CN105301609A - Ephemeris correction method and apparatus - Google Patents
Ephemeris correction method and apparatus Download PDFInfo
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- CN105301609A CN105301609A CN201410266034.5A CN201410266034A CN105301609A CN 105301609 A CN105301609 A CN 105301609A CN 201410266034 A CN201410266034 A CN 201410266034A CN 105301609 A CN105301609 A CN 105301609A
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Abstract
The present invention discloses an ephemeris correction method and apparatus. The ephemeris correction method includes the steps as follows: confirming the current local time; calculating out the ephemeris time difference between the current local time and the ephemeris emission time; judging whether the ephemeris time difference is greater than a predetermined time difference threshold or not; calculating out the current satellite position by utilizing the current local time if the ephemeris time difference is greater than the predetermined time difference threshold; correcting an error trend term coefficient by utilizing the ephemeris time difference, the ephemeris error angular frequency of the current satellite and the ephemeris so as to acquire the ephemeris correction information; and correcting the current satellite position by utilizing the ephemeris correction information. The ephemeris correction method and apparatus enable the ephemeris to get rid of validity period restriction, realize validity for a long time, and increase the efficiency of ephemeris assist of a receiver.
Description
Technical field
The present invention relates to location-based service field, particularly a kind of ephemeris modification method and device.
Background technology
The original meaning of ephemeris is that drafting one accurately describes the locus of satellite in each moment and the form of travelling speed, but because the speed of satellite empty space motion on earth reaches as high as metre per second (m/s) more than 900, if satellite broadcasts self-position in real time and speed will produce very large data volume, in order to reduce volume of transmitted data, satellite navigation system adopts Kepler's equation to describe the orbit of satellite.Satellite navigation system ground monitor portion passes through continuous reception, the signal that mensuration satellite is launched is to determine the orbit of satellite, then least square method is utilized to approach each coefficient in solving equation, extrapolate one group with the orbit parameter for reference point between ephemeris time, be used for accurate description and the orbit of prediction satellite, again these matchings orbit parameter is out uploaded to satellite, finally by satellite, these parameters are broadcast to ground receiver, ground receiver demodulates these parameters from satellite-signal, just can calculate satellite position and speed exactly, thus calculate position and the speed of receiver.
Ephemeris validity is short, precision is high, and current satellite navigation receiver is substantially all utilize ephemeris information to calculate satellite position.Ephemeris is adopted to predict visible star, the information such as visible star and their Doppler shift can be found rapidly, such one side can reduce searches star number, can reduce on the other hand the increase of the search unit caused due to Doppler shift, thus significantly reduce primary positioning time.
But the term of validity of ephemeris is generally only 4 hours, after exceeding the term of validity, the predicated error of ephemeris to satellite position and Doppler will significantly increase, thus cause forecasting inaccuracy true, seriously can make prediction error, not only cannot improve capture rate, can cause on the contrary catching unsuccessfully.In addition, the capture time of ephemeris is longer, and such as, for GPS (GlobalPositioningSystem, GPS) L1C/A coded signal, the acquisition of its ephemeris at least needs 30s.Therefore, be necessary to propose a kind of new ephemeris amendment scheme, make ephemeris can break away from the restriction of the term of validity, realize effectively long-time, improve receiver and carry out the auxiliary efficiency of ephemeris.
Summary of the invention
The embodiment of the present invention provides a kind of ephemeris modification method and device.Ephemeris can be made can to break away from the restriction of the term of validity, realize effectively long-time, improve receiver and carry out the auxiliary efficiency of ephemeris.
According to an aspect of the present invention, a kind of ephemeris modification method is provided, comprises:
Determine current local zone time t
local;
Calculate current local zone time t
localwith ephemeris t launch time
oabetween ephemeris time difference Δ t;
Judge whether ephemeris time difference Δ t is greater than predetermined time difference thresholding;
If ephemeris time difference Δ t is greater than predetermined time difference thresholding, then utilize current local zone time t
localcalculate the position of present satellites;
Utilize ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, obtain ephemeris update information;
The position of ephemeris update information to present satellites is utilized to revise.
In one embodiment, utilize ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, the step obtaining ephemeris update information comprises:
Utilize formula
f(Δt)＝A(e
ωΔt-1)sin(ωΔt)
Calculate ephemeris update information f (Δ t).
