board computer memory of the calibration data broadcasting device is provided with an annular memory area, the annular memory area is used for storing the delayed satellite motion state data, and the annular memory area uses two read-write pointers.
As a further improvement of the present invention, the annular memory area further includes executing the following steps:
when the satellite-borne computer receives satellite motion state data from a GNSS receiver, the satellite-borne computer stores the motion state data to the position of a writing pointer of the annular storage area, and then the writing pointer points to the next storage unit;
after the write pointer finishes writing the maximum storage unit N, pointing to the starting unit 1 again, and repeating in such a cycle; when the satellite-borne computer performs framing and packaging on the satellite motion state data, on one hand, the satellite motion state data calculated by the current GNSS receiver needs to be read, on the other hand, the time delay motion state data also needs to be read from a reading pointer of the time delay storage area, and the reading pointer and the writing pointer are similar to be used in a reciprocating mode.
As a further improvement of the present invention, in the on-board computer, the on-board computer calculates and judges whether the satellite is within the range of the ground measurement and control device by using the received satellite motion state data, and specifically includes:
when the satellite-ground elevation angle E is greater than or equal to the threshold EminIf so, the system is judged to be in the interior, and if not, the system is judged to be out of the country.
As a further improvement of the present invention, the satellite-ground elevation angle calculation method is as follows:
the formula of the satellite-ground slant distance is as follows:
the satellite-ground elevation is calculated as follows:
as a further improvement of the invention, the calibration data broadcasting device also comprises an RS422 serial port, and the spaceborne computer is connected with the broadcasting module through the RS422 serial port; when entering the border, the satellite-borne computer sends a broadcast transmitting starting-up instruction to the broadcast module through the RS422 serial port; when the satellite-borne computer goes out, the satellite-borne computer sends a broadcast emission shutdown instruction to the broadcast module through the RS422 serial port.
As a further improvement of the present invention, the entry and exit are specifically determined as follows:
when the satellite-ground elevation angle E of the last second is smaller than the threshold EminThe current satellite-ground elevation angle E is not less than the threshold EminIf yes, determining the entry; when the satellite-ground elevation angle E of the last second is not less than the threshold EminWhen the elevation E of the current satellite is less than the threshold EminThen judgeIs the exit.
As a further improvement of the present invention, in the broadcast module, when the broadcast transmission is started, the satellite motion state information is transmitted to the ground through the S-band radio frequency signal.
As a further improvement of the invention, the calibration data broadcasting device also comprises an RS232 serial port, and the satellite-borne computer receives satellite motion state data from the GNSS receiver through the RS232 serial port.
As a further development of the invention, the threshold value EminCurrently, it is actually set to 3 °.
The beneficial effects of the invention are: 1. the calibration data broadcasting device and the control method solve the data organization problem that the current real-time data and the historical delay data are needed in the satellite broadcasting data, thereby improving the precision and timeliness of the calibration data processing application; 2. the calibration data broadcasting device and the control method solve the problem of autonomous fixed point switch control of a satellite broadcasting link, thereby reducing the operation management burden of a ground operation control system and improving the application efficiency of a calibration satellite.
Drawings
FIG. 1 is a schematic diagram of a background diagram of the present invention-calibration application mode of a calibration satellite center;
FIG. 2 is a background diagram of the present invention-autonomous calibration by calibration satellite application mode;
FIG. 3 is a block diagram of a calibration data broadcaster of the present invention;
FIG. 4 is a schematic view of the processing flow of the satellite-borne computer according to the invention;
FIG. 5 is a schematic diagram of the time delay storage of the satellite motion state data of the present invention;
fig. 6 is a schematic diagram of the satellite motion state data framing of the present invention.
Detailed Description
Interpretation of terms:
satellite transit: the satellite passes through the measurement and control range of the ground measurement and control equipment.
Satellite motion state data: the present invention refers to satellite position, velocity and their corresponding time.
