CN105044745B - A kind of circular orbit low orbit satellite crosses the remaining visible duration prediction method in top - Google Patents
A kind of circular orbit low orbit satellite crosses the remaining visible duration prediction method in top Download PDFInfo
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- CN105044745B CN105044745B CN201510417367.8A CN201510417367A CN105044745B CN 105044745 B CN105044745 B CN 105044745B CN 201510417367 A CN201510417367 A CN 201510417367A CN 105044745 B CN105044745 B CN 105044745B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
The invention discloses a kind of circular orbit low orbit satellite to cross the remaining visible duration prediction method in top.This method can make full use of satellite transit work characteristics, by constantly calculating and updating satellite spatial position and corresponding time information, and earthward user broadcasts these information in the form of easy navigation signal, after terrestrial user receives the navigation signal, the GPS receiver equipment Alignment clock of recycling itself, determine customer location, the elevation angle and mark angle of the satellite with respect to user are calculated in real time, and then solve satellite and cross the remaining visible duration in top, it is easy and effective with implementation method, it is few to the content requirements of navigation signal, it is low to satellite ephemeris dependency degree, under the premise of ensuring to predict the accuracy and high-timeliness of duration, user's hardware cost is not increased again.
Description
Technical field
The present invention relates to satellite communication field, and it is pre- to cross the remaining visible duration in top more particularly to a kind of circular orbit low orbit satellite
Survey method.
Background technology
Circular orbit low orbit satellite refers to that running track is the circuit orbit using the earth's core as the center of circle, and orbit altitude is 500
Km is to the satellite between 2000 kms.This circular orbit low orbit satellite have propagation delay it is small, to terminal device antenna size
The advantage such as low with power consumption requirements, and satellite launch cost is relatively low, but satellite altitude is lower, its coverage with regard to smaller,
By the time in ground satellite terminal user overhead, i.e. Covering time is shorter, therefore generally requires more low orbit satellite networkings
To meet user's communication requirement.
When circular orbit low orbit satellite is used to communicate, both sides deficiency is primarily present：First, Covering time is limited, and use
The communication time at family is possible to the Covering time more than single satellite；Second, user can be between multi-satellite in switching instant
Selected.The deficiency of these two aspects causes to need to switch between more low orbit satellites in user's communication process, to protect
Demonstrate,prove the continuity of communication.Therefore, the method for ground based terminal user switch satellite is extremely important, if user randomly chooses satellite and carried
For communication service, it is possible to choose to the currently satellite of the satellite with most short visible duration or shorter visible duration, and then
Increase the number of satellite switching, increase the cutting off rate of user, and interrupt current talking compared to block new call can be to user
Worse Consumer's Experience is brought, from the perspective of conversation loss rate is reduced, preferable the select of satellite mode is that user exists
Switching instant can select to provide the satellite of most long service duration from all visible satellites.Therefore, the angle observed from user,
It is necessary to make accurate prediction relative to the remaining visible duration of user to satellite, selects satellite to provide in switching instant for user
Technical support.
In the prior art, the method for predicting the remaining visible duration of top satellite is mainly to be believed by downloading the ephemeris of satellite
Breath, remaining visible duration of the satellite relative to user is calculated, but this method needs the ephemeris information of user's continuous renewal satellite.Separately
Outside, Irfan Ali et al. exist《Predicting the Visibility of LEO Satellites》(IEEE
Transactions on Aerospace and Electronic Systems, vol.35, no.4,1999) in propose one
The method that kind predicted the remaining visible duration of top satellite, but this method needs to input satellite orbit radius, orbit inclination angle and satellite
Calculate complicated with the longitude residing for the intersection point of equatorial plane and corresponding moment, this method into Northern Hemisphere running from the Southern Hemisphere
Property is higher, and real-time is not strong, it is difficult to meets the needs of selection quick to satellite.
The content of the invention
The present invention solves the technical problem of provide a kind of circular orbit low orbit satellite to cross the remaining visible duration prediction in top
The problems such as satellite ephemeris, computation complexity are high, real-time is not strong is depended in method, solution unduly in the prior art.
In order to solve the above technical problems, one aspect of the present invention is：A kind of circular orbit low orbit satellite is provided
The remaining visible duration prediction method in top is crossed, is comprised the following steps：The first step, user receive satellite navigation signals, including：(1) count
Satellite spatial position is calculated, by ground control centre by orbit prediction method, is periodically calculated in the satellite a period of time in future
Spatial positional information and its corresponding time information, and update the satellite by space-time on the ground control centre in the satellite
Spatial positional information, the spatial positional information of the satellite includes longitude and latitude, elevation and its corresponding time information；(2) satellite
Clock is calibrated, the satellite is defended using itself GPS device progress clock alignment, and according to this of the clock information of calibration and storage
The spatial positional information of star, in real time adjustment determine the substar latitude and longitude information in the satellite current coverage range；(3) satellite is sent out
Go out navigation signal, the satellite periodically sends navigation signal, and the navigation signal is included under star of the satellite in its coverage
Point latitude and longitude information and its corresponding time information；(4) user receives navigation signal, and it is close to user or remote to judge the satellite
From user, the user receives navigation signal twice in succession of satellite transmission, the substar longitude and latitude in the navigation signal
Degree information judges that the satellite approaches or away from the user relative to the far and near change of customer location；Second step, calculate satellite
The elevation angle；3rd step, calculate the mark angle of satellite；4th step, calculate satellite and push up remaining visible duration with respect to crossing for user.
