CN109061689A - A kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary - Google Patents
A kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary Download PDFInfo
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- CN109061689A CN109061689A CN201810634418.6A CN201810634418A CN109061689A CN 109061689 A CN109061689 A CN 109061689A CN 201810634418 A CN201810634418 A CN 201810634418A CN 109061689 A CN109061689 A CN 109061689A
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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
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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
Abstract
A kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary, comprising: (1) input data for carrying out GNSS receiver prepares；(2) GNSS receiver motion state dynamics of orbits recursion is carried out；(3) t is calculated1Position and speed of the emission time estimated value and corresponding GNSS satellite of moment all signals for reaching GNSS receiver under ECI system；(4) auxiliary information calculates；(5) the synchronous auxiliary of signal.The present invention can significantly reduce the synchronous required time of GNSS signal, then improve spaceborne GNSS receiver overall navigation performance, and algorithm is simple and reliable, be suitable for spaceborne GNSS receiver and use.
Description
Technical field
The present invention relates to a kind of spaceborne GNSS receiver signal synchronizing methods based on dynamics of orbits auxiliary, belong to and defend
Star autonomous navigation technology field.
Background technique
Spaceborne GNSS has the advantages that independence is high, and positioning accuracy is high, volume small power consumption.It is different from Ground Application scene,
Spaceborne GNSS receiver faces the signal processing requirement more challenged.For low rail user and highly elliptic orbit user, GNSS letter
Number doppler searching range be tens KHz, greater than the 8KHz of Ground Application；Since receiver high speed is flown around ground, the visual field
Visible GNSS satellite in range quickly changes, and the average uptime of single GNSS satellite is far below ground scene；For big
Elliptic orbit user, due to receiving the signal of GNSS satellite transmitting antenna secondary lobe, GNSS signal is dynamic with bigger signal power
State range.In the case where no in-orbit real-time auxiliary information, successively traversal search is all for GNSS signal trapping module needs
GNSS satellite, Doppler spread, code time delay；After signal capture success, needs to continue bit synchronization and frame synchronization is grasped
Make, can just complete GNSS signal and synchronize, efficiency is lower.
Existing spaceborne GNSS receiver householder method is substantially carried out and searches star list and signal code phase and Doppler catches
The auxiliary obtained is seldom related to the auxiliary for synchronizing information.However, frame synchronizing process and bit synchronization process can at least consume number
Ten seconds time, since the GNSS signal power received may be extremely low, needed tired for a long time especially for middle high rail user
Product obtains and position edge and extracts navigation message frame head and temporal information by way of multiple circulative accumulation, skip bit synchronization and
The process of frame synchronization can greatly reduce the probability of success synchronous with signal is increased signal synchronization time.In addition, existing GNSS
Receiver householder method does not use the signal reception power of prediction to adjust the preliminary examination integral duration that signal capture uses
It is whole, cause receiver preliminary examination can only be set according to its highest acquisition sensitivity and integrate duration, for receiving the higher GNSS of power
Signal wastes the signal capture time.
Document 1: patent " a kind of spaceborne Assisted GPS method and system based on dynamics Orbit extrapolation " (patent No.:
CN201510443835.9 date of declaration 2015/10/28) in describe a kind of spaceborne auxiliary based on dynamics Orbit extrapolation
GPS method, this method include 4 steps: 1) being connect according to LEO-based GPS under low orbit satellite kinetic model and J2000.0 coordinate system
Receipts machine the last time positioning result carries out orbital position extrapolation, obtains the outer push position of LEO-based GPS receiver and is transformed into ECEF
Coordinate system；2) position for obtaining all GPS satellites under ECEF coordinate system is calculated according to effective GPS almanac；3) same epoch is calculated
Moment all GPS satellites judge that each GPS satellite whether may be used to LEO-based GPS receiver to the pitch angle of LEO-based GPS receiver
See, and all GPS satellites are ranked up according to visibility probability, obtains collated GPS satellite PRN list；4) basis
GPS satellite PRN list carries out GPS satellite to the capture channel of LEO-based GPS receiver and preferentially configures.
