CN103149571A - GNSS (Global Navigation Satellite System)-based signal aided time frequency difference comprehensive correction method - Google Patents

GNSS (Global Navigation Satellite System)-based signal aided time frequency difference comprehensive correction method Download PDF

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CN103149571A
CN103149571A CN2013100522346A CN201310052234A CN103149571A CN 103149571 A CN103149571 A CN 103149571A CN 2013100522346 A CN2013100522346 A CN 2013100522346A CN 201310052234 A CN201310052234 A CN 201310052234A CN 103149571 A CN103149571 A CN 103149571A
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satellite
correction
arrival
frequency difference
low orbit
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CN103149571B (en
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蔡成林
喻思琪
李思敏
邓克群
韦照川
王利杰
李志斌
席超
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Guilin University of Electronic Technology
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Abstract

The invention discloses a GNSS (Global Navigation Satellite System)-based signal aided time frequency difference comprehensive correction method, which specifically comprises the following steps of: (1) calculating orbit coordinates and movement velocity of two low earth orbit satellites in current epoch, respective distances from the two low earth orbit satellites to the GEO satellite and the distance between the two earth orbit satellites by using position coordinates of a low earth orbit satellite on-board navigation receiver and a GEO (Geostationary Orbit) satellite; and (2) calculating correction quantity of time difference of arrival and correction quantity of frequency difference of arrival of the low earth orbit satellites according to the GEO satellite coordinates and the calculated orbit coordinates and the velocity parameter of the two low earth orbit satellites in the current epoch, and correcting the time difference of arrival and the frequency difference of arrival before correction of a radiation source obtained by the low earth orbit navigation receiver according to the correction quantities to obtain the corrected time difference of arrival and frequency difference of arrival. By using the method, the fixed deviation of the time difference of arrival of the radiation source can be excellently corrected, so that the positioning accuracy of the radiation source of a space passive positioning system is obviously improved.

