CN103199949A - Zero base line self-closed-loop satellite and ground time synchronizing method in pseudo global positioning system - Google Patents

Zero base line self-closed-loop satellite and ground time synchronizing method in pseudo global positioning system Download PDF

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CN103199949A
CN103199949A CN2013101237537A CN201310123753A CN103199949A CN 103199949 A CN103199949 A CN 103199949A CN 2013101237537 A CN2013101237537 A CN 2013101237537A CN 201310123753 A CN201310123753 A CN 201310123753A CN 103199949 A CN103199949 A CN 103199949A
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satellite
pseudolite
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clock correction
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甘兴利
蔚保国
李隽�
叶红军
魏海涛
王振华
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CETC 54 Research Institute
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Abstract

The invention discloses a zero base line self-closed-loop satellite and ground time synchronizing method in a pseudo global positioning system. The method comprises the following steps: firstly, a pseudo satellite navigational signal is generated by a pseudo satellite signal generator with trigger pulse serving as time reference and is sent to a closed-loop navigational receiver under the condition of a zero base line; secondly, the closed-loop navigational receiver simultaneously receives a pseudo satellite signal and a space satellite navigational signal and satellite and ground synchronizing clock correction is calculated according to a pseudo satellite distance measurement value and a navigational satellite distance measurement value which are output by the receiver; thirdly, the satellite and ground synchronizing clock correction is processed, a rough clock correction control word and a precise clock correction parameter are obtained, the rough clock correction control word is sent to the signal generator, and satellite and ground rough synchronization is achieved; and fourthly, the precise clock correction parameter is written in a pseudo satellite telegraph text so that satellite and ground precise synchronization is achieved. The zero base line self-closed-loop satellite and ground time synchronizing method in the pseudo global positioning system can achieve high accuracy time synchronization of the pseudo global positioning system and a space satellite navigational system and has the advantages of being low in cost, simple and practical.

Description

Zero base line in the fake satellite positioning system is from closed loop star ground method for synchronizing time
Technical field
The present invention relates to satellite navigation foundation and strengthen zero base line in the technical field, particularly a kind of fake satellite positioning system from closed loop star ground method for synchronizing time.
Background technology
Pseudo satellite, pseudolite is a kind of area navigation signal transmitter, is used for supporting and strengthening the service ability of Aerospace Satellite navigation system.And can with the Combination application of space navigation satellite, be that some pseudo satellite, pseudolites add navigation satellites such as the space GPS that do not satisfy location condition (less than 4), the Big Dipper, can realize star ground integrated positioning pattern, can solve because the visual navigation satellite that geographical environment influence causes is counted deficiency, constituted not good, signal level for how much and cross problem such as low and can not realize continuous seamless navigator fix and the lower situation of positioning accuracy.But in order to realize this star ground synchronous working, the high-precise synchronization of satellite navigation system times such as pseudolite systems time and the Big Dipper/GPS be a technical problem that needs to be resolved hurrily.
At present, the time synchronized of pseudo satellite, pseudolite and space navigation satellite mainly adopts the unidirectional time service method of receiver, the 1PPS signal (precision 50ns) synchronous by output and space navigation satellite time triggers the pseudo satellite, pseudolite signal generator, utilize the rising edge of trigger impulse to produce the pseudo satellite, pseudolite navigation signal synchronous with the space navigation satellite at last, but it needs receiver to be equipped with pulse signal generation and phase modulation unit, increased hardware cost and technical difficulty, and star ground timing tracking accuracy is not high.This patent provides a kind of pseudo satellite, pseudolite of digitized processing and space navigation satellite time synchronous method, this method is by the synchronous clock correction in the star ground that calculates pseudolite systems time and satellite navigation system, this deviation is carried out process of refinement, generate text control word, pseudo satellite, pseudolite signal phase control word and pseudo satellite, pseudolite text clock correction corrected parameter, thereby the split-second precision of realizing pseudo satellite, pseudolite and space navigation satellite is synchronous.
Summary of the invention
The objective of the invention is: at the low defective of hardware cost height, synchronization accuracy of unidirectional Timing Receiver method for synchronous, design a kind of zero base line from closed loop star ground method for synchronizing time, solved the split-second precision stationary problem between ground pseudo satellite, pseudolite time reference and the space Big Dipper/GPS navigation satellite time benchmark effectively.
