CN105182374B - A kind of method and system broadcast based on Big Dipper short message Precise Orbit and clock correction - Google Patents
A kind of method and system broadcast based on Big Dipper short message Precise Orbit and clock correction Download PDFInfo
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- CN105182374B CN105182374B CN201510539758.7A CN201510539758A CN105182374B CN 105182374 B CN105182374 B CN 105182374B CN 201510539758 A CN201510539758 A CN 201510539758A CN 105182374 B CN105182374 B CN 105182374B
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
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Abstract
The present invention relates to a kind of method that Precise Orbit based on Big Dipper short message and clock correction are broadcast, comprise the following steps, be the coordinate corrective value on XYZ directions admittedly by the satellite position of the satellite position of precise ephemeris and broadcast ephemeris with making difference processing generation agreement；The satellite clock correction of precise ephemeris and the satellite clock correction of broadcast ephemeris are made into difference processing generation clock error correction number；By the ground of generation be admittedly coordinate corrective value on XYZ directions respectively the corresponding radial direction for being transformed into satellite, in tangential and normal direction, generation needs the orbit correction information broadcast；The average value of satellite clock correction correction is obtained as average treatment into clock error correction number by raw, and satellite clock correction correction is subtracted to the average value of satellite clock correction correction, obtains the clock error correction information for needing to broadcast；The orbit correction information of generation and the clock error correction information obtained are subjected to data encoding generation first message according to the first predetermined format.The present invention improves navigation and positioning accuracy, substantially improves the deficiency of broadcast ephemeris low precision.
Description
Technical field
Field is broadcast the present invention relates to satellite navigation middle orbit and clock correction, is specifically related to a kind of be based on Big Dipper short message
The method and system that Precise Orbit and clock correction are broadcast.
Background technology
At present, the real-time track of known aeronautical satellite and clock correction are to utilize the Keplerian orbit ginseng obtained in broadcast ephemeris
Number and orbit perturbation correction term are calculated, and broadcast ephemeris can extract use directly from satellite-signal, compared to needing to join
The Ultrarapid ephemeris obtained is netted, broadcast ephemeris is still most popular ephemeris source in real-time and non-precision positioning, but
It is that the satellite orbit that is calculated by broadcast ephemeris and clock correction precision be not high, the quality of satellite ephemeris is that satellite navigation system is determined
The key of position precision and reliability, its error will also directly affect the precision of user's navigator fix.Wide area precision differential technology
User's navigation and positioning accuracy can be effectively improved, but WAAS-Wide Area Augmentation System common at present is mainly poor to GPS satellite system
Point information is broadcast, not the difference information comprising dipper system.
The content of the invention
The technical problems to be solved by the invention, which are to provide, a kind of to be broadcast based on Big Dipper short message Precise Orbit and clock correction
Message, method and system, the problem of to overcome broadcast ephemeris low precision.
The technical scheme that the present invention solves above-mentioned technical problem is as follows:A kind of Precise Orbit and clock based on Big Dipper short message
The method that difference is broadcast, comprises the following steps,
S1, the satellite position of precise ephemeris and the satellite clock correction of precise ephemeris, while root are calculated according to precise ephemeris
The satellite position of broadcast ephemeris and the satellite clock correction of broadcast ephemeris are calculated according to broadcast ephemeris；
S2, it is XYZ admittedly with making difference processing generation agreement by the satellite position of the satellite position of precise ephemeris and broadcast ephemeris
Coordinate corrective value on direction, while the satellite clock correction of precise ephemeris and the satellite clock correction of broadcast ephemeris are made into difference processing generation clock
Poor correction；
S3, it is coordinate corrective value on the XYZ directions corresponding radial direction for being transformed into satellite, tangential respectively admittedly by the ground of generation
In normal direction, generation needs the orbit correction information broadcast, while the clock error correction number of generation is obtained into satellite as average treatment
The average value of clock error correction number, and satellite clock correction correction is subtracted to the average value of satellite clock correction correction, obtain needs and broadcast
Clock error correction information；
S4, the orbit correction information that step S3 is generated and the clock error correction information obtained are carried out according to the first predetermined format
Data encoding generates first message；
S5, first message is sent to satellite, and broadcast by the communication mode of passing of satelline Big Dipper short message.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the first predetermined format of the first message includes first message head and first message body, and described first
The synchronous code of message header including 24bits, 2bits message number, 2bits message age and 12bits hour in the second；It is described
The satellite sign number of first message body including 75bits, every satellite 8bits satellite age, every satellite 9bits radial direction
Normal direction correcting information, tangential correcting information, the every satellite of every satellite 9 or 7bits of correcting information, every satellite 6bits
11 or 10bits clock error correction amount and 24bits CRC check code；When satellite is GEO satellite, the tangential correction letter of satellite
Cease for 9bits, the clock error correction amount of satellite is 11bits, when satellite for satellite in addition to GEO satellite when, the tangential of satellite changes
Positive information is 7bits, and the clock error correction amount of satellite is 10bits.