Description

A kind of based on the auxiliary time frequency difference comprehensive correction method of GNSS signal
Technical field
The present invention relates to the satnav field, be specifically related to a kind of based on the auxiliary time frequency difference comprehensive correction method of GNSS signal.
Background technology
Satellite has great importance to the fields such as space information confrontation, satellite communication that accurately are positioned at of radiation source.The just low rail double star passive location system of Chinese scholars has been carried out a large amount of correlative studys.Current, TDOA(Time difference of Arrival is mainly adopted in low rail double star passive location, TDOA) and FDOA(Frequency difference of Arrival, FDOA) mode of co-located, but due to the impact that is subject to relative clock correction factors such as the transponder delay in repeating process, frequency droop with its signal, its bearing accuracy generally can only reach the 3-10 kilometer.Numerous achievements in research show, during the arrival of low orbit satellite the error of frequency difference to Passive Location of Emitter precisely brought important impact, be the most important factor of the low rail double star passive positioning accuracy of impact.The low rail Passive Location of Emitter model of existing double star does not carry out good correction to step-out time and frequency difference of arrival, the positioning error impact that brings thus is larger, how during to the arrival of low orbit satellite, the error of frequency difference is effectively revised, and is to improve the major issue that the Passive Location of Emitter precision need to be considered.
Summary of the invention
The present invention is directed to the problem that how to improve at present low rail double star passive positioning accuracy, proposed a kind of based on the auxiliary time frequency difference comprehensive correction method of GNSS signal.Adopt this method can be when arriving in frequency difference droop carry out good elimination, thereby significantly improve bearing accuracy.
Simulation result shows, adopt the present invention, mistake time of arrival of low rail double star Passive Location of Emitter system is poor to be adapted to below 10ns by 60-100ns, the frequency difference of arrival deviation is controlled in 1HZ by 1-10HZ, bearing accuracy is adapted to below 100m by the kilometer rank on the substar center line, and the bearing accuracy in other locating areas is also brought up to below 1km by existing 3-10km.
Technical scheme of the present invention realizes by following step:
(1) utilize the position coordinates of the spaceborne navigation neceiver of low orbit satellite and GEO satellite to calculate 2 low orbit satellites in orbital position coordinate and the movement velocity of current epoch, and 2 low orbit satellites are respectively to the geometric distance between the geometric distance of GEO satellite and 2 low orbit satellites;
(2) according to the GEO coordinate of the satellite position and resolve 2 low orbit satellite current epoch of orbital positions and the speed parameter that draws, calculate the step-out time correction of low orbit satellite, and before the correction of the radiation source that the spaceborne navigation neceiver of low orbit satellite is obtained according to this correction, step-out time is revised, and obtains revised step-out time;
(3) according to the GEO coordinate of the satellite position and resolve 2 low orbit satellite current epoch of orbital positions and the speed parameter that draws, calculate the frequency difference of arrival correction of low orbit satellite, and before the correction of the radiation source that the spaceborne navigation neceiver of low orbit satellite is obtained according to this correction, frequency difference of arrival is revised, and obtains revised frequency difference of arrival.
Described step-out time correction is calculated by following mathematical expression:
Figure 2013100522346100002DEST_PATH_IMAGE002
；
In formula:
Figure 2013100522346100002DEST_PATH_IMAGE004
Be the step-out time correction;
Figure 2013100522346100002DEST_PATH_IMAGE006
The GEO satellite-signal that receives for the spaceborne navigation neceiver of low orbit satellite through the correction of two links before step-out time;
Figure 2013100522346100002DEST_PATH_IMAGE008
For according to resolving GEO satellite that the orbit parameter that draws the calculates pseudorange to low orbit satellite 2;
Figure 2013100522346100002DEST_PATH_IMAGE010
For according to resolving GEO satellite that the orbit parameter that draws the calculates pseudorange to low orbit satellite 1;
Figure 2013100522346100002DEST_PATH_IMAGE012
Be the geometric distance between 2 low orbit satellites that calculate according to orbit parameter;
Figure 2013100522346100002DEST_PATH_IMAGE014
Be the light velocity;
Described revised step-out time is calculated by following mathematical expression:
Figure 2013100522346100002DEST_PATH_IMAGE016
；
In formula:
Figure 2013100522346100002DEST_PATH_IMAGE018
Step-out time before the correction of the radiation source that receives for the spaceborne receiver of low orbit satellite;
