CN105490730B - A kind of ground generates the control method of satellite forwarding navigation signal - Google Patents
A kind of ground generates the control method of satellite forwarding navigation signal Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
Abstract
The present invention provides the control methods that a kind of ground generates satellite forwarding navigation signal, by being adjusted to the earth station's transmission signal parameters for including code phase, code frequency and carrier frequency, it is pre- to the progress of its parameter inclined before signal transmitting, realize that the signal received in receiver end is similar to the signal directly sent out from satellite repeater transmitting antenna phase center.The present invention makes the satellite repeater system that the construction period is short, at low cost realize the performance better than general-purpose satellite navigation system, the signal that satellite forwards is made to be similar to the signal directly emitted from satellite repeater transmitting antenna phase center, the user of satellite repeater system is made to receive terminal to be easy to merge with the reception terminal of general-purpose satellite navigation system, improves the applicability of system.
Description
Technical field
The present invention relates to the control methods of a kind of satellite repeater system code and carrier parameter.
Background technology
In the 1980s, the U.S. builds up GPS, the former Soviet Union builds up GLONASS (Global Navigation
Satellite system, GLONASS), the two is all placed with high performance satellite atomic clock on star, and navigation signal is all being defended
It is generated on star, technology realizes that difficulty is high, risk is big, makes the construction cost height of system, period long.
In November, 2002, the scientific research personnel of the Chinese Academy of Sciences, which proposes, to be set up regional by way of signal forwarding and determines
The imagination of position system (Chinese Area Positioning System, CAPS), utilizes the transponder on commercial communication satellite
Ground atomic clock signal and navigation message are forwarded, carries out navigator fix.2004, Chinese satellite forwarding navigation positioning system was built
Into having navigation, positioning, time service service ability.The navigation signal of the system generates on ground, and satellite uses geostationary orbit
(GEO) satellite or inclined plane synchronize (IGSO) satellite, do not need to high-precision satellite atomic clock, reduce system Construction technology
It realizes difficulty, makes that system Construction cost reduction, period shorten, risk reduces.Meanwhile the system signal generates function in ground reality
It is existing, high performance ground clock group may be used, time-frequency reference is provided, ground installation is not limited by factors such as weight, volumes, system
Function and performance indicator can perform to optimum level.
The operating mode of satellite forwarding navigation positioning system is the transparent forwarding function using satellite, is led what ground generated
Boat signal is transmitted to user by satellite, and uplink more than general GPS navigation signal receives system user
The signal that machine receives attached the influence of the uplink and satellite repeater, be not used in the working mechanism of the receiver user
Ordinary user's receiver increases the design cost of receiver, and system is made to be not easy to the seamless fusion of other navigation system；And
And the high performance signal that ground generates, by satellite repeater, index is degraded.In order to make shadow of the satellite repeater to signal
Sound is compensated on ground, and the high performance index of system is enable to embody user's receiving terminal, meanwhile, in order to improve the suitable of system
With property, the signal of satellite repeater system is made to be similar to satellite straight hair signal, preferably to serve user, realize that system signal exists
The accurate pre-adjustment on ground is a problem of the system urgent need to resolve.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of side for controlling ground launch signal code and carrier parameter
Method makes satellite forwarding navigation signal be same as the navigation signal of satellite straight hair, and performance is more excellent.