Crossed in circular orbit low orbit satellite of the present invention in the remaining visible another embodiment of duration prediction method in top, the orbit prediction
Method is SGP4 methods；This periodically calculates spatial positional information and its corresponding time information in the satellite a period of time in future
Frequency be at interval of 1 second calculate 1 time；The frequency that the satellite periodically sends navigation signal was sent 1 time at interval of 1 second.
Crossed in circular orbit low orbit satellite of the present invention in the remaining visible another embodiment of duration prediction method in top, the calculating satellite
The method at mark angle include：(1) customer position information is determined, obtains the longitude λ of the user itselfTWith latitude ηTInformation；(2)
Clock alignment, information at the time of according in received navigation signal are consistent with satellite clock by user clock synchronous calibration；(3)
Mark angle is calculated in real time, and the user calculates mark angle γ of the user with respect to the satellite by the navigation signal of receptionm, calculating side
Method is as follows：
γm=min { 2sin-1(Ω)}
Wherein,WithBe the substar in the satellite coverage included in the navigation signal longitude and latitude to
Amount, Ω are also vector.
Crossed in circular orbit low orbit satellite of the present invention in the remaining visible another embodiment of duration prediction method in top, pass through the user
Built-in GPS device measurement obtains the longitude λ of the user itselfT, latitude ηTWith elevation κTInformation.
Crossed in circular orbit low orbit satellite of the present invention in the remaining visible another embodiment of duration prediction method in top, the calculating satellite
The method at the elevation angle include：(1) ECEF coordinate system is changed, and the longitude and latitude and elevation coordinate of the current satellite and user are united
One is converted to ECEF coordinate system Satellite body-fixed coordinate system and user's body-fixed coordinate system；(2) local coordinate is changed, by the satellite
Body-fixed coordinate system and user's body-fixed coordinate system are converted to satellite local coordinate system and user's origin in local coordinate；(3) it is real
When calculate the elevation angle, using the satellite local coordinate system and user's origin, it is relative that the user is calculated in the local coordinate
The elevation angle theta of the satellite.
Crossed in circular orbit low orbit satellite of the present invention in the remaining visible another embodiment of duration prediction method in top, the sky of the satellite
Between positional information be (λS,ηS,κS), wherein λSRepresent the longitude of the satellite, ηSRepresent the latitude of the satellite, κSRepresent the satellite
Elevation, the spatial positional information of the user is (λT,ηT,κT), wherein λTRepresent the longitude of the user, ηTRepresent the latitude of the user
Degree, κTThe elevation of the user is represented, the satellite body-fixed coordinate system is (XS,YS,ZS), user's body-fixed coordinate system is (XU,YU,ZU), should
ECEF coordinate system conversion method is：The earth is a spheroid, major axis a=6.3781370e+03km, semiaxis b=
6.356752314245179e+03km eccentricityDefine median Then body-fixed coordinate system (the X of the satelliteS,YS,ZS) and the user body-fixed coordinate system (XU,YU,ZU)
Respectively：
The local coordinate conversion method is：The satellite is at this using user as defending in the local coordinate of origin
Star local coordinate system (xS,yS,zS) be：
Crossed in circular orbit low orbit satellite of the present invention in the remaining visible another embodiment of duration prediction method in top, the sky of the satellite
Between position be：25.257000 ° of longitude, -84.298000 ° of latitude, elevation 783.871776 (km), the locus of the user
It is：28.917655 ° of longitude, -99.345589 ° of latitude, elevation 0.0 (km), changed by the ECEF coordinate system, the satellite
Satellite body-fixed coordinate system in the ECEF coordinate system is (XS:6.439025706247130e+05 YS:-
6.448794085263775e+06 ZS:
3.039310992962332e+06), user body-fixed coordinate system of the user in the ECEF coordinate system is
(XU:- 9.073090474340906e+05, YU:- 5.513096509229902e+06, ZU:3.065915618754285e+
06), unit is rice；Changed by the local coordinate, the customer location is the origin of the local coordinate, and the satellite is in the local
Position in coordinate system is xS:1.682569089856995e+06 yS:- 3.479338007695247e+05, zS:
5.748030724080029e+05 unit is rice；By the real-time calculating elevation angle theta, θ=18.497377364764110 ° are obtained.
Crossed in circular orbit low orbit satellite of the present invention in the remaining visible another embodiment of duration prediction method in top, the calculating satellite
The method for crossing the remaining visible duration in top with respect to user includes：(1) calculate satellite and cross top duration, calculate and be somebody's turn to do from the user is relative
The minimum visible elevation angle theta of satellite0To the current elevation angle it is θ (t at the time of appearanceeThe duration t passed through during)=θe, computational methods are such as
Under：
Wherein, REAnd RSThe respectively orbit radius of the radius of the earth and the satellite, ωEAnd ωSRespectively the earth is defended with this
Angular speed of the star under geocentric inertial coordinate system, γ0The elevation angle for the relative satellite of the user is θ0When the sub-satellite point to should
The angular distance of user, is calculated teThere are two solution valuesWith
(2) calculate satellite and cross the remaining visible duration t in topr, computational methods are as follows：
Crossed in circular orbit low orbit satellite of the present invention in the remaining visible another embodiment of duration prediction method in top, mark angle γm
=0.229891909587292 (rad), θ=18.497377364764110, RE=6378.137km, ωE=
0.00007292115, κS=780km, i=86.4 °, θ0=8.2 °, μ=398601.58 (km3/s2),
RS=RE+κS, it is calculated：γ0=0.347752358714960, ψ0=0.264117321639204, tc=
5.089429154649187e+02With
If the satellite is away from the user, the remaining Covering time：
If the satellite is close to the user, the remaining Covering time：
The beneficial effects of the invention are as follows：Circular orbit low orbit satellite provided by the invention crosses the remaining visible duration prediction side in top
Method, satellite transit work characteristics can be made full use of, constantly calculate renewal satellite spatial position and substar position and correspondingly
At the time of information, and in the form of easy navigation signal earthward user broadcast, after terrestrial user receives the navigation signal, then
Using the GPS receiver equipment Alignment clock of itself, customer location is determined, calculates the elevation angle and mark angle of satellite in real time, and then solve
Go out satellite and cross the remaining visible duration in top, it is easy and effective with implementation method, it is few to the content requirements of navigation signal, it is ensured that prediction
The accuracy and high-timeliness of duration, and do not increase user's hardware cost, application value is high.