As shown in fig. 3, the present invention discloses a calibration data broadcasting device, which includes a GNSS receiver, a GNSS receiving antenna, an on-board computer, a broadcasting module, and a broadcasting transmitting antenna, wherein the GNSS receiving antenna is connected to the GNSS receiver, the GNSS receiver is connected to an input end of the on-board computer, an output end of the on-board computer is connected to the broadcasting module, and the broadcasting module is connected to the broadcasting transmitting antenna;
the GNSS receiver receives satellite navigation signals through a GNSS receiving antenna, and calculates to obtain calibration satellite motion state information including position, speed and corresponding time;
as shown in fig. 4, the satellite-borne computer is responsible for receiving satellite motion state data from the GNSS receiver, and then the satellite-borne computer stores the received motion state data, and performs framing, packaging and sending the data to the broadcasting module; the satellite-borne computer calculates and judges whether the satellite is in the action range of the ground measurement and control equipment or not by utilizing the received satellite motion state data;
and the broadcasting module is used for receiving satellite motion state data and switching instructions sent by the satellite-borne computer.
As shown in fig. 5, an annular storage area is arranged in the memory of the satellite-borne computer of the calibration data broadcasting device, the annular storage area is used for storing the delayed satellite motion state data, and the annular storage area uses two read-write pointers.
When the satellite-borne computer receives satellite motion state data from a GNSS receiver, the satellite-borne computer stores the motion state data to the position of a write pointer of the annular storage area, and then the write pointer points to the next storage unit;
after the write pointer finishes writing the maximum storage unit N, pointing to the starting unit 1 again, and repeating in such a cycle;
when the satellite-borne computer performs framing and packaging on the satellite motion state data, on one hand, the satellite motion state data calculated by the current GNSS receiver needs to be read, and on the other hand, the time-delay motion state data needs to be read from a read pointer of the time-delay storage area, wherein the read pointer and the write pointer are used in a reciprocating manner similarly. The satellite motion state data framing is shown at 6.
In the satellite-borne computer, the satellite-borne computer calculates and judges whether the satellite is in the range of action of the ground measurement and control equipment by using the received satellite motion state data, and specifically includes:
when the satellite-ground elevation angle E is greater than or equal to the threshold EminIf so, the system is judged to be in the interior, and if not, the system is judged to be out of the country.
The satellite-ground elevation calculation method comprises the following steps:
the formula of the satellite-ground slope distance is as follows:
the satellite-ground elevation is calculated as follows:
the calibration data broadcasting device also comprises an RS422 serial port, and the satellite-borne computer is connected with the broadcasting module through the RS422 serial port; when entering the border, the satellite-borne computer sends a broadcast transmitting starting-up instruction to the broadcast module through the RS422 serial port; when the satellite-borne computer is out of the country, the satellite-borne computer sends a broadcast emission shutdown instruction to the broadcast module through the RS422 serial port.
The entry and exit are specifically determined as follows:
when the satellite-ground elevation angle E of the last second is smaller than the threshold EminThe current satellite-ground elevation angle E is not less than the threshold EminJudging the entry as entry; when the satellite-ground elevation angle E of the last second is not less than the threshold EminWhen the current satellite-ground elevation angle E is less than the thresholdValue EminThen the system is judged as the outbound.
In the broadcasting module, when the broadcasting transmission is started, the satellite motion state information is sent to the ground through the S-band radio frequency signal.
The calibration data broadcasting device further comprises an RS232 serial port, and the satellite-borne computer receives satellite motion state data from the GNSS receiver through the RS232 serial port.
The threshold value EminCurrently, it is actually set to 3 °.
The invention has the beneficial effects that:
1. the calibration data broadcasting device and the control method solve the data organization problem that the current real-time data and the historical delay data are needed in the satellite broadcasting data, thereby improving the precision and timeliness of the calibration data processing application; specifically, the method comprises the following steps: by the control method, the ground system can receive real-time data and delay data simultaneously during the satellite transit (generally about 10min), so that the timeliness of data receiving processing is improved. In addition, after the ground system fuses and processes the real-time data and the delay data, the data processing precision is higher than that of only real-time data.
2. The calibration data broadcasting device and the control method solve the problem of satellite broadcasting link autonomous fixed point switch control, thereby reducing the operation management burden of a ground operation control system and improving the application efficiency of calibration satellites.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all should be considered as belonging to the protection scope of the present invention.
