CN105093244A - GNSS real time orbital determination system and orbital determination method - Google Patents
GNSS real time orbital determination system and orbital determination method Download PDFInfo
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- 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
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Abstract
The invention relates to a Global Navigation Satellite System (GNSS) real time orbital determination system and an orbital determination method. The system is composed of a Digital Signal Processor (DSP) module, an Error Detection And Correction (EDAC) circuit module, a Static Random Access Memory (SRAM) module and a FLASH data memory module. The system can run stably and reliably in a long term under the middle-low orbit satellite complex space application environment. The method improves the space environment adaptation capability of the whole orbital determination system by constructing an anti-space single event system based on combination of a hardware EDAC circuit, real time SRAM monitoring and SRAM traverse. Simultaneously the SRAM is employed to store and back up an operation state and data of orbital determination software in real time. The real time orbital determination system state and data are recovered after the system is reset. The GNSS orbital determination system is ensured to seamlessly enter an orbital determination filtering stable state after the filtering is firstly stable no matter when the system is passively reset because the single event upset is not disposed in time, the system is initiatively reset due to the multiple bit upset (MBU), or the system is re-started due to other faults.
Description
Technical field
The present invention relates to a kind of GNSS (GPS (Global Position System)) orbit determination in real time system, be particularly useful under medium and low earth orbit satellites complex space applied environment, the GNSS tracking system of piggyback satellite navigation neceiver.
Background technology
From gps system (global position system) commencement of commercial operation, since particularly SA policy in 2000 is cancelled, with GPS be that having of representative is global, high precision, observation data amount are many and the spaceborne GNSS orbit determination in real time technology of the feature such as low cost obtains and develops rapidly, one of gordian technique means becoming Satellite TT gradually.
Run based in processor in spaceborne GNSS receiver of the orbit determination in real time system of GNSS or on-board processing device, its computing power is limited, cannot compare with the data processing equipment on ground; And orbit determination in real time system needs to maintain a long-term stability when not having manual intervention operation.Existing spaceborne GNSS orbit determination in real time mainly comprises following three kinds of methods: geometry orbit determination in real time, the dynamics filtering (loose filter method) based on geometry orbit determination in real time result, the filter method (tight filter method) based on pseudorange observation data.Wherein, tight filter method still normally can work owing to having when navigation star number is less than 4, rationally according to advantages such as the stray parameter that observational error arranges observation noise covariance matrix, can adjust wave filter are in real time arranged, can become the main method of current spaceborne real-time GNSS orbit determination algorithm.But, tight filter method needs to consider receiver clock-offsets model, the dimension of estimate vector is larger, operand is larger, the stability needing wave filter higher and mathematical model is more more complicated than loose filter method, the time often needing an orbital period more than to several orbital period not wait can stationary filtering, and the operational reliability for system requires higher.
Space environment is different from ground, the many electromagnetic waves wherein also existed and high energy particle, and they can produce various radiation effect to the electron device run on wherein.If satellite borne electronic system is without any Anti-Radiation Countermeasures, will the impact being subject to electromagnetic radiation and high energy particle be easy to, thus have influence on performance and the parameter of the inner microelectronic component of electronic system, cause exception or the fault of satellite operation.Under radiation environment, the citation form of ray and matter interaction is displacement and ionization.After microelectronic component is subject to radiation, various radiation effect will be produced, from disturbance of data to permanent damage, from parameter drift to complete device failure.In space, radiation effect mainly comprises total dose effect, single-particle inversion, single event latch-up, single event function interrupt, single-particle temporal effect, single event burnout etc., and wherein, impact the most common on SRAM memory is total dose effect and single particle effect the most widely.
In numerous single particle effects, what have the greatest impact to circuit is single event latch-up effect and Single event upset effecf, wherein again with Single event upset effecf having the greatest impact to spaceborne RAM.Single-particle inversion refers to the infologic upset of storer, produces transient fault.For spaceborne RAM storer, single-particle inversion can cause RAM memory data bit reversal, cause the run-time error of whole system, cause program " run and fly " or " deadlock ", cause the upset of key variables, cause the disorder of function logic, such as drop by the wayside a series of fault such as loop program, mistake executive condition statement.