Brief description of the drawings
Fig. 1 is the flow chart that circular orbit low orbit satellite of the present invention crosses the remaining visible duration prediction method one embodiment in top；
Fig. 2 is to cross user's reception satellite in the remaining visible duration prediction method in top according to circular orbit low orbit satellite of the present invention to lead
The flow chart of one embodiment of boat signal；
Fig. 3 is to cross navigation signal message in the remaining visible duration prediction method in top according to circular orbit low orbit satellite of the present invention
The composition figure of one embodiment；
Fig. 4 is to be crossed in the remaining visible duration prediction method in top to calculate satellite elevation angle according to circular orbit low orbit satellite of the present invention
The flow chart of one embodiment；
Fig. 5 is to cross the remaining visible duration prediction method Satellite in top and terrestrial user according to circular orbit low orbit satellite of the present invention
The schematic diagram of position relationship one embodiment；
Fig. 6 is to be crossed in the remaining visible duration prediction method in top to calculate satellite mark angle according to circular orbit low orbit satellite of the present invention
The flow chart of one embodiment；
Fig. 7 be crossed according to circular orbit low orbit satellite of the present invention calculate satellite residue in the remaining visible duration prediction method in top can
See the flow chart of one embodiment of duration.
Embodiment
For the ease of understanding the present invention, below in conjunction with the accompanying drawings and specific embodiment, the present invention will be described in more detail.
The preferred embodiment of the present invention is given in accompanying drawing.But the present invention can realize in many different forms, and it is unlimited
In the embodiment described by this specification.On the contrary, the purpose for providing these embodiments makes to the disclosure
Understand more thorough and comprehensive.
It should be noted that unless otherwise defined, all technologies and scientific terminology are with belonging to used in this specification
The implication that the those skilled in the art of the present invention are generally understood that is identical.Used term in the description of the invention
It is to describe the purpose of specific embodiment, is not intended to the limitation present invention.Term "and/or" bag used in this specification
Include the arbitrary and all combination of the Listed Items of one or more correlations.
Fig. 1 shows that circular orbit low orbit satellite of the present invention crosses the stream of one embodiment of the remaining visible duration prediction method in top
Cheng Tu.First, user receives satellite navigation signals S101, and mainly terrestrial user received the navigation signal that top satellite is sent,
Here satellite functions not only as the signal of communication of telecommunication satellite transmission user, also to send navigation letter at a certain time interval
Number, positional information and corresponding time information of the satellite within following a period of time are included in the navigation signal, passes through institute
The satellite navigation signals of reception can be determined that the satellite is the satellite that the satellite away from user is also proximate to user.Then, calculate
Go out elevation angle S102 of the satellite with respect to user and calculate mark angle S103 of the satellite with respect to user, the two steps are to be based on user institute
The satellite position information that the navigation signal that the positional information at place and user are received includes come what is calculated, both may be used by the two steps
Complete to be sequentially completed with parallel, the obtained elevation angle and mark angle is used to further calculating the crossing when the pushing up remaining visible of satellite
It is long.Finally, remaining visible duration S104 is pushed up with respect to crossing for user by calculating satellite, obtains satellite and cross top residue with respect to user
It can be seen that duration.
Above-mentioned steps S101, S102, S103 and S104 are described further below by way of specific embodiment.
Fig. 2 shows that circular orbit low orbit satellite of the present invention is crossed user's reception satellite in the remaining visible duration prediction method in top and led
The flow chart of one embodiment of boat signal.First, calculate and update satellite spatial positional information S1011, wherein, calculate satellite
Spatial positional information is completed by ground control centre, mainly calculates positional information of the satellite within following a period of time
(including longitude and latitude, elevation) and its corresponding time information, the method for calculating use SGP4 (Simple General
Perturbation version 4) method, U.S. Department of Defense disclosed SGP4 mathematical modeling and its code in 1980, should
Method is used to be predicted the position of flyer of the cycle of operation on LEO less than 255 minutes, especially for sea
Pulling out the moving object of 1000 kms has preferable forecast precision.Here following a period of time is primarily referred to as satellite by ground
This period for again passing by ground control centre overhead is arrived after control centre overhead, and the frequency of ground control centre calculating
1 time/second, i.e., the locus where calculating 1 satellite every 1 second.Updating satellite spatial positional information is arrived in satellite
Space-time on up to ground control centre, the satellite spatial injected from ground control centre to the satellite in next following a period of time
Positional information；Satellite spatial position is calculated, by ground control centre by orbit prediction method, periodically calculates the satellite future
Spatial positional information and its corresponding time information in a period of time, and in the satellite by the ground control centre
Space-time, update the spatial positional information of the satellite；Then, satellite calibration clock S1012, here, satellite utilizes the GPS of itself
Device carries out clock alignment, obtains accurate clock information, and empty according to clock information and the satellite stored in step S1011
Between positional information determine the substar positional information of the satellite in real time, the substar positional information refers to that satellite currently covers model
Interior substar latitude and longitude information is enclosed, this is the positional information that the spatial positional information of satellite projects at the earth's surface；Then, defend
Star sends navigation signal S1013, is primarily referred to as including the satellite each substar in its coverage in the navigation signal
The latitude and longitude information of the track of composition and its corresponding clock information, and satellite sends navigation signal with the frequency of 1 time/second.
