CN102226844A - Inter-satellite ranging method for formation small satellites based on two-way forwarding measurement system and carrier phase smoothed pseudo code - Google Patents
Inter-satellite ranging method for formation small satellites based on two-way forwarding measurement system and carrier phase smoothed pseudo code Download PDFInfo
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Abstract
The invention relates to an inter-satellite ranging method for formation small satellites based on a two-way forwarding measurement system and carrier phase smoothed pseudo code, relating to the field of radio measurement and solving the problems of large synchronous error and low ranging precision of the inter-satellite ranging of the present inter-satellite ranging method for formation small satellites. The method is as follows: firstly, modulating a pseudo code on a double-frequency carrier and emitting a double-frequency modulated carrier as a ranging signal; secondly, extracting the ranging signal on an emitting main satellite according to a two-way forwarding measurement system; and finally, solving the ambiguity of whole circle and calculating a pseudo code phase difference to obtain a carrier ranging value and a pseudo code ranging value, delivering the ranging results of the two systems to the an inter-satellite ranging information corrector to correct, verifying the ranging information by a large-probability statistic model to obtain an inter-satellite range value, thereby increasing the ranging precision and confidence. The method in the invention is adaptive for the inter-satellite ranging of formation small satellites with 0-10 km of inter-satellite ranges.
Description
Technical field
The present invention relates to the radio survey field, be specifically related to transmit range finding method between the star of measuring system and the level and smooth pseudo-code of carrier phase based on round trip.
Background technology
The radio survey technology is a kind of active detection technology, and the relative status of the satellite that is applied to form into columns mainly contains following two kinds of patterns in measuring: first kind be utilize tellurometer survey with than the distance and bearing between instrumented satellite respectively of angle-measuring method mutually.Second kind then is by a plurality of twoway radios being installed on satellite, being measured pseudo-code distance and carrier phase value between each measuring equipment, resolving the relative position and the relative attitude of satellite.Because wireless wave beam is wide, operating distance is far away, therefore real-time, but all weather operations, and when measuring, has info-communication function, can satisfy the requirement of miniaturization, low-power consumption, the relative measurement of many spacecrafts, realize that the all-sky covering only needs a spot of antenna that transmits and receives, therefore the application of forming into columns for many stars is compared other measurement means and is had certain advantage.But the synchronous error of finding range between the star of range finding method between the formation small satellite satellite of existing employing radio survey technology is bigger, and distance accuracy is lower.
Summary of the invention
The present invention be between the star that solves range finding method between existing formation small satellite satellite the range finding synchronous error bigger, the problem that distance accuracy is lower, thus a kind of range finding method between the formation small satellite satellite of measuring system and the level and smooth pseudo-code of carrier phase of transmitting based on round trip is provided.
Transmit range finding method between the formation small satellite satellite of measuring system and the level and smooth pseudo-code of carrier phase based on round trip, it is realized by following steps:
Step 1, primary are to secondary star emission distance measuring signal, and secondary star receives described distance measuring signal and described distance measuring signal is caught, and the result after catching is joined in the data sequence of secondary star, forms pseudorandom range finding sequence;
Step 2, choose two carrier signals that carrier frequency is respectively 1.5GHz and 1.2GHz, adopt the phase-shift keying mode to be modulated on described two carrier signals respectively the pseudorandom range finding sequence that forms in the step 1, and after signal synthesizer is synthetic, be emitted to channel;
Step 3, primary receive the signal of described step 2 emission and carry out the down coversion rate and handle, and obtain intermediate-freuqncy signal;
Step 4, the intermediate-freuqncy signal that step 3 is obtained are carried out acquiring pseudo code, obtain pseudorandom range finding sequence; The local pseudo-random sequence of described pseudorandom range finding sequence and the generation of local pn code generator is carried out sign indicating number synchronously, and carry out carrier track and pseudo-code tracing, obtain double frequency round trip distance measuring signal;
Step 5, the double frequency round trip distance measuring signal that step 4 is obtained carry out integer ambiguity to be separated and asks, and it is poor to calculate the pseudo-code phase of this double frequency round trip signal, obtains carrier wave distance measurement value and pseudo-random code ranging value;
Step 6, the carrier wave distance measurement value that step 5 is obtained and pseudo-random code ranging value are sent into simultaneously between star and are proofreaied and correct in the range finding information correction device, obtain the interstellar distance value of primary and secondary star.
