CN106680845B - A kind of satellite orbit synthetic weighting method - Google Patents
A kind of satellite orbit synthetic weighting method Download PDFInfo
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- CN106680845B CN106680845B CN201611246256.6A CN201611246256A CN106680845B CN 106680845 B CN106680845 B CN 106680845B CN 201611246256 A CN201611246256 A CN 201611246256A CN 106680845 B CN106680845 B CN 106680845B
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Classifications
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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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
Abstract
The present invention provides a kind of satellite orbit synthetic weighting methods, input the satellite orbit data at each analysis center first, carry out user ranging errors URE to satellite using discrete method and determine；The power for calculating analysis center and satellite based on user ranging errors URE, is weighted synthesis to the satellite orbit of all analysis centers, to obtain the synthesis track of high-precision, high reliability.This method overcomes with the deficiency for determining power method of satellite orbital position absolute deviation Absolute Deviation and root-mean-square error RMS, Quan Wenti is determined when efficiently solving multi-track type satellite track synthesis, and this method meets dynamics of orbits approximate characteristic.The invention has universality to all satellite navigation systems, and the satellite orbit especially suitable for GEO/IGSO/MEO multi-track type is comprehensive.
Description
Technical field
The invention belongs to Global Satellite Navigation System GNSS high-precision location technique fields, and it is comprehensive to be related to a kind of satellite orbit
Newly determine Quan Fangfa；This method has universality to all satellite navigation systems, especially suitable for GEO (Geostationary
Orbit)/IGSO (Inclined GeostationaryOrbit)/MEO (Medium Earth Orbit) multi-track type
Satellite orbit is comprehensive.
Background technique
Global Satellite Navigation System GNSS (general names such as GPS/GLONASS/Galileo/BDS) has successfully been widely used in
The every field such as navigator fix, meteorology, seismology, natural calamity early warning, high-precision and reliable and stable satellite orbit and clock
Difference is one of the important prerequisite of above-mentioned application, due to each GNSS system broadcast ephemeris (containing track and clock deviation information) precision at present without
Method meets the needs of users' high accuracy positioning, and main source is that IGS (International GNSS Service) is mentioned
The track and clock deviation product of confession.IGS is the global authority tissue in the field GNSS, passes through each analysis center's satellite to its inside
Orbital data carries out track synthesis, and to issue higher precision and reliable and stable product, GPS satellite last turn precision is excellent at present
In 2.5cm, the last turn precision of GLONASS is 3cm or so.
GPS, GLONASS constellation are made of MEO satellite, and track integrated approach is almost the same, are all made of " weighted average
Method ", but the two to analysis center and satellite to determine power method different.When GPS track is comprehensive, the power of determining of analysis center is with satellite
Orbital position absolute deviation Absolute Deviation is foundation, and satellite is weighed with satellite orbital position root-mean-square error RMS
(Root Mean Square) is foundation；It is both to be with satellite orbital position root-mean-square error when GLONASS track is comprehensive
Foundation.
GEO/IGSO/MEO multi-track type coexist be more GNSS epoch one of important feature, be different from GPS,
GLONASS, Galileo system are only made of MEO satellite, other satellite navigation systems use GEO, IGSO, MEO three classes and defend
Star.China BDS on December 27th, 2012 region satellite navigation system built up by 5 GEO, 5 IGSO and 4 MEO totally three
Class satellite composition, then transmits 1 GEO, 3 IGSO and 3 MEO satellites in November, 2016, it is contemplated that the year two thousand twenty builds up 5 again
The Global Satellite Navigation System that a GEO, 3 IGSO and 27 MEO satellites form.Japanese QZSS system in September, 2010 transmits
First satellite " Michibiki ", it is contemplated that emitted 3 satellites before 2018 again, these satellites belong to IGSO type.India
By 3 GEO and 4 IGSO, totally two class satellites form IRNSS system, end in November, 2016 and transmit 7 satellites altogether.
More GNSS, the trajectory accuracy of polymorphic type satellite (especially GEO) are inconsistent, propose for satellite orbit integrated approach
Higher requirement.Each analysis center and domestic and international researcher analysis obtain: BDS MEO satellite precision of inner coincidence three-dimensional position
20cm, radial 5cm；Relative to MEO, IGSO satellite motion is slow, and precision of inner coincidence is slightly worse, three-dimensional position 30cm, radial 10cm；
For GEO satellite since opposite ground is almost stationary, descriptive geometry structure is poor, and causing tangential component, there are the normal inclined of 1-4m magnitude
Measure error, radial accuracy 10-20cm.In general, GEO orbital position error is 10 times of other two classes satellites, and its radial direction
Error only has 2 times or so, thus using satellite orbital position absolute deviation or root-mean-square error as foundation determine power method will
The serious specific gravity for reducing GEO satellite in navigation Service is played the part of due to GEO satellite and navigation satellite and in navigator fix application
Indispensable role is drilled, how to determine that the power of analysis center and satellite becomes urgent problem to be solved.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of defending suitable for GEO/IGSO/MEO multi-track type
Quan Fangfa is determined in star orbital trace integration, and this method is able to satisfy dynamics of orbits approximate characteristic, to obtain high-precision, high reliability
Comprehensive track.