Further, in addition to the second message is broadcast, when needing to broadcast the second message, then first by according to step S3 side
Clock error correction information in the real-time clock error correction information of method generation and the first message broadcast makees difference processing, is needed
The real-time clock correction correcting information broadcast, it would be desirable to which the real-time clock correction correcting information broadcast carries out data volume according to the second predetermined format
Code the second message of generation, the second message is finally sent to satellite, and carried out by the communication mode of passing of satelline Big Dipper short message
Broadcast.
Further, the second predetermined format of second message includes the second message header and the second message body, and described second
The synchronous code of message header including 24bits, 2bits message number, 2bits message age and 12bits hour in the second；It is described
Second message body includes every satellite 5bits clock error correction information and 24bits CRC check code.
Further, in addition to the 3rd message is broadcast, when needing to broadcast three message, then first by according to step S3 side
Method corresponds to the real-time orbit correction information of generation and real-time clock error correction information respectively, and correspond to respectively with broadcast the
Orbit correction information in one message and clock error correction information make difference processing, generation need the real-time track correcting information broadcast and
Real-time clock correction correcting information, the real-time track correcting information and real-time clock correction correcting information for then broadcasting needs are pre- according to the 3rd
The formula that fixes carries out data encoding and generates the 3rd message, and the 3rd message finally is sent into satellite, and by the short report of the passing of satelline Big Dipper
The communication mode of text is broadcast.
Further, the 3rd predetermined format of the 3rd message includes the 3rd message header and the 3rd message body, and the described 3rd
The synchronous code of message header including 24bits, 2bits message number, 2bits message age and 12bits hour in the second；It is described
3rd message body includes every satellite 4bits radial direction correcting information, every satellite 4bits normal direction correcting information, every
The CRC check code of satellite 4bits tangential correcting information, every satellite 5bits clock error correction information and 24bits.
Further, the cycle is broadcast for one from broadcasting to broadcasting for first message next time for first message, same
One was broadcast in the cycle, and the message age of the second message and the 3rd message is identical with age phase of first message, and described first disappears
Breath, the second message and broadcasting for the 3rd message are to broadcast the whole second.
The beneficial effects of the invention are as follows：The side that a kind of Precise Orbit and clock correction based on Big Dipper short message of the present invention is broadcast
Method, it is the transmission rate based on Big Dipper short message 78bytes per minute, can be realized in 3 minutes to GPS and Big Dipper dual system
The precise ephemeris of totally 30 satellites in view is broadcast one and broadcast three times throughout precise clock correction, substantially improves broadcast ephemeris low precision not
Foot, navigation user can obtain precise ephemeris and clock correction product under conditions of without networking and obtain high-precision positioning effect
Fruit.
The method broadcast based on above-mentioned a kind of Precise Orbit and clock correction based on Big Dipper short message, the present invention also provide a kind of
The system that Precise Orbit and clock correction based on Big Dipper short message are broadcast.
The system that a kind of Precise Orbit and clock correction based on Big Dipper short message are broadcast, including it is precise ephemeris computing module, wide
Broadcast ephemeris computation module, coordinate corrective value generation module, clock error correction number generation module, orbit correction information generating module, clock
Poor correcting information generation module, first message generation module, the second message generating module, the 3rd message generating module and satellite hair
Cloth module,
The precise ephemeris computing module is used for the satellite position and precision that precise ephemeris is calculated according to precise ephemeris
The satellite clock correction of ephemeris；
The broadcast ephemeris computing module is used for satellite position and the broadcast that broadcast ephemeris is calculated according to broadcast ephemeris
The satellite clock correction of ephemeris；
The coordinate corrective value generation module is used for according to the satellite position of precise ephemeris and the satellite position of broadcast ephemeris
Admittedly it is the coordinate corrective value on XYZ directions with making difference processing generation agreement；
The clock error correction number generation module is used for according to the satellite clock correction of precise ephemeris and the satellite clock correction of broadcast ephemeris
Make difference processing generation clock error correction number；
The orbit correction information generating module is for being that the coordinate corrective value on XYZ directions is distinguished admittedly according to the ground of generation
In the corresponding radial direction for being transformed into satellite, tangential and normal direction, generation needs the orbit correction information broadcast；
The clock error correction information generating module is used to obtain satellite clock as average treatment according to the clock error correction number of generation
The average value of poor correction, and satellite clock correction correction is subtracted to the average value of satellite clock correction correction, obtaining needs what is broadcast
Clock error correction information；
The first message generation module is used to be pressed according to the orbit correction information of generation and the clock error correction information of acquisition
Data encoding generation first message is carried out according to the first predetermined format；
Second message generating module is used for according to by real-time clock error correction information and the first message broadcast
Clock error correction information make difference processing, obtain needing the real-time clock correction correcting information broadcast, it would be desirable to which the real-time clock correction broadcast changes
Positive information carries out data encoding according to the second predetermined format and generates the second message；
3rd message generating module is used to distinguish real-time orbit correction information and real-time clock error correction information
Orbit correction information and clock error correction information in the first message for corresponding to and having broadcast make difference processing, generate the reality that needs are broadcast
When orbit correction information and real-time clock correction correcting information, it would be desirable to the real-time track correcting information broadcast and real-time clock error correction letter
Breath carries out data encoding according to the 3rd predetermined format and generates the 3rd message；