Described in the step 5 double frequency round trip distance measuring signal is carried out integer ambiguity and separate and ask, obtain the carrier wave distance measurement value according to the observation of wide lane carrier phase with carrier phase observation in narrow lane is theoretical carries out, the observed quantity that described wide lane carrier phase is observed is:
(ΔΦ
d+N
d)λ
d＝(ΔΦ
1-ΔΦ
2+N
1-N
2)λ
d＝ρ+cΔt
In the formula: λ is a carrier wavelength; Δ φ is the observed reading of carrier phase; N is an integer ambiguity; ρ is measured apart from observed reading; C is the light velocity; Δ t is the asynchronous error of clock; Subscript d represents wide lane; Subscript 1,2 expression double frequency carrier waves;
The observed quantity of narrow lane carrier phase observation is:
(ΔФ
a+N
a)λ
a＝(ΔΦ
1-ΔΦ
2+N
1-N
2)λ
a＝ρ+cΔt
In the formula: subscript a represents narrow lane;
Then the carrier wave distance measurement value between two primarys and the secondary star is:
r
1＝(N
1+ΔΦ
1)×λ
1＝Δτ
1×c
r
2＝(N
2+ΔΦ
2)×λ
2＝Δτ
2×c
In the formula, Δ τ is the time of signal in space transmission experience.
Carrier wave distance measurement value that described in the step 6 step 5 is obtained and pseudo-random code ranging value are sent into the concrete grammar of proofreading and correct in the range finding information correction device between star simultaneously: at first integer ambiguity is verified according to carrier wave distance measurement value and pseudo-random code ranging value verification method is: establishing the carrier wave distance measurement value is r
c, 3 σ precision are p
oThe pseudo-random code ranging value is r
p, 3 σ precision are p
1, then:
r
c＝(r
1+r
2)/2；
r
p＝cτ；
Wherein c is the light velocity, and τ is the delay of pseudo-code transmission;
With the carrier wave measured value r that calculates
cWith pseudo-code measured value r
pThe substitution inequality | r
c-r
p|＜p
0+ p
1In, if inequality is set up with 99.7% * 99.7% probability, then separating of integer ambiguity asks correct; Otherwise, then carry out the integer ambiguity adjustment, method of adjustment is:
Adjust integer ambiguity N and be respectively N-2, N-1, N+1 and N+2, and verify respectively, and judge that respectively whether the checking result is with inequality | r
c-r
p|＜p
0+ p
1Set up with 99.7% * 99.7% probability, if judged result, then will be verified the value of correspondence as a result for being as integer ambiguity, and computed range observed reading and as final interstellar distance again; If judged result thinks then that for not the ranging information that obtains is unreliable, the control primary resends distance measuring signal to secondary star.
Beneficial effect: the present invention at first carries out choosing of carrier frequency and pseudo-bit rate, obtain suitable carrier wave and pseudo-code, with it as distance measuring signal, the distance measuring signal that extracts at the receiving end planet spacing of going forward side by side is just left school then, effectively lowered the synchronous error of finding range between star, the interstellar distance value precision of acquisition is higher.
Description of drawings
Fig. 1 is the signal processing flow figure of the inventive method.
