CN117031453A - Low orbit satellite opportunistic signal pseudo-range calculation method - Google Patents
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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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
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- 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
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- 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
Abstract
The invention provides a low-orbit satellite opportunistic signal pseudo-range calculation method, which belongs to the technical field of satellite navigation and positioning, calculates the low-orbit satellite opportunistic signal pseudo-range based on a transmitting moment anti-calibration algorithm, and demonstrates a transmitting time anti-calibration principle from a theoretical level. The invention mainly uses the ground time reference, not only avoids the problem of fuzzy on-satellite time system, but also obtains the pseudo-range observation information and plays the effect of pseudo-range difference.
Description
Technical Field
The invention belongs to the technical field of satellite navigation and positioning, and particularly relates to a low-orbit satellite opportunistic signal pseudo-range calculation method.
Background
With the rapid growth of the positioning navigation demand, different application scenarios such as urban canyon signal shielding and electromagnetic signal interference provide challenges for the traditional global navigation satellite system (Global Navigation Satellite System, GNSS). In recent years, signal-of-opportunity (Signal of Opportunity, SOP) positioning systems have received attention as a supplement to GNSS in harsh environments due to their wide spatial distribution and diverse spectrum. SOP positioning systems utilize radio signals transmitted by existing infrastructure, such as Low Earth Orbit (LEO) communication satellites, cellular communication stations, and broadcast stations. The LEO satellite signal becomes a stable and reliable signal source in SOP due to the characteristics of large satellite deployment amount, wide coverage range, high signal power, wide frequency spectrum and the like.
Currently, LEO constellation widely used in positioning studies includes Iridium-Next, orbcomm, starlink, and the like. Because these satellites are designed for non-navigation, unauthorized users cannot obtain navigation information common to signals, such as signal broadcast times, satellite broadcast ephemeris, etc. Most LEO communication satellite ephemeris currently is mainly two-line orbital number (TLE) ephemeris issued by the north american air defense command department (North American Aerospace Defense Command, NORAD) with an update period of about 1 day. Errors introduced by inaccurate satellite orbit information greatly limit the positioning accuracy of LEO satellites. The satellite initial position solved from the TLE ephemeris and reduced general perturbation (Simplified General Perturbation, SGP 4) model has a deviation of several kilometers and continues to diverge as the extrapolation time increases. In addition, the ambiguity of the on-board time system can further increase the false effects. Since the motion speed of LEO satellites is about 7.5km/s, a time ambiguity of 1s will lead to errors in satellite positioning resolving the present kilometers. Therefore, the spatial-temporal information errors of these LEO satellites have a serious impact on the SOP positioning accuracy based on the LEO satellites.
The current LEO satellite SOP positioning technology at home and abroad mainly adopts Doppler positioning, and assumes that the signal transmitting frequency isThe Doppler location equation is shown in formula (1):
(1)
wherein,doppler frequency of the signal received for the user, +.>For satellite transmission time->Speed of->Receive time +.>Speed of->Unit phasor for satellite pointing in the direction of the user, < >>Is a fixed frequency measurement bias caused by receiver clock variation, < >>Is a random measurement error, c is the speed of light.
The initial scheme design does not consider satellite orbit and time system errors, so the positioning accuracy is very low, which is about hundred degrees. In order to improve the positioning accuracy, joe Khalife et al, university of california, usa, propose to use differential shape for positioning, the accuracy can reach the order of ten meters. However, in the LEO satellite orbit height is low, and in the long baseline differential positioning scene, the parallel assumption of the two receiver view vectors of the basic differential positioning model is not satisfied. In 2022, the north-China teaching team of Qin Gonglei proposes a vision vector correction model for improving the positioning accuracy under the condition of long base line. However, the above solutions do not consider the positioning error caused by the ambiguity of the on-board time system, and Qin Gonglei teaches the positioning schematic block diagram and Doppler positioning algorithm related to team that do not relate to time information, to the extent thatThe tube analyzes the influence of Doppler measurement errors and orbit errors on Doppler positioning results, but does not design a corresponding model for error correction. 2023, qin Gonglei and Wang Danyao et al also propose an orbit error equivalent measurement error model from which the equivalent Doppler measurement error range due to LEO satellite ephemeris error is estimated to beAnd two algorithms of coarse time compensation and residual weighting are adopted to reduce measurement errors caused by low ephemeris precision and fuzzy on-board time system.
