CN105445766A - GLONASS satellite orbit calculating method and system thereof - Google Patents

Abstract

The invention discloses a GLONASS satellite orbit calculating method and a system thereof. The method comprises the following steps of capturing a GLONASS satellite broadcast signal, converting into GLONASS satellite data and transmitting to a time determination module; determining whether satellite reference time tb in the GLONASS satellite data is different from current reference time tb of a positioning system, if the satellite reference time tb in the GLONASS satellite data is different from the current reference time tb of the positioning system, updating the reference time tb and satellite positioning data; otherwise, keeping using the reference time tb and the satellite positioning data; transmitting the GLONASS satellite data to a GLONASS step integration orbit calculation module and finally calculating a GLONASS satellite position and a speed; comparing satellite reference time to current satellite time, if the current time is greater than the satellite reference time and a difference is in one sampling epoch interval, recalibrating the GLONASS satellite position and the speed, otherwise, selecting a GLONASS high-efficiency orbit calculation module and finally calculating the GLONASS satellite position and the speed.

Description

A kind of GLONASS satellite orbit computing method and system

Technical field

The present invention relates to GLONASS satellite navigation system (GLONASS), particularly, relate to a kind of support GLONASS satellite orbit computing method and system.

Background technology

Along with the continuous propelling of GLONASS modernization, by Dec 8th, 2011, GLONASS operation on orbit satellite reached 24, the complete service ability of recovery system.Gps system provides round-the-clock positioning timing service in the world in real time, along with the reparation of GLONASS system and perfect, the GPS/ Big Dipper/GLONASS multimode integrated navigation and location obtains and more and more widely uses, multimode location adds observation satellite number, improve GPS relative positioning structure, improve precision and the availability of location, therefore to GLONASS systematic research, there is very important use value.Different from GPS and dipper system, GLONASS satellite orbit calculates the difference due to satellite broadcasting ephemeris, Euler method can be adopted, Runge-Kutta method and Adiemus method etc., researchist also constantly studies the precision that various method improves the calculating of GLONASS satellite orbit always, as the formula carrying out accurate Calculation GLONASS co-ordinates of satellite by orbit integration method that Tsing-Hua University proposes, the GLONASS satellite orbit runge kutta method of the automatic integration step-length that Southeast China University proposes, these methods improve the computational accuracy of GLONASS satellite orbit all well and reduce the Time & Space Complexity calculated.

Because the Fourth order Runge-Kutta calculated about GLONASS co-ordinates of satellite can obtain good precision, therefore obtain applying very widely within a very long time.Along with the development of navigator fix demand, the various dissimilar location receiver emerged and user terminal, the requirement of navigator fix to quick position is more and more higher, and the development of miniaturization navigation chip needs to reduce chip algorithm operand to reduce positioning time and to reduce chip power-consumption.Carrying out orbit computation based on traditional Fourth order Runge-Kutta to GLONASS satellite is at every turn carry out orbit integration from the reference time of satellite broadcasting, due to GLONASS satellite ephemeris ephemeris reference time ± 15 minutes in effectively, when positioning system enters effective time period, Runge Kutta integration needs with fixed step size, normally 60 seconds, from the ephemeris reference time, be integrated to-15 minutes ephemeris reference times, (through 15 step-lengths); In next epoch, normally after a second, classic method from the same ephemeris reference time, is integrated to new epoch time again, (or 15 step-lengths).Therefore need longer integral time, and along with the increase calculated amount of integral time also larger, take the resource that CPU is a large amount of, do not meet the requirement that high speed development is efficiently located.

Summary of the invention

The object of the invention is to overcome weak point of the prior art, a kind of simple integral process is provided and has decreased integral time, and save the GLONASS satellite orbit computing method of resource transfer of receiver to a great extent.

The object of the invention is to be achieved through the following technical solutions:

A kind of GLONASS satellite orbit computing method, comprise the following steps:

S1: catch GLONASS satellite broadcast signal, and convert available GLONASS satellite data to, GLONASS satellite data is sent to time judgment module;

S2: first time judgment module judges the satellite reference time t in GLONASS satellite data _bwhether changed to some extent with a upper epoch, if judge reference time t occurs _bchange, upgrade reference time t _band satellite location data, perform step S3, otherwise, retain original data, perform step S4;

S3: time judgment module selects GLONASS satellite data to be sent to GLONASS step-length integration orbit computation module, and GLONASS step-length integration orbit computation module calculates GLONASS satellite position and speed through repeatedly runge kutta method integrating meter;

S4: time judgment module compares the size of satellite reference time and satellite launch time, if current time be greater than satellite reference time and current time and satellite reference time difference one sample interval epoch time, again GLONASS satellite position and speed is corrected by GLONASS step-length integration orbit computation module, otherwise, select GLONASS Efficient track computing module to calculate GLONASS satellite orbit, calculate GLONASS satellite position and speed through a runge kutta method integrating meter.

