CN105445766B - A kind of GLONASS satellite orbit computation method and system - Google Patents

A kind of GLONASS satellite orbit computation method and system Download PDF

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CN105445766B
CN105445766B CN201510790529.2A CN201510790529A CN105445766B CN 105445766 B CN105445766 B CN 105445766B CN 201510790529 A CN201510790529 A CN 201510790529A CN 105445766 B CN105445766 B CN 105445766B
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mrow
satellite
glonass
mfrac
msub
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CN105445766A (en
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王峰
朱海波
黎博渊
张智金
钱瑞琦
魏东明
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Feng Hua Longitude And Latitude Science And Technology Ltd Of Huizhou City
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Feng Hua Longitude And Latitude Science And Technology Ltd Of Huizhou City
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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
    • 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
    • G01S19/28—Satellite selection

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of GLONASS satellite orbit computation method and system, comprise the following steps：Capture GLONASS satellite broadcast singal is converted into GLONASS satellite data and reaches time judgment module；Judge the satellite reference time t in GLONASS satellite databWhether the reference time t current with alignment systembChange, such as change, update reference time tbAnd satellite location data, otherwise, reservation is continued to use；GLONASS satellite data are sent to GLONASS step-lengths integration orbit computation module, finally calculate GLONASS satellite position and speed；Compare satellite reference time and satellite current time, if current time is more than satellite reference time and difference is when sampling epoch interval for one, re-calibrate GLONASS satellite position and speed, otherwise, GLONASS Efficient track computing modules are selected, finally calculate GLONASS satellite position and speed.

Description

A kind of GLONASS satellite orbit computation method and system
Technical field
The present invention relates to GLONASS satellite navigation system (GLONASS), in particular it relates to which a kind of support GLONASS to defend Star orbital road computational methods and system.
Background technology
With the continuous propulsion of GLONASS modernizations, by December 8th, 2011, GLONASS operation on orbit satellites Up to 24, the complete service ability of recovery system.GPS system provides round-the-clock positioning timing service in real time in the world, with The reparation of GLONASS systems and perfect, the GPS/ Big Dippeves/GLONASS multimode integrated navigation and locations have obtained more and more extensive make With multimode positioning adds observation satellite number, improves GPS relative positioning structure, improves the precision of positioning and can use Property, therefore to GLONASS systematic researches, there is very important use value.It is different from GPS and dipper system, GLONASS Satellite orbit is calculated due to the difference of satellite broadcasting ephemeris, can use Euler method, Runge-Kutta method and Adiemus method etc., Researcher also constantly studies various methods to improve the precision of GLONASS satellite orbit computation always, as Tsing-Hua University proposes With orbit integration method come the accurate formula for calculating GLONASS satellite coordinate, the automatic integration step-length that Southeast China University proposes GLONASS satellite track runge kutta method, these methods all improve the computational accuracy of GLONASS satellite track and subtracted well The Time ＆ Space Complexity calculated less.
Because the Fourth order Runge-Kutta calculated on GLONASS satellite coordinate can obtain good precision, therefore It is widely applied very much in a very long time.With the continuous development of navigator fix demand, the various differences emerged The location receiver and user terminal of type, requirement more and more higher of the navigator fix to fast positioning, and minimize navigation core The continuous development of piece needs to reduce chip algorithm operand to reduce positioning time and reduce chip power-consumption.Based on traditional quadravalence It is to carry out orbit integration from the reference time of satellite broadcasting every time that runge kutta method, which carries out orbit computation to GLONASS satellite, by In the ephemeris of GLONASS satellite be in ephemeris reference time ± 15 minute effectively, when alignment system enters effective period of time When, Runge Kutta integration is needed with fixed step size, typically 60 seconds, from the ephemeris reference time, is integrated to the ephemeris reference time -15 Minute, (passing through 15 step-lengths)；In next epoch, typically after one second, conventional method is again from during same ephemeris reference Between rise, be integrated to new epoch time, (or 15 step-lengths).Therefore the longer time of integration is needed, and with the time of integration It is also bigger to increase amount of calculation, takes the substantial amounts of resources of CPU, does not meet the requirement that high speed development efficiently positions.
