CN101893700A - Method and system for acquiring satellite and receiving equipment - Google Patents
Method and system for acquiring satellite and receiving equipment Download PDFInfo
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Abstract
The invention provides a method and a system for acquiring a satellite and receiving equipment, which are suitable for the technical field of satellite navigation. The method comprises the following steps of: judging whether data of satellite almanac, current time and local coordinates is read successfully or not; if data is read successfully, calculating a sky chart, Doppler and code phase data and acquiring a target satellite; if data is not read successfully, traversing and acquiring a first satellite according to the sequence of satellites on a satellite orbital plane; estimating the local coordinates after the first satellite is acquired; calculating a satellite elevation angle according to the estimated local coordinates; acquiring the target satellite according to the size sequence of the satellite elevation angle; judging whether three or more satellites are acquired or not; if three or more satellites are acquired, acquiring the target satellite with designated code phase and the Doppler; if three or more satellites are not acquired, returning to calculate the local coordinates and the satellite elevation angle; and acquiring the target satellite according to the size sequence of the satellite elevation angle. Therefore, the method and the system can effectively shorten the time for acquiring the satellite.
Description
Technical field
The invention belongs to the satellite navigation technical field, relate in particular to a kind of acquiring satellite method, system and receiving equipment.
Background technology
At GLONASS (Global Navigation Satellite System) (Global Navigation Satellite System, GNSS) in the start-up course of receiver, primary positioning time (TTFF) is a key index, and this time generally comprises satellite signal acquisition time and satellite ephemeris download time.Wherein, satellite ephemeris has only after satellite signal acquisition and just can obtain.Catching of GNSS satellite-signal is a process of searching for from satellite PRN number, pseudo-code chip phase, three dimensions of Doppler frequency, for example, have for gps satellite PRN number 32, C/A pseudo-code chip phase have 2046 half chip positions, Doppler frequencies then cover-10kHz is to+10kHz, under situation without any prior imformation, the time of this three-dimensional search process cost is longer, greatly has influence on primary positioning time (TTFF).
The GNSS system is made up of space segment, Ground Control part and User Part.The space segment of GNSS is made up of GNSS work satellite, and these GNSS work satellites have been formed the gps satellite constellation jointly.Such as: gps satellite has 32 at present, is distributed in 6 orbital planes, and 5 to 6 satellites are arranged on each orbital plane.The inclination angle of the relative earth equatorial plane of satellite orbit face is about 55 degree, and the right ascension of each orbit plane ascending node differs 60 degree.The cycle of operation of satellite was about for 12 sidereal time.Every GPS work satellite all sends the signal that is used for navigator fix.GPS user utilizes these signals to carry out work just.
The carrier signal of one or more frequencies of GNSS satellites transmits is being modulated multiple pseudo-code signal and navigation message data respectively on these carrier waves.For example, these signals of GPS mainly contain: C/A sign indicating number, P (Y) sign indicating number, navigation data.Wherein the C/A sign indicating number is called thick catch code, and it is modulated on the L1 carrier wave, is the Pseudo-Random Noise Code (Gold sign indicating number) of 1MHz, and its code length is 1023 (cycle is 1ms).The C/A sign indicating number is that the user is in order to measure a kind of main signal of survey station to intersatellite distance.The signal frequency of navigation data is 50Hz, and the orbit parameter, the satellite clock that include gps satellite correct parameter and some other systematic parameter, and the user generally need utilize this navigation information to calculate the position of a certain moment gps satellite on Earth's orbit.
Because the GNSS satellite is at high-speed motion, exist between itself and the receiver to move radially, can produce Doppler effect.Therefore for the GNSS receiver of ground motion, satellite-signal arrives receiver and is converted to intermediate-freuqncy signal through after the down coversion, and the frequency of intermediate-freuqncy signal equals IF-FRE and adds Doppler frequency.For finishing the demodulation of a certain satellite navigation data, must search the numerical value of the Doppler frequency that is produced between this satellite and the receiver.
On the other hand, because the GNSS satellite-signal adopts CDMA (CDMA) technology mostly, adopt different pseudo-random code (being satellite PRN number) that the navigation data of different satellites is carried out band spectrum modulation.For receiving the navigation data of a certain satellite, just must reappear the pseudo-random code of this navigation data of modulation, the pseudo-code that reappears is carried out related calculation on the out of phase error with the input pseudo-code, make the two synchronous, thereby finish despreading navigation data.
