CN116973953B - Positioning navigation time service processing method and system based on virtual satellite network - Google Patents

Positioning navigation time service processing method and system based on virtual satellite network Download PDF

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Publication number
CN116973953B
CN116973953B CN202311238083.3A CN202311238083A CN116973953B CN 116973953 B CN116973953 B CN 116973953B CN 202311238083 A CN202311238083 A CN 202311238083A CN 116973953 B CN116973953 B CN 116973953B
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satellite
real
position coordinates
satellites
virtual
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CN116973953A (en
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吴小坡
江扬帆
王刚
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University of Science and Technology of China USTC
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University of Science and Technology of China USTC
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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

Abstract

The invention provides a positioning navigation time service processing method and system based on a virtual satellite network, which can be applied to the fields of satellite communication and signal processing. The method comprises the following steps: acquiring first position coordinates of a plurality of real satellites under a geocentric coordinate system according to decoding of navigation messages for a real satellite network received by a local receiver; determining a first real distance between each of the plurality of real satellites and the real target according to the local receiving time of the local receiver and the satellite transmitting time of the real satellite; determining a correction satellite guidance equation set for solving the false position coordinates according to the first position coordinates, the time correction parameters and the pseudo ranges of the plurality of real satellites; determining a system of distance difference equations according to the first real distances and the pseudo distances between the plurality of real satellites and the real targets respectively; and solving a correction satellite guidance equation set and a distance difference equation set to obtain false position coordinates.

Description

Positioning navigation time service processing method and system based on virtual satellite network
Technical Field
The invention relates to the field of satellite communication and signal processing, in particular to a positioning navigation time service processing method and system based on a virtual satellite network.
Background
Along with the continuous development of communication and positioning technologies, many satellite guidance devices rely on advanced command communication control and global positioning systems to achieve accurate arrival at a target position and flexibly detect the target position. In this case, a method of signal suppression and interference for a global satellite navigation system terminal is generally adopted to prevent the satellite guidance device from reaching the target position, so as to realize the protection of the target position.
In the process of implementing the inventive concept, the inventor finds that at least the following problems exist in the related art: the method for suppressing and interfering signals by the GPS terminal prevents the satellite guidance equipment from reaching the target position, and the problem that the falling point of the satellite guidance equipment is uncontrollable and can cause loss to important facilities or personnel exists.
Disclosure of Invention
In view of the above problems, the present invention provides a positioning navigation time service processing method and system based on a virtual satellite network.
According to one aspect of the present invention, there is provided a positioning navigation time service processing method based on a virtual satellite network, including: acquiring first position coordinates of a plurality of real satellites under a geocentric coordinate system according to decoding of navigation messages for a real satellite network received by a local receiver; determining a first real distance between each of the plurality of real satellites and the real target according to the local receiving time of the local receiver and the satellite transmitting time of the real satellite; determining a corrected satellite guidance equation set for solving the false position coordinates according to first position coordinates, time correction parameters and pseudo-ranges of a plurality of real satellites, wherein the pseudo-ranges represent the sum of a first distance between a virtual satellite and a false position in a virtual satellite network and a second distance between the virtual satellite and the real satellite; determining a system of distance difference equations according to the first real distances and the pseudo distances between the plurality of real satellites and the real targets respectively; and solving a correction satellite guidance equation set and a distance difference equation set to obtain false position coordinates.
According to an embodiment of the present invention, solving a system of modified satellite guidance equations and a system of range difference equations to obtain a false position coordinate includes: determining a time delay parameter based on satellite motion adjustment corresponding to each of the plurality of virtual satellites; and solving and correcting the satellite guidance equation set and the distance difference equation set based on the time delay parameters to obtain the false position coordinates.
According to the embodiment of the invention, a correction satellite guidance equation set for solving false position coordinates is determined according to first position coordinates, time correction parameters and pseudo ranges of a plurality of real satellites, and the correction satellite guidance equation set is obtained through the following formula (I):
the method comprises the steps of carrying out a first treatment on the surface of the (one)
Wherein,L Si +L Ji is the first toiThe pseudoranges corresponding to the virtual satellites,L Ji is the firstiA first distance between a virtual satellite and the false location,L Si is the firstiA second distance, c being the speed of light,to correct the parameters for timex i ，y i ，z i ) Is the firstiA first position coordinate under the geocentric coordinate system of the real satellite,i=1,2,3,4，（x v ，y v ，z v ) For the false position coordinates,/a>Is a systematic error.