At present, for the process of spaceborne embedded system RAM storer single event upset, hardware protection circuit mode is mainly taked: between processor and RAM storer, adopt special error-detecting and reparation (EDAC) circuit to protect.But, due to the existence of EDAC circuit, limit the speed of processor access external memory storage, cause the low of the operational efficiency of whole system, particularly in the GNSS orbit determination in real time system needing calculated amount huge, the access efficiency for external memory storage requires higher.
Summary of the invention
The present invention in order to solve at least one problem above-mentioned and/or deficiency, and provides following at least one advantage, provides a kind of spaceborne GNSS orbit determination in real time system and orbit determination method accordingly, and it can steady in a long-termly under middle low orbit environment run.
On the one hand, a kind of GNSS orbit determination in real time system is provided, comprise: dsp processor module, error correction and detection circuit EDAC module, SRAM memory module and FLASH data memory module, wherein, described SRAM memory module comprises SRAM data memory module and SRAM check code memory module, SRAM data memory module is used for external SRAM data and stores, and SRAM check code memory module is for storing the checking data of error correction and detection circuit EDAC module;
Described dsp processor module is for receiving outside the GNSS raw measurement data, almanac data and the almanac data that input continuously, run GNSS orbit determination software, realize orbit determination and resolve function, for on-board equipment provides high-precision orbital information, all free spaces of traversal SRAM data memory module, the SRAM single-particle inversion monitoring look-at-me of response error correction and detection circuit EDAC module, segment data in monitoring SRAM data memory module and constant data segment data, monitoring is treatment S RAM single-particle inversion state also.
On the other hand, provide a kind of GNSS orbit determination in real time method, can realize single-particle inversion monitoring function, it can monitor the single-particle inversion of SRAM data memory module; This function is realized by hardware error correction and detection circuit EDAC module, SRAM monitoring module and SRAM spider module; Wherein, SRAM monitoring module and the design of SRAM spider module are in orbit determination software, and orbit determination software is stored in FLASH memory module.
Described SRAM monitoring module is by periodic scheduling, the data of each detection certain length, mainly the code segment do not changed in program, initial value data section and constant section are monitored, compare with corresponding data in SRAM data memory module after three backup code three in FLASH data memory module are got two by dsp processor module backstage idle period, if find inconsistent, carry out write back operations.
Described SRAM spider module is at orbit determination software idle moment, the whole SRAM data storer of searching loop, according to surplus working time of software, periodic scheduling, read the storage space of certain length, so that before the normal read and write access of software, hardware error correction and detection circuit EDAC module software can detect the SRAM data upset occurred in time at every turn, interrupt orbit determination software to process, avoid single event upset to cause orbit determination running software fault.
Preferably, orbit determination method of the present invention can also to be backed up in realtime storage to orbit determination software operation state and calculation result, orbit determination in real time system state and data are recovered after system reset starts, guarantee no matter fail to process passive reset, many bit reversals positive return in time because of single-particle inversion, or because other failure systems are restarted, GNSS tracking system seamlessly after stationary filtering first can enter orbit determination filtering steady state (SS), realizes restarting follow-up continuation of insurance and keeps steady and determine the warm start function of filter state.
Preferably, in orbit determination method of the present invention, the pouring functions in service routine when finding that software fault needs to safeguard in-orbit, on orbit determination software program after note, Backup Data effective status is removed before initiating switchup, writing " power on flag register " content is that non-dog stings the mark that resets, can normal operation after ensureing program restructuring.
This system utilizes EDAC circuit, SRAM surveillance and control measure and SRAM searching loop to access, real-time detection the single event upset occurred in treatment S RAM, ensure that the substantially immunity of whole system for single-bit single event upset, can partly process many bits single event upset; Adopt the design of real-time storage warm start, guaranteeing to occur single bit upset fails after in time process, many bits single-particle inversion or software fault are restarted, the quick seamless recovery of tracking system, also improve the reply processing power of orbit determination in real time system for other faults, guarantee that the long-term stability of orbit determination in real time system is run.