In order to achieve the above object, the zero base line in a kind of fake satellite positioning system may further comprise the steps from closed loop star ground method for synchronizing time:
1. make up zero base line and measure framework from the pseudo satellite, pseudolite of closed loop; Pseudo satellite, pseudolite is measured framework and is comprised pseudo satellite, pseudolite signal generator, coupler, mixer and closed loop navigation neceiver;
2. the pseudo satellite, pseudolite signal generator is that time reference generates the pseudo satellite, pseudolite navigation signal with the trigger impulse, and sends to the closed loop navigation neceiver under the zero base line condition;
3. the closed loop navigation neceiver receives the navigation satellite signal in pseudo satellite, pseudolite navigation signal and space simultaneously, according to the synchronous clock correction of pseudo satellite, pseudolite distance measurement value and navigation satellite distance measurement value calculating star ground of receiver output;
4. the synchronous clock correction in star ground is handled, obtained thick clock correction control word and smart clock correction parameter, thick clock correction control word is sent to the pseudo satellite, pseudolite signal generator, realize that star ground is synchronously thick; Smart clock correction parameter is write the pseudo satellite, pseudolite text, realize that star ground is synchronously smart.
Wherein, step makes up zero base line in 1. and measures framework from the pseudo satellite, pseudolite of closed loop and may further comprise the steps:
(101) 10MHz is provided signal for closed loop navigation neceiver and pseudo satellite, pseudolite signal generator by same atomic clock;
(102) signal of pseudo satellite, pseudolite signal generator generation is exported 1 road pseudo satellite, pseudolite navigation signal through coupler;
(103) navigation satellite signal in space and pseudo satellite, pseudolite navigation signal are transferred to the closed loop navigation neceiver through mixer, carry out pseudo satellite, pseudolite distance measurement value and navigation satellite distance measurement value and handle, and finish the structure of zero base line condition.
Wherein, step 3. culminant star ground synchronously the computational methods of clock correction be:
Δdt = [ P r s - ( ρ r s + I r s + T r s ) - P r PL ] / c
Wherein: Δ dt is star ground clock correction synchronously;
Figure BSA00000876979800032
Be the navigation satellite distance measurement value;
Figure BSA00000876979800033
Be the geometric distance between closed loop navigation neceiver and the navigation satellite;
Figure BSA00000876979800034
Be ionospheric error, obtained by the navigation message calculation of parameter;
Figure BSA00000876979800035
Be tropospheric error, obtained by the general-purpose computations model;
Figure BSA00000876979800036
Be the pseudo satellite, pseudolite distance measurement value; C is the light velocity.
Wherein, step 4. in thick clock correction control word comprise that text frame control word, text word control word, the number of words of telegram are according to position, spreading code control word and spread-spectrum code chip control word; Wherein,
Text frame control word N1=asks integer (Δ dt/ text frame length);
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length];
The number of words of telegram is asked integer [(Δ dt-N1* text frame length-N2* text word length)/the telegraph text data position is long] according to position N3=;
Frame length-N2* text word length-N3* telegraph text data position is long for clock correction surplus Δ dt1=Δ dt-N1* text;
Spreading code control word N4=asks integer (Δ dt1/ spread spectrum code length);
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spread spectrum code length)/chip is long].
Wherein, step 4. in smart clock correction parameter comprise clock jitter a0, clock skew a1 and clock skew rate a2;
Δdt2＝a0+a1*(t-t0)+a2*(t-t0) 2
Wherein, code length-the N5* chip is long for clock correction fractional part Δ dt2=Δ dt1-N4* spread spectrum, and t is the current time that subscriber computer uses the pseudo satellite, pseudolite signal to position, and t0 is with reference to constantly.
The technology of the present invention has following advantage:
(i) the present invention adopts the mathematical processing methods of star ground time synchronized, has star ground time synchronized and realizes simple advantage.
(ii) the present invention makes up the zero base line treatment conditions, makes the pseudo satellite, pseudolite ranging data of closed loop navigation neceiver output not be subjected to the error free influence of propagation in atmosphere, has the high advantage of star ground timing tracking accuracy.