The content of the invention
The purpose of the present invention is to overcome weak point of the prior art, there is provided a kind of simple integral process and is reduced The time of integration, and largely save the GLONASS satellite orbit computation method of the resource transfer of receiver.
The purpose of the present invention is achieved through the following technical solutions：
A kind of GLONASS satellite orbit computation method, comprises the following steps：
S1：GLONASS satellite broadcast singal is captured, and is converted into available GLONASS satellite data, GLONASS is defended Sing data is sent to time judgment module；
S2：Time judgment module first determines whether the satellite reference time t in GLONASS satellite databWhether gone through with upper one Member changes, if it is determined that reference time t occursbChange, update reference time tbAnd satellite location data, step S3 is performed, Otherwise, retain original data, perform step S4；
S3：GLONASS satellite data are sent to GLONASS step-lengths integration orbit computation mould by time judgment module selection Block, GLONASS step-lengths integration orbit computation module calculate GLONASS satellite position and speed by multiple runge kutta method integrating meter Degree；
S4：Time judgment module compares the size of satellite reference time and satellite launch time, if current time is more than Satellite reference time and current time, when sampling epoch interval for one, are accumulated with satellite reference time difference with GLONASS step-lengths Point of rail road computing module re-calibrates GLONASS satellite position and speed, otherwise, selects GLONASS Efficient track computing modules GLONASS satellite track is calculated, GLONASS satellite position and speed are calculated through a runge kutta method integrating meter.
Specifically, the step S3's concretely comprises the following steps：
GLONASS step-lengths integration orbit computation module uses Fourth order Runge-Kutta from satellite reference time tbMoment starts Integration, wherein, initial position is to refer to moment t in satellite databReference coordinate, speed and acceleration, by repeatedly accumulation After integration, GLONASS satellite is obtained in the position of current epoch and speed, final output satellite position and velocity amplitude.
Specifically, the step S4's concretely comprises the following steps：
S401：Elapsed time judge module judges reference time t for the first timebAfter not changing, the time judges mould Block judges GLONASS satellite reference time t againbWith GLONASS satellite ephemeris launch time tcurrentBetween difference it is whether small It is spaced between the epoch determined, that is, judges tcurrent-tb≤ T, if it is, performing step S402；Otherwise, step is performed S403；
S402：After GLONASS satellite orbit computation by a preset time, the mistake in the preset time have accumulated Difference, satellite integration track is re-calibrated with ephemeris reference value；
S403：GLONASS Efficient tracks computing module integrated with Fourth order Runge-Kutta since a upper epoch, integration Initial time be a upper epoch satellite ephemeris launch time, initial position is upper epoch GLONASS satellite orbit computation Acceleration in the satellite position of gained, speed and ephemeris afterwards, GLONASS satellite is obtained in current epoch after once integrating Position and speed, final output satellite position and velocity amplitude.
Specifically, the concrete operations of the step S402 are：
GLONASS step-lengths integration orbit computation module uses Fourth order Runge-Kutta from reference time tbMoment starts to accumulate Point, initial position is to refer to moment t in satellite databReference coordinate, speed and acceleration, after multiple cumulative integral, GLONASS satellite is obtained in the position of current epoch and speed, final output satellite position and velocity amplitude.
In a kind of preferable scheme, the GLONASS step-lengths integration orbit computation module is to be based on fourth order Runge-Kutta Integration method, according to GLONASS satellite differential equation of motion formula, by referring to moment tbTo satellite current time tcurrentMultiple product Point, wherein GLONASS satellite differential equation of motion formula is:
Wherein (x, y, z) is respectively satellite position,Respectively satellite velocities, r are satellite With the geometric distance of earth center,For the second order zonal harmonic coefficient of the compression of the Earth, a,Used by μ is PZ-90 coordinate systems Parameter substantially bigly.