Concrete, the concrete steps of described step S3 are:

GLONASS step-length integration orbit computation module uses Fourth order Runge-Kutta from satellite reference time t _bmoment starts integration, and wherein, initial position is with reference to moment t in satellite data _breference coordinate, speed and acceleration, after repeatedly cumulative integral, obtain GLONASS satellite in the position of current epoch and speed, final output satellite position and velocity amplitude.

Concrete, the concrete steps of described step S4 are:

S401: judge module first time in elapsed time judges reference time t _bafter not changing, time judgment module judges GLONASS satellite reference time t again _bwith GLONASS satellite ephemeris t launch time _currentbetween difference whether be less than interval between epoch of determining, namely judge t _current-t _b≤ T, if so, then performs step S402; Otherwise, perform step S403;

S402: after the GLONASS satellite orbit of a Preset Time calculates, have accumulated the error in this Preset Time, again correct satellite integration track by ephemeris reference value;

S403:GLONASS Efficient track computing module used Fourth order Runge-Kutta integration from a upper epoch, the initial time of integration was the satellite ephemeris launch time of a upper epoch, initial position be upper one epoch GLONASS satellite orbit calculate after acceleration in the satellite position of gained, speed and ephemeris, GLONASS satellite is obtained in the position of current epoch and speed, final output satellite position and velocity amplitude after an integration.

Concrete, the concrete operations of described step S402 are:

GLONASS step-length integration orbit computation module uses Fourth order Runge-Kutta from reference time t _bmoment starts integration, and initial position is with reference to moment t in satellite data _breference coordinate, speed and acceleration, after repeatedly cumulative integral, obtain GLONASS satellite in the position of current epoch and speed, final output satellite position and velocity amplitude.

In the preferred scheme of one, described GLONASS step-length integration orbit computation module is based on fourth order Runge-Kutta integral method, according to GLONASS satellite motion differential equation, by reference moment t _bto satellite current time t _currentrepeatedly integration, wherein GLONASS satellite motion differential equation is:

$\frac{dx}{dt}=\stackrel{\·}{x}$

$\frac{dy}{dt}=\stackrel{\·}{y}$

$\frac{dz}{dt}=\stackrel{\·}{z}$

$\frac{d\stackrel{\·}{x}}{dt}=-\frac{\mathrm{\μ}}{r^3}x-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}x(1-5\frac{z^2}{r^2})+{\stackrel{\·}{\mathrm{\Ω}}}_e^{2}x+2{\stackrel{\·}{\mathrm{\Ω}}}_e\stackrel{\·}{y}+{\stackrel{\·\·}{x}}_n$

$\frac{d\stackrel{\·}{y}}{dt}=-\frac{\mathrm{\μ}}{r^3}y-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}y(1-5\frac{z^2}{r^2})+{\stackrel{\·}{\mathrm{\Ω}}}_e^{2}y+2{\stackrel{\·}{\mathrm{\Ω}}}_e\stackrel{\·}{x}+{\stackrel{\·\·}{y}}_n$

$\frac{d\stackrel{\·}{z}}{dt}=-\frac{\mathrm{\μ}}{r^3}z-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}z(3-5\frac{z^2}{r^2})+{\stackrel{\·\·}{z}}_n$

Wherein (x, y, z) is respectively satellite position, and (dx, dy, dz) is respectively satellite velocities, and r is the geometric distance of satellite and earth center, for the second order zonal harmonic coefficient of compression of the earth, a, the parameter substantially greatly that μ adopts for PZ-90 coordinate system.