Fig. 3 shows one embodiment of the message structure of the navigation signal, wherein (λ1、η1、κ1) represent in moment timestamp1Defend
Longitude, latitude and elevation, (λ corresponding to star locus2、η2、κ2) represent in moment timestamp2Satellite spatial position correspondence
Longitude, latitude and elevation, by that analogy, (λN、ηN、κN) represent in moment timestampNThe warp of satellite spatial position correspondence
Degree, latitude and elevation, and moment timestamp1、timestamp2…timestampNCan differ 1 second successively, represent
Satellite sends navigation signal with the frequency of 1 time/second；User receives navigation signal and judges satellite away from still close to S1014, ground
Face user constantly receives the navigation signal that satellite is sent, wherein the satellite navigation signals twice of continuous adjacent can be utilized, calculates
It is close to user or away from user to judge the satellite, and mainly by calculating, two substar positions are relative to be used the calculating process
The distance of family position is judged, if the substar positional distance customer location of second substar position than first is more
Closely, then satellite is shown close to user, otherwise satellite is away from user.
Circular orbit low orbit satellite of the present invention can be seen that by the message structure figure that navigated shown in flow chart shown in Fig. 2 and Fig. 3
The satellite crossed in the remaining visible duration prediction method in top can send navigation signal, but this navigation signal has simplification, only
Longitude, latitude and the elevation information of satellite and corresponding time information need to be included, can be as a kind of broadcast singal of the satellite
Broadcast, can be mutually compatible with the communication system of this telecommunication satellite, without being sent out as the location navigation satellite such as GPS
Go out the satellite ephemeris information of complexity, therefore be more suitable for this satellite for being used to communicate.
Fig. 4 shows that circular orbit low orbit satellite of the present invention is crossed in the remaining visible duration prediction method in top and calculates satellite elevation angle
The flow chart of one embodiment.First, ECEF coordinate system conversion S1021 is carried out, is exactly by the space according to present satellites
The spatial positional information of positional information and user (longitude and latitude and elevation information mainly) are uniformly converted to ground heart and consolidated
(ECEF) positional information in coordinate system, is typically represented with 3 d space coordinate.The specific conversion side of ECEF coordinate system
Method is：The spatial positional information of satellite is (λS,ηS,κS), wherein λSRepresent the longitude of the satellite, ηSThe latitude of the satellite is represented,
κSThe elevation of the satellite is represented, the spatial positional information of user is (λT,ηT,κT), wherein λTRepresent the longitude of the user, ηTRepresent
The latitude of the user, κTThe elevation of the user is represented, the satellite body-fixed coordinate system is (XS,YS,ZS), user's body-fixed coordinate system is (XU,
YU,ZU), the earth is a spheroid, major axis a=6.3781370e+03km, semiaxis b=6.356752314245179e+03km,
EccentricityDefine medianThen should
Body-fixed coordinate system (the X of satelliteS,YS,ZS) and the user body-fixed coordinate system (XU,YU,ZU) be respectively：
For example, according to above-mentioned ECEF coordinate system conversion method, the locus of a certain moment satellite is：Longitude
25.257000 °, -84.298000 ° of latitude, elevation 783.871776 (km), it is transformed into solid (ECEF) coordinate system of ground heart
Satellite body-fixed coordinate system is (XS:
6.439025706247130e+05 YS:- 6.448794085263775e+06, ZS:
3.039310992962332e+06), unit is rice.And for example, the locus of user is：28.917655 ° of longitude,
- 99.345589 ° of latitude, elevation 0.0 (km), the user's body-fixed coordinate system (X being transformed into solid (ECEF) coordinate system of ground heartU:
- 9.073090474340906e+05, YU:- 5.513096509229902e+06, ZU:
3.065915618754285e+06), unit is rice.