Embodiment
Embodiment one, in conjunction with Fig. 1 this embodiment is described, transmits range finding method between the formation small satellite satellite of measuring system and the level and smooth pseudo-code of carrier phase based on round trip, it is realized by following steps:
Step 1, primary are to secondary star emission distance measuring signal, and secondary star receives described distance measuring signal and described distance measuring signal is caught, and the result after will catching joins in the data sequence of secondary star formation pseudorandom range finding sequence;
Step 2, choose two carrier signals that carrier frequency is respectively 1.5GHz and 1.2GHz, adopt the phase-shift keying mode to be modulated on described two carrier signals respectively the pseudorandom range finding sequence that forms in the step 1, and after signal synthesizer is synthetic, be emitted to channel; Pseudo-bit rate is 10.23MHz, and choosing code length is 1023, and then maximum no fuzzy distance is 30Km;
Step 3, primary receive the signal of described step 2 emission and carry out the down coversion rate and handle, and obtain intermediate-freuqncy signal;
Step 4, the intermediate-freuqncy signal that step 3 is obtained are carried out acquiring pseudo code, obtain pseudorandom range finding sequence; The local pseudo-random sequence of described pseudorandom range finding sequence and the generation of local pn code generator is carried out sign indicating number synchronously, and carry out carrier track and pseudo-code tracing, obtain double frequency round trip distance measuring signal;
Step 5, the double frequency round trip distance measuring signal that step 4 is obtained carry out integer ambiguity to be separated and asks, and it is poor to calculate the pseudo-code phase of this double frequency round trip signal, obtains carrier wave distance measurement value and pseudo-random code ranging value;
Step 6, the carrier wave distance measurement value that step 5 is obtained and pseudo-random code ranging value are sent into simultaneously between star and are proofreaied and correct in the range finding information correction device, obtain the interstellar distance value of primary and secondary star.
Described in the step 5 double frequency round trip distance measuring signal is carried out integer ambiguity and separate and ask, obtain the carrier wave distance measurement value according to the observation of wide lane carrier phase with carrier phase observation in narrow lane is theoretical carries out, the observed quantity that described wide lane carrier phase is observed is:
(ΔΦ
d+N
d)λ
d＝(ΔΦ
1-ΔΦ
2+N
1-N
2)λ
d＝ρ+cΔt
In the formula: λ is a carrier wavelength; Δ φ is the observed reading of carrier phase; N is an integer ambiguity; ρ is measured apart from observed reading; C is the light velocity; Δ t is the asynchronous error of clock; Subscript d represents wide lane; Subscript 1,2 expression double frequency carrier waves;
The observed quantity of narrow lane carrier phase observation is:
(ΔΦ
a+N
a)λ
a＝(ΔΦ
1-ΔΦ
2+N
1-N
2)λ
a＝ρ+cΔt
In the formula: subscript a represents narrow lane;
Then the carrier wave distance measurement value between two primarys and the secondary star is:
r
1＝(N
1+ΔΦ
1)×λ
1＝Δτ
1×c
r
2＝(N
2+ΔΦ
2)×λ
2＝Δτ
2×c
In the formula, Δ τ is the time of signal in space transmission experience.
Carrier wave distance measurement value that described in the step 6 step 5 is obtained and pseudo-random code ranging value are sent into the concrete grammar of proofreading and correct in the range finding information correction device between star simultaneously: at first integer ambiguity is verified according to carrier wave distance measurement value and pseudo-random code ranging value verification method is: establishing the carrier wave distance measurement value is r
c, 3 σ precision are p
oThe pseudo-random code ranging value is r
p, 3 σ precision are p
1, then:
r
c＝(r
1+r
2)/2；
r
p＝cτ；
Wherein c is the light velocity, and τ is the delay of pseudo-code transmission;
With the carrier wave measured value r that calculates
cWith pseudo-code measured value r
pThe substitution inequality | r
c-r
p|＜p
0+ p
1In, if inequality is set up with 99.7% * 99.7% probability, then separating of integer ambiguity asks correct; Otherwise, then carry out the integer ambiguity adjustment, method of adjustment is:
Adjust integer ambiguity N and be respectively N-2, N-1, N+1 and N+2, and verify respectively, and judge that respectively whether the checking result is with inequality | r
c-r
p|＜p
0+ p
1Set up with 99.7% * 99.7% probability, if judged result, then will be verified the value of correspondence as a result for being as integer ambiguity, and computed range observed reading and as final interstellar distance again; If judged result thinks then that for not the ranging information that obtains is unreliable, the control primary resends distance measuring signal to secondary star.