In the preferred scheme of one, described GLONASS Efficient track computing module is based on fourth order Runge-Kutta integral method, according to GLONASS equation of satellite motion formula, by upper one epoch GLONASS satellite resolve the time t of position and speed _current-T to current GLONASS satellite current time t _currentan integration.Wherein integral process is:

Y ₁＝X _i-1

$Y_2=X_{i-1}+\frac{\mathrm{\Δ}t}{2}f\left(Y_1\right)$

$Y_3=X_{i-1}+\frac{\mathrm{\Δ}t}{2}f\left(Y_2\right)$

Y ₄＝X _i-1+Δtf(Y ₃)

$X_i=X_{i-1}+\frac{\mathrm{\Δ}t}{6}\[f\left(Y_1\right)+2f\left(Y_2\right)+3f\left(Y_3\right)+f\left(Y_4\right)\]$

Wherein vectorial X _i=[x, y, z, dx, dy, dz], X _i-1be then position and the velocity vector of the satellite of a upper epoch, Y ₁, Y ₂, Y ₃, Y ₄for the value of computation process.

Due to GLONASS Efficient track computing module for once integral process, so it is very efficient to solve satellite position and rate process, not only saves a lot of time, and save CPU ample resources.

In the preferred scheme of one, described method is applicable to receiver that all use GLONASS systems position and user terminal.

Based on same design, the system that the present invention also provides a kind of GLONASS satellite orbit to calculate, comprising:

Location receiver, catches GLONASS satellite broadcast signal, and the GLONASS satellite broadcast signal traced into is converted to available GLONASS satellite data;

Time judgment module, receives GLONASS satellite data, judges the knots modification of the satellite reference time in GLONASS satellite data, and upgrades according to this knots modification or retain reference time and satellite location data;

GLONASS step-length integration orbit computation module, receive the reference time and satellite location data that upgrade, exports GLONASS satellite position and velocity amplitude through repeatedly runge kutta method integral and calculating;

GLONASS Efficient track computing module, receives the reference time and satellite location data that retain, exports GLONASS satellite position and speed through a runge kutta method integral and calculating,

Described location receiver is connected with time judgment module, and described time judgment module is connected with GLONASS step-length integration orbit computation module and GLONASS Efficient track computing module respectively.

The GLONASS Efficient track computing method that the present invention proposes, while reducing receiver operation time to the full extent, can also save receiver CPU calculation resources significantly.The present invention is by based on all receivers including GLONASS satnav.This method is called GLONASS step-length integration orbit computation module in the first epoch that GLONASS satellite broadcasting ephemeris changes and is carried out orbit integration from the reference time of broadcast, from the second epoch based on upper one epoch orbit computation call GLONASS Efficient track computing module, satellite position and speed can be obtained by an integration; When the satellite launch time arrives the reference time, again use GLONASS step-length integration orbit computation module to correct satellite orbit, continue use GLONASS Efficient track next epoch and calculate position and the speed that mould solves satellite orbit soon.

The present invention has the following advantages and beneficial effect compared to existing technology:

Compared with prior art, the present invention is based on fourth order Runge-Kutta integral method on the GLONASS satellite position of a upper epoch and the basis of speed, calculate GLONASS satellite position and the speed of current epoch, only need an integration just can obtain result, greatly simple integral process and decrease integral time, and save the resource transfer of receiver to a great extent.

Accompanying drawing explanation

Fig. 1 is the general frame figure of GLONASS satellite orbit computing system of the present invention.

Fig. 2 is the method flow diagram of GLONASS Efficient track computing method of the present invention.

Fig. 3 is the key diagram of GLONASS Efficient track computing method of the present invention.

Embodiment

Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.

Embodiment

As Fig. 1, a kind of GLONASS Efficient track computing system of the present invention, mainly contains 4 ingredients: location receiver, time judgment module, GLONASS step-length integration orbit computation module and GLONASS Efficient track computing module.Time judgment module has and judges whether the GLONASS satellite broadcasting ephemeris reference time changes and compare the function of reference time and satellite current time value.When satellite reference time changes, time judgment module selects GLONASS step-length integration orbit computation module, calculates GLONASS satellite position and speed through repeatedly runge kutta method integrating meter; When satellite reference time does not change, time judges that mould compares the size of satellite reference time and satellite launch time soon, if current time just greater than the reference time and current time and the reference time difference one sample interval epoch time, again GLONASS satellite position and speed is corrected by GLONASS step-length integration orbit computation module, otherwise, select GLONASS Efficient track computing module to calculate GLONASS satellite orbit, just calculate GLONASS satellite position and speed through a runge kutta method integration.Below be described in detail respectively.