The technical scheme adopted by the invention is that: a kind of satellite orbit synthetic weighting method, it is characterised in that: input is each
The satellite orbit data of analysis center carries out user ranging errors URE to satellite using discrete method and determines；It calculates and is surveyed based on user
The power of analysis center and satellite away from error URE is weighted synthesis to the satellite orbit of all analysis centers, to obtain height
The synthesis track of precision, high reliability.
Present invention has the advantage that
1, the present invention accounts for satellite orbit and directly affects to user's positioning, constructs based on user ranging errors URE's
Quan Fangfa is determined when satellite orbit is comprehensive, and fixed power strategy is more reasonable, meets GNSS Location Theory.
2, the synthesis track calculated based on the present invention is able to satisfy dynamics of orbits approximate characteristic.
3, it is comprehensive that the present invention is especially suitable for the tracks of GEO/IGSO/MEO multi-track type satellite, is also suitable single type
The track of satellite is comprehensive, not only has particularity, also there is universality.
Detailed description of the invention
Fig. 1 is the algorithm flow chart of the embodiment of the present invention.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
User ranging errors URE (User Range Error) directly reflects the shadow that satellite orbital error positions user
It rings, a kind of new method of power surely based on user ranging errors URE proposed by the present invention will can effectively solve polymorphic type satellite orbit
Quan Wenti is determined when comprehensive.It mainly include that analysis center based on user ranging errors URE and satellite determine Quan Fangfa.
GEO/IGSO/MEO satellite orbit synthesis is to be weighted synthesis to the satellite orbit of all analysis centers, the present invention
The comprehensive new method specific implementation process of the satellite orbit based on user ranging errors URE proposed the following steps are included:
Step 1, the track-frame inconsistency due to each analysis center, will each divide first with matrix rotation method
Analysis central orbit is transformed into same infrastructural frame (such as IGS frame), is expressed as
Step 2, the every satellite mean orbit calculated under the power such as analysis center calculate satellite using least square method
Etc. under power mean orbit andBetween seven parameter of Helmert.
Step 3, using the mean orbit in step 2 as exact value, calculate after Helmert seven-parameter transformation in step 2
The tangential of every, each analysis center satellite orbit, radial direction and normal direction aliquot error, calculate every satellite according to classification of track
URE, calculation formula is as follows:
Wherein, herein URE be user ranging errors wherein orbit error statistics, A, R, C respectively indicate satellite orbit
Tangentially, radial direction, normal error.
Step 4, the power for calculating each analysis center:
Wherein, wcentFor the power of analysis center cent, NsatcentFor the number of satellites at each analysis center,
For the epoch number of every, each analysis center satellite s at, URE(i,sat)When indicating the calculating epoch of every satellite s in step 3
Carve the URE of i.
The comprehensive track of satellite under the power such as step 5, calculating satellite, analysis center's weighting:
It is weighed for satellite etc., the satellite orbit under analysis center's weighting, NcentsatTo provide every satellite orbit data
Analysis center's number.
Step 6, the power w for calculating satellitesatAre as follows:
Step 7, using least square method, utilize w in step 6satValue calculates under satellite differential weightsWithBetween
Seven parameter of Helmert.