Under the round trip forward mode, the signal of primary emission, is not transmitted immediately after secondary star is received, but is carried out despreading, demodulation to secondary star through propagation delay time τ, extracts relevant information, puts into the Frame that secondary star independently forms in real time, re-sends to primary.Obtaining the distance measuring signal of double frequency round trip after the primary despreading, demodulation, is primary from being transmitted into the time delay that receives signal through finding the solution what obtain after the integer ambiguity, the processing time on the deduction star, and obtain apart from observed reading divided by 2.This method can be eliminated synchronous error and simplified apparatus.
The present invention utilizes the level and smooth pseudo-random code ranging of carrier phase, can allow the mutual supplement with each other's advantages of carrier phase range finding and pseudo-random code ranging; But the pseudo-random code ranging precision is low does not have the integer ambiguity problem, and the confidentiality height, and antijamming capability is strong, and the carrier phase distance accuracy is high but integer ambiguity is arranged.Pseudo-random code ranging and carrier phase range finding are combined and can have complementary advantages, improve distance accuracy.
Claims (3)
1. transmit range finding method between the formation small satellite satellite of measuring system and the level and smooth pseudo-code of carrier phase based on round trip, it is characterized in that it is realized by following steps:
Step 1, primary are to secondary star emission distance measuring signal, and secondary star receives described distance measuring signal and described distance measuring signal is caught, and the result after catching is joined in the data sequence of secondary star, forms pseudorandom range finding sequence;
Step 2, choose two carrier signals that carrier frequency is respectively 1.5GHz and 1.2GHz, adopt the phase-shift keying mode to be modulated on described two carrier signals respectively the pseudorandom range finding sequence that forms in the step 1, and after signal synthesizer is synthetic, be emitted to channel;
Step 3, primary receive the signal of described step 2 emission and carry out the down coversion rate and handle, and obtain intermediate-freuqncy signal;
Step 4, the intermediate-freuqncy signal that step 3 is obtained are carried out acquiring pseudo code, obtain pseudorandom range finding sequence; The local pseudo-random sequence of described pseudorandom range finding sequence and the generation of local pn code generator is carried out sign indicating number synchronously, and carry out carrier track and pseudo-code tracing, obtain double frequency round trip distance measuring signal;
Step 5, the double frequency round trip distance measuring signal that step 4 is obtained carry out integer ambiguity to be separated and asks, and it is poor to calculate the pseudo-code phase of this double frequency round trip signal, obtains carrier wave distance measurement value and pseudo-random code ranging value;
Step 6, the carrier wave distance measurement value that step 5 is obtained and pseudo-random code ranging value are sent into simultaneously between star and are proofreaied and correct in the range finding information correction device, obtain the interstellar distance value of primary and secondary star.
2. according to claim 1 based on range finding method between the formation small satellite satellite of round trip forwarding measurement system and the level and smooth pseudo-code of carrier phase, it is characterized in that described in the step 5 that double frequency round trip distance measuring signal is carried out integer ambiguity to be separated and ask, obtain the carrier wave distance measurement value and carry out according to observation of wide lane carrier phase and narrow lane carrier phase observation theory, the observed quantity of described wide lane carrier phase observation is:
(ΔΦ
d+N
d)λ
d＝(ΔΦ
1-ΔΦ
2+N
1-N
2)λ
d＝ρ+cΔt
In the formula: λ is a carrier wavelength; Δ φ is the observed reading of carrier phase; N is an integer ambiguity; ρ is measured apart from observed reading; C is the light velocity; Δ t is the asynchronous error of clock; Subscript d represents wide lane; Subscript 1,2 expression double frequency carrier waves;
The observed quantity of narrow lane carrier phase observation is:
(ΔΦ
a+N
a)λ
a＝(ΔΦ
1-ΔΦ
2+N
1-N
2)λ
a＝ρ+cΔt
In the formula: subscript a represents narrow lane;
Then the carrier wave distance measurement value between two primarys and the secondary star is:
r
1＝(N
1+ΔΦ
1)×λ
1＝Δτ
1×c
r
2＝(N
2+ΔΦ
2)×λ
2＝Δτ
2×c
In the formula, Δ τ is the time of signal in space transmission experience.