In a kind of preferable scheme, the GLONASS Efficient tracks computing module is integrated based on fourth order Runge-Kutta Method, according to GLONASS satellite equation of motion, by upper epoch GLONASS satellite resolving position and the time t of speedcurrent- T is to current GLONASS satellite current time tcurrentOnce integration.Wherein integral process is：
Y1=Xi-1
Y4=Xi-1+Δtf(Y3)
Wherein vectorial Xi=[x, y, z, dx, dy, dz], Xi-1Then for a upper epoch satellite position and velocity vector, Y1、 Y2、Y3、Y4For the value of calculating process.
Due to GLONASS Efficient tracks computing modules only once integral process, so solving satellite position and speed mistake Cheng Feichang is efficient, not only saves many times, and saves CPU ample resources.
In a kind of preferable scheme, methods described is applied to all receivers positioned using GLONASS systems And user terminal.
Based on same design, the present invention also provides a kind of system of GLONASS satellite orbit computation, including：
Location receiver, GLONASS satellite broadcast singal is captured, and the GLONASS satellite broadcast singal traced into is turned It is changed to available GLONASS satellite data；
Time judgment module, GLONASS satellite data are received, judge the satellite reference time in GLONASS satellite data Knots modification, and updated according to the knots modification or retain reference time and satellite location data；
GLONASS step-lengths integrate orbit computation module, reference time and the satellite location data of renewal are received, by multiple Runge kutta method integral and calculating simultaneously exports GLONASS satellite position and velocity amplitude；
GLONASS Efficient track computing modules, reference time and the satellite location data of reservation are received, through Yi Long Geku Tower method integral and calculating simultaneously exports GLONASS satellite position and speed,
The location receiver is connected with time judgment module, and the time judgment module is accumulated with GLONASS step-lengths respectively Point of rail road computing module and the connection of GLONASS Efficient tracks computing module.
GLONASS Efficient tracks computational methods proposed by the present invention, the same of receiver operation time is reduced to the full extent When, moreover it is possible to significantly save receiver CPU calculation resources.The present invention is by based on all receptions for including GLONASS satellite positioning Machine.The first epoch that this method changes in GLONASS satellite broadcast ephemeris call GLONASS step-lengths integrate orbit computation module from The reference time of broadcast carries out orbit integration, and the efficient rails of GLONASS are called based on upper epoch orbit computation from the second epoch Road computing module, it can once integrate to obtain satellite position and speed；When the satellite launch time reaching the reference time, transport again With GLONASS step-lengths integration orbit computation module correction satellite orbit, next epoch is continuing with the calculating of GLONASS Efficient tracks Mould solves position and the speed of satellite orbit soon.
The present invention has advantages below and beneficial effect compared with prior art：
Compared with prior art, the present invention based on fourth order Runge-Kutta integration method in the GLONASS satellite position of a upper epoch The GLONASS satellite position and speed put and on the basis of speed, calculate current epoch, it is only necessary to which once integration can be obtained by As a result, greatly simplify integral process and reduce the time of integration, and largely save the resource transfer of receiver.
Brief description of the drawings
Fig. 1 is the general frame figure of the GLONASS satellite orbit computation system of the present invention.
Fig. 2 is the method flow diagram of GLONASS Efficient tracks computational methods of the present invention.
Fig. 3 is the explanation figure of GLONASS Efficient tracks computational methods of the present invention.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited In this.
Embodiment
Such as Fig. 1, a kind of GLONASS Efficient tracks computing system of the present invention, mainly there are 4 parts：Positioning Receiver, time judgment module, GLONASS step-lengths integration orbit computation module and GLONASS Efficient track computing modules.Time Judge module have judge the GLONASS satellite broadcast ephemeris reference time whether change and the comparison reference time and satellite it is current The function of time value.When satellite reference time changes, time judgment module selection GLONASS step-length integration orbit computation moulds Block, GLONASS satellite position and speed are calculated by multiple 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 is just greater than the reference time And current time, when sampling epoch interval for one, orbit computation module weight is integrated with GLONASS step-lengths with reference time difference New correction GLONASS satellite position and speed, otherwise, GLONASS Efficient tracks computing module is selected to calculate GLONASS satellite rail Road, GLONASS satellite position and speed are just calculated through a runge kutta method integration.It is described in detail individually below.