Please refer to Fig. 1,2,3, a kind of method that the present embodiment provides GLONASS Efficient track to calculate, comprise step:

S1: the GLONASS satellite broadcast signal of catching and tracing into is converted to available GLONASS satellite data by the location receiver including GLONASS positioning system, and sends satellite data to time judgment module;

S2: time judgment module judges the satellite reference time t first judged in satellite data _bwhether changed to some extent with a upper epoch, if judge reference time t _bchange, upgrade reference time t _band satellite location data, perform step S3, otherwise, judge reference time t _bdo not change, retain original data, perform step S4;

S3:GLONASS step-length integration orbit computation module uses Fourth order Runge-Kutta from reference time t _bmoment starts integration, and initial position is with reference to moment t in satellite data _breference coordinate, speed and acceleration.After repeatedly cumulative integral, obtain GLONASS satellite in the position of current epoch and speed, final output satellite position and velocity amplitude;

S4: judge module first time in elapsed time judges reference time t _bafter not changing, time judgment module judges GLONASS satellite reference time t again _bwith GLONASS satellite current time t _currentbetween difference whether be less than interval, i.e. t between epoch of determining _current-t _b≤ T. is if then perform step S5; Otherwise, perform step S6;

S5: after the GLONASS satellite orbits of about 15 minutes calculate, have accumulated error to a certain degree, need again to correct satellite integration track by ephemeris reference value.GLONASS step-length integration orbit computation module uses Fourth order Runge-Kutta from reference time t _bmoment starts integration, and initial position is with reference to moment t in satellite data _breference coordinate, speed and acceleration.After repeatedly cumulative integral, obtain GLONASS satellite in the position of current epoch and speed, final output satellite position and velocity amplitude;

S6:GLONASS Efficient track computing module used Fourth order Runge-Kutta integration from a upper epoch, the initial time of integration was a upper epoch of current time, initial position be upper one epoch GLONASS satellite orbit calculate after acceleration in the satellite position of gained, speed and ephemeris.Due to integral time length relative to very little integration step, just obtain GLONASS satellite in the position of current epoch and speed, final output satellite position and velocity amplitude after only needing an integration.

In the preferred scheme of one, described GLONASS step-length integration orbit computation module is based on fourth order Runge-Kutta integral method, according to GLONASS satellite motion differential equation, by reference moment t _bto satellite current time t _currentrepeatedly integration.Wherein GLONASS satellite motion differential equation is:

$\frac{dx}{dt}=\stackrel{\·}{x}$

$\frac{dy}{dt}=\stackrel{\·}{y}$

$\frac{dz}{dt}=\stackrel{\·}{z}$

$\frac{d\stackrel{\·}{x}}{dt}=-\frac{\mathrm{\μ}}{r^3}x-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}x(1-5\frac{z^2}{r^2})+{\stackrel{\·}{\mathrm{\Ω}}}_e^{2}x+2{\stackrel{\·}{\mathrm{\Ω}}}_e\stackrel{\·}{y}+{\stackrel{\·\·}{x}}_n$

$\frac{d\stackrel{\·}{y}}{dt}=-\frac{\mathrm{\μ}}{r^3}y-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}y(1-5\frac{z^2}{r^2})+{\stackrel{\·}{\mathrm{\Ω}}}_e^{2}y+2{\stackrel{\·}{\mathrm{\Ω}}}_e\stackrel{\·}{x}+{\stackrel{\·\·}{y}}_n$

$\frac{d\stackrel{\·}{z}}{dt}=-\frac{\mathrm{\μ}}{r^3}z-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}z(3-5\frac{z^2}{r^2})+{\stackrel{\·\·}{z}}_n$

Wherein (x, y, z) is respectively satellite position, and (dx, dy, dz) is respectively satellite velocities, and r is the geometric distance of satellite and earth center, for the second order zonal harmonic coefficient of compression of the earth, a, the parameter substantially greatly that μ adopts for PZ-90 coordinate system.

In the preferred scheme of one, described GLONASS Efficient track computing module is based on fourth order Runge-Kutta integral method, according to GLONASS equation of satellite motion formula, by upper one epoch GLONASS satellite resolve the time t of position and speed _current-T to current GLONASS satellite current time t _currentan integration.Wherein integral process is:

Y ₁＝X _i-1

$Y_2=X_{i-1}+\frac{\mathrm{\Δ}t}{2}f\left(Y_1\right)$

$Y_3=X_{i-1}+\frac{\mathrm{\Δ}t}{2}f\left(Y_2\right)$

Y ₄＝X _i-1+Δtf(Y ₃)

$X_i=X_{i-1}+\frac{\mathrm{\Δ}t}{6}\[f\left(Y_1\right)+2f\left(Y_2\right)+3f\left(Y_3\right)+f\left(Y_4\right)\]$

Wherein vectorial X _i=[x, y, z, dx, dy, dz], X _i-1be then position and the velocity vector of the satellite of a upper epoch, Y ₁, Y ₂, Y ₃, Y ₄for the value of computation process.