The technical solution adopted by the present invention to solve the technical problems includes the following steps：
Step 1, satellite repeater system code pseudo-range observation model is established, earth station to satellite arrives the loop observation of earth station again
Time delay PRloop=PRhw,up+PRtr,up+PRio,up+PRsat+PRio,d+PRtr,d+PRhw,d+2PRgr, wherein, PRhw,up、PRhw,dRespectively
For earth station's uplink and downlink equipment delay；PRtr,up、PRtr,dTime delay respectively caused by uplink and downlink troposphere；PRio,up、
PRio,dTime delay respectively caused by uplink and downlink ionosphere；PRsatThe time delay brought for satellite repeater；PRgrFor satellite repeater
To earth station's geometric distance time delay；
Step 2, satellite repeater system frequency observation model is established, the pseudo- bit rate f of actual measurement is calculatedcode=
fcode,nominal+fucode,dop+fdcode,dop, actual measurement carriers rate f is calculatedcarri=fcarri,nominal+fucarri,dop-
fsat,nominal+fsat,offset+fdcarri,dop, wherein, fcode,nominalFor nominal pseudo- bit rate, fucode,dopFor by star opposite fortune
Uplink pseudo-code Doppler frequency, f caused by dynamicdcode,dopFor downlink pseudo-code Doppler frequency caused by as star relative motion,
fcarri,nominalFor nominal carrier rate, fucarri,dopFor up-link carrier Doppler frequency caused by as star relative motion,
fsat,nominalNominal frequency, f are moved for satellite repeater worksat,offsetCaused by satellite repeater frequency conversion process
Frequency offset, fdcarri,dopFor descending carrier Doppler frequency caused by as star relative motion；
Step 4, using PID control method comparative example gain KP, time of integration TI, derivative time TDIt is carried out with sampling time T
Control, wherein, real-time adjustment amount u (t)=KP·e(t)-KI·e(t-1)+KDE (t-2), integrating factor KI=KPT/TI, it is micro-
Molecular group KD=KPTDThe adjustment amount of/T, e (t) for current time t, i.e. PR in step 3Adj、fcode,AdjOr fcarri,Adj。
The proportional gain KPValue is 0.1~0.5；Integrating factor KIValue is 0.01~0.5；Differential divisor KDIt takes
Be worth is 0.01~0.5；Sampling time T value is 10ms~10s.
The beneficial effects of the invention are as follows：By to earth station's transmission signal parameters such as code phase, code frequency and carrier frequency
Be adjusted, i.e., its parameter is carried out before signal transmitting it is pre- partially, realize that the signal received in receiver end is similar to from defending
The signal that star transponder transmitting antenna phase center is directly sent out.The present invention makes the satellite forwarding system that the construction period is short, at low cost
System realizes the performance better than general-purpose satellite navigation system, is similar to the signal that satellite forwards and directly emits day from satellite repeater
The signal of phase of line center transmitting makes the user of satellite repeater system receive the reception terminal of terminal and general-purpose satellite navigation system
It is easy to merge, improves the applicability of system.
Description of the drawings
Fig. 1 is the control block diagram that earth station generates satellite navigation signals；
Fig. 2 is to emit frame head and the relation schematic diagram of reference time at different transmitting nodes before not adjusting；
Fig. 3 is the synchronized relation schematic diagram of the signal at satellite repeater transmitting antenna phase center.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention controls satellite forwarding navigation signal to satellite repeater transmitting antenna phase center so that satellite forwards
Navigation system is supplied to the signal of receiver user to be similar to the signal directly emitted from satellite, to improve satellite repeater system
Applicability.Step of the present invention is as follows：
Step 1：Satellite repeater system code pseudo-range observation model is established, including
PRloop=PRhw,up+PRtr,up+PRio,up+PRsat+PRio,d+PRtr,d+PRhw,d+2PRgr (1)
PRloopThe loop for arriving earth station again for earth station to satellite observes time delay, represents that synthetical baseband receives terminal and measures
Go out signal to send out from synthetical baseband launch terminal, be connect through radio frequency transmitting channel, space uplink, satellite forwarding, space downlink, radio frequency
It receives channel and synthetical baseband receives the time delay of terminal；PRhw,up、PRhw,dRespectively earth station's uplink and downlink equipment delay；
PRtr,up、PRtr,dTime delay respectively caused by uplink and downlink troposphere；PRio,up、PRio,dRespectively caused by uplink and downlink ionosphere
Time delay；PRsatThe time delay brought for satellite repeater；PRgrFor satellite repeater to earth station's geometric distance time delay.
Step 2：Satellite repeater system frequency observation model is established, including：
fcode=fcode,nominal+fucode,dop+fdcode,dop (2)
fcarri=fcarri,nominal+fucarri,dop-fsat,nominal+fsat,offset+fdcarri,dop (3)
fcodeFor the pseudo- bit rate of actual measurement, fcode,nominalFor nominal pseudo- bit rate, fucode,dopDraw for by star relative motion
The uplink pseudo-code Doppler frequency risen, fdcode,dopFor downlink pseudo-code Doppler frequency caused by as star relative motion
fcarriTo survey carriers rate, fcarri,nominalFor nominal carrier rate, fucarri,dopFor by star relative motion
Caused up-link carrier Doppler frequency, fsat,nominalNominal frequency, f are moved for satellite repeater worksat,offsetFor satellite
Caused frequency offset, f in transponder frequency conversion processdcarri,dopIt is more for descending carrier caused by as star relative motion
General Le frequency.