The satellite release module is used for the first message and/or that generation is broadcast by the communication mode of Big Dipper short message
Two message and/or the 3rd message.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the first predetermined format of the first message includes first message head and first message body, and described first
The synchronous code of message header including 24bits, 2bits message number, 2bits message age and 12bits hour in the second；It is described
The satellite sign number of first message body including 75bits, every satellite 8bits satellite age, every satellite 9bits radial direction
Normal direction correcting information, tangential correcting information, the every satellite of every satellite 9 or 7bits of correcting information, every satellite 6bits
11 or 10bits clock error correction amount and 24bits CRC check code；When satellite is GEO satellite, the tangential correction letter of satellite
Cease for 9bits, the clock error correction amount of satellite is 11bits, when satellite for satellite in addition to GEO satellite when, the tangential of satellite changes
Positive information is 7bits, and the clock error correction amount of satellite is 10bits；
Second predetermined format of second message includes the second message header and the second message body, the second message header bag
Include the second in 24bits synchronous code, 2bits message number, 2bits message age and 12bits hour；Second message
Body includes every satellite 5bits clock error correction information and 24bits CRC check code；
3rd predetermined format of the 3rd message includes the 3rd message header and the 3rd message body, the 3rd message header bag
Include the second in 24bits synchronous code, 2bits message number, 2bits message age and 12bits hour；3rd message
Body includes every satellite 4bits radial direction correcting information, every satellite 4bits normal direction correcting information, every satellite
The CRC check code of 4bits tangential correcting information, every satellite 5bits clock error correction information and 24bits.10. according to power
Profit requires further described in 9, and the synchronous code is used for the start bit for indicating first message, the second message and the 3rd message, institute
The type that message number is used for distinguishing first message, the second message and the 3rd message is stated, the second is current small for indicating in the hour
When in number of seconds, moment epoch of track and clock correction is identified in a manner of the second in hour.
Brief description of the drawings
Fig. 1 is the flow chart for the method that the present invention a kind of Precise Orbit and clock correction based on Big Dipper short message are broadcast；
Fig. 2 is dipper system satellite C06 orbital position error time history plots；
Fig. 3 is GPS system satellite G21 orbital position error time history plots；
Clock correction information time history plot in the first message that Fig. 4 is broadcast by dipper system satellite C06；
Clock correction information time history plot in the first message that Fig. 5 is broadcast by GPS system satellite G21；
Fig. 6 is the structured flowchart for the system that a kind of Precise Orbit and clock correction based on Big Dipper short message are broadcast.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
Present invention firstly provides the message that a kind of Precise Orbit based on Big Dipper short message and clock correction are broadcast.
The message that a kind of Precise Orbit and clock correction based on Big Dipper short message are broadcast, including with track and clock correction information
First message, and second message with clock correction information associated with first message and associated with first message and with track
With the 3rd message of clock correction information, the orbit correction information is according to the satellite position of precise ephemeris and the satellite of broadcast ephemeris
Position is the coordinate corrective value on XYZ directions admittedly and is the seat on XYZ directions admittedly by the ground of generation with making difference processing generation agreement
Mark the correction corresponding radial direction for being transformed into satellite, the orbit correction information generated in tangential and normal direction respectively；The clock correction changes
Positive information is the satellite clock correction of precise ephemeris and the satellite clock correction work difference processing generation clock error correction number of broadcast ephemeris and will be raw
The average value of satellite clock correction correction is obtained as average treatment and satellite clock correction correction is subtracted into satellite clock into clock error correction number
The clock error correction information that the average value of poor correction obtains.The first message is that orbit correction information and clock error correction information are pressed
The message of data encoding generation is carried out according to the first predetermined format；Second message is real-time clock error correction information with having broadcast
First message in clock error correction information make difference processing and obtain needing the clock error correction information broadcast and the reality broadcast will be needed
Clock difference correcting information carries out the message of data encoding generation according to the second predetermined format；3rd message is real-time track
Orbit correction information and clock correction in the first message that correcting information and real-time clock error correction information are corresponded to and broadcast respectively
Correcting information makees difference processing and generates the real-time track correcting information for needing to broadcast and real-time clock correction correcting information and will need to broadcast
Real-time track correcting information and real-time clock correction correcting information according to the 3rd predetermined format carry out data encoding generation message；Institute
It is the communication based on Big Dipper short message to state broadcasting for first message, the second message and the 3rd message；
First predetermined format of the first message includes first message head and first message body, and the of second message
Two predetermined formats include the second message header and the second message body, and the 3rd predetermined format of the 3rd message includes the 3rd message header
With the 3rd message body,
What the form of the first message head, the second message header and the 3rd message header was just as, its form such as institute of table 1
Show, the first message head, the second message header and the 3rd message header including 24bits synchronous code, 2bits message number,
Second in 2bits message age and 12bits hour.
Table 1
Wherein synchronous code is used for indicating the start bit of every message, 3 bytes with hexadecimal representation be respectively 0xAA,
0x53、0x44；Message number is expressed as 1,2,3,1 expression first message for distinguishing the different message of three classes, and 2 represent second
Message, 3 represent the 3rd message；Message age is followed successively by 0,1,2 according to the cycle of broadcasting of message, and being represented when message age is 3 should
Message is unavailable, same to broadcast the data age of the second message and the 3rd message in the cycle and be protected with age data phase of first message
Hold consistent；The second indicates the number of seconds in current hour in hour, and the message format is only applicable to the whole second and broadcast.