Although the research method adopts various modes such as Doppler difference, orbit error compensation weighting and the like to offset errors caused by ambiguity of an ephemeris and an on-board time system, the anti-calibration of the transmitting time is not carried out from a theoretical level, but a complex algorithm is adopted to compensate and weight the positioning result, and if the research method is applied to actual engineering, the burden of a terminal processor is increased. In addition, most of the teams at home and abroad use the Doppler information of SOP to locate so far, and the contents related to pseudo-range such as arrival time difference (Time Difference Of Arrival, TDOA) are not considered, so that the utilization and excavation of opportunistic signals are insufficient.
During 2015-2016 years, the university team of south-ocean university of singapore provides a joint synchronization and positioning algorithm aiming at SOP signals of LEO communication satellites such as Iridium and the like. The team performs joint solutions by referring to the time difference of arrival of SOP between the station and the subscriber station, and the frequency difference of arrival (Frequency Difference Of Arrival, FDOA). Assuming a total of L observations per receiver in sequence, the first observation starts at the nominal reception timeAnd at->And receiving a data packet in a second, wherein the formulas corresponding to the TDOA and the FDOA are as follows:
(2)
wherein,for the first observation the received data length, +.>And->Respectively observing TDOA and FDOA between the user and the reference station for the first time; />And->Representing satellite position and velocity at the first observation; />And->Observing the position and the speed of the reference station for the first time; />And->For observing the position and speed of the user receiver for the first time,/or->Representing modulo vectors; />And->Respectively, the relative directions from the reference station, the subscriber station to the satellite during the first acquisition period, can be expressed as:
(3)
in addition, in the case of the optical fiber,、/>for the first observation the user receiver clock is compared to the reference station clock's clock difference and Zhong Piao,the first observation noise obeys a gaussian distribution with zero mean.
Although the team adopts a pseudo-range differential mode to eliminate the influence of partial errors, in the aspect of satellite position determination, the result of the first observation time is selected, which indicates that errors caused by the ambiguity of an on-board time system are not considered, so that the theoretical level of the method still has certain defects. In addition, the team theoretical research results do not form a systematic engineering scheme, and related algorithm design and theoretical research contents are still to be improved.
Disclosure of Invention
In order to solve the technical problems, the invention provides a low-orbit satellite opportunistic signal pseudo-range calculation method, which calculates the low-orbit satellite opportunistic signal pseudo-range based on a transmitting time anti-calibration algorithm and demonstrates the transmitting time anti-calibration principle from a theoretical level. The invention mainly uses the ground time reference, not only avoids the problem of fuzzy on-satellite time system, but also obtains the pseudo-range observation information and plays the effect of pseudo-range difference.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a low orbit satellite opportunistic signal pseudo-range calculation method comprises the following steps:
step 1, a reference station and a user terminal sample LEO opportunity signals at the same time, and estimate the frequency, the phase and the arrival time of the received LEO opportunity signals;
step 2, the reference station synthesizes the arrival time and TLE ephemeris of the LEO opportunistic signal, reversely calibrates the transmitting moment of the LEO opportunistic signal, and transmits the information of time and frequency to the user terminal through an internal link;
and 3, the user side calculates the pseudo range between the satellite and the user side based on the transmitting time of the anti-calibrated LEO opportunistic signal.
The beneficial effects are that:
in the invention, the reference station back-pushes the signal transmitting moment and the position of the satellite at the moment based on TLE ephemeris and signal arrival time. The position error exists between the reversely-deduced satellite position and the actual satellite position, and meanwhile, the relationship between the satellite position error and the time error can be constructed through theoretical deduction by the estimated value of the reversely-deduced signal transmitting time and the time error of the actual satellite signal transmitting time. When the base line length is within the coverage range of the satellite wave beam, the cosine change of the directions of the satellite-reference station and the satellite-user terminal is small, so the projection of the ephemeris error in the sight direction of the satellite-reference station is similar to the projection of the ephemeris error in the sight direction of the satellite-user terminal, and because the projection of the ranging error and the ephemeris error in the sight directions of the satellite-reference station and the satellite-user terminal is similar, the pseudo-range calculation method provided by the invention can counteract the influence caused by the satellite ephemeris error and the blurring of an on-satellite time system, and the pseudo-range difference effect is achieved.