According to an embodiment of the present invention, a system of distance difference equations is determined according to a first true distance and a pseudo distance between each of a plurality of true satellites and a true target, and is obtained by the following formula (two):
the method comprises the steps of carrying out a first treatment on the surface of the (II)
Wherein,is the firstiA first true distance between each of the true satellites and the true target.
According to the embodiment of the invention, based on a plurality of time delay parameters, a correction satellite guidance equation set and a distance difference equation set are solved to obtain false position coordinates, and the false position coordinates are obtained through the following formula (III):
the method comprises the steps of carrying out a first treatment on the surface of the (III)
Wherein,is the first toiVirtual particleTime delay parameters corresponding to satellites.
According to the embodiment of the invention, based on the control instruction sent by the ground control station, each virtual satellite included in the virtual satellite network is configured with a real satellite corresponding to each virtual satellite and a time delay parameter corresponding to each virtual satellite.
According to an embodiment of the invention, the method further comprises: determining real satellite information from the coordinate acquisition request in the case that the coordinate acquisition request of the real target is detected, wherein the real satellite information comprises one or more satellite identifications of a plurality of real satellites; determining an alignment forwarding sequence of the virtual satellite network based on the real satellite information; and transmitting an interference signal comprising false position coordinates based on the bit forwarding sequence and the virtual satellite network so as to capture and track the interference signal by a requester transmitting the coordinate acquisition request, wherein the difference value between the signal power of the interference signal and the signal power of a target satellite signal is larger than a preset value, and the target satellite signal represents a satellite signal generated by a real satellite corresponding to the real satellite information.
According to an embodiment of the invention, the method further comprises: real position coordinates of the real target are determined based on the plurality of first real distances and the first position coordinates of the plurality of real satellites.
Another aspect of the present invention provides a positioning navigation time service processing system based on a virtual satellite network, including:
a virtual satellite network for acquiring first position coordinates in a geocentric coordinate system of a plurality of real satellites based on decoding of navigation messages for the real satellite network received by the local receiver; determining a first real distance between each of the plurality of real satellites and the real target according to the local receiving time of the local receiver and the satellite transmitting time of the real satellite; determining a corrected satellite guidance equation set for solving the false position coordinates according to first position coordinates, time correction parameters and pseudo-ranges of a plurality of real satellites, wherein the pseudo-ranges represent the sum of a first distance between a virtual satellite and a false position in a virtual satellite network and a second distance between the virtual satellite and the real satellite; determining a system of distance difference equations according to the first real distances and the pseudo distances between the plurality of real satellites and the real targets respectively; and solving a correction satellite guidance equation set and a distance difference equation set to obtain false position coordinates.
According to an embodiment of the invention, the system further comprises: the ground control station is in communication connection with the virtual satellite network and is used for controlling the association relation between each virtual satellite and the real satellite and adjusting the time delay parameter which corresponds to each virtual satellite and is adjusted based on the satellite motion.
According to the positioning navigation time service processing method based on the virtual satellite network, the first real distances between a plurality of real satellites and the real targets are determined through the local receiving time of the local receiver and the satellite transmitting time of the real satellites, the correction satellite guidance equation set for solving the virtual position coordinates is determined according to the first position coordinates, the time correction parameters and the pseudo ranges of the plurality of real satellites obtained by decoding the navigation message of the real satellite network, the distance difference equation set is determined according to the first real distances and the pseudo ranges, and then the correction satellite guidance equation set and the distance difference equation set are solved to obtain the false position coordinates. The false position coordinates obtained by solving the corrected satellite guidance equation set adjusted by the time correction parameters and the distance difference equation set determined by the first real distance and the pseudo range are adopted, so that the technical problem that the falling point of the satellite guidance equipment is uncontrollable is at least partially solved, the loss of important equipment and personnel caused by uncontrollable falling point of the satellite guidance equipment is avoided, and the technical effect of protecting the real target position is achieved.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following description of embodiments of the invention with reference to the accompanying drawings, in which:
FIG. 1 schematically illustrates a flow chart of a positioning navigation time service processing method based on a virtual satellite network according to an embodiment of the invention;
FIG. 2 schematically illustrates a flow chart of determining false position coordinates according to an embodiment of the present invention;
FIG. 3 schematically illustrates a schematic diagram of a positioning navigation time service processing method based on a virtual satellite network according to an embodiment of the present invention; and
fig. 4 schematically illustrates a schematic diagram of a positioning navigation time service processing system based on a virtual satellite network according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
The embodiment of the invention provides a positioning navigation time service processing method based on a virtual satellite network, which comprises the following steps: acquiring first position coordinates of a plurality of real satellites under a geocentric coordinate system according to decoding of navigation messages for a real satellite network received by a local receiver; determining a first real distance between each of the plurality of real satellites and the real target according to the local receiving time of the local receiver and the satellite transmitting time of the real satellite; determining a corrected satellite guidance equation set for solving the false position coordinates according to first position coordinates, time correction parameters and pseudo-ranges of a plurality of real satellites, wherein the pseudo-ranges represent the sum of a first distance between a virtual satellite and a false position in a virtual satellite network and a second distance between the virtual satellite and the real satellite; determining a system of distance difference equations according to the first real distances and the pseudo distances between the plurality of real satellites and the real targets respectively; and solving a correction satellite guidance equation set and a distance difference equation set to obtain false position coordinates.