Shorten the capture time of satellite-signal, can consider from two aspects, the one, improve acquisition speed, the 2nd, reduce capture range.
Current main employing improves the method for acquisition speed, shortens capture time by the correlator arithmetic capability that increases in the acquisition procedure that is:, such as: increase correlator number, FFT parallel capture etc.Wherein, increasing the correlator number is the most direct method, finishes related operation as much as possible in the identical time, thereby reduces the used time of acquisition procedure.And the FFT parallel capture is actually and utilizes the FFT computing to come equivalent related operation, and the quick computation performance by fft algorithm reduces computational complexity, once calculates all code phase correlations that can obtain under a certain frequency.
Except increasing arithmetic capability, the hunting zone that can also utilize prior imformation to shorten the three-dimensional search window, such as: the cold start-up of often mentioning, startup temperature, three kinds of Starting mode of warm start actual be exactly Starting mode at different hunting zones.Cold start-up is meant that without any the receiver start-up course under the situation of prior imformation, in this start-up course, the hunting zone of three-dimensional search window can't obtain any dwindling; Startup temperature is meant that receiver has obtained current Position Approximate and time when starting, and the roughly orbit parameter of satellite, in start-up course, receiver can roughly calculate current visible satellite set, thereby shortens the size of three-dimensional search window centre halfback asterisk search window; Warm start is meant that then receiver has obtained current location and time more accurately when starting, and the accurate orbit parameter of satellite, in this start-up course, receiver is except can calculating current visible satellite set, can also roughly provide the Doppler frequency deviation of satellite and the rough position of pseudo-code chip, thereby, can reduce capture time greatly defending the size that all shortens search window on asterisk, chip phase, three dimensions of Doppler frequency deviation.Simultaneously, owing to orbit parameter is accurately arranged, receiver can position clearing immediately after capturing 3～4 satellites during warm start, and does not need to wait for that finishing satellite ephemeris downloads, and this has further reduced the TTFF time.
But, improve the quantity of correlator or adopt the FFT parallel capture no matter be, these the two kinds methods that improve search speed all need to take a large amount of computational resources, this also means more hardware circuit, higher CPU operation clock, also can cause higher power consumption, bigger circuit area and the realization cost of Geng Gao simultaneously.
Existing cold start-up, startup temperature, warm start mode are then starting the selection Starting mode of the moment according to the current information machinery that has, and lack dynamic the adjustment in start-up course, and also perfect inadequately to the use of prior imformation.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of acquiring satellite method, is intended to solve shortening acquiring satellite time method cost height used in the prior art, perfect problem inadequately.
The embodiment of the invention is achieved in that a kind of acquiring satellite method, and described method comprises the steps:
Judge whether the data that read satellite almanac, current time and local coordinate are successful, are then to calculate stellar map, Doppler and code phase data, and catch target satellite; Otherwise according on the satellite orbit face to the ordering of satellite, traversal is caught first satellite;
After capturing described first satellite, estimate local coordinate, and according to the local coordinate Calculation satellite altitude angle of described estimation, and carry out catching of target satellite according to the size sequence at described satellite altitude angle;
Judging whether to capture more than or equal to 3 satellites, is the target satellite of then catching designated code phase place and Doppler; Calculate local coordinate and satellite altitude angle otherwise return, and carry out catching of target satellite according to the size sequence at described satellite altitude angle.
Another purpose of the embodiment of the invention is to provide a kind of acquiring satellite system, and described system comprises:
First judge module is used to judge whether the data that read satellite almanac, current time and local coordinate are successful;
Target satellite first trapping module is used to calculate stellar map, Doppler and code phase data, and catches target satellite;
First satellite traversal trapping module is used for basis ordering to satellite on the satellite orbit face, and traversal is caught first satellite; And
Target satellite second trapping module is used for estimating local coordinate after capturing described first satellite, and according to the local coordinate Calculation satellite altitude angle of estimation, and carry out catching of target satellite according to the size sequence at described satellite altitude angle;
When described target satellite second trapping module captures more than or equal to 3 satellites, the target satellite that described target satellite first trapping module is caught designated code phase place and Doppler.