Document 2: paper " the spaceborne assistant GPS method for fast searching based on dynamics Orbit extrapolation " (" remote measuring and controlling "
Vol.37, No.1,2014) in describe a kind of assistant GPS method for fast searching based on dynamics Orbit extrapolation, method with
Satellite orbit motion rule is auxiliary information, based on the general location of dynamics Orbit extrapolation prediction LEO-based GPS receiver, so
It is whether visible to LEO-based GPS receiver by calculating pitch angle real-time judge GPS satellite afterwards.LEO-based GPS receiver can be preferential
Visible GPS satellite is captured, to reduce capture number, shortens positioning time.
The method that document 1 and document 2 all employ dynamics extrapolation is used to generate visible satellite list, and Doppler newly ceases
With the capture time of the auxiliary informations to shorten GPS signal such as code time delay.But its method introduced does not utilize priori to believe
Breath assists bit synchronization/frame synchronization.For the GNSS signal of common intensity, the time overhead of bit synchronization and frame synchronization has
Several tens of seconds, for weak GNSS signal, the time overhead of bit synchronization and frame synchronization be can reach several minutes, in some instances it may even be possible to Wu Facheng
Function and become the synchronous bottleneck of GNSS signal.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of based on dynamics of orbits auxiliary
Spaceborne GNSS receiver signal synchronizing method.
The technical solution of the invention is as follows:
A kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary, steps are as follows:
(1) input data for carrying out GNSS receiver prepares, including GNSS receiver is in last moment t0Efficient navigation
As a result, GNSS receiver almanac information, GNSS satellite transmitter antenna gain (dBi) directional diagram and GNSS receiver receiving antenna gain side
Xiang Tu；
(2) GNSS receiver motion state dynamics of orbits recursion is carried out, t is obtained1Moment GNSS receiver is used in the earth's core
Position under property systemAnd speed
(3) according to GNSS receiver in t1The motion state and GNSS almanac information at moment calculate t1Moment all arrival
The emission time estimated value of the signal of GNSS receiverWith position of the corresponding GNSS satellite under ECI systemSpeed
(4) auxiliary information calculates: using position of the GNSS satellite under ECI systemSpeedWith position of the GNSS receiver under inertial systemSpeedAuxiliary information is calculated, it is specific to wrap
Include: the visible star list of GNSS, GNSS signal time delay, GNSS signal Doppler, GNSS signal receives power, part pseudorange obscures
Degree and full pseudorange；
(5) search range of satellite the synchronous auxiliary of signal: is reduced according to the visible star list of GNSS；When according to GNSS signal
Prolong two-dimensional search range when reducing GNSS signal code phase and frequency acquisition with GNSS signal Doppler；According to GNSS signal
Receive the search order of preliminary examination integral duration and satellite that the capture of power optimization GNSS signal uses；It is fuzzy according to part pseudorange
Degree and full pseudorange and omit bit synchronization/frame synchronizing process, be directly entered letter after the completion of GNSS signal code phase and frequency acquisition
Number synchronous regime.
GNSS receiver is in last moment t0Efficient navigation as a result, including ECEF system time positionSpeedClock deviation bu(t0) and clock rateECEF system refers to ECEF coordinate system.
GNSS receiver almanac information is demodulated by GNSS navigation message, or before satellite launch inject receiver into
Row static storage.
GNSS satellite transmitter antenna gain (dBi) directional diagram and GNSS receiver receiving antenna gain directional diagram, solidification are stored in
In GNSS receiver memory.
The step (2) carries out GNSS receiver motion state dynamics of orbits recursion, obtains t1Moment GNSS receiver
Position under Earth central inertial systemAnd speedSpecifically:
Position first by GNSS receiver under ECEF systemAnd speedIt converts to Earth central inertial system
Under ECI, position is obtainedAnd speedThen numerical value product is carried out using the acceleration that orbital mechanics model calculates
Partite transport is calculated, when integral a length of t1-t0, obtain t1Position of the moment GNSS receiver under inertial systemAnd speed
Wherein,Indicate orbit perturbation acceleration.