It refer to Fig. 1,2,3, the present embodiment provides a kind of method that GLONASS Efficient tracks calculate, including step：
S1：Include the GLONASS satellite broadcast singal that the location receiver of GLONASS alignment systems will be captured and traced into Available GLONASS satellite data are converted to, and satellite data is sent into time judgment module；
S2：Time judgment module judges to first determine whether the satellite reference time t in satellite databWhether had with a upper epoch Changed, if it is determined that reference time tbChange, update reference time tbAnd satellite location data, step S3 is performed, otherwise, Judge reference time tbDo not change, retain original data, perform step S4；
S3：GLONASS step-lengths integration orbit computation module uses Fourth order Runge-Kutta from reference time tbMoment starts Integration, initial position are to refer to moment t in satellite databReference coordinate, speed and acceleration.By multiple cumulative integral Afterwards, GLONASS satellite is obtained in the position of current epoch and speed, final output satellite position and velocity amplitude；
S4:Elapsed time judge module judges reference time t for the first timebAfter not changing, time judgment module GLONASS satellite reference time t is judged againbWith GLONASS satellite current time tcurrentBetween difference whether be less than determine It is spaced between good epoch, i.e. tcurrent-tb≤ T. is if it is, perform step S5；Otherwise, step S6 is performed；
S5：After the GLONASS satellite orbit computations of about 15 minutes, have accumulated a certain degree of error, it is necessary to Satellite integration track is re-calibrated with ephemeris reference value.GLONASS step-lengths integration orbit computation module uses quadravalence Long Geku Tower method is from reference time tbMoment starts to integrate, and initial position is to refer to moment t in satellite databReference coordinate, speed and add Speed.After multiple cumulative integral, GLONASS satellite is obtained in the position of current epoch and speed, final output satellite position Put and velocity amplitude；
S6：GLONASS Efficient tracks computing module integrated with Fourth order Runge-Kutta since a upper epoch, integration Initial time was a upper epoch for current time, and initial position is defending obtained by after upper epoch GLONASS satellite orbit computation Championship is put, the acceleration in speed and ephemeris.Due to time of integration length for integration step very little, it is only necessary to one GLONASS satellite is just obtained after secondary integration in the position of current epoch and speed, final output satellite position and velocity amplitude.
In a kind of preferable scheme, the GLONASS step-lengths integration orbit computation module is to be based on fourth order Runge-Kutta Integration method, according to GLONASS satellite differential equation of motion formula, by referring to moment tbTo satellite current time tcurrentMultiple product Point.Wherein GLONASS satellite differential equation of motion formula is:
Wherein (x, y, z) is respectively satellite position,Respectively satellite velocities, r are satellite With the geometric distance of earth center,For the second order zonal harmonic coefficient of the compression of the Earth, a,Used by μ is PZ-90 coordinate systems Parameter substantially bigly.
In a kind of preferable scheme, the GLONASS Efficient tracks computing module is integrated based on fourth order Runge-Kutta Method, according to GLONASS satellite equation of motion, by upper epoch GLONASS satellite resolving position and the time t of speedcurrent- T is to current GLONASS satellite current time tcurrentOnce integration.Wherein integral process is：
Y1=Xi-1
Y4=Xi-1+Δtf(Y3)
Wherein vectorial Xi=[x, y, z, dx, dy, dz], Xi-1Then for a upper epoch satellite position and velocity vector, Y1、 Y2、Y3、Y4For the value of calculating process.