Another purpose of the embodiment of the invention is to provide a kind of receiving equipment, and described receiving equipment comprises an acquiring satellite system, and described system comprises:
First judge module is used to judge whether the data that read satellite almanac, current time and local coordinate are successful;
Target satellite first trapping module is used to calculate stellar map, Doppler and code phase data, and catches target satellite;
First satellite traversal trapping module is used for basis ordering to satellite on the satellite orbit face, and traversal is caught first satellite; And
Target satellite second trapping module is used for estimating local coordinate after capturing described first satellite, and according to the local coordinate Calculation satellite altitude angle of estimation, and carry out catching of target satellite according to the size sequence at described satellite altitude angle;
When described target satellite second trapping module captures more than or equal to 3 satellites, the target satellite that described target satellite first trapping module is caught designated code phase place and Doppler.
In embodiments of the present invention, judge whether the data that read satellite almanac, current time and local coordinate are successful, are then to calculate stellar map, Doppler and code phase data, and catch target satellite; Otherwise according on the satellite orbit face to the ordering of satellite, traversal is caught first satellite; After capturing described first satellite, estimate local coordinate, and according to the local coordinate Calculation satellite altitude angle of estimation, and carry out catching of target satellite according to the size sequence at described satellite altitude angle; Judging whether to capture more than or equal to 3 satellites, is the target satellite of then catching designated code phase place and Doppler; Otherwise calculate the satellite altitude angle, and carry out catching of target satellite, effectively shortened the time of catching satellite according to the size sequence at described satellite altitude angle.
Description of drawings
Fig. 1 is the realization flow figure of the acquiring satellite method that provides of the embodiment of the invention;
Fig. 2 be first embodiment of the invention provide on the satellite orbit face to the realization flow figure of the ordering of satellite;
Fig. 3 be second embodiment of the invention provide on the satellite orbit face to the realization flow figure of the ordering of satellite;
Fig. 4 is satellite orbit and the position of the earth synoptic diagram that the embodiment of the invention provides;
Fig. 5 (a) is the projected planform of the satellite that provides of first embodiment of the invention;
Fig. 5 (b) is the projected planform of the satellite that provides of second embodiment of the invention;
Fig. 6 is the distribution schematic diagram of satellite on the orbital plane that provides of the embodiment of the invention;
Fig. 7 be first embodiment of the invention provide after capturing described first satellite, estimate local coordinate, and calculate the satellite altitude angle, and carry out the realization flow figure that catches of target satellite according to the size sequence at described satellite altitude angle according to described estimation;
Fig. 8 be second embodiment of the invention provide after capturing described first satellite, estimate local coordinate, and calculate the satellite altitude angle, and carry out the realization flow figure that catches of target satellite according to the size sequence at described satellite altitude angle according to described estimation;
Fig. 9 is the structured flowchart of the acquiring satellite system that provides of the embodiment of the invention;
Figure 10 is the structured flowchart of target satellite second trapping module that provides of the embodiment of the invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
In embodiments of the present invention, judge whether the data that read satellite almanac, current time and local coordinate are successful, are then to calculate stellar map, Doppler and code phase data, and catch target satellite; Otherwise according on the satellite orbit face to the ordering of satellite, traversal is caught first satellite; After capturing described first satellite, estimate local coordinate, and according to the local coordinate Calculation satellite altitude angle of estimation, and carry out catching of target satellite according to the size sequence at described satellite altitude angle; Judging whether to capture more than or equal to 3 satellites, is the target satellite of then catching designated code phase place and Doppler; Otherwise calculate the satellite altitude angle, and carry out catching of target satellite according to the size sequence at described satellite altitude angle.
Fig. 1 shows the realization flow of the acquiring satellite method that the embodiment of the invention provides, and its detailed step is as described below:
In step S101, judge the whether success of data read satellite almanac, current time and local coordinate, be execution in step S102 then, otherwise execution in step S103.
In embodiments of the present invention, after system boot, just need to carry out above-mentioned steps S101, the data of satellite almanac, current time and local coordinate are judged read, wherein, this current time can be universal time or gps time, this not in order to the restriction the present invention.
In step S102, calculate stellar map, Doppler and code phase data, and catch target satellite.
In embodiments of the present invention, when capturing a satellite, can obtain the local current time, when capturing more than or equal to 3 satellites, can obtain local current time and local coordinate, the code phase and the Doppler of other residue satellites can be begun to calculate thus, after the stellar map, Doppler and the code phase data that calculate other residue satellites, the satellite with certain Doppler and code phase data of catching appointment can be carried out.