In the step (3)It indicates in t1Moment reaches j-th of GNSS satellite-signal at GNSS receiver end
Emission time.
According to GNSS receiver in t1The motion state and GNSS almanac information at moment calculate t1Moment all arrival GNSS
The emission time estimated value of the signal of receiverWith position of the corresponding GNSS satellite under ECI systemSpeedSpecifically:
Step 3.1: using t1InitializationEstimated value, juxtaposition the number of iterations m be 0,
Step 3.2: calculating the range estimation of signal emission time GNSS satellite j and GNSS receiver
Wherein,It is calculated using GNSS almanac；
Step 3.3: calculating the estimated value of signal propagation time
Wherein, c is the light velocity；
Step 3.4: updating GNSS satellite j emission time estimated value
Step 3.5: calculating the number of iterations m and add 1, if m less than 3, returns to step 2, otherwise, continue to execute；
Step 3.6: usingWith GNSS almanac calculating positionAnd speedKnot
Beam.
The step (4) uses position of the GNSS satellite under ECI systemSpeedWith
Position of the GNSS receiver under inertial systemSpeedAuxiliary information is calculated, specifically:
Step 4.1: visible star list calculates: passing through GNSS satellite positionWith GNSS receiver positionGeometrical relationship, determine the GNSS satellite signal whether can because of by the earth block without as it can be seen that so that it is determined that
It can be seen that star list；
Step 4.2:GNSS signal time delay calculates: passing through GNSS satellite positionGNSS receiver locationAnd the star clock deviation b of GNSSj(t1), the timing parameter b of receiveru(t0) andCarry out reception signal
Delay, τjIt calculates, mathematic(al) representation are as follows:
Wherein, bj(t1) be calculated using GNSS almanac；
Step 4.3:GNSS signal Doppler calculates: passing through GNSS satellite positionSpeedGNSS receiver positionSpeedThe star clock drift rate of GNSSAnd it receives
The clock drift rate of machineCalculate GNSS signal Doppler, specific mathematic(al) representation are as follows:
Wherein, fcarrIndicating GNSS carrier frequency, c indicates the light velocity,It is calculated using GNSS almanac；
Step 4.4:GNSS signal reception power PoCalculate: by GNSS signal space propagation distance R, transmitting antenna increases
Beneficial LTX, receiving antenna gain LRXIt calculates, specific mathematic(al) representation are as follows:
Wherein, PICDIt is the GNSS signal earth surface minimal detectable power that ICD file provides, OGIt is that ICD file provides
GNSS emit signal whole world offset, R0When being that earth surface minimum power receives, the distance of receiver and GNSS satellite；
GNSS signal space propagation distance RjIt is calculated by the position of GNSS receiver and GNSS satellite:
LTX, LRXIt is that eye position vector is received in the pitch angle ∠ θ of GNSS satellite transmitting antenna and in GNSS receiver
The function of the pitch angle ∠ β of antenna is obtained after finding out ∠ θ and ∠ β by tabling look-up；The calculation formula of ∠ β, ∠ θ are as follows:
Step 4.5: part pseudorange fuzziness and full computation of pseudoranges:
Calculating section pseudorange fuzziness N first:
Wherein, round () indicates the calculating that rounds up, fsfracIndicate the measurement range of part pseudorange；For GPS L1
C/A signal does not complete the part pseudorange of frame synchronization and bit synchronization, fsfrac=1ms × light velocity；The part for not completing frame synchronization is pseudo-
Away from fsfrac=20ms × light velocity can then restore full pseudorange ρfull:
ρfull=N × fsfrac+ρfrac
As signal time delay τjAccidentally absolute value of the difference is less thanThe full pseudorange then restored is correct, the signal time delay τjAccidentally
Difference refers to: signal time delay τjCalculated value and true value between difference；
GNSS signal emission time is calculated by full pseudorange and GNSS receiver local sampling time:
Step (4.1) judgment criterion are as follows: if ∠ α < ∠ β, corresponding GNSS satellite are not blocked；Wherein, ∠ α
Indicate that the angle between the line of receiver and ECEF system origin and the earth surface tangent line of receiver excessively, ∠ β indicate receiver
With the angle of the eye position vector of the line and GNSS satellite j of ECEF system origin；The mathematic(al) representation of ∠ α and ∠ β are as follows:
Wherein, RearthIndicate earth radius.