Figure 2013100522346100002DEST_PATH_IMAGE020
Be revised step-out time.
Before described correction, frequency difference of arrival is calculated by following mathematical expression:
Figure 2013100522346100002DEST_PATH_IMAGE022
；
In formula:
Figure 2013100522346100002DEST_PATH_IMAGE024
For revising front frequency difference of arrival;
Figure 2013100522346100002DEST_PATH_IMAGE026
Transmission frequency for the GEO satellite-signal;
With Be respectively the position coordinates of two low orbit satellites;
Figure 2013100522346100002DEST_PATH_IMAGE032
With
Figure 2013100522346100002DEST_PATH_IMAGE034
Be respectively resolve two low orbit satellites drawing in rail speed;
Figure 2013100522346100002DEST_PATH_IMAGE036
The position coordinates of expression GEO satellite.
Described frequency difference of arrival correction is calculated by following mathematical expression:
；
In formula:
Figure 2013100522346100002DEST_PATH_IMAGE040
Be the frequency difference of arrival correction;
Figure 2013100522346100002DEST_PATH_IMAGE042
The GEO satellite-signal that receives for the spaceborne navigation neceiver of low orbit satellite through the correction of two links before frequency difference of arrival;
Described revised frequency difference of arrival is calculated by following mathematical expression:
Figure 2013100522346100002DEST_PATH_IMAGE044
；
In formula:
Figure 2013100522346100002DEST_PATH_IMAGE046
Frequency difference of arrival before the correction of the radiation source that receives for the spaceborne receiver of low orbit satellite;
Figure 2013100522346100002DEST_PATH_IMAGE048
Be revised frequency difference of arrival.
Description of drawings
Fig. 1 is based on the auxiliary low rail double star radiation source difference location model of GNSS signal.
Fig. 2 is the time positioning error contrast on substar center line before and after the frequency difference correction that simulation result of the present invention reflects.
Fig. 3 is the positioning error on the revised substar center line of time frequency difference that reflects of simulation result of the present invention.
Fig. 4 is the time location target figure contrast before and after the frequency difference correction that simulation result of the present invention reflects.
Fig. 5 is the time frequency difference revised location target figure that simulation result of the present invention reflects.
Fig. 6 is that the time positioning error before the frequency difference correction that simulation result of the present invention reflects distributes.
Fig. 7 is that the revised positioning error of time frequency difference that simulation result of the present invention reflects distributes.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
It is shown in Figure 1,
Figure DEST_PATH_IMAGE050
With
Figure DEST_PATH_IMAGE052
Represent two low orbit satellites, the GEO satellite-signal is sent to two low orbit satellites through two links with signal
Figure 66764DEST_PATH_IMAGE050
With
Figure 377660DEST_PATH_IMAGE052
Spaceborne receiver on low orbit satellite is after the step-out time and frequency difference of arrival that receive the GEO satellite-signal, according to 2 low orbit satellites at the orbital position of current epoch and the orbital position of movement velocity and GEO satellite, when calculating the frequency difference correction and on star when arriving frequency difference carry out comprehensive modification.During arrival after comprehensive modification, frequency difference can be directly used on star and resolve radiation source positions.
On the star of the first low orbit satellite in 2 low orbit satellites disposal system with arrive time-frequency difference measurements unit and the time frequency difference comprehensive modification unit, on the star of the second low orbit satellite, disposal system with transponder, respectively is equipped with a dual-frequency navigation receiver with autonomous orbit determination function on the star of 2 low orbit satellites; Dual-frequency navigation receiver on 2 low orbit satellites resolve respectively 2 low orbit satellites between the orbital position of current epoch and movement velocity and 2 low orbit satellites geometric distance and low orbit satellite to the distance between the GEO satellite, and above-mentioned data are sent in the disposal system of low orbit satellite.
Low orbit satellite 1 is receiving GEO satellite-signal and low orbit satellite 2 after the parameters such as the orbital position of current epoch and movement velocity, calculate its time frequency difference correction in current epoch according to the GEO satellite position information that receives and 2 low orbit satellite orbit determination information, and frequency difference is revised when with this, being received the arrival that arrives radiation source current epoch.Learnt by analysis of simulation result shown in accompanying drawing, when adopting the present invention to arrive radiation source, the droop of frequency difference is well revised, thereby significantly improves the radiation source bearing accuracy of empty day passive location system.