Fig. 1 schematically shows a flowchart of a positioning navigation time service processing method based on a virtual satellite network according to an embodiment of the present invention.
As shown in FIG. 1, the positioning navigation time service processing method based on the virtual satellite network comprises operations S110-S150.
In operation S110, first position coordinates in a geocentric coordinate system of a plurality of real satellites are acquired according to decoding of navigation messages for a real satellite network received by a local receiver.
According to an embodiment of the present invention, the real satellite network includes a plurality of real satellites, and the plurality of real satellites are a plurality of global navigation satellites with real targets in a visible range, and the plurality of global navigation satellites may be satellites in the following systems: global positioning system (Global Positioning System, GPS), galileo satellite navigation system (Galileo satellite navigation system), GLONASS navigation system GLONASS, etc.
According to the embodiment of the invention, the first position coordinates of the plurality of real satellites in the geocentric coordinate system are obtained through decoding the navigation message received by the local receiver and aiming at the real satellite network, and the method can be used for quickly determining the first real distances between the plurality of real satellites and the real targets and determining the real position coordinates of the real targets in the geocentric coordinate system.
In operation S120, a first true distance between each of the plurality of true satellites and the true target is determined according to a local reception time of the local receiver and a satellite transmission time of the true satellite.
According to an embodiment of the present invention, a formula for determining a first true distance between each of a plurality of true satellites and a true target by a local reception time and a satellite transmission time of a local receiver may be shown as formula (1), wherein,for illustrative purposes only, the number of real satellites in view of a real object at different times or locations is different.
；（1）
Wherein,is the firstiA first true distance between each of the true satellites and the true target,t ri is the firstiThe local reception time of the navigation message of the real satellite,t si is the firstiThe satellite emission time of the navigation message of the real satellite, c, represents the speed of light.
According to embodiments of the present invention, satellite transmission time may be determined by pseudo code correlation alignment.
According to the embodiment of the invention, the first real distances between the plurality of real satellites and the real targets can be quickly and accurately determined through the plurality of local receiving times of the local receiver and the plurality of satellite transmitting times of the plurality of real satellites.
In operation S130, a set of corrected satellite guidance equations for solving the false position coordinates is determined based on the first position coordinates of the plurality of real satellites, the time correction parameters, and the pseudo ranges, wherein the pseudo ranges characterize a sum of a first distance between the virtual satellite and the false position and a second distance between the virtual satellite and the real satellite in the virtual satellite network.
According to an embodiment of the present invention, a first distance between a virtual satellite and a false position in a virtual satellite network and a second distance between the virtual satellite and a real satellite corresponding to the virtual satellite are determined. A pseudorange may be obtained based on the first range and the second range.
According to the embodiment of the invention, the pseudo range can be corrected through the time correction parameter, so that the corrected pseudo range is obtained, and the corrected satellite guidance equation set can be obtained based on the corrected pseudo range.
According to the embodiment of the invention, the time correction parameter is set due to the characteristic that the flying mobile device such as the satellite guidance device in the real scene can continuously acquire the real-time positioning and navigation information when going to the destination.