Due to GLONASS Efficient track computing module for once integral process, so it is very efficient to solve satellite position and rate process, not only saves a lot of time, and save CPU ample resources.

In the preferred scheme of one, described method is applicable to receiver that all use GLONASS systems position and user terminal.

Compared with prior art, the beneficial effect of technical solution of the present invention is: the present invention is based on fourth order Runge-Kutta integral method on the GLONASS satellite position of a upper epoch and the basis of speed, calculate GLONASS satellite position and the speed of current epoch, only need an integration just can obtain result, greatly simple integral process and decrease integral time, and save the resource transfer of receiver to a great extent.When positioning system enters effective time period, new method is the same with aging method, utilizes Runge Kutta integration with fixed step size, from the ephemeris reference time, is integrated to-15 minutes ephemeris reference times; But in next epoch, new method no longer carries out integration from the ephemeris reference time, but from upper epoch time, is integrated to this epoch.The time of upper epoch to this epoch is very short, usually within a second.Runge Kutta integration only needs a step-length just can calculate position and the speed of satellite.Later epoch is also this method of repetition, as long as a step integration, until system reaches new ephemeris section effective time.This method also has a Quality Control Mechanism: when system current epoch first time is greater than the reference time of this ephemeris, Runge Kutta integration no longer above epoch is starting point, and the satellite position of ephemeris reference time and reference time and speed are that initial value carries out integration.This Sample Method eliminates the accumulated error that-15 minute arrive ephemeris reference time section in of Runge Kutta integration when ephemeris reference.Therefore this method can improve the counting yield of GLONASS satellite position, speed greatly, and does not increase error.

Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.

Claims (8)

1. GLONASS satellite orbit computing method, is characterized in that, comprise the following steps:

S1: catch GLONASS satellite broadcast signal, and convert available GLONASS satellite data to, GLONASS satellite data is sent to time judgment module;

S2: first time judgment module judges the satellite reference time t in GLONASS satellite data _bwhether changed to some extent with a upper epoch, if judge reference time t occurs _bchange, upgrade reference time t _band satellite location data, perform step S3, otherwise, retain original data, perform step S4;

S3: time judgment module selects GLONASS satellite data to be sent to GLONASS step-length integration orbit computation module, and GLONASS step-length integration orbit computation module calculates GLONASS satellite position and speed through repeatedly runge kutta method integrating meter;

S4: time judgment module compares the size of satellite reference time and satellite launch time, if current time be greater than satellite reference time and current time and satellite reference time difference one sample interval epoch time, again GLONASS satellite position and speed is corrected by GLONASS step-length integration orbit computation module, otherwise, select GLONASS Efficient track computing module to calculate GLONASS satellite orbit, calculate GLONASS satellite position and speed through a runge kutta method integrating meter.

2. GLONASS satellite orbit computing method according to claim 1, is characterized in that, the concrete steps of described step S3 are:

GLONASS step-length integration orbit computation module uses Fourth order Runge-Kutta from satellite reference time t _bmoment starts integration, and wherein, initial position is with reference to moment t in satellite data _breference coordinate, speed and acceleration, after repeatedly cumulative integral, obtain GLONASS satellite in the position of current epoch and speed, final output satellite position and velocity amplitude.

3. GLONASS satellite orbit computing method according to claim 1, is characterized in that, the concrete steps of described step S4 are:

S401: judge module first time in elapsed time judges reference time t _bafter not changing, time judgment module judges GLONASS satellite reference time t again _bwith GLONASS satellite ephemeris t launch time _currentbetween difference whether be less than interval between epoch of determining, namely judge t _current-t _b≤ T, if so, then performs step S402; Otherwise, perform step S403;

S402: after the GLONASS satellite orbit of a Preset Time calculates, have accumulated the error in this Preset Time, again correct satellite integration track by ephemeris reference value;

S403:GLONASS Efficient track computing module used Fourth order Runge-Kutta integration from a upper epoch, the initial time of integration was the satellite ephemeris launch time of a upper epoch, initial position be upper one epoch GLONASS satellite orbit calculate after acceleration in the satellite position of gained, speed and ephemeris, GLONASS satellite is obtained in the position of current epoch and speed, final output satellite position and velocity amplitude after an integration.

