CN109991634A - Satellite position speed data processing method based on satellite earth station - Google Patents
Satellite position speed data processing method based on satellite earth station Download PDFInfo
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- CN109991634A CN109991634A CN201910217507.5A CN201910217507A CN109991634A CN 109991634 A CN109991634 A CN 109991634A CN 201910217507 A CN201910217507 A CN 201910217507A CN 109991634 A CN109991634 A CN 109991634A
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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
- G01S19/38—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
-
- 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
- G01S19/52—Determining velocity
Abstract
The satellite position speed data processing method based on satellite earth station that the invention discloses a kind of, includes the following steps: S1) obtain the satellite GNSS data at a certain moment；S2 it) obtains almanac data and extrapolates the position and speed of the moment satellite；S3 the position and speed deviation of the two) is calculated under geocentric inertial coordinate system；S4 it) is trained based on neural network, constructs the mapping relations of " satellite position Speed-position speed deviation "；S5) in the region for having been built up mapping relations, the satellite position speed that ephemeris calculates is compensated using the position and speed deviation that neural network exports；S6 the position and speed value of output) is transformed into the earth's core fixed coordinate system by geocentric inertial coordinate system.The present invention can obtain the accurate position and speed data of satellite；In addition, the present invention carries out real-time estimation when no beacon signal or reception signal, to Doppler frequency shift amount, so that the Doppler frequency shift to uplink signal carries out real-time compensation.
Description
Technical field
The present invention relates to the prediction compensating methods of a kind of long-range measurement data more particularly to a kind of based on satellite earth station
Satellite position speed data processing method.
Background technique
Satellite ephemeris, also known as two row orbital datas (TLE, Two-Line Orbital Element), are for describing
The expression formula of space flight body position and speed --- two line orbital data systems.The position and speed of satellite is usually by star
Calculating is gone through, and general satellite ephemeris measurement is not just very accurate, while the almanac data time is more remote.
After tracking telemetry and command station acquisition almanac data, the satellite position and speed of ephemeris formula to calculating any time can be passed through.Star
Count that precision according to surveying and determination is low, and the update cycle is very long one by one, so the position and speed of present satellites is calculated according to ephemeris.It removes
Other than original almanac data precision is low, will also will lead to accumulated error during reckoning, eventually lead to satellite position and
Speed data error is larger.
The full name of GNSS is Global Navigation Satellite System (Global Navigation Satellite System), it is
Refer to all satellite navigation systems, including the whole world, region and enhancing, as the GPS in the U.S., Russia Glonass,
The Galileo in Europe, the Beidou satellite navigation system of China and relevant enhancing system.Obtain satellite GNSS data just like
Lower two ways:
Method 1, its GNSS data of direct satellite broadcasting, satellite earth station receive data；
Method 2, satellite does not broadcast GNSS data, obtains GNSS data by tracking telemetry and command station, and by ground network, such as interconnect
Net is transferred to satellite earth station.
Since the GNSS data of satellite is intermittent publication, it can not ensure that any time can obtain the data, therefore, have
Necessity compensates correction with the position and speed that GNSS data calculates ephemeris, to obtain more accurate satellite position and speed
Angle value.In addition, Doppler effect is pointed out, wave wave source shift to observer it is close when receive frequency and get higher, and in wave source far from seeing
Frequencies go lower is received when the person of examining.There are high speed relative motions between satellite earth station and satellite, will cause when communicating to star larger
Doppler frequency shift.Since satellite itself does not have Doppler shift compensation ability, it is therefore desirable to which satellite earth station believes in uplink
Doppler frequency shift precompensation is carried out in number, so satellite earth station should first estimate Doppler frequency shift amount, but at half pair
Work star under signal intelligence, frequency shift amount can not be estimated using signal is received.
Summary of the invention
At the satellite position speed data based on satellite earth station that technical problem to be solved by the invention is to provide a kind of
Reason method can carry out real-time estimation to Doppler frequency shift amount when no beacon signal or no reception signal, thus
The Doppler frequency shift of uplink signal is supplemented in real time.
The present invention is to solve above-mentioned technical problem and the technical solution adopted is that provide a kind of defending based on satellite earth station
Championship sets speed data processing method, includes the following steps: S1) obtain the satellite GNSS data at a certain moment；S2 ephemeris) is obtained
Data and the position and speed for extrapolating the moment satellite；S3) the position and speed and GNSS for the moment satellite for extrapolating ephemeris
The data for the Cartesian form that the position and speed of the moment satellite of measurement is transformed under geocentric inertial coordinate system are subtracted each other,
Obtain position and speed deviation between the two；S4) method neural network based calculates the three-dimensional position obtained speed with ephemeris
Input and output sample of the position and speed deviation respectively as neural network for spending and subtracting each other acquisition, instructs neural network
Practice, constructs the mapping relations of " satellite position Speed-position speed deviation "；S5) in the region for having been built up mapping relations, benefit
The satellite position speed that ephemeris calculates is compensated with the position and speed deviation that neural network exports；It is being constructed without mapping
The region of relationship directlys adopt the satellite position speed data of ephemeris reckoning；S6) by the position and speed value of output by Earth central inertial
Coordinate system is transformed into the earth's core fixed coordinate system.