In step S103, according on the satellite orbit face to the ordering of satellite, traversal is caught first satellite.
In embodiments of the present invention, with the gps satellite is that example describes, but not in order to restriction the present invention, gps satellite always has 32, be distributed on 6 orbital planes, each orbital plane has 5 to 6 satellites, and the satellite orbit face is about 55 degree with respect to the pitch angle of earth equatorial plane, and the right ascension of each orbital plane ascending node differs 60 degree.
To the traversal that sorts of 32 satellites on the different orbital planes, to first satellite, its detailed realization flow is following, does not repeat them here with the fastest speed trap according to certain specific mode.
In step S104, estimate local coordinate, and according to the local coordinate Calculation satellite altitude angle of estimation, and carry out catching of target satellite according to the size sequence at satellite altitude angle.
In embodiments of the present invention, after capturing first satellite, estimate local coordinate, and according to described estimation calculating satellite altitude angle, and there are two kinds according to the implementation of catching that the size sequence at satellite altitude angle is carried out target satellite, promptly, have a detailed description below, do not repeat them here to get access to current time and positional information as boundary's point.
Wherein, in this step, first satellite that captures might be a target satellite, when first satellite that captures is a target satellite, then finishes this flow process.
In step S105, judge whether to capture more than or equal to 3 satellites, be execution in step S102 then, otherwise execution in step S104.
In embodiments of the present invention, before not finding target satellite, this flow process is a round-robin always, when finding target satellite, when utilizing this target satellite to carry out work, then can finish this flow process, at this not in order to restriction the present invention.
As one embodiment of the present of invention, when capturing certain satellite or target satellite, by a carrier phase-locked loop and a sign indicating number phaselocked loop described satellite carrier phase place and code phase are followed the tracks of, satellite is carried out the measurement of original observed quantity, the navigation message of satellite is resolved; Original observed quantity and navigation message are carried out Position, Velocity and Time to be resolved, local coordinate and velocity information obtained and preserved, when opening this function next time, the local coordinate and the velocity information of preserving last time read automatically, as prior imformation, reduce the time of catching target satellite.Fig. 2 show that first embodiment of the invention provides on the satellite orbit face to the realization flow of the ordering of satellite, its detailed step is as described below:
In step S201, search first orbital plane, with non-conterminous the 3rd orbital plane of first orbital plane and the 5th orbital plane on three satellites, wherein, it is 120 degree that the liter between three satellites is handed over the difference of elongation.
In step S202, judge whether to capture first satellite, be then to finish; Otherwise execution in step S203.
In step S203, when not capturing target satellite, continue to search first orbital plane, with non-conterminous the 3rd orbital plane of first orbital plane and the 5th orbital plane on remaining satellite.
In step S204, judge whether to capture first satellite, be then to finish; Otherwise execution in step S205.
In embodiments of the present invention, when search capture first satellite after, this flow process of ending up being herein finishes, and in the target satellite acquisition procedure, this first satellite that finds is to continue to search the basis of catching, at this not in order to restriction the present invention.
In step S205, when still not capturing target satellite, according to search first orbital plane, with non-conterminous the 3rd orbital plane of first orbital plane and the 5th orbital plane on the mode of satellite search second orbital plane, with non-conterminous the 4th orbital plane of second orbital plane and the 6th orbital plane on satellite.
In embodiments of the present invention, this second orbital plane, similar with the mode of searching and the step among the above-mentioned steps S201 to S203 of satellite on non-conterminous the 4th orbital plane of second orbital plane and the 6th orbital plane, at first choose search this second orbital plane, with non-conterminous the 4th orbital plane of second orbital plane and the 6th orbital plane on three rise the satellites that the differences of handing over elongation are 120 degree, then, continue to search first orbital plane, with non-conterminous the 3rd orbital plane of first orbital plane and the 5th orbital plane on remaining satellite.
In this embodiment, this ranking and searching process is a round-robin, till searching first satellite.
In embodiments of the present invention, the above-mentioned non-conterminous orbital plane of choosing in search procedure certainly, in this embodiment, also can be searched the satellite on the adjacent orbit face, as long as reach purpose of the present invention, at this not in order to limit the present invention.