Part pseudorange is defined as: at not synchronous GNSS signal position edge or navigation message head, measurement has integer pseudo-
The pseudorange value of code cycle ambiguities；Use the signal time delay τ of predictionjWith part pseudorange ρfracRestored by calculating accurately without mould
The pseudorange value of paste degree, i.e., full pseudorange.
Compared with the prior art, the invention has the advantages that:
(1) present invention predicts part puppet on the basis of track kinetic model extrapolates GNSS receiver motion state
Away from fuzziness and GNSS signal emission time.So as to bypass signal frame synchronization and bit synchronization process, significantly subtract
The synchronous time overhead of small signal.Especially for high rail user, since the GNSS signal power received is extremely low, when needing long
Between accumulation obtain and position edge and extract navigation message frame head and temporal information by way of multiple circulative accumulation, it is same to skip position
Step can greatly reduce the probability of success synchronous with signal is increased signal synchronization time with the process of frame synchronization.
(2) present invention is according to the receiver location of dynamics of orbits model extrapolation and the geometrical relationship of GNSS satellite, prediction
The reception power of each visible GNSS satellite, and star strategy is selected according to prediction result optimization capture, it improves and selects star efficiency.
Detailed description of the invention
Fig. 1 is GNSS visible satellite schematic diagram；
Fig. 2 is GNSS signal transmitting and reception gain calculating schematic diagram.
Fig. 3 is the simulation results schematic diagram.
Specific embodiment
Spaceborne GNSS receiver signal synchronizing method proposed by the present invention based on dynamics of orbits auxiliary, can be to star
It carries GNSS receiver progress signal and synchronizes real-time auxiliary, the particular content of auxiliary includes:
1, star auxiliary is searched.Using the visible star list information of the GNSS of auxiliary, setting searches star range, rejects invisible satellite,
Reduce the time overhead for capturing invisible satellite；Using the reception power of auxiliary, the priority of satellite to be searched is set, preferentially
The stronger satellite of power is searched for, makes receiver that can enhance GNSS availability with the high-quality signal of fast Acquisition；
2, signal capture assists.Doppler and the code phase of signal are received using the Doppler of auxiliary and Delay setting
Position two-dimensional search range, reduces region of search；Be set using the reception power information of auxiliary, to different the preliminary examination time of integration
The signal of power is dynamically selected preliminary examination integration lengths, reduces single capture time under the premise of guaranteeing acquisition performance；
3, synchronizing information assists.Part pseudorange algorithm is carried out using the part pseudorange fuzziness of auxiliary, edge in place and is led
The emission time of full pseudorange and GNSS signal is accurately obtained in the case that avionics text frame header position is unknown.To allow to receive
Machine does not suffer from bit synchronization and frame synchronizing process and to be done directly signal synchronous, extracts correct measured value, reduce signal it is synchronous when
Between.
With document 1 (patent " a kind of spaceborne Assisted GPS method and system based on dynamics Orbit extrapolation " (patent No.:
CN201510443835.9 date of declaration 2015/10/28)) and (" the spaceborne auxiliary based on dynamics Orbit extrapolation of document 2
GPS method for fast searching " (" remote measuring and controlling " Vol.37, No.1,2014)) compare, the method introduced is not only to searching in the present invention
Star range and code time delay/Doppler's two dimension capture range assist, different:
1. the pseudorange fuzziness using prediction realizes part pseudorange algorithm, to allow to skip bit synchronization and frame synchronization two
A the step of taking a long time and directly export pseudorange；
2. predicting the reception power of signal to be captured, according to receiving, star priority is searched in power dynamic setting and preliminary examination integrates
Duration.The required time is synchronized to significantly reduce signal, it is biggish to receive power swing especially for GNSS signal
Middle high rail GNSS user, performance boost are especially significant.