(iii) the present invention proposes the processing method of thick clock correction control word and smart clock correction data, can receiver user the pseudo satellite, pseudolite pseudo range measurement value stabilization of output, have the characteristics that subscriber computer carries out Gross Error Detection of being convenient to.
Description of drawings
Fig. 1 is fake satellite positioning system schematic diagram of the present invention;
Fig. 2 is that the time deviation of pseudo satellite, pseudolite and the Big Dipper/GPS navigation system is calculated schematic diagram;
Fig. 3 is the time deviation process of refinement schematic diagram of pseudo satellite, pseudolite and the Big Dipper/GPS navigation system;
Embodiment
The present invention will be further described below in conjunction with specific embodiments and the drawings:
1. make up zero base line and measure framework from the pseudo satellite, pseudolite of closed loop, pseudo satellite, pseudolite is measured framework and is comprised pseudo satellite, pseudolite signal generator, coupler, mixer and closed loop navigation neceiver;
Wherein, step makes up zero base line in 1. and measures framework from the pseudo satellite, pseudolite of closed loop and may further comprise the steps:
(101) 10MHz is provided signal for closed loop navigation neceiver and pseudo satellite, pseudolite signal generator by same atomic clock;
(102) signal of pseudo satellite, pseudolite signal generator generation is exported 1 road pseudo satellite, pseudolite navigation signal through coupler;
(103) navigation satellite signal in space and pseudo satellite, pseudolite navigation signal are transferred to the closed loop navigation neceiver through mixer, carry out pseudo satellite, pseudolite distance measurement value and navigation satellite distance measurement value and handle, and finish the structure of zero base line condition.
2. the pseudo satellite, pseudolite signal generator is that time reference generates the pseudo satellite, pseudolite navigation signal with the trigger impulse, and sends to the closed loop navigation neceiver under the zero base line condition;
3. the closed loop navigation neceiver receives the navigation satellite signal in pseudo satellite, pseudolite navigation signal and space simultaneously, according to the synchronous clock correction of pseudo satellite, pseudolite distance measurement value and navigation satellite distance measurement value calculating star ground of receiver output.Fig. 2 is the star ground clock correction calculating synchronously schematic diagram of pseudo satellite, pseudolite and the Big Dipper/GPS navigation system, may further comprise the steps:
(201) it is as follows to set up the Pseudo-range Equation of pseudo satellite, pseudolite:
P r PL = ρ r PL + c * ( dt r - dt PL ) + ϵ p
Wherein: Be the pseudo-range measurements to pseudo satellite, pseudolite, obtained by the navigation neceiver observed quantity; ρ r PL = ( x PL - x r ) 2 + ( y PL - y r ) 2 + ( z PL - z r ) 2 Be the geometric distance between navigation neceiver and the pseudo satellite, pseudolite,
Figure BSA00000876979800054
Dt rBe the navigation neceiver time deviation; Dt PLBe the pseudolite systems time deviation; ε pBe multipath and thermal noise; C is the light velocity.
(202) set up the Big Dipper or GPS navigation satellite pseudorange equation is as follows:
P r s = ( ρ r s + I r s + T r s ) + c * ( dt r - dt s ) + ϵ p
Wherein:
Figure BSA00000876979800056
Be the pseudo-range measurements to navigation satellite, obtained by the navigation neceiver observed quantity. ρ r s = ( x s - x r ) 2 + ( y s - y r ) 2 + ( z s - z r ) 2 Be the geometric distance between navigation neceiver and the satellite; (x s, y s, z s) be the position of navigation satellite, (x r, y r, z r) be the position of pseudo satellite, pseudolite receiver;
Figure BSA00000876979800058
Be ionospheric error, obtained by the navigation message calculation of parameter;
Figure BSA00000876979800059
For tropospheric error is obtained by the general-purpose computations model; Dt rBe the navigation neceiver time deviation; Dt sBe the satellite time deviation, obtained by the navigation message parameter; ε pBe multipath and thermal noise; C is the light velocity.