In one embodiment, utilize ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, the step obtaining ephemeris update information comprises:
Utilize formula
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Calculate ephemeris update information f (Δ t).
In one embodiment, the step utilizing the position of ephemeris update information to present satellites to revise comprises:
Round-off error value (Δ x, Δ y, Δ z) is determined according to ephemeris update information f (Δ t);
By the positional information (x of present satellites
0, y
0, z
0) be added with round-off error value (Δ x, Δ y, Δ z), to obtain the revised positional information of present satellites.
In one embodiment, round-off error value Δ x is ephemeris update information f (Δ t) projection value in X-axis;
Round-off error value Δ y is ephemeris update information f (Δ t) projection value in Y-axis;
Round-off error value Δ z is ephemeris update information f (Δ t) projection value on Z axis.
According to a further aspect in the invention, provide a kind of ephemeris correcting device, comprise local zone time determining unit, time difference computing unit, recognition unit, current location computing unit, update information computing unit and amending unit, wherein:
Local zone time determining unit, for determining current local zone time t
local;
Time difference computing unit, for calculating current local zone time t
localwith ephemeris t launch time
oabetween ephemeris time difference Δ t;
Recognition unit, for judging whether ephemeris time difference Δ t is greater than predetermined time difference thresholding;
Current location computing unit, for the judged result according to recognition unit, if ephemeris time difference Δ t is greater than predetermined time difference thresholding, then utilizes current local zone time t
localcalculate the position of present satellites;
Update information computing unit, for utilizing ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, obtains ephemeris update information;
Amending unit, revises for utilizing the position of ephemeris update information to present satellites.
In one embodiment, update information computing unit specifically utilizes formula
f(Δt)＝A(e
ωΔt-1)sin(ωΔt)
Calculate ephemeris update information f (Δ t), wherein ω is the ephemeris error angular frequency of present satellites, and A is ephemeris round-off error trend term coefficient.
In one embodiment, update information computing unit specifically utilizes formula
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Calculate ephemeris update information f (Δ t), wherein ω is the ephemeris error angular frequency of present satellites, and A is ephemeris round-off error trend term coefficient.
In one embodiment, amending unit specifically determines round-off error value (Δ x, Δ y, Δ z) according to ephemeris update information f (Δ t); By the positional information (x of present satellites
0, y
0, z
0) be added with round-off error value (Δ x, Δ y, Δ z), to obtain the revised positional information of present satellites.
In one embodiment, round-off error value Δ x is ephemeris update information f (Δ t) projection value in X-axis;
Round-off error value Δ y is ephemeris update information f (Δ t) projection value in Y-axis;
Round-off error value Δ z is ephemeris update information f (Δ t) projection value on Z axis.
The present invention, by determining current local zone time, calculates the ephemeris time difference between current local zone time and ephemeris launch time, judges whether the ephemeris time difference is greater than predetermined time difference thresholding.If the ephemeris time difference is greater than predetermined time difference thresholding, then utilize current local zone time to calculate the position of present satellites, utilize the ephemeris time difference, the ephemeris error angular frequency of present satellites and ephemeris round-off error trend term coefficient, obtain ephemeris update information; The position of ephemeris update information to present satellites is utilized to revise.Thus make ephemeris can break away from the restriction of the term of validity, realize effectively long-time, improve receiver and carry out the auxiliary efficiency of ephemeris.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of an ephemeris modification method of the present invention embodiment.
Fig. 2 is the schematic diagram of another embodiment of ephemeris modification method of the present invention.
Fig. 3 is the schematic diagram of an ephemeris correcting device of the present invention embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing instructions.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
Fig. 1 is the schematic diagram of an ephemeris modification method of the present invention embodiment.As shown in Figure 1, the method step of the present embodiment is as follows:
Step 101, determines current local zone time t
local.
Step 102, calculates current local zone time t
localwith ephemeris t launch time
oabetween ephemeris time difference Δ t.
Step 103, judges whether ephemeris time difference Δ t is greater than predetermined time difference thresholding.
Preferably, predetermined time difference thresholding can be 4 hours.
Step 104, if ephemeris time difference Δ t is greater than predetermined time difference thresholding, then utilizes current local zone time t
localcalculate the position of present satellites.