Due to GLONASS Efficient tracks computing modules only once integral process, so solving satellite position and speed mistake Cheng Feichang is efficient, not only saves many times, and saves CPU ample resources.
In a kind of preferable scheme, methods described is applied to all receivers positioned using GLONASS systems And user terminal.
Compared with prior art, the beneficial effect of technical solution of the present invention is：The present invention is integrated based on fourth order Runge-Kutta Method calculated GLONASS satellite position and the speed of current epoch on the basis of the GLONASS satellite position of a upper epoch and speed Degree, it is only necessary to which once integration can be obtained by result, greatly simplifies integral process and reduces the time of integration, and very great Cheng The resource transfer of receiver is saved on degree.When alignment system enters effective period of time, new method utilizes as aging method Runge Kutta is integrated with fixed step size, from the ephemeris reference time, is integrated to -15 minutes ephemeris reference times；But next Epoch, new method are no longer integrated from the ephemeris reference time, but since upper epoch time, it is integrated to this epoch.On The time of epoch to this epoch is very short, generally within one second.Runge Kutta integration only needs a step-length can to calculate The position of satellite and speed.Later epoch is also to repeat this method, as long as a step integrates, until system reaches new ephemeris Effective period of time.This method also has a Quality Control Mechanism：When system current epoch is more than the reference of this ephemeris for the first time Between when, Runge Kutta integration no longer more than an epoch be starting point, and the satellite position of ephemeris reference time and reference time It is that initial value is integrated with speed.This Sample Method eliminates Runge Kutta integration and arrives star within -15 minutes when ephemeris refers to The accumulated error gone through in reference time section.Therefore this method can greatly improve GLONASS satellite position, the calculating effect of speed Rate, without increasing error.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification, Equivalent substitute mode is should be, is included within protection scope of the present invention.

Claims (7)

  1. A kind of 1. GLONASS satellite orbit computation method, it is characterised in that comprise the following steps：
    S1：GLONASS satellite broadcast singal is captured, and is converted into available GLONASS satellite data, by GLONASS satellite number According to being sent to time judgment module；
    S2：Time judgment module first determines whether the satellite reference time t in GLONASS satellite databWhether with a upper epoch Change, if it is determined that reference time t occursbChange, update reference time tbAnd satellite location data, step S3 is performed, otherwise, Retain original data, perform step S4；
    S3：GLONASS satellite data are sent to GLONASS step-lengths integration orbit computation module by time judgment module selection, GLONASS step-lengths integration orbit computation module calculates GLONASS satellite position and speed by multiple runge kutta method integrating meter；
    S4：Time judgment module compares the size of satellite reference time and satellite launch time, if current time is more than satellite Reference time and current time, when sampling epoch interval for one, rail are integrated with GLONASS step-lengths with satellite reference time difference Road computing module re-calibrates GLONASS satellite position and speed, otherwise, selects GLONASS Efficient tracks computing module to calculate GLONASS satellite track, GLONASS satellite position and speed are calculated through a runge kutta method integrating meter.
  2. 2. GLONASS satellite orbit computation method according to claim 1, it is characterised in that the step S3's is specific Step is：
    GLONASS step-lengths integration orbit computation module uses Fourth order Runge-Kutta from satellite reference time tbMoment starts to integrate, Wherein, initial position is to refer to moment t in satellite databReference coordinate, speed and acceleration, by multiple cumulative integral Afterwards, GLONASS satellite is obtained in the position of current epoch and speed, final output satellite position and velocity amplitude.