Claims (8)
1. A kind of data broadcaster of calibration, characterized by that: the system comprises a GNSS receiver, a GNSS receiving antenna, an on-board computer, a broadcasting module and a broadcasting transmitting antenna, wherein the GNSS receiving antenna is connected with the GNSS receiver, the GNSS receiver is connected with the input end of the on-board computer, the output end of the on-board computer is connected with the broadcasting module, and the broadcasting module is connected with the broadcasting transmitting antenna;
the GNSS receiver receives satellite navigation signals through a GNSS receiving antenna, and the satellite navigation signals are resolved to obtain the motion state information of the calibration satellite, including position, speed and corresponding time;
the satellite-borne computer is responsible for receiving satellite motion state data from the GNSS receiver, then storing and processing the received motion state data, framing, packaging and sending the data to the broadcasting module; the satellite-borne computer calculates and judges whether the satellite is in the action range of the ground measurement and control equipment or not by utilizing the received satellite motion state data;
the broadcasting module is used for receiving satellite motion state data and switching instructions sent by the satellite-borne computer; the satellite-borne computer memory of the calibration data broadcasting device is provided with an annular storage area, the annular storage area is used for storing time-delay satellite motion state data, and the annular storage area uses two read-write pointers;
when the satellite-borne computer receives satellite motion state data from a GNSS receiver, the satellite-borne computer stores the motion state data to the position of a writing pointer of the annular storage area, and then the writing pointer points to the next storage unit;
after the write pointer finishes writing the maximum storage unit N, pointing to the starting unit 1 again, and repeating in such a cycle;
when the satellite-borne computer performs framing and packaging on the satellite motion state data, on one hand, the satellite motion state data calculated by the current GNSS receiver needs to be read, and on the other hand, the time-delay motion state data needs to be read from a read pointer of the time-delay storage area, wherein the read pointer and the write pointer are used in a reciprocating manner similarly.
2. The calibration data broadcasting device of claim 1, wherein the on-board computer calculates and judges whether the satellite is within the range of the ground measurement and control equipment by using the received satellite motion state data, and further comprises:
when the satellite-ground elevation angle E is greater than or equal to the threshold EminIf so, the system is judged to be in the interior and the other is judged to be out of the environment.
3. The calibration data broadcasting device of claim 2, wherein the satellite-ground elevation angle calculation method is as follows:
the formula of the satellite-ground slope distance is as follows:
the satellite-ground elevation is calculated as follows:
4. the calibration data broadcasting device of claim 3, further comprising an RS422 serial port, wherein the on-board computer is connected to the broadcasting module via the RS422 serial port; when entering the border, the satellite-borne computer sends a broadcast transmitting starting-up instruction to the broadcast module through the RS422 serial port; when the satellite-borne computer is out of the country, the satellite-borne computer sends a broadcast emission shutdown instruction to the broadcast module through the RS422 serial port.
5. The calibration data broadcasting apparatus as claimed in claim 3, wherein the entry/exit determination is as follows:
when the satellite-ground elevation angle E of the last second is smaller than the threshold EminThe current satellite-ground elevation angle E is not less than the threshold EminJudging the entry as the entry;
when the satellite-ground elevation angle E of the last second is not less than the threshold EminWhen the elevation E of the current satellite is less than the threshold EminThen the system is judged as the outbound.
6. The calibration data broadcasting device of claim 1, wherein in the broadcasting module, when the broadcasting transmitter is turned on, the satellite motion state information is transmitted to the ground through an S-band radio frequency signal.
7. The calibration data broadcasting device of claim 1, further comprising an RS232 serial port, wherein the on-board computer receives the satellite motion state data from the GNSS receiver via the RS232 serial port.
8. Calibration data broadcasting device according to claim 2, characterized in that the threshold E isminAnd is set to 3.
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Address after: 518000 whole building of satellite building, 61 Gaoxin South Jiudao, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Aerospace Dongfanghong Satellite Co.,Ltd. Address before: 518000 whole building of satellite building, 61 Gaoxin South Jiudao, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: AEROSPACE DONGFANGHONG DEVELOPMENT Ltd. |