Owing to utilizing current local zone time t
localcalculate the position (x of present satellites
0, y
0, z
0) be that those skilled in the art understand, therefore do not launch here to describe.
Step 105, utilizes ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, obtains ephemeris update information.
Such as, if there is the backup system of such as A-GNSS (Assisted-GlobalNavigationSatelliteSystem, assisted global navigational satellite system), then correction factor ω and A that can directly utilize backup system to provide.If there is not backup system, then can obtain according to least square fitting.Be that those skilled in the art understood owing to how to carry out process of fitting treatment, therefore do not launch here to describe.
Step 106, utilizes the position of ephemeris update information to present satellites to revise.
Based on the ephemeris modification method that the above embodiment of the present invention provides, by determining current local zone time, calculate the ephemeris time difference between current local zone time and ephemeris launch time.If the ephemeris time difference is greater than predetermined time difference thresholding, then utilize current local zone time to calculate the position of present satellites, utilize the ephemeris time difference, the ephemeris error angular frequency of present satellites and ephemeris round-off error trend term coefficient, obtain ephemeris update information; The position of ephemeris update information to present satellites is utilized to revise.Thus make ephemeris can break away from the restriction of the term of validity, realize effectively long-time, improve receiver and carry out the auxiliary efficiency of ephemeris.
Can be found by the characteristic analyzing almanac data, ephemeris has certain Tendency and cycle along with its biased error of reference time, if the fixing mathematical function of this deviation is represented, this function expression only comprises independent variable, the i.e. mistiming of current calculating moment and ephemeris reference time, compensate back by the satellite orbit of ephemeris computation as ephemeris update information, make satellite orbit deviation now less, locating terminal utilizes such satellite orbit coordinate can obtain effective positioning result.
Due to the orbit altitude of often kind of satellite and travelling speed inconsistent, and synchronization every satellite is not identical in the position in space yet, and therefore the ephemeris update information of every satellite is incomplete same.
In one embodiment, above-mentioned ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A utilizing ephemeris time difference Δ t, present satellites, the step obtaining ephemeris update information can comprise:
Utilize formula
f(Δt)＝A(e
ωΔt-1)sin(ωΔt)
Calculate ephemeris update information f (Δ t).
Above-mentioned formula can specifically be expressed as:
For the ease of computing, Taylor expansion can be carried out to above formula, and get polynomial three rank items:
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Thus, above-mentioned ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A utilizing ephemeris time difference Δ t, present satellites, the step obtaining ephemeris update information can comprise:
Utilize formula
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Calculate ephemeris update information f (Δ t).
In one embodiment, the above-mentioned step utilizing the position of ephemeris update information to present satellites to revise can comprise:
Round-off error value (Δ x, Δ y, Δ z) is determined, by the positional information (x of present satellites according to ephemeris update information f (Δ t)
0, y
0, z
0) be added with round-off error value (Δ x, Δ y, Δ z), to obtain the revised positional information of present satellites.
Such as, round-off error value Δ x is ephemeris update information f (Δ t) projection value in X-axis, round-off error value Δ y is ephemeris update information f (Δ t) projection value in Y-axis, and round-off error value Δ z is ephemeris update information f (Δ t) projection value on Z axis.
Here it should be noted that, f (Δ t) is the error on a direction.If the formula for adopting above:
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Then round-off error value (Δ x, Δ y, Δ z) can be:
Δx＝f
x(Δt)＝A
x(ω
xΔt)
2[1+0.5ω
xΔt]
Δy＝f
y(Δt)＝A
y(ω
yΔt)
2[1+0.5ω
yΔt]
Δz＝f
z(Δt)＝A
z(ω
zΔt)
2[1+0.5ω
zΔt]
By being added, revised position (x, y, z) can be obtained.That is:
x＝x
0+Δx，y＝y
0+Δy，z＝z
0+Δz
Fig. 2 is the schematic diagram of another embodiment of ephemeris modification method of the present invention.As shown in Figure 2, the method step of the present embodiment is as follows:
Step 201, determines current local zone time t
local.
Step 202, calculates current local zone time t
localwith ephemeris t launch time
oabetween ephemeris time difference Δ t.