  3. 3. GLONASS satellite orbit computation method according to claim 1, it is characterised in that the step S4's is specific Step is：
    S401：Elapsed time judge module judges reference time t for the first timebAfter not changing, time judgment module is again Judge GLONASS satellite reference time tbWith GLONASS satellite ephemeris launch time tcurrentBetween difference whether be less than determine It is spaced between good epoch, that is, judges tcurrent-tb≤ T, if it is, performing step S402；Otherwise, step S403 is performed；
    S402：After GLONASS satellite orbit computation by a preset time, the error in the preset time is have accumulated, is used Ephemeris reference value integrates track to re-calibrate satellite；
    S403：GLONASS Efficient tracks computing module integrated with Fourth order Runge-Kutta since a upper epoch, at the beginning of integration Begin the satellite ephemeris launch time that the time was a upper epoch, initial position is institute after upper epoch GLONASS satellite orbit computation Acceleration in the satellite position, speed and the ephemeris that obtain, GLONASS satellite is obtained in the position of current epoch after once integrating And speed, final output satellite position and velocity amplitude.
  4. 4. GLONASS satellite orbit computation method according to claim 3, it is characterised in that the tool of the step S402 Gymnastics conduct：
    GLONASS step-lengths integration orbit computation module uses Fourth order Runge-Kutta from reference time tbMoment starts to integrate, initially Position is to refer to moment t in satellite databReference coordinate, speed and acceleration, after multiple cumulative integral, obtain GLONASS satellite is in the position of current epoch and speed, final output satellite position and velocity amplitude.
  5. 5. the GLONASS satellite orbit computation method according to claim any one of 1-4, it is characterised in that described GLONASS step-lengths integration orbit computation module is to be based on fourth order Runge-Kutta integration method, according to GLONASS satellite motion side Formula, by referring to moment tbTo satellite current time tcurrentMultiple integration, wherein GLONASS satellite differential equation of motion formula For:
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    <mrow> <mfrac> <mrow> <mi>d</mi> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mo>=</mo> <mo>-</mo> <mfrac> <mi>&amp;mu;</mi> <msup> <mi>r</mi> <mn>3</mn> </msup> </mfrac> <mi>x</mi> <mo>-</mo> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> <msubsup> <mi>J</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mfrac> <mrow> <msup> <mi>&amp;mu;a</mi> <mn>2</mn> </msup> </mrow> <msup> <mi>r</mi> <mn>5</mn> </msup> </mfrac> <mi>x</mi> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>5</mn> <mfrac> <msup> <mi>z</mi> <mn>2</mn> </msup> <msup> <mi>r</mi> <mn>2</mn> </msup> </mfrac> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mover> <mi>&amp;Omega;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>e</mi> <mn>2</mn> </msubsup> <mi>x</mi> <mo>+</mo> <mn>2</mn> <msub> <mover> <mi>&amp;Omega;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>e</mi> </msub> <mover> <mi>y</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mi>n</mi> </msub> </mrow>
    <mrow> <mfrac> <mrow> <mi>d</mi> <mover> <mi>y</mi> <mo>&amp;CenterDot;</mo> </mover> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mo>=</mo> <mo>-</mo> <mfrac> <mi>&amp;mu;</mi> <msup> <mi>r</mi> <mn>3</mn> </msup> </mfrac> <mi>y</mi> <mo>-</mo> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> <msubsup> <mi>J</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mfrac> <mrow> <msup> <mi>&amp;mu;a</mi> <mn>2</mn> </msup> </mrow> <msup> <mi>r</mi> <mn>5</mn> </msup> </mfrac> <mi>y</mi> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>5</mn> <mfrac> <msup> <mi>z</mi> <mn>2</mn> </msup> <msup> <mi>r</mi> <mn>2</mn> </msup> </mfrac> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mover> <mi>&amp;Omega;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>e</mi> <mn>2</mn> </msubsup> <mi>y</mi> <mo>+</mo> <mn>2</mn> <msub> <mover> <mi>&amp;Omega;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>e</mi> </msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mover> <mi>y</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mi>n</mi> </msub> </mrow>
    <mrow> <mfrac> <mrow> <mi>d</mi> <mover> <mi>z</mi> <mo>&amp;CenterDot;</mo> </mover> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mo>=</mo> <mo>-</mo> <mfrac> <mi>&amp;mu;</mi> <msup> <mi>r</mi> <mn>3</mn> </msup> </mfrac> <mi>z</mi> <mo>-</mo> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> <msubsup> <mi>J</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mfrac> <mrow> <msup> <mi>&amp;mu;a</mi> <mn>2</mn> </msup> </mrow> <msup> <mi>r</mi> <mn>5</mn> </msup> </mfrac> <mi>z</mi> <mrow> <mo>(</mo> <mn>3</mn> <mo>-</mo> <mn>5</mn> <mfrac> <msup> <mi>z</mi> <mn>2</mn> </msup> <msup> <mi>r</mi> <mn>2</mn> </msup> </mfrac> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mover> <mi>z</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mi>n</mi> </msub> </mrow>
    Wherein (x, y, z) is respectively satellite position,Respectively satellite velocities, r are satellite and ground The geometric distance of ball center,For the second order zonal harmonic coefficient of the compression of the Earth, a,μ is basic used by PZ-90 coordinate systems The earth parameter.