The first message body of the first message is as shown in table 2, including 75bits satellite sign number, every satellite
8bits satellite age, every satellite 9bits radial direction correcting information, every satellite 6bits normal direction correcting information, every
Satellite 9 or 7bits tangential correcting information (wherein GEO satellite is 9bits, and other satellites are 7bits), every satellite 11 or
10bits clock error correction amount (wherein GEO satellite is 11bits, and other satellites are 10bits) and 24bits CRC check code,
The common 1314bits of first message body；
Table 2
Its Satellite sign number is used for indicating the satellite number broadcast in first message, the 1st bit to the 32nd bit pairs
GPS 1 to No. 32 satellites are answered, the 33rd bit to the 37th bit retains, and the 38th bit to the 72nd bit corresponds to the 1 of the Big Dipper and arrived
No. 35 satellites, 73bit to 75bit retain, and 1 represents to broadcast the correcting information of corresponding satellite, and 0 represents not broadcast；
Second message body of second message includes every satellite 5bits clock error correction information and 24bits CRC
Check code, the common 174bits of the second message body of second message, the form such as table 3 of the second message body of second message
It is shown.
Table 3
3rd message body of the 3rd message includes every satellite 4bits radial direction correcting information, every satellite 4bits
Normal direction correcting information, every satellite 4bits tangential correcting information, every satellite 5bits clock error correction information and
24bits CRC check code, the 3rd common 534bits of message body of the 3rd message, the 3rd message body of the 3rd message
Form it is as shown in table 4.
Table 4
The message broadcast based on above-mentioned a kind of Precise Orbit and clock correction based on Big Dipper short message, the present invention are a kind of based on north
The method that the Precise Orbit of short message and clock correction are broadcast that struggles against is as follows.
As shown in figure 1, the method that a kind of Precise Orbit and clock correction based on Big Dipper short message are broadcast, comprises the following steps,
First, the satellite position of precise ephemeris and the satellite clock correction of precise ephemeris are calculated according to precise ephemeris, simultaneously
The satellite position of broadcast ephemeris and the satellite clock correction of broadcast ephemeris are calculated according to broadcast ephemeris.Precise ephemeris can be according to tracking
The observation data processing for real-time Transmission of standing obtains or downloaded from IGS websites to obtain.
Then, by the satellite position of the satellite position of precise ephemeris and broadcast ephemeris with making difference processing generation agreement solid system
Coordinate corrective value on XYZ directions, while the satellite clock correction of precise ephemeris and the satellite clock correction of broadcast ephemeris are made into difference processing and given birth to
Into clock error correction number.Due to the barycenter that the reference position of precise ephemeris satellite is satellite, and the reference position of broadcast ephemeris satellite
For the antenna phase center of satellite, so the satellite position being calculated by precise ephemeris is required transformation on antenna phase center
Go.
Then, by the ground of generation be admittedly coordinate corrective value on XYZ directions respectively the corresponding radial direction for being transformed into satellite, cut
To with normal direction, generation needs the orbit correction information broadcast, while the clock error correction number of generation is defended as average treatment
The average value of star clock error correction number, and satellite clock correction correction is subtracted to the average value of satellite clock correction correction, obtain needs and broadcast
The clock error correction information of hair.Influence of the error of satellite radially to user is maximum for the user that navigates, because satellite passes
Defeated available bandwidth is limited, in order to effectively utilize transmission bandwidth, the resolution ratio of the message format Satellite radially it is relatively tangential and
It is high in normal direction, therefore coordinate corrective value need to be converted to the radial direction of satellite, broadcast in tangential and normal direction；Used in navigation user
During positioning, the clock correction average value can be absorbed by receiver clock-offsets, and the positioning result of user will not be had an impact.
Again, the orbit correction information of generation and the clock error correction information obtained are fixed in advance according to described above first
Formula carries out data encoding generation first message.Every satellite includes an ephemeris age in first message form, and the value, which is equal to, to be changed
The IODE values of the broadcast ephemeris used during positive information generation, user choose correct broadcast ephemeris according to the value and to satellites
Coordinate and clock correction are recovered.
Finally, first message is sent to satellite, and broadcast by the communication mode of passing of satelline Big Dipper short message.
When needing to broadcast the second message, then first by according to the real-time clock error correction information of above-mentioned method generation with
Clock error correction information in the first message broadcast makees difference processing, obtains needing the real-time clock correction correcting information broadcast, then
The real-time clock correction correcting information for needing to broadcast is subjected to data encoding according to above-mentioned second predetermined format and generates the second message, i.e., must
Clock correction information in second message must be recovered by the clock correction information in first message, finally the second message is sent to and defended
Star, and broadcast by the communication mode of passing of satelline Big Dipper short message., then first will be according to when needing to broadcast three message
Above-mentioned method respectively correspond to generation real-time orbit correction information and real-time clock error correction information, and respectively correspond to
Orbit correction information and clock error correction information in the message broadcast make difference processing, generate real-time track correcting information and real-time clock (RTC)
Poor correcting information, then by real-time track correcting information and real-time clock correction correcting information according to the 3rd predetermined format described above
Carry out data encoding and generate the 3rd message, i.e., must be recovered by the track in first message and clock correction information in the 3rd message
Track and clock correction information, the 3rd message is finally sent to satellite, and entered by the communication mode of passing of satelline Big Dipper short message
Row is broadcast.