Then, local coordinate conversion S1022 is carried out, is exactly the local coordinate situation actually used according to user, will
The satellite and customer position information that ground heart in S1021 is consolidated in (ECEF) coordinate system are converted in local coordinate (ENU)
Satellite and customer position information, the conversion of this actually solid (ECEF) coordinate system of heart and local coordinate, will during conversion
Origin of the customer location as local coordinate, thus in local coordinate user in the origin of the coordinate system, referred to as user
Origin, determine therefrom that satellite in local coordinate relative to the position coordinates of user.Conversion method is：If the warp of satellite
Spend for λS, latitude ηS, the satellite is expressed as (X in the satellite body-fixed coordinate system of ECEF coordinate systemS,YS,ZS), sit admittedly to user
It is designated as (XU,YU,ZU), then the satellite is being the coordinate representation in the local coordinate of origin for (x using userS,yS,zS), then have：
For example, the locus of above-mentioned a certain moment satellite is：Longitude λSIt is 25.257000 °, latitude ηSBe-
84.298000 °, satellite body-fixed coordinate system of the satellite in solid (ECEF) coordinate system of ground heart is (XS:6.43902570624713
0e+05, YS:
- 6.448794085263775e+06, ZS:3.039310992962332e+06), the ground heart of user is solid (ECEF)
User's body-fixed coordinate system in coordinate system is (XU:
- 9.073090474340906e+05, YU:- 5.513096509229902e+06, ZU:
3.065915618754285e+06), after being transformed into local coordinate, the satellite is in the local using user as origin
Coordinate in coordinate system is：xS:1.682569089856995e+06 yS:- 3.479338007695247e+05, zS:
5.748030724080029e+05 unit is rice；Elevation angle S1023 is calculated in real time, and current time use is calculated in local coordinate
The elevation angle theta of family observation satellite, the elevation angle are real-time changes, such as can be with according to the local coordinate system position of above-mentioned satellite and user
Calculate current time θ=18.497377364764110 °.
As can be seen here, in order to accurately calculate the elevation angle of user's observation satellite, by satellite spatial position and user's space
Position carries out Coordinate Conversion, the two is converted to the elevation angle is calculated in same coordinate system, so contributes to eliminate because of coordinate system not
With the error brought, and after having fixed geometric transformation relation between selected coordinate system, can be entered using computer
Row automatic conversion, improve conversion computational efficiency.
Fig. 5 shows that circular orbit low orbit satellite of the present invention crosses the remaining visible duration prediction method Satellite in top and terrestrial user
The schematic diagram of position relationship one embodiment.Wherein, the locus of the substar in satellite S current coverage ranges isRepresented with vector form, illustrate satellite in the state constantly moved, its substar H positions are (λS、
ηS、κ'S), user T locus is (λT、ηT、κT), γ (t) represent user T to present satellites S substars H shortest arc away from,
And Q points are represented when satellite S is by space-time on user T, the satellite the earth sub-satellite track to user T shortest arc away from this
The intersection point of sub-satellite track, γmFor user T mark angle, ψ (t) represents present satellites S substars H with the shortest arc between Q points
Away from θ is the elevation angle of active user's T-phase to satellite S.
Fig. 6 shows that circular orbit low orbit satellite of the present invention is crossed in the remaining visible duration prediction method in top and calculates satellite mark angle
The flow chart of one embodiment.First, the positional information S1031 of user is determined, the GPS receiver built in user equipment can be passed through
The longitude and latitude and elevation information of the user is calculated in machine, is expressed as user's longitude λT, user's latitude ηTWith user's elevation
κT；Clock alignment S1032, the higher satellite clock of precision is obtained from the satellite navigation signals of reception, user clock is synchronous
Calibration is consistent with satellite clock；Mark angle S1033 is calculated, obtains the substar of the satellite in real time from the satellite navigation signals of reception
Positional information, i.e. substar latitude and longitude information, are expressed as sub-satellite point longitude in the form of dynamic vectorSub-satellite point latitude
DegreeShowing the substar longitude and latitude was constantly changed with the time, and the mark angle of user's relative satellite is expressed as γm, first calculate
Obtain：
Further it is calculated：
γm=min { 2sin-1(Ω)}
For example, as the longitude λ of userT=28.917655 °, latitude ηTIn the case that=- 99.345589 ° are constant, and satellite
Substar longitudeAnd latitudeConstantly change as satellite crosses top motion, substar can be represented by the form of list
Longitude and latitude change situation and the Ω values that are correspondingly calculated, as shown in the part of table 1.Then, then to all Ω values ask it
Arcsin function, minimum value therein is found, multiplied by with 2, γ may finally be obtainedm=0.229891909587292 (rad).
Substar longitude and latitude and Ω value changes situations when the satellite of table 1 crosses top
Fig. 7 show circular orbit low orbit satellite of the present invention cross calculate satellite residue in the remaining visible duration prediction method in top can
See the flow chart of one embodiment of duration.First, calculate and cross top duration S1034, exactly calculate from user and see satellite
It is θ (t that moment, which plays the current elevation angle,eElapsed time t during)=θe, refer to that user is relative at the time of user sees satellite here
The minimum visible elevation angle theta of satellite0At the time of appearance, computational methods are as follows：
Wherein, REFor earth radius, RSFor the circuit orbit radius of satellite, ωEIt is the angular speed of the earth, ωSIt is satellite
Angular speed, γ0At the elevation angle of relative satellite it is θ for user0When sub-satellite point to user angular distance.
As can be seen that teBy negating, tangent trigonometric function obtains, and angle value corresponding to same tan
There are two, therefore corresponding teIn the presence of two solutionsWith
Further, top residual time length S1034 was calculated, residual time length is expressed as tr, computational methods are as follows：
For example, in mark angle γm=0.229891909587292 (rad) and the situation of θ=18.497377364764110
Under, RE=6378.137km, ωE=0.00007292115, RS=RE+κS, κS=780km, i=86.4 °, θ0=8.2 °,ω=(ωS-ωECosi)/2, μ=398601.58 (km3/s2), then it can obtain：
γ0=0.347752358714960, ψ0=0.264117321639204,
tc=5.089429154649187e+02,
WithUnit is the second, if
Satellite is away from user, then remaining Covering time：
If satellite is close to user, remaining Covering time：
The remaining visible duration prediction method in top is crossed by circular orbit low orbit satellite of the present invention, can be worked according to satellite transit
Feature, by constantly calculating and updating satellite spatial position, substar position and corresponding time information, and easily to lead
Earthward user broadcasts these information to the form of boat signal, and after terrestrial user receives the navigation signal, the GPS of recycling itself connects
Receiving unit calibration clock, customer location is determined, calculate the elevation angle and mark angle of the satellite with respect to user in real time, and then solve satellite mistake
The remaining visible duration in top, it is easy and effective with implementation method, it is few to the content requirements of navigation signal, to satellite ephemeris dependency degree
It is low, under the premise of ensuring to predict the accuracy and high-timeliness of duration, and do not increase user's hardware cost.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure transformation that bright specification and accompanying drawing content are made, or other related technical areas are directly or indirectly used in,
It is included within the scope of the present invention.