Step 8 utilizes seven parameter of Helmert in step 7, rotation every, each analysis center satellite orbitExtremely
Step 9 calculates comprehensive track
Dynamics of orbits approximate characteristic is able to satisfy in the synthesis track that the present invention calculates, it was demonstrated that as follows:
Comprehensive track may be expressed as:
Wherein:Track is integrated for satellite,For each analysis central satellite track, NcentsatIt is defended to provide every
Analysis center's number of star orbital track data, wcentFor the power (for constant) at each analysis center, kcentFor coefficient, and have
Each analysis central orbit is to meet the satellite motion differential equation, and satellite accelerations are represented by the ladder of gravity position
Degree:
Wherein t represents the time, and V represents the gravity potential of earth.Due toFor small value, in approximation
Place linearizes expansion and ignores higher order term and obtains:
Due to kcentFor constant, comprehensive track second differential can obtain following formula:
Due to
Therefore,Therefore comprehensive track still meets dynamics of orbits approximate characteristic.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (1)
1. a kind of satellite orbit synthetic weighting method, it is characterised in that: the satellite orbit data at input each analysis center utilizes
Discrete method carries out user ranging errors URE to satellite and determines；Analysis center and satellite of the calculating based on user ranging errors URE
Power, is weighted synthesis to the satellite orbit of all analysis centers, to obtain the synthesis track of high-precision, high reliability；
The satellite orbit synthetic weighting method specifically includes:
Each analysis central orbit is transformed into same infrastructural frame using matrix rotation method, is expressed as
Calculate every satellite mean orbit under the power such as analysis center；
Using least square method, calculate under the power such as satellite mean orbit andBetween seven parameter of Helmert；
Using the mean orbit as exact value, calculates every, each analysis center after the Helmert seven-parameter transformation and defend
The tangential of star orbital road, radial direction and normal component error calculate the user ranging errors of every satellite according to classification of track
URE；
It is described that the implementation that user ranging errors URE is determined is carried out using discrete method are as follows: to calculate separately every satellite rail first
Then the tangential of road, radial direction and normal component error calculate user ranging errors URE middle orbit for different satellite types and miss
Difference:
Wherein, A, R, C respectively indicate the tangential of satellite orbit, radial direction, normal direction precision；
The power of each analysis center is calculated, the formula of analysis center power of the calculating based on user ranging errors URE is such as
Under:
Wherein, wcentFor the power of the analysis center cent, NsatcentFor the number of satellites of each analysis center,For the epoch number of every satellite s at of each analysis center, URE(i, sat)Indicate every satellite s at's
Calculate the URE of epoch-making moment i；
Calculate the comprehensive track of satellite under the power such as satellite, analysis center's weighting:
It is weighed for satellite etc., the satellite orbit under analysis center's weighting, NcentsatTo provide point of every satellite orbit data
Analyse Center Number；
Calculate the power w of satellitesat, it is described calculating based on user ranging errors URE satellite power formula it is as follows:
Wherein, wsatFor the power of satellite, NcentsatTo provide analysis center's number of every satellite orbit data, cent is analysis
Center,For the epoch number of every, each analysis center satellite s at, URE(i,sat)Indicate the meter of every satellite s at
Calculate the URE of epoch-making moment i；
Using least square method, the power w of the satellite is utilizedsatValue calculates under satellite differential weightsWithBetween
Two Helmert, seven parameter；
Using seven parameter of the 2nd Helmert, each every satellite orbit of the analysis center is rotatedExtremely
Calculate comprehensive track
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| CN108415039B (en) * | 2018-01-25 | 2022-03-15 | 中国人民解放军63921部队 | iGMAS multi-analysis center multi-satellite system precision orbit product synthesis method |
| CN110646823A (en) * | 2019-10-12 | 2020-01-03 | 上海交通大学 | GPS \ BDS tightly-combined precise single-point positioning method based on Helmet post-verification-authority method |
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| CN103675832A (en) * | 2013-11-29 | 2014-03-26 | 中国空间技术研究院 | Low-earth-orbit satellite orbit designing method for quickly revisiting discrete targets |
| CN105445766A (en) * | 2015-11-17 | 2016-03-30 | 惠州市峰华经纬科技有限公司 | GLONASS satellite orbit calculating method and system thereof |
| CN105513018A (en) * | 2015-11-26 | 2016-04-20 | 航天恒星科技有限公司 | Geometric correction method and apparatus for spaceborne whisk-broom imaging |
| CN105528500A (en) * | 2016-01-19 | 2016-04-27 | 国家测绘地理信息局卫星测绘应用中心 | Imaging simulation method and system for decimeter-scale satellite-borne TDI CCD stereoscopic mapping camera |
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| CN103675832A (en) * | 2013-11-29 | 2014-03-26 | 中国空间技术研究院 | Low-earth-orbit satellite orbit designing method for quickly revisiting discrete targets |
| CN105445766A (en) * | 2015-11-17 | 2016-03-30 | 惠州市峰华经纬科技有限公司 | GLONASS satellite orbit calculating method and system thereof |
| CN105513018A (en) * | 2015-11-26 | 2016-04-20 | 航天恒星科技有限公司 | Geometric correction method and apparatus for spaceborne whisk-broom imaging |
| CN105528500A (en) * | 2016-01-19 | 2016-04-27 | 国家测绘地理信息局卫星测绘应用中心 | Imaging simulation method and system for decimeter-scale satellite-borne TDI CCD stereoscopic mapping camera |
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