The first message, the second message and broadcasting for the 3rd message are to broadcast the whole second.From broadcasting for first message
It is dealt into broadcasting for first message next time and broadcasts the cycle for one, broadcasts the cycle same, the second message and the 3rd message
Message age it is identical with age phase of first message, disappear so that user can correctly identify for recovering the second message and the 3rd
The first message of track and clock correction information in breath.
Because Big Dipper short message available transmission rate is 78bytes per minute, bandwidth is very limited, therefore the present invention is a kind of
How the difficult point for the method that Precise Orbit and clock correction based on Big Dipper short message are broadcast is in limited bandwidth and guarantee
The ephemeris and clock correction of more gps satellites and big-dipper satellite are updated as far as possible under ephemeris and clock correction precision.The present invention one
The method that Precise Orbit and clock correction of the kind based on Big Dipper short message are broadcast is realized based on Big Dipper short message communication principle, according to north
Bucket short message 78bytes per minute bandwidth calculation, originally broadcasting mode can realize in 3 minutes to GPS and Big Dipper dual system
The precise ephemeris of totally 30 satellites is broadcast one time, and precise clock correction is broadcast three times simultaneously.
Broadcast same in the cycle, the clock correction information divided by the second message of the second message that user receives and first message
The difference of second, obtains the rate of change of clock correction information in hour；User is according to number of seconds in hour at current time and the second message
Number of seconds is made poor in hour, and the difference is multiplied by clock correction information of the rate of change along with the second message of clock correction information, can calculate use
The clock correction information at family current time.
Broadcast same in the cycle, the clock correction information for the 3rd message that user receives is made with the clock correction information of the second message
Difference, then divided by the hour of the 3rd message and the second message in the second difference, obtain the rate of change of clock correction information；User is according to current
Number of seconds is made poor in the hour of number of seconds and the 3rd message in the hour at moment, and the rate of change that the difference is multiplied by clock correction information adds the
The clock correction information of three message, the clock correction information at user's current time can be calculated.
Broadcast same in the cycle, the orbit information for the 3rd message that user receives divided by the 3rd message and first message
The difference of second, obtains the rate of change of orbit information in hour；User is according to number of seconds in hour at current time and the 3rd message
Number of seconds is made poor in hour, and the difference is multiplied by orbit information of the rate of change along with the 3rd message of orbit information, can calculate use
The orbit information at family current time.
It is a kind of based on Big Dipper short message according to the present invention according to the precise ephemeris and clock correction product on March 27th, 2015
The method that the method that Precise Orbit and clock correction are broadcast is proposed carries out data and broadcast, and user obtains the precision positions and clock of satellite
Difference.Fig. 2 and Fig. 3 is respectively to be extrapolated arbitrarily after user receives dipper system satellite C06 and GPS system satellite G21 satellite ephemeris
The error of moment satellite position changes over time figure, it can be seen that its error increases with the increase of extrapolation time delay, i.e.,
Time delay is set to reach 5 minutes, its error for extrapolating satellite position also can guarantee that in 2 cms.Fig. 4 and Fig. 5 is respectively the Big Dipper
Clock correction information changes with time situation in the first message that system-satellite C06 and GPS system satellite G21 are broadcast, and goes out in figure
Existing step phenomenon is due to caused by the change of broadcast ephemeris, broadcasts lattice according to clock correction proposed by the present invention as seen from the figure
Formula can be normally broadcast clock correction data in the case where ensureing clock correction precision.
The method broadcast based on above-mentioned a kind of Precise Orbit and clock correction based on Big Dipper short message, the present invention also provide a kind of
The system that Precise Orbit and clock correction based on Big Dipper short message are broadcast.