Claims (9)
1. a kind of circular orbit low orbit satellite crosses the remaining visible duration prediction method in top, it is characterised in that comprises the following steps：
The first step, user receive satellite navigation signals, including：
(1) satellite spatial position is calculated, by ground control centre by orbit prediction method, periodically calculates the satellite future one
Spatial positional information and its corresponding time information in the section time, and pass through the ground control centre overhead in the satellite
When, update the spatial positional information of the satellite, the spatial positional information of the satellite includes longitude and latitude, elevation and its corresponding
Time information；
(2) satellite calibration clock, the satellite carry out clock alignment using itself GPS device, and according to the clock information of calibration
And the spatial positional information of the satellite of storage, in real time adjustment determine the substar warp in the satellite current coverage range
Latitude information；
(3) satellite sends navigation signal, and the satellite periodically sends navigation signal, and the navigation signal includes the satellite at it
Substar latitude and longitude information and its corresponding time information in institute's coverage；
(4) user receives navigation signal, judge the satellite be close to user or away from user, the user receive described in defend
The navigation signal described twice in succession that star is sent, the substar latitude and longitude information in the navigation signal is relative to user position
The far and near change put judges that the satellite approaches or away from the user；
Second step, calculate the elevation angle of satellite；
3rd step, calculate the mark angle of satellite；
4th step, calculate satellite and push up remaining visible duration with respect to crossing for user.
2. circular orbit low orbit satellite according to claim 1 crosses the remaining visible duration prediction method in top, it is characterised in that institute
It is SGP4 methods to state orbit prediction method；The spatial positional information periodically calculated in described a period of time in satellite future and its
The frequency of corresponding time information was calculated 1 time at interval of 1 second；The frequency that the satellite periodically sends navigation signal is every
Sent 1 time every 1 second.
3. circular orbit low orbit satellite according to claim 1 or 2 crosses the remaining visible duration prediction method in top, its feature exists
In the method at the mark angle for calculating satellite includes：
(1) customer position information is determined, obtains the longitude λ of the user itselfTWith latitude ηTInformation；
(2) clock alignment, the time information according to received navigation signal, by user clock synchronous calibration and satellite clock
Unanimously；
(3) mark angle is calculated in real time, and the user calculates the relatively described satellite of the user by the navigation signal of reception
Mark angle γm, computational methods are as follows：
<mrow>
<mi>&Omega;</mi>
<mo>=</mo>
<mo>&lsqb;</mo>
<msqrt>
<mrow>
<msup>
<mi>sin</mi>
<mn>2</mn>
</msup>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<mover>
<msub>
<mi>&lambda;</mi>
<mi>S</mi>
</msub>
<mo>&RightArrow;</mo>
</mover>
<mo>-</mo>
<msub>
<mi>&lambda;</mi>
<mi>T</mi>
</msub>
</mrow>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mover>
<msub>
<mi>&lambda;</mi>
<mi>S</mi>
</msub>
<mo>&RightArrow;</mo>
</mover>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&lambda;</mi>
<mi>T</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<msup>
<mi>sin</mi>
<mn>2</mn>
</msup>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<mover>
<msub>
<mi>&eta;</mi>
<mi>S</mi>
</msub>
<mo>&RightArrow;</mo>
</mover>
<mo>-</mo>
<msub>
<mi>&eta;</mi>
<mi>T</mi>
</msub>
</mrow>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
</msqrt>
<mo>&rsqb;</mo>
</mrow>
γm=min { 2sin-1(Ω)}
Wherein,WithBe the substar in the satellite coverage included in the navigation signal longitude and latitude to
Amount, Ω are also vector.
4. circular orbit low orbit satellite according to claim 3 crosses the remaining visible duration prediction method in top, it is characterised in that logical
Cross the GPS device measurement built in the user and obtain the longitude λ of the user itselfT, latitude ηTWith elevation κTInformation.
5. circular orbit low orbit satellite according to claim 4 crosses the remaining visible duration prediction method in top, it is characterised in that institute
Stating the method at the elevation angle for calculating satellite includes：
(1) ECEF coordinate system is changed, and presently described satellite and the spatial positional information of user are uniformly converted into ground heart
Gu coordinate system Satellite body-fixed coordinate system and user's body-fixed coordinate system；
(2) local coordinate is changed, and the satellite body-fixed coordinate system and user's body-fixed coordinate system are converted in local coordinate
Satellite local coordinate system and user's origin；
(3) elevation angle is calculated in real time, using the satellite local coordinate system and user's origin, in the local coordinate
Calculate the elevation angle theta of the relatively described satellite of the user.