According to the embodiment of the invention, when the real-time positioning and navigation information is acquired, the navigation message sent by the real satellite is continuously received through the receiver corresponding to the satellite guidance equipment, and due to the hardware drift characteristic of the receiver corresponding to the satellite guidance equipment, satellite receiving time errors can exist, so that the elimination process of the satellite guidance equipment in the real scene on the satellite receiving time errors can be simulated by setting the time correction parameters, the corrected pseudo range is more similar to the pseudo range calculated by the satellite guidance equipment, the controllability of false position coordinates is higher, and the size of the time correction parameters can be between 0 nanosecond and 100 nanoseconds.
According to the embodiment of the invention, the simulation of determining the false position coordinates of the satellite guidance equipment after receiving the interference signals can be realized through the corrected satellite guidance equation set obtained by the corrected pseudo range, so that the false position coordinates are determined more accurately, and the controllability of the falling point of the satellite guidance equipment is further improved.
In operation S140, a system of range difference equations is determined from the first true ranges and pseudoranges between the plurality of true satellites and the respective true targets.
According to the embodiment of the invention, the real satellites and the virtual satellites are in one-to-one correspondence, and the number of the virtual satellites is equal to the number of the real satellites.
According to the embodiment of the invention, through the association relationship between the real satellite and the virtual satellite, the corresponding relationship between the pseudo range and the first real distance can be determined, for example, the real satellite 1 corresponds to the virtual satellite 1, and then the pseudo range 1 corresponds to the first real distance 1.
According to the embodiment of the invention, the distance difference equation set determined according to the corresponding relation between the plurality of first true distances and the plurality of pseudo-ranges can further meet the solving requirement of the false position coordinates.
In operation S150, the system of modified satellite guidance equations and the system of range difference equations are solved to obtain the false position coordinates.
According to the embodiment of the invention, the false position coordinates are obtained by combining the correction guidance equation set and the distance difference equation set.
According to the embodiment of the invention, a plurality of different solutions can be obtained by solving the modified satellite guidance equation set and the distance difference equation set, namely, the virtual position coordinates can be a plurality of different coordinates.
According to the positioning navigation time service processing method based on the virtual satellite network, the first real distances between a plurality of real satellites and the real targets are determined through the local receiving time of the local receiver and the satellite transmitting time of the real satellites, the correction satellite guidance equation set for solving the virtual position coordinates is determined according to the first position coordinates, the time correction parameters and the pseudo ranges of the plurality of real satellites obtained by decoding the navigation message of the real satellite network, the distance difference equation set is determined according to the first real distances and the pseudo ranges, and then the correction satellite guidance equation set and the distance difference equation set are solved to obtain the false position coordinates. The false position coordinates obtained by solving the corrected satellite guidance equation set adjusted by the time correction parameters and the distance difference equation set determined by the first real distance and the pseudo range are adopted, so that the technical problem that the falling point of the satellite guidance equipment is uncontrollable is at least partially solved, the loss of important equipment and personnel caused by uncontrollable falling point of the satellite guidance equipment is avoided, and the technical effect of protecting the real target position is achieved.
FIG. 2 schematically illustrates a flow chart for determining false position coordinates according to an embodiment of the present invention.
As shown in FIG. 2, determining the false position coordinates includes operations S151-S152.
In operation S151, a time delay parameter adjusted based on satellite motion corresponding to each of the plurality of virtual satellites is determined.
In operation S152, the system of modified satellite guidance equations and the system of range difference equations are solved based on the plurality of time delay parameters to obtain the false position coordinates.
According to the embodiment of the invention, the correction satellite guidance equation set and the distance difference equation set are solved through a plurality of time delay parameters, and the number of the obtained false position coordinates can be also a plurality.
According to embodiments of the present invention, since the real satellites are in motion, corresponding time delay parameters may be determined for each virtual satellite in order to better simulate the real satellites.
According to the embodiment of the invention, the simulation of the real satellite can be further and more accurately realized by increasing the time delay parameter. Meanwhile, a plurality of virtual position coordinates can be screened, so that the most suitable false position coordinates are determined. The virtual position coordinates can be screened through a preset attack area of the satellite guidance equipment, and coordinates which do not belong to the attack area are screened out. And selecting the false position coordinates with small flying tangential angles of the satellite guidance equipment according to the flying path of the satellite guidance equipment, and discarding the false position coordinates with large flying tangential angles of the satellite guidance equipment, so as to avoid the occurrence of large tangential angular momentum actions of the satellite guidance equipment due to the selected false position coordinates, and further realize the protection of real targets.