It is including as follows the invention discloses a kind of GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary
Step:
Step 1:GNSS receiver input data prepares.
Prepare GNSS receiver in last moment t0Efficient navigation as a result, include ECEF system (ECEF coordinate system)
Lower positionAnd speedClock deviation bu(t0), clock rateEtc. information；Prepare effective GNSS receiver to go through
Letter cease (including star clock parameter), almanac can be demodulated by GNSS navigation message, or before satellite launch inject receiver into
Row static storage；Prepare GNSS satellite transmitter antenna gain (dBi) directional diagram and GNSS receiver receiving antenna gain directional diagram, can consolidate
Change is stored in GNSS receiver memory.
Step 2:GNSS receiver motion state dynamics of orbits recursion.
Dynamics of orbits model is commonly used in determining and forecast satellite orbital position and speed.It is to acting on space
The various orbit perturbation factors of aircraft are modeled, and are carried out integral operation to acceleration caused by perturbative force and are carried out recursion flight
The motion state of device.Three-body caused by the principal element of dynamics of orbits model, including earth gravitational field, the moon and the sun draws
Power, atmospheric drag, solar radiation pressure etc..Motion state recursion is carried out using dynamics of orbits model, first receives GNSS
Position of the machine under ECEF systemAnd speedUnder conversion to Earth central inertial system (ECI), position is obtained
And speedThen the acceleration calculated using orbital mechanics model carries out numerical integration operation, when integral a length of t1-
t0, obtain t1Position of the moment GNSS receiver under inertial systemAnd speed
Wherein,Indicate orbit perturbation acceleration.
Step 3:GNSS satellite motion state computation.
Assuming that all GNSS satellites are all as it can be seen that using GNSS receiver in t1The motion state and GNSS almanac at moment are believed
Breath calculates t1The emission time estimated value of moment all signals for reaching GNSS receiverIt indicates in t1
Moment reach GNSS receiver end j-th of GNSS satellite signal emission time) and corresponding GNSS satellite in ECI system
Under positionAnd speed
The step 3 also comprises the steps of:
Step 3.1: using t1InitializationEstimated value, juxtaposition the number of iterations m be 0
Step 3.2: calculating the range estimation of signal emission time GNSS satellite j and GNSS receiver
Wherein,It is calculated using GNSS almanac.
Step 3.3: calculating the estimated value of signal propagation time
Wherein, c is the light velocity.
Step 3.4: updating GNSS satellite j emission time estimated value
Step 3.5: calculating the number of iterations m and add 1, if m less than 3, returns to step 2, otherwise, continue to execute；
Step 3.6: usingWith GNSS almanac calculating positionAnd speedKnot
Beam.
Step 4: auxiliary information calculates.
Use position of the GNSS satellite under ECI systemAnd speedExist with GNSS receiver
Position under inertial systemAnd speedAuxiliary information is calculated, is specifically included: the visible star list of GNSS, GNSS letter
Number time delay, GNSS signal Doppler, GNSS signal receive power, part pseudorange fuzziness and full pseudorange.
The step 4 also comprises the steps of:
Step 4.1: visible star list calculates.It is as shown in Figure 1 GNSS visible satellite schematic diagram, passes through GNSS satellite position
It setsWith GNSS receiver positionGeometrical relationship, determine whether the signal of the GNSS satellite can be because of
It is blocked and invisible by the earth.If ∠ α < ∠ β, corresponding GNSS satellite are not blocked.Wherein, ∠ α indicate receiver and
Angle between the line of ECEF system origin and the earth surface tangent line for crossing receiver, ∠ β indicate receiver and ECEF system origin
Line and GNSS satellite j eye position vector angle.The mathematic(al) representation of ∠ α and ∠ β are as follows:
Wherein, RearthIndicate earth radius.