Invention increases the operational reliability of GNSS navigation neceiver based on the precise orbit determination system of GNSS.Traveling through based on hardware error correction and detection circuit, SRAM monitoring in real time, SRAM the anti-space single-particle system combined by building, improving whole tracking system space environment adaptive faculty.This system utilizes EDAC circuit, SRAM surveillance and control measure and SRAM searching loop to access, real-time detection the single event upset occurred in treatment S RAM, ensure that the substantially immunity of whole system for single-bit single event upset, can partly process many bits single event upset; Adopt the design of real-time storage warm start, SRAM real-time storage is utilized to back up orbit determination software work state and data, orbit determination in real time system state and data are recovered after system reset starts, guaranteeing to occur single bit upset fails after in time process, many bits single-particle inversion or software fault are restarted, the quick seamless recovery of tracking system, also improve the reply processing power of orbit determination in real time system for other faults, guarantee that the long-term stability of orbit determination in real time system is run.
Accompanying drawing explanation
Fig. 1 is GNSS orbit determination in real time system construction drawing;
Fig. 2 is EDAC check errors interrupt service routine treatment scheme;
Fig. 3 is SRAM monitoring module treatment scheme;
Fig. 4 is orbit determination running software process flow diagram;
Fig. 5 is Backup Data loading processing flow process;
Fig. 6 is BOOTLOAD processing flow chart.
Embodiment
Hereinafter, more fully embodiments of the invention are described, shown in the drawings of embodiments of the invention with reference to accompanying drawing.But embodiments of the invention can be implemented in many different forms, and should not be limited to the embodiment listed at this.On the contrary, provide these exemplary embodiments, make the disclosure be thoroughly, and scope of the present invention is fully conveyed to those skilled in the art, in the accompanying drawings, for clarity, the size in layer and region and relative size can be exaggerated.To omit the detailed description of known function and structure to avoid the subject matter of fuzzy embodiment.Label identical in accompanying drawing is used for representing identical element.
Unless otherwise defined, otherwise all terms as used herein (comprising technical term and scientific terminology) have the meaning equivalent in meaning usually understood with those skilled in the art.Will be further understood that, unless clearly defined here, otherwise term (term as defined in general dictionary) should be interpreted as having the meaning consistent with the meaning in the context of relevant technologies, their meaning should do not explained with Utopian or too formal meaning.
As follows, composition graphs 1 pair GNSS orbit determination in real time system of the present invention is described.Fig. 1 is GNSS orbit determination in real time system construction drawing.
Dsp processor, EDAC error correction and detection circuit, SRAM memory and FLASH memory is mainly comprised with reference to figure 1, GNSS orbit determination in real time system.Dsp processor is the core of GNSS orbit determination in real time system, its major function is receive outside the GNSS raw measurement data, almanac data and the almanac data that input continuously, run GNSS orbit determination software, realize orbit determination and resolve function, through long-time computing for on-board equipment provides high-precision orbital information, the all free spaces of traversal SRAM, response EDAC circuit SRAM single-particle inversion monitoring look-at-me, segment data in monitoring SRAM and constant data segment data, monitoring is treatment S RAM single-particle inversion state also.EDAC error correction and detection circuit is between DSP and SRAM, corrects the data be stored in data SRAM for error detection, and error-detecting is corrected module and taked the design of entangling 1 inspection 2 function.SRAM memory includes data-carrier store SRAM and check code storer SRAM, data-carrier store SRAM are used for the storage of external SRAM data, and check code storer SRAM is for storing EDAC circuit checks data.For storing orbit determination software run time version in FLASH memory, three standby redundancy modes are adopted to improve the reliability of program storage.Meanwhile, also on the increment storing orbit determination software, note safeguards code.
For spaceborne RAM storer, single-particle inversion can cause RAM memory data bit reversal, cause the run-time error of whole system, cause " race flies " or " deadlock " of program, cause the upset of key variables, cause the disorder of function logic, such as drop by the wayside a series of fault such as loop program, mistake executive condition statement.The present invention is directed to single-particle inversion problem, devise single-particle inversion supervisory system, it is made up of jointly EDAC functional module, SRAM monitoring module and SRAM spider module.Below illustrate and how to carry out single-particle inversion monitoring, the EDAC check errors interrupt service routine treatment scheme of first-selected reference diagram 2.
Be in during EDAC functional module between DSP and SRAM, EDAC module produces check bit according to data, and data bit and check bit is written in check code storer SRAM within a write operation instruction cycle.When DSP read operation, SRAM data line is directly connected with DSP data line, DSP directly reads data in data-carrier store SRAM, EDAC module produces check results according to data bit and check bit, but the data that read DSP of check results or program do not process; When producing EDAC verification mistake interruption, DSP program enters interrupt handling routine.Interrupt handling routine read error mark misjudgment type, and read error counting, if type of error is single bit mistake, then read the address and correct data of making a mistake, correct the data in the address of making a mistake; When type of error is more than 2bit mistake, DSP carries out reloading of program, reinitializes system cloud gray model.