Claims (4)

1. one kind based on the auxiliary time frequency difference comprehensive correction method of GNSS signal, and concrete steps are as follows:
(1) utilize the position coordinates of the spaceborne navigation neceiver of low orbit satellite and GEO satellite to calculate 2 low orbit satellites in orbital position coordinate and the movement velocity of current epoch, and 2 low orbit satellites are respectively to the geometric distance between the geometric distance of GEO satellite and 2 low orbit satellites;
(2) according to the GEO coordinate of the satellite position and resolve 2 low orbit satellite current epoch of orbital positions and the speed parameter that draws, calculate the step-out time correction of low orbit satellite, and before the correction of the radiation source that the spaceborne navigation neceiver of low orbit satellite is obtained according to this correction, step-out time is revised, and obtains revised step-out time;
(3) according to the GEO coordinate of the satellite position and resolve 2 low orbit satellite current epoch of orbital positions and the speed parameter that draws, calculate the frequency difference of arrival correction of low orbit satellite, and before the correction of the radiation source that the spaceborne navigation neceiver of low orbit satellite is obtained according to this correction, frequency difference of arrival is revised, and obtains revised frequency difference of arrival.
2. modification method according to claim 1, described step-out time correction is calculated by following mathematical expression:
Figure 2013100522346100001DEST_PATH_IMAGE002
；
In formula:
Figure DEST_PATH_IMAGE004
Be the step-out time correction;
Figure DEST_PATH_IMAGE006
The GEO satellite-signal that receives for the spaceborne navigation neceiver of low orbit satellite through the correction of two links before step-out time;
Figure DEST_PATH_IMAGE008
For according to resolving GEO satellite that the orbit parameter that draws the calculates pseudorange to low orbit satellite 2;
Figure DEST_PATH_IMAGE010
For according to resolving GEO satellite that the orbit parameter that draws the calculates pseudorange to low orbit satellite 1;
Figure DEST_PATH_IMAGE012
Be the geometric distance between 2 low orbit satellites that calculate according to orbit parameter;
Figure DEST_PATH_IMAGE014
Be the light velocity;
Described revised step-out time is calculated by following mathematical expression:
Figure DEST_PATH_IMAGE016
；
In formula:
Step-out time before the correction of the radiation source that receives for the spaceborne receiver of low orbit satellite;
Figure DEST_PATH_IMAGE020
Be revised step-out time.
3. before modification method according to claim 1 and 2, described correction, frequency difference of arrival is calculated by following mathematical expression:
Figure DEST_PATH_IMAGE022
；
In formula:
Figure DEST_PATH_IMAGE024
For revising front frequency difference of arrival;
Transmission frequency for the GEO satellite-signal;
With Be respectively the position coordinates of two low orbit satellites;
Figure DEST_PATH_IMAGE032
With
Figure DEST_PATH_IMAGE034
Be respectively resolve two low orbit satellites drawing in rail speed;
The position coordinates of expression GEO satellite.
4. modification method according to claim 3, described frequency difference of arrival correction is calculated by following mathematical expression:
Figure DEST_PATH_IMAGE038
；
In formula:
Figure DEST_PATH_IMAGE040
Be the frequency difference of arrival correction;
Figure DEST_PATH_IMAGE042
The GEO satellite-signal that receives for the spaceborne navigation neceiver of low orbit satellite through the correction of two links before frequency difference of arrival;
Described revised frequency difference of arrival is calculated by following mathematical expression:
Figure DEST_PATH_IMAGE044
；
In formula:
Figure DEST_PATH_IMAGE046
Frequency difference of arrival before the correction of the radiation source that receives for the spaceborne receiver of low orbit satellite;
Figure DEST_PATH_IMAGE048
Be revised frequency difference of arrival.
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CN103984809A (en) * 2014-04-30 2014-08-13 浙江大学 Method and device for compensating inter-satellite time difference
CN104849738A (en) * 2015-04-28 2015-08-19 中国电子科技集团公司第三十六研究所 Satellite positioning system and satellite positioning method
CN103576138B (en) * 2013-11-21 2015-11-04 北京航空航天大学 A kind of spaceborne passive radar localization method based on GNSS-R signal geometric relationship
CN107271955A (en) * 2017-07-25 2017-10-20 西安电子科技大学 A kind of time difference of wideband correlation and the poor method of estimation of yardstick
CN109901206A (en) * 2019-04-01 2019-06-18 武汉大学 A kind of positioning of single star and time service method based on low orbit satellite radio distance-measuring signal
CN110275134A (en) * 2019-06-27 2019-09-24 清华大学 A kind of non-view continuous signal passive location method altogether based on virtual frequency difference of arrival
CN113341686A (en) * 2021-07-02 2021-09-03 长沙学院 Single-satellite multi-calendar timing method and device, computer equipment and storage medium

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103576138B (en) * 2013-11-21 2015-11-04 北京航空航天大学 A kind of spaceborne passive radar localization method based on GNSS-R signal geometric relationship
CN103744052A (en) * 2013-12-23 2014-04-23 中国电子科技集团公司第三十六研究所 Dual-satellite time difference measurement direction-finding method and apparatus for aerial target positioning
CN103744052B (en) * 2013-12-23 2016-06-15 中国电子科技集团公司第三十六研究所 A kind of double star being applied to aerial target location surveys time-of-arrival direction finding method and device
CN103984809A (en) * 2014-04-30 2014-08-13 浙江大学 Method and device for compensating inter-satellite time difference
CN104849738A (en) * 2015-04-28 2015-08-19 中国电子科技集团公司第三十六研究所 Satellite positioning system and satellite positioning method
CN104849738B (en) * 2015-04-28 2018-09-04 中国电子科技集团公司第三十六研究所 A kind of global position system and localization method
CN107271955A (en) * 2017-07-25 2017-10-20 西安电子科技大学 A kind of time difference of wideband correlation and the poor method of estimation of yardstick
CN109901206A (en) * 2019-04-01 2019-06-18 武汉大学 A kind of positioning of single star and time service method based on low orbit satellite radio distance-measuring signal
CN109901206B (en) * 2019-04-01 2023-06-13 武汉大学 Single-star positioning and time service method based on low-orbit satellite radio range signal
CN110275134A (en) * 2019-06-27 2019-09-24 清华大学 A kind of non-view continuous signal passive location method altogether based on virtual frequency difference of arrival
CN110275134B (en) * 2019-06-27 2021-03-05 清华大学 Non-common-view continuous signal passive positioning method based on virtual arrival frequency difference
CN113341686A (en) * 2021-07-02 2021-09-03 长沙学院 Single-satellite multi-calendar timing method and device, computer equipment and storage medium

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