Fig. 3 show that second embodiment of the invention provides on the satellite orbit face to the realization flow of the ordering of satellite, its detailed step is as described below:
In step S301, search first orbital plane, with non-conterminous the 3rd orbital plane of described first orbital plane and the 5th orbital plane on three satellites, wherein, it is 120 that the liter between these three satellites is handed over the difference of elongation.
In step S302, judge whether to capture first satellite, be then to finish; Otherwise execution in step S303.
In step S303, when not capturing first satellite, continue to search second orbital plane, with non-conterminous the 4th orbital plane of second orbital plane and the 6th orbital plane on liter to hand over the difference of elongation be three satellites of 120 degree.
In step S304, judge whether to capture first satellite, be then to finish; Otherwise execution in step S305.
In step S305, when not capturing first satellite, according at first search first orbital plane, with non-conterminous the 3rd orbital plane of first orbital plane and the 5th orbital plane on remain satellite, search second orbital plane once more, continue to catch first satellite with the mode of residue satellite on non-conterminous the 4th orbital plane of second orbital plane and the 6th orbital plane.
In this embodiment, this ranking and searching process is a round-robin, till searching first satellite.
As a specific embodiment of the present invention, with GPS is that example describes, but not in order to restriction the present invention, gps satellite has 32 satellites, be distributed in 6 orbital planes, 5 to 6 satellites are arranged on each track, the satellite orbit face is about 55 degree with respect to the pitch angle of earth equatorial plane, the right ascension of each orbital plane ascending node differs 60 degree, and it specifically is calculated as follows:
As shown in Figure 4, suppose that the earth is a ball, radius OA=6368km, satellite orbit are circle, radius OS=26560km, and promptly satellite altitude is OS-OA=20192km, wherein, the center of circle of satellite orbit and the centre of sphere of the earth overlap, wherein:
Hence one can see that, the maximum radian that satellite covers the earth is 152 degree, therefore can cover all positions on this orbital plane and the earth intersection at three satellites of 120 degree of being separated by on the same orbital plane, still, at the terrestrial pole vertical, but be signal blind zone with orbital plane.
Shown in Fig. 5 (a), from watching the earth perpendicular to orbital plane direction (T direction), the intersection of the cone and the earth is circle, is straight line after projecting on the plane.
α=76 degree
d＝6368km×sin(90-α)＝1540km
Shown in Fig. 5 (b), three satellites of 120 degree of being separated by on the same orbital plane, according to vertical aspect projected planform on earth, wherein triangle ABC is an equilateral triangle, hence one can see that:
The inclination angle of satellite orbit face is 55 degree, and the angle of orbital plane turning axle in the equator is 35 degree.The O point is positioned on terrestrial latitude 35 degree, and therefore, the maximum span on this orbital plane on the meridian of satellite-signal blind area is line segment CD, wherein,
CD＝d+OC＝1540km+3080km＝4620km
The radius r of this latitude circle
L35For:
r
L35＝6368km×sin(9035)＝5216km
To form an isosceles triangle on this latitude circle, two waists are the latitude circle radius r
L35Yi Bian, be the CD line segment, therefore, the maximum span numerical value Δ L on the meridian is:
Because the right ascension of each orbit plane ascending node differs 60 degree, so promptly use two adjacent orbital planes, have 6 satellites altogether, satellite-signal can cover all places of the earth in theory.
Fig. 6 is with 6 orbital planes of A to F, and 4 satellites of each orbital plane are that example describes, and above-mentioned Fig. 2 and method step shown in Figure 3 are described:
In Fig. 6, at first, determine a certain orbital plane (for example A), choose 3 satellites (for example: A1, A3, A4) on the A orbital plane, wherein, the liter between these 3 satellites hands over the difference of elongation to be about 120 degree; Then, choose orbital plane (for example C), choose (for example: C1, C3, C4) after the same method, and choose satellite E1, E3, E4 on the orbital plane E equally.
If do not observe first satellite, then can adopt following 2 kinds of diverse ways to catch first satellite:
1. select orbital plane A, remaining satellite A2, C2, the E2 of C, E.
If still do not observe first satellite, then the satellite on the remaining orbital plane of selection (for example: B1, B2, B4; D1, D3, D4; F1, F3, F4).
If still do not observe first satellite, then choose remaining satellite B3, D2, F2.