After EDAC module detects SRAM data upset, produce EDAC and verify error interrupt signal, as the interrupt source of DSP external interrupt, carry out the interrupt processing of EDAC check errors for orbit determination software; Meanwhile, by interface between software and hardware, provide the information such as error identification, single bit error count, many bit error count, the address of making a mistake and correct data, for dsp software process.Meanwhile, FPGA software also needs the address providing the marker register that powers on, Backup Data buffer area, for the storage and the value-added tax function that realize Backup Data.The interface assignment table that EDAC functional module provides is see table 1.
The EDAC check errors process of orbit determination software, needs to distinguish single bit and many bit mistake and processes.In EDAC check errors interrupt service routine, if single bit mistake, directly correct data is written back in SRAM; If two bit mistake, whether for current operation is software after upper note program starts, directly loads three stand-by programs or completes the heavy duty of three stand-by programs and upper note program, restart running software.
Table 1EDAC functional interface allocation table
SRAM monitoring module and the design of SRAM spider module are in orbit determination software.SRAM monitoring module is by periodic scheduling, the data of each detection certain length, mainly the code segment do not changed in program (.txt), initial value data section (.bss) and constant section (.const) are monitored, compare with corresponding data in SRAM after three backup code three in FLASH are got two by DSP backstage idle period, if find inconsistent, carry out write back operations.The operational scheme of SRAM monitoring module is see Fig. 3.
SRAM spider module is at software idle moment, the whole external SRAM of searching loop, according to surplus working time of software, periodic scheduling, read the storage space of certain length, so that before the normal read and write access of software, EDAC module software can detect the SRAM data upset occurred in time at every turn, interrupt orbit determination software to process, avoid single event upset to cause orbit determination running software fault.
Orbit determination software is input with spaceborne GNSS observation data (pseudorange, carrier wave, Doppler etc.), almanac data and almanac data, by the Kalman filter of a belt track kinetic model, satellite health, kinetic parameters, observation model parameter etc. are carried out to the process of optimal estimation, complete spaceborne orbit determination in real time and resolve function.Autonomous orbit determination filter converges at least needs an orbital period in theory, an orbital period could accumulate complete Star Simulator data, determine initial orbit accurately, wave filter can reach conditional stability state, now can guarantee to export highly-precise filtering data; Could determine satellite orbit variation characteristic (speed, acceleration etc.) after accumulating 1 ~ 2 orbital period data again, wave filter just can reach stationary filtering truly.
Can continue to keep stationary filtering state after restarting, backup data store content comprises orbit determination software operation state and calculation result, and particular content comprises:
1) orbit determination exports data: time, position, speed, J2000 orbital tracking, filter state information;
2) orbit determination computation process data: the Ghandler motion correction that the additional data in the distinctive intermediate variable of orbital tracking computing, earth gravitational field disturbing function in distinctive intermediate variable, mean of date equatorial inertial coordinates system, Julian date and zero moment are corresponding and time correct UTC time, nutating constant coefficient etc.;
3) the nautical star information such as nautical star ephemeris, almanac data;
4) information such as Ionospheric Parameters information;
The cycle of operation of orbit determination software is 1 second, and the backup data store cycle is also set as 1 second, and storage operation utilizes software idle period to carry out.The content of Backup Data designs according to algorithm design is actual, and Backup Data frame is preserved and adopted following form:
Table 2 Backup Data preserves frame format
| Byte sequence number | Definition | Remarks |
| 0～3 | Frame head | FE6BF9A8H |
| 4～7 | Backup Data length | M |
| 8～M+7 | Backup Data content | Length is M |
| M+8～M+11 | Check bit | 4 ~ M+7 byte is by 4 byte accumulation calculating |
Backup Data adopts " ping-pang " structure double-buffer area to store, double-buffer area is distributed in the ending of external SRAM, address Addr1, Addr2 of two buffer areas determine in software according to the length of Backup Data, Addr1 is less than Addr2, Addr1 writes Backup Data 1 buffer area initial address register in FPGA, and Addr2 writes Backup Data 2 buffer area initial address register in FPGA.The mission flow diagram of data storage operations is see Fig. 4.