4. GLONASS satellite orbit computing method according to claim 3, is characterized in that, the concrete operations of described step S402 are:

GLONASS step-length integration orbit computation module uses Fourth order Runge-Kutta from reference time t _bmoment starts integration, and initial position is with reference to moment t in satellite data _breference coordinate, speed and acceleration, after repeatedly cumulative integral, obtain GLONASS satellite in the position of current epoch and speed, final output satellite position and velocity amplitude.

5. the GLONASS satellite orbit computing method according to any one of claim 1-4, it is characterized in that, described GLONASS step-length integration orbit computation module is based on fourth order Runge-Kutta integral method, according to GLONASS satellite motion differential equation, by reference moment t _bto satellite current time t _currentrepeatedly integration, wherein GLONASS satellite motion differential equation is:

$\frac{dx}{dt}=\stackrel{\·}{x}$

$\frac{dy}{dt}=\stackrel{\·}{y}$

$\frac{dz}{dt}=\stackrel{\·}{z}$

$\frac{d\stackrel{\·}{x}}{dt}=-\frac{\mathrm{\μ}}{r^3}x-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}x(1-5\frac{z^2}{r^2})+{\stackrel{\·}{\mathrm{\Ω}}}_e^{2}x+2{\stackrel{\·}{\mathrm{\Ω}}}_e\stackrel{\·}{y}+{\stackrel{\·\·}{x}}_n$

$\frac{d\stackrel{\·}{y}}{dt}=-\frac{\mathrm{\μ}}{r^3}y-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}y(1-5\frac{z^2}{r^2})+{\stackrel{\·}{\mathrm{\Ω}}}_e^{2}y+2{\stackrel{\·}{\mathrm{\Ω}}}_e\stackrel{\·}{x}+{\stackrel{\·\·}{y}}_n$

$\frac{d\stackrel{\·}{z}}{dt}=-\frac{\mathrm{\μ}}{r^3}z-\frac{3}{2}{J}_0^2\frac{{\mathrm{\μa}}^2}{r^5}z(3-5\frac{z^2}{r^2})+{\stackrel{\·\·}{z}}_n$

Wherein (x, y, z) is respectively satellite position, and (dx, dy, dz) is respectively satellite velocities, and r is the geometric distance of satellite and earth center, for the second order zonal harmonic coefficient of compression of the earth, a, the parameter substantially greatly that μ adopts for PZ-90 coordinate system.

6. the GLONASS satellite orbit computing method according to any one of claim 1-4, it is characterized in that, described GLONASS Efficient track computing module is based on fourth order Runge-Kutta integral method, according to GLONASS equation of satellite motion formula, by upper one epoch GLONASS satellite resolve the time t of position and speed _current-T to current GLONASS satellite current time t _currentan integration.Wherein integral process is:

Y ₁＝X _i-1

$Y_2=X_{i-1}+\frac{\mathrm{\Δ}t}{2}f\left(Y_1\right)$

$Y_3=X_{i-1}+\frac{\mathrm{\Δ}t}{2}f\left(Y_2\right)$

Y ₄＝X _i-1+Δtf(Y ₃)

$X_i=X_{i-1}+\frac{\mathrm{\Δ}t}{6}\[f\left(Y_1\right)+2f\left(Y_2\right)+3f\left(Y_3\right)+f\left(Y_4\right)\]$

Wherein vectorial X _i=[x, y, z, dx, dy, dz], X _i-1be then position and the velocity vector of the satellite of a upper epoch, Y ₁, Y ₂, Y ₃, Y ₄for the value of computation process.

7. the application in the receiver that GLONASS satellite orbit computing method position in GLONASS system as described in any one of right 1 ~ 6 and user terminal.

8. a GLONASS satellite orbit computing system, comprising:

Location receiver, catches GLONASS satellite broadcast signal, and the GLONASS satellite broadcast signal traced into is converted to available GLONASS satellite data;

Time judgment module, receives GLONASS satellite data, judges the knots modification of the satellite reference time in GLONASS satellite data, and upgrades according to this knots modification or retain reference time and satellite location data;

GLONASS step-length integration orbit computation module, receive the reference time and satellite location data that upgrade, exports GLONASS satellite position and velocity amplitude through repeatedly runge kutta method integral and calculating;

GLONASS Efficient track computing module, receives the reference time and satellite location data that retain, exports GLONASS satellite position and speed through a runge kutta method integral and calculating,

Described location receiver is connected with time judgment module, and described time judgment module is connected with GLONASS step-length integration orbit computation module and GLONASS Efficient track computing module respectively.