Step 3：The pre- inclined model of satellite repeater system earth station transmission signal parameters is established, including：
PRAdj=PRhw,up+PRtr,up+PRio,up+PRsat+PRgr (4)
PRAdjFor code phase adjustment amount, fcode,AdjFor code frequency adjustment amount, fcarri,AdjFor carrier frequency adjustment amount,
fucode,dopBe satellite with respect to earth station movement caused by uplink signal code Doppler, fucarri,dopIt is transported for satellite with respect to earth station
Uplink signal carrier doppler caused by dynamic,For pseudorange change rate, Δ PR is to be become by uplink including uplink ionosphere
Change, troposphere variation, star the ground factors such as relative motion caused pseudorange variation, λ within the Δ t periodsucarriEmit for earth station
Signal uplink carrier wavelength.
Step 4：Each parameter control method
Due to variation of the satellite with respect to the movement of earth station, earth station's Ionosphere Over and meteorologic parameter, uplink will be caused
Chain-circuit time delay, bit rate, carrier frequency adjustment amount change over time, if according to implementing to measure obtained adjustment amount to uplink
Signal is directly adjusted, and will cause the step saltus step of each parameter, the phase for making output signal is discontinuous, whole system signal
Quality is degraded, in order to ensure signal adjustment speed can follow the variation of signal in time, while solve phase discontinuously and
The problem of signal quality deteriorates, system proposition control each parameter using PID control method.
U (t)=KP·e(t)-KI·e(t-1)+KD·e(t-2) (7)
KI=KPT/TI (8)
KD=KPTD/T (9)
TIFor the time of integration；TDFor derivative time；KPFor proportional gain, in order to ensure to adjust the continuity of process signal, take
Value should not be too large, and value is 0.1~0.5 herein；KIFor integrating factor, 0.01~0.5 is taken here；KDFor differential divisor, value
It is 0.01~0.5；The specific value of above-mentioned parameter can be adjusted in actual use according to adjustment effect.When T is sampling
Between, it is adjusted according to satellite motion rate, then value can amplify slowly for satellite transit, and Adjustment precision is high, and satellite motion is soon then
Value reduces, and can improve and regulate the speed, take 10ms~10s here；E (t) is the adjustment amount of current time t, i.e., in step 3
PRAdjOr fcode,AdjOr fcarri,Adj；The u (t) finally obtained be chain-circuit time delay, bit rate, carrier frequency real-time adjustment amount.
The embodiment of the present invention is technically characterized in that：By generating the adjustment of signal parameter to ground, starting is synchronized
Point is preset to the outlet of satellite repeater transmitting antenna phase center, and the signal that ground receiver terminals receive is made to be similar to from satellite
The signal directly emitted makes the signal that satellite repeater system emits be easy to be melted with the signal that other Utility Satellites directly emit
It closes, improves the versatility of satellite forwarding navigation system users terminal.The implementation of this method is based on the following conditions：1.1 satellites；
2.1 earth stations that can receive and dispatch satellite-signal；3. earth station can obtain the precise ephemeris of satellite, earth station overhead meteorological number
According to and ionospheric data.Meanwhile earth station has the function of to be adjusted the code and carrier parameter of transmitting signal.