Step 203, judges whether ephemeris time difference Δ t is greater than predetermined time difference thresholding.If ephemeris time difference Δ t is greater than predetermined time difference thresholding, then perform step 204; If ephemeris time difference Δ t is not more than predetermined time difference thresholding, then perform step 207.
Step 204, utilizes current local zone time t
localcalculate the position of present satellites.
Step 205, utilizes ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, obtains ephemeris update information.
Step 206, utilizes the position of ephemeris update information to present satellites to revise.Afterwards, other step of the present embodiment is no longer performed.
Step 207, does not revise the position of present satellites.
If ephemeris time difference Δ t is not more than predetermined time difference thresholding, then can think that ephemeris was also in effective time, now without the need to revising the position of present satellites.
Fig. 3 is the schematic diagram of an ephemeris correcting device of the present invention embodiment.As shown in Figure 3, ephemeris correcting device comprises local zone time determining unit 301, time difference computing unit 302, recognition unit 303, current location computing unit 304, update information computing unit 305 and amending unit 306.Wherein:
Local zone time determining unit 301, for determining current local zone time t
local.
Time difference computing unit 302, for calculating current local zone time t
localwith ephemeris t launch time
oabetween ephemeris time difference Δ t.
Recognition unit 303, for judging whether ephemeris time difference Δ t is greater than predetermined time difference thresholding.
Current location computing unit 304, for the judged result according to recognition unit 303, if ephemeris time difference Δ t is greater than predetermined time difference thresholding, then utilizes current local zone time t
localcalculate the position of present satellites.
Update information computing unit 305, for utilizing ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, obtains ephemeris update information.
In one embodiment, update information computing unit 305 specifically can utilize formula
f(Δt)＝A(e
ωΔt-1)sin(ωΔt)
Calculate ephemeris update information f (Δ t), wherein ω is the ephemeris error angular frequency of present satellites, and A is ephemeris round-off error trend term coefficient.
For the ease of calculating, above formula can be carried out Taylor expansion, and getting polynomial three rank items:
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Therefore in another embodiment, update information computing unit 305 also specifically can utilize this formulae discovery ephemeris update information f (Δ t).
Amending unit 306, revises for utilizing the position of ephemeris update information to present satellites.
In one embodiment, amending unit 306 specifically can determine round-off error value (Δ x, Δ y, Δ z) according to ephemeris update information f (Δ t); By the positional information (x of present satellites
0, y
0, z
0) be added with round-off error value (Δ x, Δ y, Δ z), to obtain the revised positional information of present satellites.
Here it should be noted that, f (Δ t) is the error on a direction.Wherein round-off error value Δ x is ephemeris update information f (Δ t) projection value in X-axis, round-off error value Δ y is ephemeris update information f (Δ t) projection value in Y-axis, and round-off error value Δ z is ephemeris update information f (Δ t) projection value on Z axis.
If for the formula adopted above, that is:
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Then round-off error value (Δ x, Δ y, Δ z) can be:
Δx＝f
x(Δt)＝A
x(ω
xΔt)
2[1+0.5ω
xΔt]
Δy＝f
y(Δt)＝A
y(ω
yΔt)
2[1+0.5ω
yΔt]
Δz＝f
z(Δt)＝A
z(ω
zΔt)
2[1+0.5ω
zΔt]
By being added, revised position (x, y, z) can be obtained.That is:
x＝x
0+Δx，y＝y
0+Δy，z＝z
0+Δz
Based on the ephemeris correcting device that the above embodiment of the present invention provides, by determining current local zone time, calculate the ephemeris time difference between current local zone time and ephemeris launch time.If the ephemeris time difference is greater than predetermined time difference thresholding, then utilize current local zone time to calculate the position of present satellites, utilize the ephemeris time difference, the ephemeris error angular frequency of present satellites and ephemeris round-off error trend term coefficient, obtain ephemeris update information; The position of ephemeris update information to present satellites is utilized to revise.Thus make ephemeris can break away from the restriction of the term of validity, realize effectively long-time, improve receiver and carry out the auxiliary efficiency of ephemeris.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Claims (10)
1. an ephemeris modification method, is characterized in that, comprising:
Determine current local zone time t
local;
Calculate current local zone time t
localwith ephemeris t launch time
oabetween ephemeris time difference Δ t;
Judge whether ephemeris time difference Δ t is greater than predetermined time difference thresholding;
If ephemeris time difference Δ t is greater than predetermined time difference thresholding, then utilize current local zone time t
localcalculate the position of present satellites;
Utilize ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, obtain ephemeris update information;
The position of ephemeris update information to present satellites is utilized to revise.