Drawings
FIG. 1 is a schematic diagram of a low-orbit satellite opportunistic signal pseudorange calculation method according to the present invention;
FIG. 2 is a schematic diagram of signal propagation under a signal transmission time anti-scaling algorithm;
fig. 3 is a graph of signal transmission time estimation error versus satellite position error.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, in the process of actual signal acquisition and positioning, the low-orbit satellite opportunistic signal pseudo-range calculation method of the invention comprises the following steps:
step 1, a reference station and a user terminal sample LEO opportunity signals at the same time, and estimate the frequency, the phase and the arrival time of the received LEO opportunity signals;
step 2, the reference station synthesizes the signal arrival time and TLE ephemeris to reversely mark the transmitting time of LEO opportunistic signals, and data such as time and frequency are transmitted to a user terminal through an internal link;
and 3, the user side calculates the pseudo range between the satellite and the user side based on the transmitting time of the anti-calibrated LEO opportunistic signal.
Specifically, the step 2 includes:
the stationary reference station position is known asAcquiring the arrival time of LEO opportunistic signals +.>The TLE ephemeris and SGP4 orbit prediction model are integrated to obtain any +.>Time satellite position->And satellite speed->. Integrated signal arrival time->Reference station position at rest->Obtaining +.>Wherein>The only amount to be required in the expression is:
(8)
wherein,for the speed of light->Representing modulo vectors;
solving signal propagation delay based on least squaresThe method comprises the following steps:
(9)
wherein,for the estimated value of the propagation time, +.>Parameters for obtaining the minimum of the function;
estimated value of transmission time of LEO opportunistic signalExpressed as:
(10)
estimated value based on transmission time of LEO opportunistic signalThe orbit prediction model can obtain any +.>Time satellite position->And satellite speed->. Comprehensively consider the frequency bit of the received signal of the reference station>The carrier frequency of the transmitted signal can also be estimated>：
(11)
Wherein the superscript T represents a matrix transpose; unit vectorThe line of sight direction for the reference station receiver and the satellite is expressed as:
(12)
estimation of the moment of transmission of LEO opportunistic signals to be calibrated by the reference stationTransmitting the data to a user terminal through an internal link;
specifically, the step 3 includes:
the user can extract the arrival time of LEO opportunistic signal based on the received signalAnd integrates the estimated value of TLE ephemeris and LEO opportunity signal transmitting time +.>Determining satellite position->And speed->；
Determining a pseudo-range between the satellite and the user receiver based on the parametersThe method comprises the following steps:
(13)
because the signal anti-scaling method uses the time system of the ground reference station as a benchmark, the invention does not need to consider the influence caused by the ambiguity of the satellite time system. In addition, the invention can partially counteract the effect of satellite ephemeris error, and the related error suppression principle will be described in detail below.
First, the signal propagation condition under the signal transmission time anti-scaling algorithm is shown in fig. 2. In the figure, the solid line is the true orbit of the satellite, and the dotted line is the TLE ephemeris+SGP4 model forecast orbit;representing the actual position of the satellite>The time satellite signal is composed of->Broadcasting to the ground, wherein the time for receiving signals by the reference station and the user station is +.>And->The method comprises the steps of carrying out a first treatment on the surface of the Satellite actual position->The distance from the reference station and the user receiver is +.>And->. According to FIG. 1, the reference station is based on the TLE ephemeris and the arrival time of LEO opportunistic signals +.>Thrust satellite position->The distance between the reference station and the user receiver at this time can be expressed as +.>、. The satellite position obtained by back-pushing ∈ ->Is +.>There is a positional error->Estimate of the moment of emission of the simultaneously reverse LEO signal of opportunity>With the actual satellite signal transmission moment->There is also a temporal error +.>. Position error->Error with time->The relationship of (2) is as follows:
(4)
wherein,for the speed of light->Representing the true position of the satellite +.>Unit vector with the reference station receiver. Thus, the estimated signal emission instant is +.>The method comprises the following steps:
(5)
as shown in FIG. 3, the time errorError of position->Is a graph of the relationship of (1).