Then the order of traversal satellite is as follows in method 1:
A1、A3、A4；C1、C3、C4；E1、E3、E4；A2、C2、E2；B?1、B2、B4；D1、D3、D4；F1、F3、F4；B3、D2、F2。
2,, select the satellite on orbital plane B, D, the F, for example: B1, B2, B4 according to as above process; D1, D3, D4; F1, F3, F4.
If still do not observe first satellite, then choose remaining satellite A2, C2, E2; B3, D2, F2.
Then the order of traversal satellite is as follows in method 2:
A1、A3、A4；C1、C3、C4；E1、E3、E4；B?1、B2、B4；D1、D3、D4；F1、F3、F4；A2、C2、E2；B3、D2、F2。
In embodiments of the present invention, above-mentioned ordering ergodic algorithm is that circulation is carried out, until search capture first satellite till.
As an alternative embodiment of the invention, Fig. 7 show that first embodiment of the invention provides after capturing described first satellite, estimate local coordinate, and according to described estimation calculating satellite altitude angle, and carry out the realization flow of catching of target satellite according to the size sequence at described satellite altitude angle, its detailed step is as described below:
In step S701, satellite distribution is carried out temporal staging treating.
In step S702, estimate the local coordinate under each time period satellite distribution, and, calculate the satellite altitude angle according to this estimation to local coordinate.
In step S703, carry out catching of target satellite according to the size sequence at satellite altitude angle.
In embodiments of the present invention, the cycle of operation of satellite is about 11 hours 58 minutes, therefore satellite distribution can be divided into 12 sections, one section is approximately 1 hour, when capturing first satellite, at first calculates local coordinate, certainly in this embodiment, this this locality coordinate also can be a coordinate position substantially; Calculate the satellite high angle of these 12 sections satellite distribution then, and provide corresponding weights, and carry out catching of satellite according to this precedence according to the ordering of satellite high angle, certainly, in this embodiment, also can be divided into other hop counts the cycle of operation of satellite, this not in order to the restriction the present invention.
In embodiments of the present invention, the evaluation method of local coordinate can have multiple, for example, can directly first satellite that captures be projected to earth surface, takes the mean then, is local coordinate, this not in order to the restriction the present invention.
As an alternative embodiment of the invention, Fig. 8 show that second embodiment of the invention provides after capturing described first satellite, estimate local coordinate, and according to described estimation calculating satellite altitude angle, and carry out the realization flow of catching of target satellite according to the size sequence at described satellite altitude angle, its detailed step is as described below:
In step S801, current satellite of catching is followed the tracks of, after the frame synchronization, obtain the current time by resolving navigation message.
In embodiments of the present invention, when capturing certain satellite or target satellite, by carrier phase-locked loop and sign indicating number phaselocked loop described satellite carrier phase place and code phase are followed the tracks of, satellite is carried out the measurement of original observed quantity, navigation message to satellite is resolved, and promptly gets access to current general temporal information.
In step S802, calculate the satellite distribution of current time.
In embodiments of the present invention, after getting access to the current time, can calculate the position and the speed of the satellite of current time, calculate the satellite distribution of current time by almanac or satellite ephemeris.
In step S803, estimate local coordinate, and according to the local coordinate Calculation satellite altitude angle of estimating.
In embodiments of the present invention, according to the position and the speed of the satellite of current time, estimate local coordinate and calculate the satellite high angle according to this estimation.
In step S804, carry out catching of target satellite according to the size sequence at satellite altitude angle.
Fig. 9 shows the structured flowchart of the acquiring satellite system that the embodiment of the invention provides, for convenience of explanation, only provided the part relevant with the embodiment of the invention among the figure, wherein, this acquiring satellite system can be built in software unit, hardware cell or the software and hardware combining unit of portable terminal.
In embodiments of the present invention, when above-mentioned target satellite first trapping module 12, first satellite traversal trapping module 13 or target satellite second trapping module 14 capture satellite, Satellite Tracking module 15 is followed the tracks of satellite carrier phase place and code phase by a carrier phase-locked loop and a sign indicating number phaselocked loop, and satellite is carried out the measurement of original observed quantity and the navigation message of satellite is resolved; Resolve and preserve 16 pairs of original observed quantities of module and navigation message and carry out Position, Velocity and Time and resolve, obtain and preserve local coordinate and velocity information.
As one embodiment of the present of invention, Figure 10 shows the structured flowchart of target satellite second trapping module that the embodiment of the invention provides, and for convenience of explanation, has only provided the part relevant with the embodiment of the invention among the figure.