According to the embodiment of the invention, according to the first position coordinates, time correction parameters and pseudo ranges of a plurality of real satellites, a correction satellite guidance equation set for solving false position coordinates is determined, and can be obtained by the following formula (2):
；（2）
wherein,L Si +L Ji is the first toiThe pseudoranges corresponding to the virtual satellites,L Ji is the firstiA first distance between a virtual satellite and the false location,L Si is the firstiA second distance, c being the speed of light,to correct the parameters for timex i ，y i ，z i ) Is the firstiA first position coordinate under the geocentric coordinate system of the real satellite,i=1,2,3,4，（x v ，y v ，z v ) For the false position coordinates,/a>Is a systematic error.
According to the embodiment of the invention, the number of the virtual satellites and the real satellites is only illustrative, and the correction satellite guidance equation sets corresponding to different numbers of the virtual satellites can be determined according to actual conditions.
According to the embodiment of the invention, the corrected satellite guidance equation set obtained through the time correction parameters can better simulate the solving process of the virtual position coordinates of the satellite guidance equipment under the condition of receiving the interference signals, so that more reasonable false position coordinates are determined.
According to an embodiment of the present invention, a system of distance difference equations is determined according to a first true distance and a pseudo distance between each of a plurality of true satellites and a true target, and is obtained by the following formula (3):
；（3）
wherein,is the firstiA first true distance between each of the true satellites and the true target.
According to the embodiment of the invention, based on a plurality of time delay parameters, a correction satellite guidance equation set and a distance difference equation set are solved to obtain false position coordinates, and the false position coordinates are obtained through the following formula (4):
；（4）
wherein,is the first toiAnd a time delay parameter corresponding to the virtual satellite.
According to an embodiment of the present invention, since the real satellite is in motionL Si I.e. the second distance between the virtual satellite and the corresponding real satellite is varied. By adding proper time delay on each virtual satellite, the method can adapt to the distance adjustment caused by satellite motion, thereby better simulating the real satellite and obtaining more accurate virtual position coordinates.
According to the embodiment of the invention, based on the control instruction sent by the ground control station, each virtual satellite included in the virtual satellite network is configured with a real satellite corresponding to each virtual satellite and a time delay parameter corresponding to each virtual satellite.
According to the embodiment of the invention, based on the control instruction sent by the ground control station, the real satellite corresponding to each virtual satellite is configured, so that the real satellite corresponding to each virtual satellite can be determined, and when the interference signal is sent, the interference information sent by the virtual satellite is the interference signal simulating the real satellite corresponding to the virtual satellite.
According to the embodiment of the invention, the altitude and the coordinates of the virtual satellite can also be controlled based on the control instruction sent by the ground control station.
According to an embodiment of the invention, the method further comprises: determining real satellite information from the coordinate acquisition request in the case that the coordinate acquisition request of the real target is detected, wherein the real satellite information comprises one or more satellite identifications of a plurality of real satellites; determining an alignment forwarding sequence of the virtual satellite network based on the real satellite information; and transmitting an interference signal comprising false position coordinates based on the bit forwarding sequence and the virtual satellite network so as to capture and track the interference signal by a requester transmitting the coordinate acquisition request, wherein the difference value between the signal power of the interference signal and the signal power of a target satellite signal is larger than a preset value, and the target satellite signal represents a satellite signal generated by a real satellite corresponding to the real satellite information.
According to the embodiment of the present invention, in the case where the coordinate acquisition request of the real target is detected, the real satellite information that the requester wants to acquire, which is the information of the real satellite in the same visible range as the space-time condition when the requester transmits the target acquisition request, is determined from the coordinate acquisition request.
According to the embodiment of the invention, the signal power of the interference signal is required to be larger than the signal power of the target satellite signal, so that the signal suppression of the target satellite signal is realized, and the receiver of the satellite guidance equipment is enabled to capture and track the false constellation signal on the premise that the suppression interference is effective, so that the receiver of the satellite guidance equipment is enabled to be unlocked first, then is enabled to be searched again for capture, and finally is enabled to track and demodulate the forged interference signal. Meanwhile, to solve the problem of receiving and transmitting isolation, parameters of a virtual satellite network can be adjusted after the real position coordinates of the real target are established, and the satellite guidance equation set and the distance difference equation set can be corrected simultaneously, so that abundant false position coordinates are established, and the purposes of attracting satellite guidance equipment and protecting important targets are achieved.