6. circular orbit low orbit satellite according to claim 5 crosses the remaining visible duration prediction method in top, the sky of the satellite
Between positional information be (λS,ηS,κS), wherein λSRepresent the longitude of the satellite, ηSRepresent the latitude of the satellite, κSDescribed in expression
The elevation of satellite, the spatial positional information of the user is (λT,ηT,κT), wherein λTRepresent the longitude of the user, ηTRepresent institute
State the latitude of user, κTThe elevation of the user is represented, the satellite body-fixed coordinate system is (XS,YS,ZS), sit admittedly to the user
It is designated as (XU,YU,ZU), it is characterised in that the ECEF coordinate system conversion method is：
The earth is a spheroid, major axis a=6.3781370e+03km, semiaxis b=6.356752314245179e+03km, partially
Heart rateDefine medianThen institute
State the body-fixed coordinate system (X of satelliteS,YS,ZS) and the user body-fixed coordinate system (XU,YU,ZU) be respectively：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>X</mi>
<mi>S</mi>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Normal</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>&kappa;</mi>
<mi>S</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>cos&lambda;</mi>
<mi>S</mi>
</msub>
<msub>
<mi>cos&eta;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Y</mi>
<mi>S</mi>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Normal</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>&kappa;</mi>
<mi>S</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>cos&lambda;</mi>
<mi>S</mi>
</msub>
<msub>
<mi>sin&eta;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<mi>S</mi>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Normal</mi>
<mn>1</mn>
</msub>
<mo>(</mo>
<mrow>
<mn>1</mn>
<mo>-</mo>
<msup>
<mi>&epsiv;</mi>
<mn>2</mn>
</msup>
</mrow>
<mo>)</mo>
<mo>+</mo>
<msub>
<mi>&kappa;</mi>
<mi>S</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>sin&lambda;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>X</mi>
<mi>U</mi>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Normal</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>&kappa;</mi>
<mi>T</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>cos&lambda;</mi>
<mi>T</mi>
</msub>
<msub>
<mi>cos&eta;</mi>
<mi>T</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Y</mi>
<mi>U</mi>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Normal</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>&kappa;</mi>
<mi>T</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>cos&lambda;</mi>
<mi>T</mi>
</msub>
<msub>
<mi>sin&eta;</mi>
<mi>T</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<mi>U</mi>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Normal</mi>
<mn>2</mn>
</msub>
<mo>(</mo>
<mrow>
<mn>1</mn>
<mo>-</mo>
<msup>
<mi>&epsiv;</mi>
<mn>2</mn>
</msup>
</mrow>
<mo>)</mo>
<mo>+</mo>
<msub>
<mi>&kappa;</mi>
<mi>T</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>sin&lambda;</mi>
<mi>T</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
The local coordinate conversion method is：The satellite defending in the local coordinate of user's origin
Star local coordinate system (xS,yS,zS) be：
<mrow>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mi>S</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mi>S</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>z</mi>
<mi>S</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>sin&eta;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>cos&eta;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>sin&lambda;</mi>
<mi>S</mi>
</msub>
<msub>
<mi>cos&eta;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>sin&lambda;</mi>
<mi>S</mi>
</msub>
<msub>
<mi>cos&eta;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>cos&lambda;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>cos&lambda;</mi>
<mi>S</mi>
</msub>
<msub>
<mi>cos&eta;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>cos&lambda;</mi>
<mi>S</mi>
</msub>
<msub>
<mi>cos&eta;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>sin&lambda;</mi>
<mi>S</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>X</mi>
<mi>S</mi>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>U</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Y</mi>
<mi>S</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>U</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<mi>S</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Z</mi>
<mi>U</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
7. circular orbit low orbit satellite according to claim 6 crosses the remaining visible duration prediction method in top, it is characterised in that institute
Stating the locus of satellite is：25.257000 ° of longitude, -84.298000 ° of latitude, elevation 783.871776 (km), the user
Locus be：28.917655 ° of longitude, -99.345589 ° of latitude, elevation 0.0 (km), by the earth's core body-fixed coordinate system
System's conversion, the satellite body-fixed coordinate system is (XS:6.439025706247130e+05 YS:- 6.448794085263775e+06,
ZS:3.039310992962332e+06), user's body-fixed coordinate system is (XU:- 9.073090474340906e+05, YU:-
5.513096509229902e+06 ZU:3.065915618754285e+06), unit is rice；Turn by the local coordinate
Change, the customer location is the origin of the local coordinate, and position of the satellite in the local coordinate is xS:
1.682569089856995e+06 yS:- 3.479338007695247e+05, zS:5.748030724080029e+05 unit
For rice；Elevation angle theta is calculated in real time by described, obtains θ=18.497377364764110 °.