141 pairs of satellite distribution of staging treating module are carried out temporal staging treating; 142 pairs of current first satellites of catching of current time acquisition module are followed the tracks of, and after the frame synchronization, obtain the current time by resolving navigation message; Current time satellite distribution computing module 143 calculates the satellite distribution of current time; The local coordinate of computing module 144 estimations, and according to the local coordinate Calculation satellite altitude angle of estimating; Trapping module 145 carries out catching of target satellite according to the size sequence at described satellite altitude angle.
In embodiments of the present invention, judge whether the data that read satellite almanac, current time and local coordinate are successful, are then to calculate stellar map, Doppler and code phase data, and catch target satellite; Otherwise according on the satellite orbit face to the ordering of satellite, traversal is caught first satellite; After capturing described first satellite, estimate local coordinate, and according to the local coordinate Calculation satellite altitude angle of estimation, and carry out catching of target satellite according to the size sequence at described satellite altitude angle; Judging whether to capture more than or equal to 3 satellites, is the target satellite of then catching designated code phase place and Doppler; Otherwise calculate the satellite altitude angle, and carry out catching of target satellite, effectively shortened the time of catching satellite according to the size sequence at described satellite altitude angle.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an acquiring satellite method is characterized in that, described method comprises the steps:
Judge whether the data that read satellite almanac, current time and local coordinate are successful, are then to calculate stellar map, Doppler and code phase data, and catch target satellite; Otherwise according on the satellite orbit face to the ordering of satellite, traversal is caught first satellite;
After capturing described first satellite, estimate local coordinate, and, carry out catching of target satellite according to the size sequence at described satellite altitude angle simultaneously according to the local coordinate Calculation satellite altitude angle of estimating;
Judging whether to capture more than or equal to 3 satellites, is the target satellite of then catching designated code phase place and Doppler; Calculate local coordinate and satellite altitude angle otherwise return, and carry out catching of target satellite according to the size sequence at described satellite altitude angle.
2. the method for claim 1, it is characterized in that, described after capturing described first satellite, estimate local coordinate, and calculate the satellite altitude angle according to described estimation, and be specially according to the step of catching that the size sequence at described satellite altitude angle is carried out target satellite:
Satellite distribution is carried out temporal staging treating;
Estimate the local coordinate under each time period satellite distribution, and calculate the satellite altitude angle according to estimation to local coordinate;
Size sequence according to described satellite altitude angle is carried out catching of target satellite.
3. the method for claim 1, it is characterized in that, described after capturing described first satellite, estimate local coordinate, and calculate the satellite altitude angle according to described estimation, and be specially according to the step of catching that the size sequence at described satellite altitude angle is carried out target satellite:
Current first satellite of catching is followed the tracks of, after the frame synchronization, obtained the current time by resolving navigation message;
Calculate the satellite distribution of current time;
Estimate local coordinate, and according to the local coordinate Calculation satellite altitude angle of estimating;
Size sequence according to described satellite altitude angle is carried out catching of target satellite.
4. the method for claim 1 is characterized in that, described on the satellite orbit face step to the ordering of satellite specifically comprise the steps:
Search first orbital plane, with non-conterminous the 3rd orbital plane of described first orbital plane and the 5th orbital plane on three satellites, it is 120 degree that the liter between described three satellites is handed over the difference of elongation;
When not capturing first satellite, continue to search described first orbital plane, with non-conterminous the 3rd orbital plane of described first orbital plane and the 5th orbital plane on remaining satellite;
When still not capturing first satellite, search second orbital plane, with non-conterminous the 4th orbital plane of described second orbital plane and the 6th orbital plane on three satellites, it is 120 degree that the liter between the described satellite is handed over the difference of elongation.
5. the method for claim 1 is characterized in that, described on the satellite orbit face step to the ordering of satellite specifically comprise the steps:
Search first orbital plane, with non-conterminous the 3rd orbital plane of described first orbital plane and the 5th orbital plane on three satellites, it is 120 degree that the liter between described three satellites is handed over the difference of elongation;
When not capturing first satellite, continue to search second orbital plane, with non-conterminous the 4th orbital plane of described second orbital plane and the 6th orbital plane on liter to hand over the difference of elongation be three satellites of 120 degree;
When still not capturing first satellite, according at first search first orbital plane, with non-conterminous the 3rd orbital plane of described first orbital plane and the 5th orbital plane on remain satellite, search second orbital plane then, continue to catch first satellite with the mode of residue satellite on non-conterminous the 4th orbital plane of described second orbital plane and the 6th orbital plane.