It is flat by test of the satellite repeater system that national time service center (NTSC) is built in Xi'an in specific implementation process
The feasibility and validity of platform, experiment and verification proposition method of the present invention.The signal for focusing on generating on ground of the present invention
Pre-adjustment is to satellite repeater transmitting antenna phase center, that is, adjustment base band generates time and the signal frequency of signal transmitting, disappears
Except signal is generated from ground to the influence of satellite repeater transmitting antenna phase center link.The adjustment includes two parts：When
Launch time is adjusted, signal is made to send out in advance, lead is to be exported to satellite repeater transmitting day from earth station's baseband transmission
The signal transmission time delay at phase of line center.Second is that adjustment code frequency and carrier frequency, are eliminated by satellite with respect to earth station's movement pair
Uplink causes yard Doppler and carrier doppler.As shown in attached drawing one, specific implementation step is as follows：
Step 1：Calculate satellite repeater time delay：
PRsat=PRloop-(PRhw,up+PRtr,up+PRio,up+PRio,d+PRtr,d+PRhw,d+2PRgr) (10)
Wherein, PRhw,upEmit equipment delay for earth station, contain from synthetical baseband and emit output port to antenna phase
The all hardware equipment delay of central segment, PRhw,dFor ground station reception equipment delay, contain from antenna phase center to synthesis
The all hardware equipment delay of Baseband Receiver input port section, the method which can be calculated by measuring binding isotherm obtain
；PRtr,up、PRtr,dIt can be calculated according to earth station's overhead convection current layer segment meteorologic parameter using Tropospheric Models；
PRio,up、PRio,dThe ionospheric data announced on IGS websites can be used, obtained by ionosphere computation model；PRgrAccording to distribution
It is calculated in the ground station coordinates that domestic various regions are observed the precise ephemeris of Value Data calculating and accurately measured.
Step 2：Calculate caused frequency offset in satellite repeater frequency conversion process:
fsat,offset=fcarri-(fcarri,nominal+fucarri,dop-fsat,nominal+fdcarri,dop) (11)
Wherein, fcarri,nominal、fsat,nominalFor system known quantity, fucarri,dop、fdcarri,dopCalculation formula is as follows：
Step 3：Initial code phase positions adjust
It can obtain the adjustment amount PR of code phase from formula (4)Adj, PR under original stateAdjIt contains and is exported from baseband signal
The time delay that all transmission links of port to satellite repeater transmitting antenna phase center generate, with respect to one chip, the time delay
Value is the larger time delay value that compares, and base band can carry out coarse regulation by adjusting launch time.
Transmitting frame head and the relationship of reference time are as shown in Figure 2 at different transmitting nodes before not adjusting.In figure, τ=
PRhw,up+PRtr,up+PRio,up+PRsat+PRgr, reference time 1pps refers to the reference time that external time and frequency standards frame of reference provides
Pps pulse per second signal, base band output transmitting frame head refer to the transmitting frame head pulse included in baseband signal at baseband equipment output port,
Before signal parameter adjustment is not carried out, the two signals are to maintain synchronous；
After initial adjusting, the synchronized relation of the signal at satellite repeater transmitting antenna phase center should be theoretically realized such as
Shown in Fig. 3.In figure：
PRAdj=τ=- (PRhw,up+PRtr,up+PRio,up+PRsat+PRgr) (14)
ρd=PRio,d+PRtr,d+PRhw,d+PRgr (15)
Step 4：The accurate control of code phase
Satellite will cause uplink with respect to the variation of the movement of earth station, earth station's Ionosphere Over and meteorologic parameter
Time delay changes over time, and the variation of this part needs to carry out signal accurate adjustment in real time, in order to ensure the continuity of phase, passes through
The adjustment of bit rate is realized.
Due to bit rate be in entire link it is constant, as caused by uplink and downlink time delay become
Equity, then can be calculated the bit rate offset of uplink by following formula during change：
λcodeEmit signal pseudo-code chip lengths for earth station.
Step 5：Carrier frequency controls
In satellite repeater system, as satellite with respect to earth station movement caused by uplink and downlink link carrier Doppler and
The frequency deviation as caused by satellite repeater frequency conversion is reflected in signal receiving end.Carrier frequency control is mainly to satellite with respect to earth station
Movement caused by uplink carrier Doppler and the frequency deviation as caused by satellite repeater frequency conversion controlled, therefore, control
Amount calculates as follows：
fr,offset=fr,carrier-fnormi,carrier (18)
In formula,Change for geometric distance caused by as star relative motion, λdcarriFor descending carrier signal wavelength.
fr,offsetThe carrier frequency and the difference of nominal carrier frequency obtained for receiver demodulation, fr,carrierDemodulation is received for receiver
Carrier frequency, fnormi,carrierFor nominal carrier frequency.