2. method according to claim 1, is characterized in that,
Utilize ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, the step obtaining ephemeris update information comprises:
Utilize formula
f(Δt)＝A(e
ωΔt-1)sin(ωΔt)
Calculate ephemeris update information f (Δ t).
3. method according to claim 1, is characterized in that,
Utilize ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, the step obtaining ephemeris update information comprises:
Utilize formula
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Calculate ephemeris update information f (Δ t).
4. according to the method in claim 2 or 3, it is characterized in that,
The step utilizing the position of ephemeris update information to present satellites to revise comprises:
Round-off error value (Δ x, Δ y, Δ z) is determined according to ephemeris update information f (Δ t);
By the positional information (x of present satellites
0, y
0, z
0) be added with round-off error value (Δ x, Δ y, Δ z), to obtain the revised positional information of present satellites.
5. method according to claim 4, is characterized in that,
Round-off error value Δ x is ephemeris update information f (Δ t) projection value in X-axis;
Round-off error value Δ y is ephemeris update information f (Δ t) projection value in Y-axis;
Round-off error value Δ z is ephemeris update information f (Δ t) projection value on Z axis.
6. an ephemeris correcting device, is characterized in that, comprises local zone time determining unit, time difference computing unit, recognition unit, current location computing unit, update information computing unit and amending unit, wherein:
Local zone time determining unit, for determining current local zone time t
local;
Time difference computing unit, for calculating current local zone time t
localwith ephemeris t launch time
oabetween ephemeris time difference Δ t;
Recognition unit, for judging whether ephemeris time difference Δ t is greater than predetermined time difference thresholding;
Current location computing unit, for the judged result according to recognition unit, if ephemeris time difference Δ t is greater than predetermined time difference thresholding, then utilizes current local zone time t
localcalculate the position of present satellites;
Update information computing unit, for utilizing ephemeris error angular frequency and the ephemeris round-off error trend term coefficient A of ephemeris time difference Δ t, present satellites, obtains ephemeris update information;
Amending unit, revises for utilizing the position of ephemeris update information to present satellites.
7. device according to claim 6, is characterized in that,
Update information computing unit specifically utilizes formula
f(Δt)＝A(e
ωΔt-1)sin(ωΔt)
Calculate ephemeris update information f (Δ t), wherein ω is the ephemeris error angular frequency of present satellites, and A is ephemeris round-off error trend term coefficient.
8. device according to claim 6, is characterized in that,
Update information computing unit specifically utilizes formula
f(Δt)＝A(ωΔt)
2[1+0.5ωΔt]
Calculate ephemeris update information f (Δ t), wherein ω is the ephemeris error angular frequency of present satellites, and A is ephemeris round-off error trend term coefficient.
9. the device according to claim 7 or 8, is characterized in that,
Amending unit specifically determines round-off error value (Δ x, Δ y, Δ z) according to ephemeris update information f (Δ t); By the positional information (x of present satellites
0, y
0, z
0) be added with round-off error value (Δ x, Δ y, Δ z), to obtain the revised positional information of present satellites.
10. device according to claim 9, is characterized in that,
Round-off error value Δ x is ephemeris update information f (Δ t) projection value in X-axis;
Round-off error value Δ y is ephemeris update information f (Δ t) projection value in Y-axis;
Round-off error value Δ z is ephemeris update information f (Δ t) projection value on Z axis.
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| CN110058287A (en) * | 2019-05-16 | 2019-07-26 | 北京合众思壮科技股份有限公司 | A kind of Orbit determination for LEOs method, apparatus and system |
| CN110376618A (en) * | 2019-08-30 | 2019-10-25 | 北京航天宏图信息技术股份有限公司 | Localization method, device and terminal based on the enhancing of No. three Satellite bases of Beidou |
| WO2023010365A1 (en) * | 2021-08-04 | 2023-02-09 | Apple Inc. | Signaling for ephemeris information |
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