Backup Data adopts double-buffer area to store, and the data content of two buffer areas only interval 1 second, as long as content is correctly effective, adopts the content recovery application state of which buffer area to answer indifference.The software initialization stage, when loading Backup Data, preferentially loads the content recovery software operation state of Backup Data 1 buffer area; If the error in data of Backup Data 1 buffer area (frame head mistake or checksum error), then load the date restoring application state of Backup Data 2 buffer area; If two equal mistakes of buffer area data, abandon recovering state, directly run from original state.After Backup Data reloads, need, by the backup data store district of Double buffer traversal write fixed number, to eliminate the Data flipping problem that may exist.Backup Data load operation treatment scheme as shown in Figure 5.
In order to ensure that program loads rear software and normally runs, possess the tracking system of EDAC function before loading three stand-by programs in FLASH, BOOTLOAD program needs traversal external SRAM storage space, write immobilized substance, initialization EDAC check bit.But, after adding backup data store function, the content of Backup Data buffer area can not cover, and backup data store district is arranged on the ending of SRAM, and the content of FPGA Backup Data buffer area initial address register writes the address upper limit of SRAM as BOOTLOAD program.BOOTLOAD treatment scheme as shown in Figure 6.
In program, pouring functions uses when finding that software fault needs to safeguard in-orbit, on orbit determination software program after note, before initiating switchup (when receiving " program is noted in startup " instruction, present instruction state is " in program, note terminates "), Backup Data effective status should be removed, writing " power on flag register " content is that non-dog stings the mark that resets, can normal operation after ensureing program restructuring.
After upper note program starts, if there is two bit Data flipping, when reloading software, needed the restructuring of the upper note data in three stand-by programs in program FLASH and data FLASH to load.In the orbit determination software initialization stage, read Backup Data and recover application state, can't distinguish and whether start upper note program, as long as Backup Data is correctly effective, warm start function can realize.But, for under upper note state due to running software time-out continuous 1.6 seconds clear dogs, the situation of the soft ware autonomous reset of orbit determination, need in the orbit determination software initialization stage, the restructuring completing three stand-by programs in program FLASH and the upper note data in data FLASH in advance loads, then reads Backup Data recovery application state.
The EDAC system that the present invention adopts, do not adopt the design producing single bit mistake in correct data bit, corrigendum SRAM during read operation in real time according to data bit and check bit, but produce EDAC process interruption, the operation of correct data write-back is performed by software, decrease the consuming time of EDAC system, add SRAM accessing time sequence surplus, be conducive to the operating rate improving dsp system, and comprehensively take the design that real-time SRAM monitors, SRAM traversal is auxiliary mutually, substantially immune to single event upset.Also improve the speed of processor access External memory equipment simultaneously, provide more abundant external memory access time sequence allowance.
The orbit determination software backup data that the present invention adopts store the design with warm start, improve the robustness in orbit of whole tracking system, even if occur because many bit single-particle inversion or software fault cause software reset, by recovering the orbit determination running software data before resetting and state, ensure that orbit determination software can enter stationary filtering state immediately after software startup, avoid the high precision orbit determination data needing the multiple orbital period of continuous filtering more just can provide continual and steady.
The EDAC that the present invention adopts and warm start design, taken into account the process of orbit determination software maintenance state in-orbit, no matter stung reset from master reset or passive dog, all can realize the warm start recovery of the orbit determination software under maintenance state in-orbit.
Although illustrate and describe the present invention with reference to specific embodiment of the present invention, but those skilled in the art will appreciate that when not departing from the spirit and scope of the present invention be defined by the claims, the various changes of form and details aspect can be made wherein.
Claims (8)
1. a GNSS orbit determination in real time system, is characterized in that comprising:
Dsp processor module, error correction and detection circuit EDAC module, SRAM memory module and FLASH data memory module, described SRAM memory module comprises SRAM data memory module and SRAM check code memory module, SRAM data memory module is used for external SRAM data and stores, and SRAM check code memory module is for storing the checking data of error correction and detection circuit EDAC module;
Described dsp processor module is for receiving outside the GNSS raw measurement data, almanac data and the almanac data that input continuously, run GNSS orbit determination software, realize orbit determination and resolve function, for on-board equipment provides high-precision orbital information, all free spaces of traversal SRAM data memory module, the SRAM single-particle inversion monitoring look-at-me of response error correction and detection circuit EDAC module, segment data in monitoring SRAM data memory module and constant data segment data, monitoring is treatment S RAM single-particle inversion state also.