8. the circular orbit low orbit satellite according to claim 5 or 6 crosses the remaining visible duration prediction method in top, its feature exists
In the satellite that calculates includes with respect to the method for crossing the remaining visible duration in top of user：
(1) calculate satellite and cross top duration, calculate the minimum visible elevation angle theta from the relatively described satellite of the user0At the time of appearance
It is θ (t to the current elevation angleeThe duration t passed through during)=θe, computational methods are as follows：
<mrow>
<msub>
<mi>&gamma;</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<msup>
<mi>cos</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>R</mi>
<mi>E</mi>
</msub>
<msub>
<mi>R</mi>
<mi>S</mi>
</msub>
</mfrac>
<msub>
<mi>cos&theta;</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>&theta;</mi>
<mn>0</mn>
</msub>
</mrow>
<mrow>
<mi>&psi;</mi>
<mrow>
<mo>(</mo>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>&psi;</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<msup>
<mi>cos</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>cos&gamma;</mi>
<mn>0</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>cos&gamma;</mi>
<mi>m</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>&theta;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>t</mi>
<mi>e</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msup>
<mi>tan</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mo>(</mo>
<msub>
<mi>&omega;</mi>
<mi>E</mi>
</msub>
<mi>cos</mi>
<mi>i</mi>
<mo>-</mo>
<msub>
<mi>&omega;</mi>
<mi>S</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>t</mi>
<mi>e</mi>
</msub>
<mo>+</mo>
<msub>
<mi>&psi;</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
<mo>&times;</mo>
<msub>
<mi>cos&gamma;</mi>
<mi>m</mi>
</msub>
<mo>-</mo>
<mfrac>
<msub>
<mi>R</mi>
<mi>E</mi>
</msub>
<msub>
<mi>R</mi>
<mi>S</mi>
</msub>
</mfrac>
</mrow>
<mrow>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mo>(</mo>
<mo>(</mo>
<msub>
<mi>&omega;</mi>
<mi>E</mi>
</msub>
<mi>cos</mi>
<mi>i</mi>
<mo>-</mo>
<msub>
<mi>&omega;</mi>
<mi>S</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>t</mi>
<mi>e</mi>
</msub>
<mo>+</mo>
<msub>
<mi>&psi;</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
<mo>&times;</mo>
<msub>
<mi>cos&gamma;</mi>
<mi>m</mi>
</msub>
<mo>)</mo>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
Wherein, REAnd RSThe respectively orbit radius of the radius of the earth and the satellite, ωEAnd ωSRespectively the earth and described defend
Angular speed of the star under geocentric inertial coordinate system, γ0The elevation angle for the relatively described satellite of the user is θ0Under Shi Suoshu Satellites
T is calculated to the angular distance of the user in pointeThere are two solution valuesWith
(2) calculate satellite and cross the remaining visible duration t in topr, computational methods are as follows：
ω=(ωS-ωEcosi)/2
9. circular orbit low orbit satellite according to claim 8 crosses the remaining visible duration prediction method in top, it is characterised in that institute
State mark angle γm=0.229891909587292 (rad), θ=18.497377364764110, RE=6378.137km, ωE=
0.00007292115, κS=780km, i=86.4 °, θ0=8.2 °, μ=398601.58 (km3/s2),RS=RE+κS, it is calculated：
γ0=0.347752358714960, ψ0=0.264117321639204,
tc=5.089429154649187e+02,
With
If the satellite is away from the user, the remaining Covering time：
<mrow>
<msub>
<mi>t</mi>
<mi>r</mi>
</msub>
<mo>=</mo>
<msub>
<mi>t</mi>
<mi>c</mi>
</msub>
<mo>-</mo>
<msubsup>
<mi>t</mi>
<mi>e</mi>
<mn>1</mn>
</msubsup>
<mo>=</mo>
<mn>1.800178832659187</mn>
<mi>e</mi>
<mo>+</mo>
<mn>02</mn>
<mo>;</mo>
</mrow>
If the satellite is close to the user, the remaining Covering time：
<mrow>
<msub>
<mi>t</mi>
<mi>r</mi>
</msub>
<mo>=</mo>
<msub>
<mi>t</mi>
<mi>c</mi>
</msub>
<mo>-</mo>
<msubsup>
<mi>t</mi>
<mi>e</mi>
<mn>2</mn>
</msubsup>
<mo>=</mo>
<mn>3.289250321989186</mn>
<mi>e</mi>
<mo>+</mo>
<mn>02.</mn>
</mrow>
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| CN109495160B (en) * | 2018-12-04 | 2021-04-02 | 航天科工空间工程发展有限公司 | Low-earth-orbit communication satellite constellation and gateway station communication planning method |
| CN110519695B (en) * | 2019-05-31 | 2020-12-11 | 中国人民解放军国防科技大学 | Database-assisted satellite system and ground cellular network spectrum sharing method |
| CN110907954B (en) * | 2019-10-22 | 2022-07-15 | 深圳航天东方红海特卫星有限公司 | Calibration data broadcasting device |
| CN111294962B (en) * | 2020-02-26 | 2022-12-20 | 展讯通信（上海）有限公司 | Data transmission method and device, storage medium and terminal |
| CN111866119B (en) * | 2020-07-16 | 2022-06-14 | 湖南斯北图科技有限公司 | Energy-saving method for data acquisition terminal of Internet of things based on satellite orbit prediction algorithm |
| CN113687392B (en) * | 2021-08-23 | 2024-04-12 | 深圳乐心信息技术有限公司 | Navigation method based on GNSS signal discontinuous tracking |
| CN116073878A (en) * | 2021-10-29 | 2023-05-05 | 华为技术有限公司 | Satellite communication method and satellite communication device |
| CN114828134B (en) * | 2022-04-25 | 2023-03-24 | 广州爱浦路网络技术有限公司 | Communication satellite switching method, computer device and storage medium |
| CN115032671A (en) * | 2022-08-11 | 2022-09-09 | 成都国星宇航科技股份有限公司 | Low-earth-orbit satellite tracking and forecasting time period calculation method and device |
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| CN117421518B (en) * | 2023-12-18 | 2024-03-22 | 南京融星智联信息技术有限公司 | Method and system for calculating ground coverage time window of low-orbit satellite |
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