Claims (2)
1. a kind of ground generates the control method of satellite forwarding navigation signal, it is characterised in that includes the following steps：
Step 1, satellite repeater system code pseudo-range observation model is established, earth station to satellite arrives the loop observation time delay of earth station again
PRloop=PRhw,up+PRtr,up+PRio,up+PRsat+PRio,d+PRtr,d+PRhw,d+2PRgr, wherein, PRhw,up、PRhw,dRespectively
Face station uplink and downlink equipment delay；PRtr,up、PRtr,dTime delay respectively caused by uplink and downlink troposphere；PRio,up、PRio,dPoint
It Wei not time delay caused by uplink and downlink ionosphere；PRsatThe time delay brought for satellite repeater；PRgrFor satellite repeater to ground
It stands geometric distance time delay；
Step 2, satellite repeater system frequency observation model is established, the pseudo- bit rate f of actual measurement is calculatedcode=fcode,nominal+
fucode,dop+fdcode,dop, actual measurement carriers rate f is calculatedcarri=fcarri,nominal+fucarri,dop-fsat,nominal+
fsat,offset+fdcarri,dop, wherein, fcode,nominalFor nominal pseudo- bit rate, fucode,dopOn caused by as star relative motion
Row pseudo-code Doppler frequency, fdcode,dopFor downlink pseudo-code Doppler frequency, f caused by as star relative motioncarri,nominalFor
Nominal carrier rate, fucarri,dopFor up-link carrier Doppler frequency, f caused by as star relative motionsat,nominalFor satellite
Repeater operation moves nominal frequency, fsat,offsetFor caused frequency offset in satellite repeater frequency conversion process,
fdcarri,dopFor descending carrier Doppler frequency caused by as star relative motion；
Step 3, the pre- inclined model of satellite repeater system earth station transmission signal parameters, code phase adjustment amount PR are establishedAdj=PRhw,up+
PRtr,up+PRio,up+PRsat+PRgr, code frequency adjustment amountCarrier frequency adjustment amountWherein, fucode,dopFor uplink caused by as star relative motion
Pseudo-code Doppler frequency, fucarri,dopFor up-link carrier Doppler frequency caused by as star relative motion,Become for pseudorange
Rate, Δ PR be by uplink include uplink Ionospheric variability, troposphere variation, star relative motion factor in the Δ t times
Caused pseudorange variation, λ in sectionucarriEmit signal uplink carrier wavelength for earth station；
Step 4, using PID control method comparative example gain KP, time of integration TI, derivative time TDIt is controlled with sampling time T
System, wherein, real-time adjustment amount u (t)=KP·e(t)-KI·e(t-1)+KDE (t-2), integrating factor KI=KPT/TI, differential
Factor KD=KPTDThe adjustment amount of/T, e (t) for current time t, i.e. PR in step 3Adj、fcode,AdjOr fcarri,Adj。
2. ground according to claim 1 generates the control method of satellite forwarding navigation signal, it is characterised in that：Described
Proportional gain KPValue is 0.1~0.5；Integrating factor KIValue is 0.01~0.5；Differential divisor KDValue is 0.01~0.5；
Sampling time T value is 10ms~10s.
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| CN107966681A (en) * | 2017-11-21 | 2018-04-27 | 中国科学院国家天文台 | Multi-axis aircraft passive location method and apparatus based on radio interferometry |
| CN112673281A (en) * | 2018-09-26 | 2021-04-16 | 日本电气方案创新株式会社 | Information processing apparatus, information processing system, information processing method, and non-transitory computer-readable medium |
| CN110554414B (en) * | 2019-08-25 | 2022-11-15 | 中国科学院国家授时中心 | System error prediction method based on meteorological parameters and signal quality |
| CN111064534B (en) * | 2019-12-30 | 2021-10-15 | 北京润科通用技术有限公司 | Method and system for detecting relay satellite communication forwarding relation |
| CN112698373A (en) * | 2020-12-10 | 2021-04-23 | 中国科学院国家授时中心 | Device and method for realizing precise distance measurement of navigation signals generated on ground |
| CN114002939B (en) * | 2021-06-17 | 2023-08-04 | 中国科学院国家授时中心 | Method and system for realizing transparent forwarding of satellite time service |
| CN114362803B (en) * | 2021-12-15 | 2024-03-15 | 长光卫星技术股份有限公司 | FPGA-based continuous variable rate satellite communication repeater system |
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