6. the method for claim 1 is characterized in that, described method also comprises the steps:
When capturing satellite, by a carrier phase-locked loop and a sign indicating number phaselocked loop described satellite carrier phase place and code phase are followed the tracks of, described satellite is carried out the measurement of original observed quantity, the navigation message of described satellite is resolved;
Described original observed quantity and navigation message are carried out Position, Velocity and Time resolve, obtain and preserve local coordinate and velocity information.
7. an acquiring satellite system is characterized in that, described system comprises:
First judge module is used to judge whether the data that read satellite almanac, current time and local coordinate are successful;
Target satellite first trapping module is used to calculate stellar map, Doppler and code phase data, and catches target satellite;
First satellite traversal trapping module is used for basis ordering to satellite on the satellite orbit face, and traversal is caught first satellite; And
Target satellite second trapping module is used for estimating local coordinate after capturing described first satellite, and according to the local coordinate Calculation satellite altitude angle of described estimation, and carries out catching of target satellite according to the size sequence at described satellite altitude angle;
When described target satellite second trapping module captures more than or equal to 3 satellites, the target satellite that described target satellite first trapping module is caught designated code phase place and Doppler.
8. system as claimed in claim 7 is characterized in that, described target satellite second trapping module specifically comprises:
The staging treating module is used for satellite distribution is carried out temporal staging treating;
The current time acquisition module is used for current first satellite of catching is followed the tracks of, and after the frame synchronization, obtains the current time by resolving navigation message;
Current time satellite distribution computing module is used to calculate the satellite distribution of current time;
Computing module is used to estimate local coordinate, and according to the local coordinate Calculation satellite altitude angle of estimating; And
Trapping module is used for carrying out catching of target satellite according to the size sequence at described satellite altitude angle.
9. system as claimed in claim 7 is characterized in that, described system also comprises:
The Satellite Tracking module is used for when capturing satellite, by a carrier phase-locked loop and a sign indicating number phaselocked loop described satellite carrier phase place and code phase is followed the tracks of, and described satellite is carried out the measurement of original observed quantity, and the navigation message of described satellite is resolved; And
Resolve the preservation module, be used for that described original observed quantity and navigation message are carried out Position, Velocity and Time and resolve, obtain and preserve local coordinate and velocity information.
10. a receiving equipment is characterized in that, described receiving equipment comprises an acquiring satellite system, and described system comprises:
First judge module is used to judge whether the data that read satellite almanac, current time and local coordinate are successful;
Target satellite first trapping module is used to calculate stellar map, Doppler and code phase data, and catches target satellite;
First satellite traversal trapping module is used for basis ordering to satellite on the satellite orbit face, and traversal is caught first satellite; And
Target satellite second trapping module is used for estimating local coordinate after capturing described first satellite, and calculates the satellite altitude angle according to described estimation, and carries out catching of target satellite according to the size sequence at described satellite altitude angle;
When described target satellite second trapping module captures more than or equal to 3 satellites, the target satellite that described target satellite first trapping module is caught designated code phase place and Doppler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910147600XA CN101893700B (en) | 2009-05-19 | 2009-06-10 | Method and system for acquiring satellite and receiving equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910107447 | 2009-05-19 | ||
| CN200910107447.8 | 2009-05-19 | ||
| CN200910147600XA CN101893700B (en) | 2009-05-19 | 2009-06-10 | Method and system for acquiring satellite and receiving equipment |
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| Publication Number | Publication Date |
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| CN101893700A true CN101893700A (en) | 2010-11-24 |
| CN101893700B CN101893700B (en) | 2012-07-18 |
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| CN200910147600XA Expired - Fee Related CN101893700B (en) | 2009-05-19 | 2009-06-10 | Method and system for acquiring satellite and receiving equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110771183A (en) * | 2018-09-29 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Information processing method, aircraft, system and storage medium |
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| CN1588115A (en) * | 2004-09-30 | 2005-03-02 | 无锡市科迪安科技有限公司 | Quick searching method and device for portable satellite receiver |
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| CN110771183A (en) * | 2018-09-29 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Information processing method, aircraft, system and storage medium |
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