As shown in fig. 6, the system that a kind of Precise Orbit and clock correction based on Big Dipper short message are broadcast, including precise ephemeris meter
Calculate module, broadcast ephemeris computing module, coordinate corrective value generation module, clock error correction number generation module, the life of orbit correction information
Into module, clock error correction information generating module, first message generation module, the second message generating module, the 3rd message generation mould
Block and satellite release module,
The precise ephemeris computing module is used for the satellite position and precision that precise ephemeris is calculated according to precise ephemeris
The satellite clock correction of ephemeris；
The broadcast ephemeris computing module is used for satellite position and the broadcast that broadcast ephemeris is calculated according to broadcast ephemeris
The satellite clock correction of ephemeris；
The coordinate corrective value generation module is used for according to the satellite position of precise ephemeris and the satellite position of broadcast ephemeris
Admittedly it is the coordinate corrective value on XYZ directions with making difference processing generation agreement；
The clock error correction number generation module is used for according to the satellite clock correction of precise ephemeris and the satellite clock correction of broadcast ephemeris
Make difference processing generation clock error correction number；
The orbit correction information generating module is for being that the coordinate corrective value on XYZ directions is distinguished admittedly according to the ground of generation
In the corresponding radial direction for being transformed into satellite, tangential and normal direction, generation needs the orbit correction information broadcast；
The clock error correction information generating module is used to obtain satellite clock as average treatment according to the clock error correction number of generation
The average value of poor correction, and satellite clock correction correction is subtracted to the average value of satellite clock correction correction, obtaining needs what is broadcast
Clock error correction information；
The first message generation module is used to be pressed according to the orbit correction information of generation and the clock error correction information of acquisition
Data encoding generation first message is carried out according to the first predetermined format；
Second message generating module is used for according to by real-time clock error correction information and the first message broadcast
Clock error correction information make difference processing, obtain needing the real-time clock correction correcting information broadcast, it would be desirable to which the real-time clock correction broadcast changes
Positive information carries out data encoding according to the second predetermined format and generates the second message；
3rd message generating module is used to distinguish real-time orbit correction information and real-time clock error correction information
Orbit correction information and clock error correction information in the first message for corresponding to and having broadcast make difference processing, generate the reality that needs are broadcast
When orbit correction information and real-time clock correction correcting information, it would be desirable to the real-time track correcting information broadcast and real-time clock error correction letter
Breath carries out data encoding according to the 3rd predetermined format and generates the 3rd message；
The satellite release module is used for the first message and/or that generation is broadcast by the communication mode of Big Dipper short message
Two message and/or the 3rd message.
First predetermined format of the first message includes first message head and first message body, the first message head bag
Include the second in 24bits synchronous code, 2bits message number, 2bits message age and 12bits hour；The first message
The satellite sign number of body including 75bits, every satellite 8bits satellite age, every satellite 9bits radial direction correcting information,
Every satellite 6bits normal direction correcting information, the tangential correcting information of every satellite 9 or 7bits, every satellite 11 or 10bits
Clock error correction amount and 24bits CRC check code；When satellite is GEO satellite, the tangential correcting information of satellite is 9bits,
The clock error correction amount of satellite is 11bits, and when satellite is the satellite in addition to GEO satellite, the tangential correcting information of satellite is
7bits, the clock error correction amount of satellite is 10bits；Second predetermined format of second message includes the second message header and second
Message body, second message header include 24bits synchronous code, 2bits message number, 2bits message age and 12bits
Hour in the second；Second message body includes every satellite 5bits clock error correction information and 24bits CRC check code；
3rd predetermined format of the 3rd message includes the 3rd message header and the 3rd message body, and the 3rd message header includes 24bits
Synchronous code, 2bits message number, 2bits message age and 12bits hour in the second；3rd message body includes bag
Include every satellite 4bits radial direction correcting information, every satellite 4bits normal direction correcting information, every satellite 4bits it is tangential
The CRC check code of correcting information, every satellite 5bits clock error correction information and 24bits.
The synchronous code is used for the start bit for indicating first message, the second message and the 3rd message, and the message number is used for
The type of first message, the second message and the 3rd message is distinguished, the second is for indicating the number of seconds in current hour, rail in the hour
Moment epoch of road and clock correction is identified in a manner of the second in hour.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (7)
1. the method that a kind of Precise Orbit and clock correction based on Big Dipper short message are broadcast, it is characterised in that:Comprise the following steps,
S1, the satellite position of precise ephemeris and the satellite clock correction of precise ephemeris are calculated according to precise ephemeris, while according to wide
Broadcast ephemeris computation and obtain the satellite position of broadcast ephemeris and the satellite clock correction of broadcast ephemeris；
S2, it is XYZ directions admittedly with making difference processing generation agreement by the satellite position of the satellite position of precise ephemeris and broadcast ephemeris
On coordinate corrective value, while the satellite clock correction of precise ephemeris and the satellite clock correction of broadcast ephemeris are made into difference processing generation clock correction and changed
Positive number；
S3, it is coordinate corrective value on the XYZ directions corresponding radial direction for being transformed into satellite, tangential and method respectively admittedly by the ground of generation
Upwards, generation needs the orbit correction information broadcast, while the clock error correction number of generation is obtained into satellite clock correction as average treatment
The average value of correction, and satellite clock correction correction is subtracted to the average value of satellite clock correction correction, obtain the clock for needing to broadcast
Poor correcting information；
S4, the orbit correction information that step S3 is generated and the clock error correction information obtained carry out data according to the first predetermined format
Coding generation first message；
S5, first message is sent to satellite, and broadcast by the communication mode of passing of satelline Big Dipper short message；
First predetermined format of the first message includes first message head and first message body, and the first message head includes
24bits synchronous code, 2bits message number, 2bits message age and 12bits hour in the second；The first message body
The satellite age of satellite sign number, every satellite 8bits including 75bits, every satellite 9bits radial direction correcting information, every
Satellite 6bits normal direction correcting information, the tangential correcting information of every satellite 9 or 7bits, every satellite 11 or 10bits
The CRC check code of clock error correction amount and 24bits；When satellite is GEO satellite, the tangential correcting information of satellite is 9bits, is defended
The clock error correction amount of star is 11bits, and when satellite is the satellite in addition to GEO satellite, the tangential correcting information of satellite is
7bits, the clock error correction amount of satellite is 10bits；
Also include broadcasting the second message, when needing to broadcast the second message, then first by the reality of the method generation according to step S3
When clock error correction information and the first message broadcast in clock error correction information make difference processing, obtain needing broadcasting real-time
Clock error correction information, it would be desirable to which the real-time clock correction correcting information broadcast carries out data encoding generation second according to the second predetermined format
Message, the second message is finally sent to satellite, and broadcast by the communication mode of passing of satelline Big Dipper short message；
Also include broadcasting the 3rd message, when needing to broadcast three message, then will be corresponded to respectively according to step S3 method first
The real-time orbit correction information and real-time clock error correction information of generation, and correspond to respectively in the first message with having broadcast
Orbit correction information and clock error correction information make difference processing, and generation needs the real-time track correcting information broadcast and real-time clock correction to change
Positive information, the real-time track correcting information and real-time clock correction correcting information for then broadcasting needs are carried out according to the 3rd predetermined format
Data encoding generates the 3rd message, and the 3rd message finally is sent into satellite, and by the communication party of passing of satelline Big Dipper short message
Formula is broadcast.