According to the embodiment of the invention, based on the alignment forwarding sequence and the virtual satellite network, a target virtual satellite corresponding to the satellite identification included in the real satellite information can be determined, and the interference signal is transmitted by using the target virtual satellite.
According to the embodiment of the invention, the satellite guidance equipment can be cruise missile, unmanned aerial vehicle and the like.
According to the embodiment of the invention, the requester can be a satellite guidance device which transmits a coordinate acquisition request of a real target.
According to the embodiment of the invention, the signal suppression of the satellite signal of the real satellite can be effectively realized by the difference value between the signal power of the interference signal and the information power of the target satellite signal under the equal condition being larger than the preset value, so that the satellite guidance equipment considers the interference signal as the satellite signal of the real satellite.
According to the embodiment of the present invention, the preset value is not limited, and may be 60 db, that is, the power of the interference signal is 60 db higher than the satellite signal power of the real satellite.
According to the embodiment of the invention, the difference value between the signal power of the interference signal and the signal power of the target satellite signal is larger than the preset value, which is beneficial to the miniaturization design of the system.
According to an embodiment of the present invention, the method further includes: real position coordinates of the real target are determined based on the plurality of first real distances and the first position coordinates of the plurality of real satellites.
According to an embodiment of the present invention, the formula for determining the real position coordinates of the real target based on the plurality of first real distances and the first position coordinates of the plurality of real satellites in the geocentric coordinate system may be as shown in formula (5) and formula (6).
；（5）
；（6）
Wherein x, y and z are the real position coordinates of the real target in the geocentric coordinate system.
According to the embodiment of the invention, the nonlinear equation of the formula (6) is approximately solved based on a linearization iterative method, so that the real position coordinates of a real target can be rapidly determined, and the optimal solutions of x, y and z can be determined.
Fig. 3 schematically illustrates a schematic diagram of a positioning navigation time service processing method based on a virtual satellite network according to an embodiment of the present invention.
As shown in fig. 3, a real satellite network including four real satellites and a virtual satellite network corresponding to the real satellite network are schematically shown, wherein the virtual satellite network also includes four virtual satellites, each virtual satellite includes a respective carrying platform so as to carry the virtual satellite to a higher altitude, the carrying platform of the virtual satellite is schematically shown as an airplane in the schematic diagram, the altitude of the preset real satellite network is 20200 km, and the virtual satellite network can be lifted to 20km. Thus, the virtual satellite network may also be referred to as a near space virtual satellite network.
According to an embodiment of the present invention, a virtual satellite network acquires first position coordinates in a geocentric coordinate system of a plurality of real satellites by decoding a navigation message for the real satellite network received by a local receiver; determining a first real distance between each of the plurality of real satellites and the real target according to the local receiving time of the local receiver and the satellite transmitting time of the real satellite; determining a corrected satellite guidance equation set for solving the false position coordinates according to first position coordinates, time correction parameters and pseudo-ranges of a plurality of real satellites, wherein the pseudo-ranges represent the sum of a first distance between a virtual satellite and a false position in a virtual satellite network and a second distance between the virtual satellite and the real satellite; determining a system of distance difference equations according to the first real distances and the pseudo distances between the plurality of real satellites and the real targets respectively; and solving a correction satellite guidance equation set and a distance difference equation set to obtain false position coordinates.
According to the embodiment of the invention, the action range and the protection area can be predetermined, such as the protection area shown in fig. 3 and the action range of 500km, and the false position coordinates can be a plurality of false position coordinates, so that the false position coordinates can be screened according to the protection area of the real target divided in advance, and the satellite guidance equipment can establish a deflection inducing path in the flight direction in combination with the flight characteristics of the satellite guidance equipment, so as to avoid the occurrence of large tangential angular momentum actions, and therefore, the false position coordinates with small tangential angles of the satellite guidance equipment are selected from the screened false position coordinates, and the false position coordinates with overlarge tangential angles are discarded.
Fig. 4 schematically illustrates a schematic diagram of a positioning navigation time service processing system based on a virtual satellite network according to an embodiment of the present invention.