3. range finding method between formation small satellite satellite that transmit to measure system and the level and smooth pseudo-code of carrier phase based on round trip according to claim 1 is characterized in that the carrier wave distance measurement value that described in the step 6 step 5 obtained and pseudo-random code ranging value send into the concrete grammar of proofreading and correct in the range finding information correction device between star simultaneously and be:
At first integer ambiguity is verified according to carrier wave distance measurement value and pseudo-random code ranging value verification method is: precision distribution Gaussian distributed, variance is σ, establishing the carrier wave distance measurement value is r
c, 3 σ precision are p
oThe pseudo-random code ranging value is r
p, 3 σ precision are p
1, then:
r
c＝(r
1+r
2)/2；
r
p＝cτ；
Wherein c is the light velocity, and τ is the delay of pseudo-code transmission;
With the carrier wave measured value r that calculates
cWith pseudo-code measured value r
pThe substitution inequality | r
c-r
p|＜p
0+ p
1In, if inequality is set up with 99.7% * 99.7% probability, then separating of integer ambiguity asks correct; Otherwise, then carry out the integer ambiguity adjustment, method of adjustment is:
Adjust integer ambiguity N and be respectively N-2, N-1, N+1 and N+2, and verify respectively, and judge that respectively whether the checking result is with inequality | r
c-r
p|＜p
0+ p
1Set up with 99.7% * 99.7% probability, if judged result, then will be verified the value of correspondence as a result for being as integer ambiguity, and computed range observed reading and as final interstellar distance again; If judged result thinks then that for not the ranging information that obtains is unreliable, the control primary resends distance measuring signal to secondary star.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103533651A (en) * | 2013-10-30 | 2014-01-22 | 成都航天通信设备有限责任公司 | Coherent pseudo code ranging method based on MSK (minimum shift keying) spread spectrum modulation mode |
| CN105471495A (en) * | 2015-12-07 | 2016-04-06 | 浙江大学 | Circuit for dual-transponder carrier ranging system |
| CN109283557A (en) * | 2018-08-21 | 2019-01-29 | 浙江大学 | Round trip pseudo-code subcarrier high-precision intersatellite ranging system and method |
| CN110708111A (en) * | 2019-10-09 | 2020-01-17 | 中国人民解放军军事科学院国防科技创新研究院 | Inter-satellite adaptive communication system and communication method thereof |
| CN112731472A (en) * | 2020-12-18 | 2021-04-30 | 东南大学 | Improved inter-satellite ranging method based on pseudo code auxiliary carrier |
| CN114779300A (en) * | 2021-01-20 | 2022-07-22 | 中国科学院国家授时中心 | Carrier phase ranging method based on pseudo-range constraint |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103533651A (en) * | 2013-10-30 | 2014-01-22 | 成都航天通信设备有限责任公司 | Coherent pseudo code ranging method based on MSK (minimum shift keying) spread spectrum modulation mode |
| CN103533651B (en) * | 2013-10-30 | 2016-08-17 | 成都航天通信设备有限责任公司 | Coherent Pseudo Code Ranging Method based on MSK band spectrum modulation pattern |
| CN105471495A (en) * | 2015-12-07 | 2016-04-06 | 浙江大学 | Circuit for dual-transponder carrier ranging system |
| CN109283557A (en) * | 2018-08-21 | 2019-01-29 | 浙江大学 | Round trip pseudo-code subcarrier high-precision intersatellite ranging system and method |
| CN110708111A (en) * | 2019-10-09 | 2020-01-17 | 中国人民解放军军事科学院国防科技创新研究院 | Inter-satellite adaptive communication system and communication method thereof |
| CN110708111B (en) * | 2019-10-09 | 2020-09-04 | 中国人民解放军军事科学院国防科技创新研究院 | Inter-satellite adaptive communication system and communication method thereof |
| CN112731472A (en) * | 2020-12-18 | 2021-04-30 | 东南大学 | Improved inter-satellite ranging method based on pseudo code auxiliary carrier |
| CN114779300A (en) * | 2021-01-20 | 2022-07-22 | 中国科学院国家授时中心 | Carrier phase ranging method based on pseudo-range constraint |
| CN114779300B (en) * | 2021-01-20 | 2024-05-03 | 中国科学院国家授时中心 | Carrier phase ranging method based on pseudo-range constraint |
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Application publication date: 20111026 |