2. the method that a kind of Precise Orbit and clock correction based on Big Dipper short message according to claim 1 are broadcast, its feature
It is：Second predetermined format of second message includes the second message header and the second message body, and second message header includes
24bits synchronous code, 2bits message number, 2bits message age and 12bits hour in the second；Second message body
The CRC check code of clock error correction information and 24bits including every satellite 5bits.
3. the method that a kind of Precise Orbit and clock correction based on Big Dipper short message according to claim 1 or 2 are broadcast, it is special
Sign is：3rd predetermined format of the 3rd message includes the 3rd message header and the 3rd message body, the 3rd message header bag
Include the second in 24bits synchronous code, 2bits message number, 2bits message age and 12bits hour；3rd message
Body includes every satellite 4bits radial direction correcting information, every satellite 4bits normal direction correcting information, every satellite
The CRC check code of 4bits tangential correcting information, every satellite 5bits clock error correction information and 24bits.
4. the method that a kind of Precise Orbit and clock correction based on Big Dipper short message according to claim 3 are broadcast, its feature
It is：The cycle is broadcast for one from broadcasting to broadcasting for first message next time for first message, week is broadcast same
Interim, the message age of the second message and the 3rd message is identical with age phase of first message, the first message, the second message
It is to broadcast the whole second with broadcasting for the 3rd message.
5. the system that a kind of Precise Orbit and clock correction based on Big Dipper short message are broadcast, it is characterised in that：Including precise ephemeris meter
Calculate module, broadcast ephemeris computing module, coordinate corrective value generation module, clock error correction number generation module, the life of orbit correction information
Into module, clock error correction information generating module, first message generation module, the second message generating module, the 3rd message generation mould
Block and satellite release module,
The precise ephemeris computing module is used for the satellite position and precise ephemeris that precise ephemeris is calculated according to precise ephemeris
Satellite clock correction；
The broadcast ephemeris computing module is used for the satellite position and broadcast ephemeris that broadcast ephemeris is calculated according to broadcast ephemeris
Satellite clock correction；
The coordinate corrective value generation module is used for poor according to the satellite position of precise ephemeris and the satellite position work of broadcast ephemeris
It is processing generation agreement the coordinate corrective value on XYZ directions admittedly；
The clock error correction number generation module is used for poor according to the satellite clock correction of precise ephemeris and the satellite clock correction work of broadcast ephemeris
Processing generation clock error correction number；
The orbit correction information generating module is for being that the coordinate corrective value on XYZ directions corresponds to respectively admittedly according to the ground of generation
The radial direction for being transformed into satellite, in tangential and normal direction, generation needs the orbit correction information broadcast；
The clock error correction information generating module changes for obtaining satellite clock correction as average treatment according to the clock error correction number of generation
The average value of positive number, and satellite clock correction correction is subtracted to the average value of satellite clock correction correction, obtain the clock correction for needing to broadcast
Correcting information；
The first message generation module is used for according to the orbit correction information of generation and the clock error correction information obtained according to the
One predetermined format carries out data encoding generation first message；
Second message generating module is used for according to by the clock in real-time clock error correction information and the first message broadcast
Poor correcting information makees difference processing, obtains needing the real-time clock correction correcting information broadcast, it would be desirable to the real-time clock error correction letter broadcast
Breath carries out data encoding according to the second predetermined format and generates the second message；
3rd message generating module is used to respectively correspond to real-time orbit correction information and real-time clock error correction information
Make difference processing with the orbit correction information in the first message broadcast and clock error correction information, generation needs the real-time rail broadcast
Road correcting information and real-time clock correction correcting information, it would be desirable to the real-time track correcting information and real-time clock correction correcting information broadcast by
Data encoding, which is carried out, according to the 3rd predetermined format generates the 3rd message；
The satellite release module is used to broadcast the first message of generation by the communication mode of Big Dipper short message and/or second disappeared
Breath and/or the 3rd message.