Step 4.2:GNSS signal time delay calculates.Pass through GNSS satellite positionGNSS receiver locationAnd the star clock deviation b of GNSSj(t1), the timing parameter b of receiveru(t0) andCarry out reception signal
Delay, τjIt calculates, mathematic(al) representation are as follows:
Wherein, bj(t1) calculated using GNSS almanac.
Step 4.3:GNSS signal Doppler calculates.Pass through GNSS satellite positionAnd speedGNSS receiver positionAnd speedAnd the star clock drift rate of GNSSIt receives
The clock drift rate of machineIt calculates, specific mathematic(al) representation are as follows:
Wherein, fcarrIndicating GNSS carrier frequency, c indicates the light velocity,It is calculated using GNSS almanac.
Step 4.4:GNSS signal reception power calculates.Pass through GNSS signal space propagation distance R, transmitter antenna gain (dBi)
LTX, receiving antenna gain LRXIt calculates, specific mathematic(al) representation are as follows:
Wherein, PICDIt is the GNSS signal earth surface minimal detectable power that ICD file provides, OGIt is that ICD file provides
GNSS emit signal whole world offset, R0When being that earth surface minimum power receives, the distance of receiver and GNSS satellite.
GNSS signal space propagation distance RjIt is calculated by the position of GNSS receiver and GNSS satellite:
It is illustrated in figure 2 GNSS signal transmitting and calculates schematic diagram, L with reception gainTX, LRXIt is that eye position vector exists
The function of the pitch angle ∠ θ of GNSS satellite transmitting antenna and the pitch angle ∠ β in GNSS receiver receiving antenna, are finding out ∠ θ
After ∠ β, it can be obtained by tabling look-up.The calculating of ∠ β is with described in step 4.1, the calculation formula of ∠ θ are as follows:
Step 4.5: part pseudorange fuzziness and full computation of pseudoranges.Part pseudorange is defined as: do not synchronizing GNSS signal position
When edge or navigation message head, the pseudorange value for having integer PN-code capture fuzziness of measurement.When the signal of prediction can be used
Prolong τjWith part pseudorange ρfracRestore the accurately hair of the pseudorange value without fuzziness (referred to as full pseudorange) and signal by calculating
Penetrate the moment.Pseudorange fuzziness N is calculated first:
Wherein, round () indicates the calculating that rounds up, fsfracIndicate the measurement range of part pseudorange.For GPS L1
C/A signal does not complete the part pseudorange of frame synchronization and bit synchronization, fsfrac=1ms × light velocity；The part for not completing frame synchronization is pseudo-
Away from fsfrac=20ms × light velocity.Then it can restore full pseudorange:
ρfull=N × fsfrac+ρfrac
As long as guaranteeing signal time delay τjAccidentally absolute value of the difference is less thanEnsure that the full pseudorange of recovery is correct.Entirely
Pseudorange and GNSS receiver local sampling time can calculate GNSS signal emission time together:
Step 5: the search range of satellite the synchronous auxiliary of signal: is reduced according to the visible star list of GNSS；According to GNSS signal
Time delay and GNSS signal Doppler reduce two-dimensional search range when GNSS signal code phase and frequency acquisition；Believed according to GNSS
Number receive power optimization GNSS signal capture use preliminary examination integral duration and satellite search order；According to part pseudorange mould
Paste degree and full pseudorange and omit bit synchronization/frame synchronizing process, be directly entered after the completion of GNSS signal code phase and frequency acquisition
Signal synchronous regime.
Method described in the signal synchronizing method and document 1 and document 2 introduced the present invention carries out simulation hardware
Test, test scene select highly elliptic orbit, and test segmental arc orbit altitude is about 360,000 kilometers.As shown in figure 3, passing through test
As a result it can be seen that, the method introduced using the present invention, the net synchronization capability of GNSS satellite, which has, to be obviously improved.In test arc
Section, using the method that the present invention introduces than using the method introduced in document averagely can 1.5332 GNSS satellites of more completions
Simultaneously operating.The present invention can significantly reduce the synchronous required time of GNSS signal, and it is whole then to improve spaceborne GNSS receiver
Body navigation performance, algorithm is simple and reliable, is suitable for spaceborne GNSS receiver and uses.