Another aspect of the present invention provides a positioning navigation time service processing system based on a virtual satellite network, including:
a virtual satellite network 410 for acquiring first position coordinates in a geocentric coordinate system of a plurality of real satellites based on decoding of navigation messages for the real satellite network received by the local receiver; determining a first real distance between each of the plurality of real satellites and the real target according to the local receiving time of the local receiver and the satellite transmitting time of the real satellite; determining a set of corrected satellite guidance equations for solving the false position coordinates based on the first position coordinates of the plurality of real satellites, the time correction parameters, and the pseudo ranges, wherein the pseudo ranges characterize a sum of a first distance between the virtual satellite and the false position in the virtual satellite network 410 and a second distance between the virtual satellite and the real satellite; determining a system of distance difference equations according to the first real distances and the pseudo distances between the plurality of real satellites and the real targets respectively; and solving a correction satellite guidance equation set and a distance difference equation set to obtain false position coordinates.
According to an embodiment of the present invention, the virtual satellite network 410 includes a plurality of virtual satellites, as shown in fig. 4, a virtual satellite 411, a virtual satellite 412, a virtual satellite 413, a virtual satellite 414, and the like. The virtual satellite may include a repeater-type jammer.
According to the embodiment of the invention, the regional map can be formed through the virtual satellite network, so that the induction of the satellite guided weapon and the protection of the real target are realized.
According to the embodiment of the invention, the interference signal is generated by the forwarding type interference device, time delay is introduced into the interference signal, a receiver of the satellite guidance equipment is forced to capture the tracking interference signal and measure the pseudo range, the purpose of inducing the satellite guidance equipment to deviate is achieved, and the protection of the real position coordinates of the real target is realized.
According to an embodiment of the present invention, the above system further includes: the ground control station 420 is communicatively connected to the virtual satellite network, and is configured to control an association relationship between each virtual satellite and a real satellite, and adjust a time delay parameter corresponding to each virtual satellite based on the satellite motion adjustment. The system can control the drop point of the interfered receiver and prevent other interference methods from damaging important facilities and personnel due to uncontrollable drop points.
According to the embodiment of the invention, the ground control station can control the sequence number of the real satellite to be forwarded by the forwarding type interference device and the size of time delay generated when the signal of the real satellite is forwarded.
According to an embodiment of the present invention, the system further includes carrier platforms, each of which may have a virtual satellite positioned thereon.
According to the embodiment of the invention, each forwarding type interference device can respectively forward the signal of one real satellite and delay according to a proper algorithm when forwarding. The repeater type jammer can be fixed in a mountain or suspended in the air, and if an airplane or an airship is used as a virtual satellite, the height of the jammer from the ground can reach 20km.
According to an embodiment of the invention, the carrying platform may be a device that may be flown by an aircraft, airship, balloon or low-orbit satellite, etc.
According to an embodiment of the invention, the carrying platform may be communicatively connected to a ground control station, which may control the altitude at which the carrying platform flies, as well as the flight position.
According to embodiments of the present invention, satellite signals may be sorted using smart antennas and spatial filtering techniques.
According to an embodiment of the present invention, the virtual satellite may also be placed on a mountain where the vertical distance from the ground is a target value.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Those skilled in the art will appreciate that the features recited in the various embodiments of the invention and/or in the claims may be combined in various combinations and/or combinations, even if such combinations or combinations are not explicitly recited in the invention. In particular, the features recited in the various embodiments of the invention and/or in the claims can be combined in various combinations and/or combinations without departing from the spirit and teachings of the invention. All such combinations and/or combinations fall within the scope of the invention.
The embodiments of the present invention are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the invention, and such alternatives and modifications are intended to fall within the scope of the invention.

Claims (10)

1. A positioning navigation time service processing method based on a virtual satellite network is characterized by comprising the following steps:
acquiring first position coordinates of a plurality of real satellites under a geocentric coordinate system according to decoding of navigation messages for a real satellite network received by a local receiver;
determining a plurality of first real distances between the real satellites and the real targets according to the local receiving time of the local receiver and the satellite transmitting time of the real satellites;
determining a corrected satellite guidance equation set for solving a false position coordinate according to first position coordinates, time correction parameters and pseudo-ranges of a plurality of real satellites, wherein the pseudo-ranges represent the sum of a first distance between a virtual satellite and a false position in a virtual satellite network and a second distance between the virtual satellite and the real satellite;
determining a set of range-difference equations from a first true range and the pseudoranges between each of the plurality of true satellites and the true target;
solving the correction satellite guidance equation set and the distance difference equation set to obtain a plurality of false position coordinates;
and determining target false position coordinates from a plurality of the false position coordinates.