(203) the synchronous clock correction in the star ground between calculating pseudolite systems time and the navigational satellite system.Measure equation and space navigation satellite measurement equation (202) Simultaneous Equations according to the pseudo satellite, pseudolite in (201), by offseting processing, obtain new accounting equation and be
P r s - ( ρ r s + I r s + T r s ) - P r PL = c * ( dt r - dt s ) - c * ( dt r - dt PL ) + ( ϵ p - ϵ PL )
Ignore the influence of multipath and closed loop navigation neceiver thermal noise, i.e. ε p-ε PL=0.Then step 3. culminant star ground synchronously the computational methods of clock correction be:
Δdt = dt PL - dt s = [ P r s - ( ρ r s + I r s + T r s ) - P r PL ] / c
Δ dt is star ground clock correction synchronously;
Figure BSA00000876979800062
Be the navigation satellite distance measurement value;
Figure BSA00000876979800063
Be the geometric distance between closed loop navigation neceiver and the navigation satellite;
Figure BSA00000876979800064
Be ionospheric error, obtained by the navigation message calculation of parameter;
Figure BSA00000876979800065
Be tropospheric error, obtained by the general-purpose computations model;
Figure BSA00000876979800066
Be the pseudo satellite, pseudolite distance measurement value; C is the light velocity.
4. the synchronous clock correction in star ground is handled, obtained thick clock correction control word and smart clock correction parameter, thick clock correction control word is sent to the pseudo satellite, pseudolite signal generator, realize that star ground is synchronously thick; Smart clock correction parameter is write the pseudo satellite, pseudolite text, realize that star ground is synchronously smart.Fig. 3 is the synchronous clock correction process chart in the star ground of pseudo satellite, pseudolite and Aerospace Satellite navigation system.
Step 4. in thick clock correction control word comprise that text frame control word, text word control word, the number of words of telegram are according to position, spreading code control word and spread-spectrum code chip control word; Wherein,
Text frame control word N1=asks integer (Δ dt/ text frame length), if pseudo satellite, pseudolite adopts similar GPS L1 text structure, the text frame length is 6s;
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length], if pseudo satellite, pseudolite adopts similar GPS L1 text structure, the text word length is 0.6s.
The number of words of telegram is asked integer [(Δ dt-N1* text frame length-N2* text word length)/the telegraph text data position is long] according to position N3=, if pseudo satellite, pseudolite adopts similar GPS L1 text structure, the telegraph text data bit length is 0.02s;
Frame length-N2* text word length-N3* telegraph text data position is long for clock correction surplus Δ dt1=Δ dt-N1* text;
Spreading code control word N4=asks integer (Δ dt1/ spread spectrum code length), if adopt the spreading code of similar GPS L1-CA, code length is 1us;
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spread spectrum code length)/chip is long], if adopt the spreading code of similar GPS L1-CA, chip lengths is 1/1023us.
Step 4. in smart clock correction parameter comprise clock jitter a0, clock skew a1 and clock skew rate a2, computing formula is as follows:
Δdt2＝a0+a1*(t-t0)+a2*(t-t0) 2
Wherein, code length-the N5* chip is long for clock correction fractional part Δ dt2=Δ dt1-N4* spread spectrum, and t is the current time that subscriber computer uses the pseudo satellite, pseudolite signal to position, and t0 is with reference to constantly.

Claims (5)

1. the zero base line in the fake satellite positioning system may further comprise the steps from closed loop star ground method for synchronizing time:
1. make up zero base line and measure framework from the pseudo satellite, pseudolite of closed loop; Pseudo satellite, pseudolite is measured framework and is comprised pseudo satellite, pseudolite signal generator, coupler, mixer and closed loop navigation neceiver;
2. the pseudo satellite, pseudolite signal generator is that time reference generates the pseudo satellite, pseudolite navigation signal with the trigger impulse, and sends to the closed loop navigation neceiver under the zero base line condition;
3. the closed loop navigation neceiver receives the navigation satellite signal in pseudo satellite, pseudolite navigation signal and space simultaneously, according to the synchronous clock correction of pseudo satellite, pseudolite distance measurement value and navigation satellite distance measurement value calculating star ground of receiver output;
4. the synchronous clock correction in star ground is handled, obtained thick clock correction control word and smart clock correction parameter, thick clock correction control word is sent to the pseudo satellite, pseudolite signal generator, realize that star ground is synchronously thick; Smart clock correction parameter is write the pseudo satellite, pseudolite text, realize that star ground is synchronously smart.