  6. 6. the GLONASS satellite orbit computation method according to claim any one of 1-4, it is characterised in that described GLONASS Efficient track computing modules are to be based on fourth order Runge-Kutta integration method, according to GLONASS satellite equation of motion, by Upper epoch GLONASS satellite resolves the time t of position and speedcurrent- T arrives current GLONASS satellite current time tcurrent Once integration, wherein integral process is：
    Y1=Xi-1
    <mrow> <msub> <mi>Y</mi> <mn>2</mn> </msub> <mo>=</mo> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> <mn>2</mn> </mfrac> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> </mrow>
    <mrow> <msub> <mi>Y</mi> <mn>3</mn> </msub> <mo>=</mo> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> <mn>2</mn> </mfrac> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow>
    Y4=Xi-1+Δtf(Y3)
    <mrow> <msub> <mi>X</mi> <mi>i</mi> </msub> <mo>=</mo> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> <mn>6</mn> </mfrac> <mo>&amp;lsqb;</mo> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mn>2</mn> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mn>3</mn> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>4</mn> </msub> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> </mrow>
    Wherein vectorial Xi=[x, y, z, dx, dy, dz], Xi-1Then for a upper epoch satellite position and velocity vector, Y1、Y2、 Y3、Y4For the value of calculating process.
  7. 7. a kind of GLONASS satellite orbit computation system, including：
    Location receiver, GLONASS satellite broadcast singal is captured, and the GLONASS satellite broadcast singal traced into is converted to Available GLONASS satellite data；
    Time judgment module, GLONASS satellite data are received, judge changing for the satellite reference time in GLONASS satellite data Variable, and updated according to the knots modification or retain reference time and satellite location data, time judgment module, which has, to be judged Whether the GLONASS satellite broadcast ephemeris reference time changes and the function of comparison reference time and satellite current time value, when When satellite reference time changes, time judgment module selection GLONASS step-length integration orbit computation modules, by multiple Long Geku Tower method integrating meter calculates GLONASS satellite position and speed；When satellite reference time does not change, the time judges that mould compares soon and defended Star reference time and the size of satellite launch time, if current time is just greater than reference time and current time and reference Time difference re-calibrates GLONASS satellite position when sampling epoch interval for one, with GLONASS step-lengths integration orbit computation module Put and speed, otherwise, select GLONASS Efficient tracks computing module to calculate GLONASS satellite track, through a runge kutta method Integration just calculates GLONASS satellite position and speed；
    GLONASS step-lengths integrate orbit computation module, receive reference time and the satellite location data of renewal, by multiple imperial lattice Ku Tafa integral and calculatings simultaneously export GLONASS satellite position and velocity amplitude；
    GLONASS Efficient track computing modules, reference time and the satellite location data of reservation are received, through a runge kutta method Integral and calculating simultaneously exports GLONASS satellite position and speed,
    The location receiver is connected with time judgment module, and the time judgment module integrates rail with GLONASS step-lengths respectively Road computing module and the connection of GLONASS Efficient tracks computing module.
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