2. The method of claim 1, wherein said solving said set of modified satellite guidance equations and said set of range difference equations to obtain said false position coordinates comprises:
determining time delay parameters which correspond to the plurality of virtual satellites respectively and are adjusted based on satellite motion;
and solving the corrected satellite guidance equation set and the distance difference equation set based on a plurality of the time delay parameters to obtain the false position coordinates.
3. The method of claim 2, wherein the determining a set of corrected satellite guidance equations for solving for false position coordinates based on the first position coordinates, the time correction parameters and the pseudoranges for a plurality of the real satellites is obtained by the following equation (one):
the method comprises the steps of carrying out a first treatment on the surface of the (one)
Wherein,L Si +L Ji is the first toiThe pseudoranges corresponding to the virtual satellites,L Ji is the firstiA first distance between a virtual satellite and the false location,L Si is the firstiA second distance, c being the speed of light,to correct the parameters for timex i ，y i ，z i ) Is the firstiA first position coordinate under the geocentric coordinate system of the real satellite,i=1,2,3,4，（x v ，y v ， z v ) For the false position coordinates,/a>Is a systematic error.
4. A method according to claim 3, wherein said determining a set of distance difference equations from said pseudoranges and first true distances between each of a plurality of said true satellites and a true target is obtained by the following equation (two):
the method comprises the steps of carrying out a first treatment on the surface of the (II)
Wherein,is the firstiA first true distance between each of the true satellites and the true target.
5. The method of claim 4, wherein said solving said set of modified satellite guidance equations and said set of range difference equations based on a plurality of said time delay parameters yields said false position coordinates by the following equation (three):
the method comprises the steps of carrying out a first treatment on the surface of the (III)
Wherein,is the time delay parameter corresponding to the ith virtual satellite.
6. The method as recited in claim 2, further comprising:
and configuring real satellites corresponding to each virtual satellite included in the virtual satellite network and the time delay parameters corresponding to each virtual satellite based on control instructions sent by a ground control station.
7. The method as recited in claim 1, further comprising:
determining real satellite information from a coordinate acquisition request of the real target in the case that the coordinate acquisition request of the real target is detected, wherein the real satellite information comprises one or more satellite identifications of a plurality of real satellites;
determining a para-position forwarding sequence of the virtual satellite network based on the real satellite information;
and transmitting an interference signal comprising the false position coordinates based on the alignment forwarding sequence and the virtual satellite network so as to be captured and tracked by a requester transmitting the coordinate acquisition request, wherein the difference value between the signal power of the interference signal and the signal power of a target satellite signal is larger than a preset value, and the target satellite signal represents a satellite signal generated by a real satellite corresponding to the real satellite information.
8. The method as recited in claim 1, further comprising:
determining the real position coordinates of the real target based on the plurality of first real distances and the plurality of first position coordinates of the real satellites.
9. A positioning navigation time service processing system based on a virtual satellite network, which is characterized by comprising:
a virtual satellite network for acquiring first position coordinates in a geocentric coordinate system of a plurality of real satellites based on decoding of navigation messages for the real satellite network received by the local receiver; determining a plurality of first real distances between the real satellites and the real targets according to the local receiving time of the local receiver and the satellite transmitting time of the real satellites; determining a corrected satellite guidance equation set for solving a false position coordinate according to first position coordinates, time correction parameters and pseudo-ranges of a plurality of real satellites, wherein the pseudo-ranges represent the sum of a first distance between a virtual satellite and a false position in a virtual satellite network and a second distance between the virtual satellite and the real satellite; determining a set of range-difference equations from a first true range and the pseudoranges between each of the plurality of true satellites and the true target; solving the correction satellite guidance equation set and the distance difference equation set to obtain a plurality of false position coordinates; and determining target false position coordinates from a plurality of the false position coordinates.
10. The system of claim 9, further comprising:
the ground control station is in communication connection with the virtual satellite network and is used for controlling the association relation between each virtual satellite and the real satellite and adjusting the time delay parameter which corresponds to each virtual satellite and is adjusted based on the satellite motion.
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