Claims (10)
1. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary, it is characterised in that steps are as follows:
(1) input data for carrying out GNSS receiver prepares, including GNSS receiver is in last moment t0Efficient navigation result,
GNSS receiver almanac information, GNSS satellite transmitter antenna gain (dBi) directional diagram and GNSS receiver receiving antenna gain directional diagram；
(2) GNSS receiver motion state dynamics of orbits recursion is carried out, t is obtained1Moment GNSS receiver is under Earth central inertial system
PositionAnd speed
(3) according to GNSS receiver in t1The motion state and GNSS almanac information at moment calculate t1Moment, all arrival GNSS connect
The emission time estimated value of the signal of receipts machineWith position of the corresponding GNSS satellite under ECI system
Speed
(4) auxiliary information calculates: using position of the GNSS satellite under ECI systemSpeedWith
Position of the GNSS receiver under inertial systemSpeedAuxiliary information is calculated, is specifically included: the visible star of GNSS
List, GNSS signal time delay, GNSS signal Doppler, GNSS signal receive power, part pseudorange fuzziness and full pseudorange；
(5) search range of satellite the synchronous auxiliary of signal: is reduced according to the visible star list of GNSS；According to GNSS signal time delay and
GNSS signal Doppler reduces two-dimensional search range when GNSS signal code phase and frequency acquisition；Function is received according to GNSS signal
The search order of preliminary examination integral duration and satellite that rate optimization GNSS signal capture uses；According to part pseudorange fuzziness and full puppet
Away from and omit bit synchronization/frame synchronizing process, signal synchronous shape is directly entered after the completion of GNSS signal code phase is with frequency acquisition
State.
2. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary according to claim 1,
It is characterized by: GNSS receiver is in last moment t0Efficient navigation as a result, including ECEF system time positionSpeedClock deviation bu(t0) and clock rateECEF system refers to ECEF coordinate system.
3. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary according to claim 1,
It is characterized by: GNSS receiver almanac information is demodulated by GNSS navigation message, or receiver is injected before satellite launch
Carry out static storage.
4. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary according to claim 1,
It is characterized by: GNSS satellite transmitter antenna gain (dBi) directional diagram and GNSS receiver receiving antenna gain directional diagram, solidification storage
In GNSS receiver memory.
5. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary according to claim 1,
It is characterized by: the step (2) carries out GNSS receiver motion state dynamics of orbits recursion, t is obtained1Moment GNSS receives
Position of the machine under Earth central inertial systemAnd speedSpecifically:
Position first by GNSS receiver under ECEF systemAnd speedUnder conversion to Earth central inertial system ECI,
Obtain positionAnd speedThen numerical integration operation is carried out using the acceleration that orbital mechanics model calculates,
A length of t when integral1-t0, obtain t1Position of the moment GNSS receiver under inertial systemAnd speed
Wherein,Indicate orbit perturbation acceleration.
6. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary according to claim 1,
It is characterized by: in the step (3)It indicates in t1J-th of GNSS satellite signal at moment arrival GNSS receiver end
Emission time.
7. a kind of spaceborne GNSS receiver signal side of synchronization based on dynamics of orbits auxiliary according to claim 1 or 6
Method, it is characterised in that:
According to GNSS receiver in t1The motion state and GNSS almanac information at moment calculate t1Moment, all arrival GNSS were received
The emission time estimated value of the signal of machineWith position of the corresponding GNSS satellite under ECl systemSpeed
DegreeSpecifically:
Step 3.1: using t1InitializationEstimated value, juxtaposition the number of iterations m be 0,
Step 3.2: calculating the range estimation of signal emission time GNSS satellite j and GNSS receiver
Wherein,It is calculated using GNSS almanac；
Step 3.3: calculating the estimated value of signal propagation time
Wherein, c is the light velocity；
Step 3.4: updating GNSS satellite j emission time estimated value
Step 3.5: calculating the number of iterations m and add 1, if m less than 3, returns to step 2, otherwise, continue to execute；
Step 3.6: usingWith GNSS almanac calculating positionAnd speedTerminate.
8. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary according to claim 1,
It is characterized by: the step (4) uses position of the GNSS satellite under ECI systemSpeed
With position of the GNSS receiver under inertial systemSpeedAuxiliary information is calculated, specifically:
Step 4.1: visible star list calculates: passing through GNSS satellite positionWith GNSS receiver position
Geometrical relationship, determine the GNSS satellite signal whether can because of by the earth block without as it can be seen that so that it is determined that visible star arrange
Table；
Step 4.2:GNSS signal time delay calculates: passing through GNSS satellite positionGNSS receiver position
And the star clock deviation b of GNSSj(t1), the timing parameter b of receiveru(t0) andIt carries out receiving signal time delay τjMeter
It calculates, mathematic(al) representation are as follows:
Wherein, bj(t1) be calculated using GNSS almanac；
Step 4.3:GNSS signal Doppler calculates: passing through GNSS satellite positionSpeed
GNSS receiver positionSpeedThe star clock drift rate of GNSSAnd the clock drift rate of receiverCalculate GNSS signal Doppler, specific mathematic(al) representation are as follows:
Wherein, fcarrIndicating GNSS carrier frequency, c indicates the light velocity,It is calculated using GNSS almanac；
Step 4.4:GNSS signal reception power PoIt calculates: passing through GNSS signal space propagation distance R, transmitter antenna gain (dBi) LTX,
Receiving antenna gain LRXIt calculates, specific mathematic(al) representation are as follows:
Wherein, PIICDIt is the GNSS signal earth surface minimal detectable power that ICD file provides, OGIt is that ICD file provides
GNSS emits signal whole world offset, R0When being that earth surface minimum power receives, the distance of receiver and GNSS satellite；
GNSS signal space propagation distance RjIt is calculated by the position of GNSS receiver and GNSS satellite:
LTX, LRXIt is eye position vector in the pitch angle ∠ θ of GNSS satellite transmitting antenna and in GNSS receiver receiving antenna
The function of pitch angle ∠ β is obtained after finding out ∠ θ and ∠ β by tabling look-up；The calculation formula of ∠ β, ∠ θ are as follows:
Step 4.5: part pseudorange fuzziness and full computation of pseudoranges:
Calculating section pseudorange fuzziness N first:
Wherein, round () indicates the calculating that rounds up, fsfracIndicate the measurement range of part pseudorange；GPS L1 C/A is believed
Number, do not complete the part pseudorange of frame synchronization and bit synchronization, fsfrac=1ms × light velocity；The part pseudorange of frame synchronization is not completed,
fsfrac=20ms × light velocity can then restore full pseudorange ρfull:
ρfull=N × fsfrac+ρfrac
As signal time delay τjAccidentally absolute value of the difference is less thanThe full pseudorange then restored is correct, the signal time delay τjError is
Refer to: signal time delay τjCalculated value and true value between difference；
GNSS signal emission time is calculated by full pseudorange and GNSS receiver local sampling time:
9. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary according to claim 8,
It is characterized by: step (4.1) judgment criterion are as follows: if ∠ α < ∠ β, corresponding GNSS satellite are not blocked；Wherein,
∠ α indicates that the angle between the line of receiver and ECEF system origin and the earth surface tangent line of receiver excessively, ∠ β indicate to receive
The angle of the eye position vector of the line and GNSS satellite j of machine and ECEF system origin；The mathematic(al) representation of ∠ α and ∠ β are as follows:
Wherein, RearthIndicate earth radius.
10. a kind of spaceborne GNSS receiver signal synchronizing method based on dynamics of orbits auxiliary according to claim 8,
It is characterized by: part pseudorange is defined as: at not synchronous GNSS signal position edge or navigation message head, measurement has integer
The pseudorange value of PN-code capture fuzziness；Use the signal time delay τ of predictionjWith part pseudorange ρfracRestore accurate nothing by calculating
The pseudorange value of fuzziness, i.e., full pseudorange.
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