6. the system that a kind of Precise Orbit and clock correction based on Big Dipper short message according to claim 5 are broadcast, its feature
It is：
First predetermined format of the first message includes first message head and first message body, and the first message head includes
24bits synchronous code, 2bits message number, 2bits message age and 12bits hour in the second；The first message body
The satellite age of satellite sign number, every satellite 8bits including 75bits, every satellite 9bits radial direction correcting information, every
Satellite 6bits normal direction correcting information, the tangential correcting information of every satellite 9 or 7bits, every satellite 11 or 10bits
The CRC check code of clock error correction amount and 24bits；When satellite is GEO satellite, the tangential correcting information of satellite is 9bits, is defended
The clock error correction amount of star is 11bits, and when satellite is the satellite in addition to GEO satellite, the tangential correcting information of satellite is
7bits, the clock error correction amount of satellite is 10bits；
Second predetermined format of second message includes the second message header and the second message body, and second message header includes
24bits synchronous code, 2bits message number, 2bits message age and 12bits hour in the second；Second message body
The CRC check code of clock error correction information and 24bits including every satellite 5bits；
3rd predetermined format of the 3rd message includes the 3rd message header and the 3rd message body, and the 3rd message header includes
24bits synchronous code, 2bits message number, 2bits message age and 12bits hour in the second；3rd message body
Normal direction correcting information, every satellite 4bits including the radial direction correcting information including every satellite 4bits, every satellite 4bits
Tangential correcting information, every satellite 5bits clock error correction information and 24bits CRC check code.
7. the system that a kind of Precise Orbit and clock correction based on Big Dipper short message according to claim 6 are broadcast, its feature
It is：The synchronous code is used for the start bit for indicating first message, the second message and the 3rd message, and the message number is used for distinguishing
The type of first message, the second message and the 3rd message, in the hour second be used to indicating number of seconds in current hour, track and
Moment epoch of clock correction is identified in a manner of the second in hour.
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| CN106610497B (en) * | 2016-10-26 | 2020-02-21 | 北京无线电计量测试研究所 | Beidou short message common-view data compression transmission method |
| CN106569232A (en) * | 2016-10-31 | 2017-04-19 | 航天恒星科技有限公司 | Space signal accuracy evaluation method and system |
| CN106842249B (en) * | 2016-12-13 | 2019-12-13 | 航天恒星科技有限公司 | method and device for processing navigation satellite correction number |
| CN109387859B (en) * | 2017-08-14 | 2023-05-30 | 千寻位置网络有限公司 | Method and apparatus for generating long-term satellite orbit and clock bias based on ground tracking station |
| CN107748372A (en) * | 2017-09-15 | 2018-03-02 | 千寻位置网络有限公司 | The real-time estimating system of satellite clock correction and method based on GNSS High Definition Systems |
| CN108761508A (en) * | 2018-03-09 | 2018-11-06 | 羲和时空（武汉）网络科技有限公司 | A kind of satellite position restores with satellite clock correction and track clock error correction number representation method |
| CN112034498B (en) * | 2019-06-04 | 2023-08-29 | 千寻位置网络有限公司 | Method, system and device for sending and receiving differential correction data message |
| CN110376621B (en) * | 2019-08-15 | 2020-06-09 | 北京航天宏图信息技术股份有限公司 | Satellite positioning method and device based on Beidou No. three B2B signal |
| CN111045059A (en) * | 2019-12-25 | 2020-04-21 | 中电科航空电子有限公司 | Data transmission method of positioning equipment and related device |
| CN112415550A (en) * | 2020-10-27 | 2021-02-26 | 武汉大学 | Low-orbit satellite real-time precise orbit determination method and system based on Beidou short message |
| CN112711048B (en) * | 2020-12-15 | 2023-07-04 | 中山大学 | SSR transmission method and high-precision positioning system based on Beidou No. three RDSS short message |
| CN114791614A (en) * | 2021-01-25 | 2022-07-26 | 华为技术有限公司 | Clock error forecasting method and device |
| CN113267790B (en) * | 2021-06-22 | 2023-10-24 | 武汉大学 | Satellite orbit clock correction coding method based on Beidou global short message communication |
| CN113391334B (en) * | 2021-07-14 | 2022-10-14 | 武汉大学 | Space signal ranging error correction coding method based on Beidou global short message |
| CN114355395A (en) * | 2021-12-16 | 2022-04-15 | 浙江时空道宇科技有限公司 | Terminal positioning method, device, equipment and storage medium |
| CN114624753B (en) * | 2022-02-24 | 2023-04-07 | 广州南方卫星导航仪器有限公司 | Method and system for realizing PPP-AR by BDS3-PPP service and short message |
| CN116626724B (en) * | 2023-07-24 | 2023-10-10 | 齐鲁空天信息研究院 | SSR information transmission and evaluation method based on digital broadcasting |
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| JP2010066099A (en) * | 2008-09-10 | 2010-03-25 | Seiko Epson Corp | Method of calculating parameter value, method of providing long-term prediction orbit data, information providing device, and positioning system |
| CN101909070B (en) * | 2010-01-29 | 2013-03-13 | 国家卫星定位系统工程技术研究中心 | Broadcasting method of real-time accurate satellite positioning product |
| CN102565814B (en) * | 2011-12-15 | 2014-10-22 | 北京航空航天大学 | Method for evaluating signal accuracy and positioning service availability of satellite navigation system |
| CN104614734B (en) * | 2014-12-22 | 2017-03-29 | 中国科学院国家授时中心 | Big Dipper space-based high-precision difference text generation method |
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