According to the zero base line in the fake satellite positioning system described in the claim 1 from closed loop star ground method for synchronizing time, it is characterized in that: step makes up zero base line in 1. and measures framework from the pseudo satellite, pseudolite of closed loop and may further comprise the steps:
(101) 10MHz is provided signal for closed loop navigation neceiver and pseudo satellite, pseudolite signal generator by same atomic clock;
(102) signal of pseudo satellite, pseudolite signal generator generation is exported 1 road pseudo satellite, pseudolite navigation signal through coupler;
(103) navigation satellite signal in space and pseudo satellite, pseudolite navigation signal are transferred to the closed loop navigation neceiver through mixer, carry out pseudo satellite, pseudolite distance measurement value and navigation satellite distance measurement value and handle, and finish the structure of zero base line condition.
According to the zero base line in the fake satellite positioning system described in the claim 1 from closed loop star ground method for synchronizing time, it is characterized in that: step 3. culminant star ground synchronously the computational methods of clock correction be:
Δdt = [ P r s - ( ρ r s + I r s + T r s ) - P r PL ] / c
Wherein: Δ dt is star ground clock correction synchronously;
Figure FSA00000876979700022
Be the navigation satellite distance measurement value;
Figure FSA00000876979700023
Be the geometric distance between closed loop navigation neceiver and the navigation satellite;
Figure FSA00000876979700024
Be ionospheric error, obtained by the navigation message calculation of parameter;
Figure FSA00000876979700025
Be tropospheric error, obtained by the general-purpose computations model;
Figure FSA00000876979700026
Be the pseudo satellite, pseudolite distance measurement value; C is the light velocity.
According to the zero base line in the fake satellite positioning system described in the claim 1 from closed loop star ground method for synchronizing time, it is characterized in that: step 4. in thick clock correction control word comprise that text frame control word, text word control word, the number of words of telegram are according to position, spreading code control word and spread-spectrum code chip control word; Wherein,
Text frame control word N1=asks integer (Δ dt/ text frame length);
Text word control word N2=asks integer [(Δ dt-N1* text frame length)/text word length];
The number of words of telegram is asked integer [(Δ dt-N1* text frame length-N2* text word length)/the telegraph text data position is long] according to position N3=;
Frame length-N2* text word length-N3* telegraph text data position is long for clock correction surplus Δ dt1=Δ dt-N1* text;
Spreading code control word N4=asks integer (Δ dt1/ spread spectrum code length);
Spread-spectrum code chip control word N5=asks integer [(Δ dt1-N4* spread spectrum code length)/chip is long].
According to the zero base line in the fake satellite positioning system described in the claim 4 from closed loop star ground method for synchronizing time, it is characterized in that: step 4. in smart clock correction parameter comprise clock jitter a0, clock skew a1 and clock skew rate a2;
Δdt2＝a0+a1*(t-t0)+a2*(t-t0) 2
Wherein, code length-the N5* chip is long for clock correction fractional part Δ dt2=Δ dt1-N4* spread spectrum, and t is the current time that subscriber computer uses the pseudo satellite, pseudolite signal to position, and t0 is with reference to constantly.
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CN106877965A (en) * 2017-03-03 2017-06-20 中国电子科技集团公司第五十四研究所 A kind of time synchronizing method of micro-base station central station
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CN114422008A (en) * 2021-12-15 2022-04-29 中国人民解放军军事科学院国防科技创新研究院 Multi-satellite cooperative ground-to-ground communication system and communication method
CN114422008B (en) * 2021-12-15 2023-10-13 中国人民解放军军事科学院国防科技创新研究院 Multi-star cooperative ground communication system and communication method
CN114019782A (en) * 2022-01-06 2022-02-08 智道网联科技(北京)有限公司 Method and device for taming navigation satellite clock of automatic driving domain controller
CN115113514A (en) * 2022-06-22 2022-09-27 中国电子科技集团公司第二十九研究所 Satellite clock error abnormal jump automatic monitoring and recovery system and method
CN115113514B (en) * 2022-06-22 2023-08-11 中国电子科技集团公司第二十九研究所 Satellite clock error abnormal jump autonomous monitoring and recovering system and method

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