2. a GNSS orbit determination in real time method, is characterized in that, can realize single-particle inversion monitoring function, and it can monitor the single-particle inversion of SRAM data memory module; This function is realized by hardware error correction and detection circuit EDAC module, SRAM monitoring module and SRAM spider module; Wherein, SRAM monitoring module and the design of SRAM spider module are in orbit determination software, and orbit determination software is stored in FLASH memory module.
3. GNSS orbit determination in real time method as claimed in claim 2, it is characterized in that, described SRAM monitoring module is by periodic scheduling, the data of each detection certain length, mainly the code segment do not changed in program, initial value data section and constant section are monitored, compare with corresponding data in SRAM data memory module after three backup code three in FLASH data memory module are got two by dsp processor module backstage idle period, if find inconsistent, carry out write back operations.
4. GNSS orbit determination in real time method as claimed in claim 2 or claim 3, it is characterized in that, described SRAM spider module is at orbit determination software idle moment, the whole SRAM data storer of searching loop, according to surplus working time of software, periodic scheduling, read the storage space of certain length at every turn, so that before the normal read and write access of software, hardware error correction and detection circuit EDAC module software can detect the SRAM data upset occurred in time, interrupt orbit determination software to process, avoid single event upset to cause orbit determination running software fault.
5. GNSS orbit determination in real time system as claimed in claim 1 or the GNSS orbit determination in real time method as described in one of claim 2-4, it is characterized in that, described FLASH memory module stores orbit determination software run time version, the reliability adopting three standby redundancy modes to improve program to store, on the increment simultaneously also storing orbit determination software, note safeguards code.
6. GNSS orbit determination in real time system as claimed in claim 1 or the GNSS orbit determination in real time method as described in one of claim 2-4, it is characterized in that, described hardware error correction and detection circuit EDAC module is between dsp processor module and SRAM memory module, correct the data be stored in SRAM memory module for error detection, error-detecting correction module has entangles 1 inspection 2 function.
7. the GNSS orbit determination in real time method as described in one of claim 2-6, is characterized in that, can also to back up in realtime storage to orbit determination software operation state and calculation result, realizes restarting follow-up continuation of insurance and keeps steady and determine the warm start function of filter state.
8. the GNSS orbit determination in real time method as described in one of claim 2-6, is characterized in that, in this orbit determination method, and the pouring functions in service routine when finding that software fault needs to safeguard in-orbit.
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| CN106908811A (en) * | 2017-02-24 | 2017-06-30 | 北京空间飞行器总体设计部 | A kind of system-level single-particle monitoring of LEO-based GPS receiver and means of defence |
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| CN108696945A (en) * | 2018-05-11 | 2018-10-23 | 西安空间无线电技术研究所 | A kind of accidental access method towards LEO satellite communication systems |
| CN108696945B (en) * | 2018-05-11 | 2020-08-14 | 西安空间无线电技术研究所 | Random access method for low-earth-orbit satellite communication system |
| CN109870674A (en) * | 2019-02-14 | 2019-06-11 | 华北电力科学研究院有限责任公司 | The method and apparatus of Software Radar signals security protection |
| CN111352133A (en) * | 2020-02-18 | 2020-06-30 | 北京空间飞行器总体设计部 | High-precision ephemeris acquisition method based on time-ambiguity decoupling |
| CN111352133B (en) * | 2020-02-18 | 2022-04-08 | 北京空间飞行器总体设计部 | High-precision ephemeris acquisition method based on time-ambiguity decoupling |
| CN115934143A (en) * | 2023-01-05 | 2023-04-07 | 天津云遥宇航科技有限公司 | On-orbit increment upgrading method for CPU software of satellite-borne GNSS masker receiver |
| CN115934143B (en) * | 2023-01-05 | 2023-05-16 | 天津云遥宇航科技有限公司 | On-orbit incremental upgrading method for CPU software of satellite-borne GNSS occultation receiver |
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