As can be seen from FIG. 3, inThe satellite signal at the moment is determined by the actual position of the satellite>Broadcasting to the ground, for the reference station and the subscriber receiver, at the estimated transmission moment +.>At that point, the actual broadcast signal has reached the position shown at A, B in fig. 3.
When the baseline length is within the coverage of the satellite beam, the cosine change of the directions of the satellite-reference station and the satellite-user terminal is small, so that the projection of the ephemeris error in the sight direction of the satellite-reference station is similar to the projection of the ephemeris error in the satellite-user direction, and the projection is shown as the following formula:
(6)
wherein,representing the true position of the satellite +.>And a unit vector between the user terminal receiver.
Distance between actual satellite position and reference stationDistance +.>Difference (I) of->Error of position->Unit vector between satellite true position and reference station receiver>Is similar to the case of a satellite and a user receiver, in which the distance between the actual position of the satellite and the reference station is +.>Distance +.>Difference (I) of->The following formula can be obtained:
(7)
in view of the above-mentioned, it is desirable,signal transmission time estimated by reference station +.>The influence of ephemeris error is counteracted, and the effect of pseudo-range difference is achieved at the user receiving end.
Examples:
reference station position in WGS-84 coordinate systemThe moment when the LEO signal reaches the reference station +.>(expressed in seconds of day) to the subscriber station(expressed in seconds of day);
according to the TLE ephemeris of the LEO satellite on the day of signal acquisition and combining with the SGP4 orbit prediction model, the position information of the LEO satellite in any period of the observation period can be obtained；
Combining reference station positionsAnd LEO satellite position information->An estimate of the propagation time can be obtained according to equation (9)>；
An estimate of the time of transmission can be determined based on equation (10)(expressed in seconds of day);
synthesizing arrival times of receiving stationsAnd estimated transmit time->The pseudo-range between the satellite and the user station can be determined using equation (13)>。
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (3)
1. A method for calculating a pseudorange to a low orbit satellite signal of opportunity, comprising the steps of:
step 1, a reference station and a user terminal sample LEO opportunity signals at the same time, and estimate the frequency, the phase and the arrival time of the received LEO opportunity signals;
step 2, the reference station synthesizes the arrival time and TLE ephemeris of the LEO opportunistic signal, reversely calibrates the transmitting moment of the LEO opportunistic signal, and transmits the information of time and frequency to the user terminal through an internal link;
and 3, the user side calculates the pseudo range between the satellite and the user side based on the transmitting time of the anti-calibrated LEO opportunistic signal.
2. The method of claim 1, wherein the step 2 includes:
the stationary reference station position isObtaining the arrival time of LEO signal of opportunity +.>Synthesizing TLE ephemeris and SGP4 orbit prediction model to obtain any +.>Time satellite position->And satellite speed->The method comprises the steps of carrying out a first treatment on the surface of the Arrival time of integrated LEO opportunity signal +.>Reference station position at rest->Obtaining +.>Wherein>The only amount to be required in the expression is:
(1)
wherein,for the speed of light->Representing modulo vectors;
solving signal propagation delay based on least squaresThe method comprises the following steps:
(2)
wherein,for the estimated value of the propagation time, +.>A parameter representing the minimum value of the obtained function;
estimated value of LEO opportunity signal transmitting timeExpressed as:
(3)
estimated value based on transmission time of LEO opportunistic signalThe SGP4 orbit prediction model obtains arbitrary +.>Time satellite positionAnd satellite speed->；
Comprehensively considering received signal frequencies of reference stationsEstimating the carrier frequency of the transmitted signal>：
(4)
Wherein the superscript T represents a matrix transpose;is->Satellite speed at time; unit vector->The line of sight direction for the reference station receiver and the satellite is expressed as:
(5)
estimated value of LEO opportunity signal transmitting timeAnd transmitting the data to the user terminal through an internal link.
3. The method of claim 2, wherein the step 3 includes:
the user extracts the arrival time of LEO opportunistic signal based on the received LEO opportunistic signalAnd integrates the estimated value of TLE ephemeris and LEO opportunity signal transmitting time +.>Determine->Satellite position>And satellite speed->；
Determining pseudoranges between satellites and user receiversThe method comprises the following steps:
(6)。
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