Further, the satellite earth station includes GNSS subsystem, aobvious control subsystem, base band subsystem, transceiving radio frequency
Subsystem and antenna feeder subsystem, the transceiving radio frequency subsystem are connected by the antenna feeder subsystem with the aobvious control subsystem；
In half-duplex star under communication mode, the aobvious control position and speed value of the subsystem based on above-mentioned satellite and earth station itself, meter
Calculation obtains Doppler frequency shift amount, and inputs to base band subsystem；Original frequency for transmission is added Doppler by the base band subsystem
Frequency shift amount inputs to transceiving radio frequency subsystem as new transmission frequency, then signal is transmitted to satellite by antenna feeder subsystem.
Further, the step S1 Satellite earth station obtains satellite earth station in T by GNSS subsystemkMoment
GNSS location and speed data, meanwhile, satellite earth station obtains satellite in T from satellite-control station by ground networkkMoment
The position and speed data of the two are all converted to the rectangular co-ordinate shape under the fixed coordinate system of the earth's core by GNSS location and speed data
The three-dimensional position and speed data of formula；
The Doppler frequency shift amount fdkSpecific formula for calculation is as follows:
Use fdkTo emission time Tcur+Δ2Original uplink signal frequency foriginTcur+Δ2It compensates, after obtaining compensation
Uplink signal frequency and sent by transceiving radio frequency subsystem and antenna feeder subsystem；Compensated uplink signal frequency=
Original uplink signal frequency+Doppler frequency shift amount, i.e.,
PSkFor TkThree-dimensional position of the moment satellite in rectangular co-ordinate, VSkFor TkSpeed of the moment satellite in rectangular co-ordinate
Degree evidence, is expressed as PSK=(X1k,Y1k,Z1k),VSk=(VX1k,VY1k,VZ1k)；
PTkFor TkThree-dimensional position of the moment satellite earth station in same rectangular co-ordinate, VTkFor TkMoment satellite earth station
Speed data in same rectangular co-ordinate, is expressed as PTk=(X2k,Y2k,Z2k),VTk=(VX2k,VY2k,VZ2k)；
Tcur is current time, and Δ 1 is satellite GNSS data to the amount of delay for being transferred to satellite earth station, i.e. Δ 1=
Tcur-Tk, Δ 2 are the computation delay amount of computing unit.
Further, the step S5) in the region for having been built up mapping relations, utilize the position speed of neural network output
Degree deviation compensates the satellite position speed that ephemeris calculates；In the region for being constructed without mapping relations, star is directlyed adopt
Go through the satellite position speed data of reckoning；When the direct output valve of neural network is greater than preset threshold, determine that this region does not have still
Mapping relations are built, then directly export three-dimensional position and speed that original ephemeris is extrapolated；When neural network directly exports
When value is less than preset threshold, determines that this region has constructed mapping relations, then original ephemeris computation data are compensated with difference.
Further, the earth's core fixed coordinate system is WGS84 coordinate system.
Further, the neural network is 66 output nerve networks of input, and 6 inputs are the three-dimensional position value and three of satellite
Velocity amplitude is tieed up, 6 outputs are the three-dimensional position deviation and three-dimensional velocity deviation of satellite.
Further, the neural network is 3 layers of BP neural network comprising 1 hidden layer, if initial the number of hidden nodes is 6
It is a；When the network output valve in the region for having been built up mapping relations, which is appointed, is so greater than preset threshold, on the basis of original number of nodes
1 node of upper increase to the new neural network re -training, and tests the network output for having been built up the region of mapping relations
Value no longer changes the number of hidden nodes if output valve is less than preset threshold；If preset threshold is still greater than in output valve, according to
The above method increases by 1 node every time, and is trained and tests, until the output valve of neural network is less than preset threshold
Only.
The present invention comparison prior art has following the utility model has the advantages that the satellite position provided by the invention based on satellite earth station
Speed data processing method is set, GNSS data and almanac data are merged, using GNSS data to the ephemeris number extrapolated
According to compensating and correcting, to obtain the accurate position and speed data of satellite.In addition, the present invention can be in no beacon signal
Or when without receiving signal, Doppler frequency shift amount is estimated, and Doppler frequency shift precompensation is carried out to uplink signal,
The uplink signal for the not Doppler effect for arriving satellite reception, thus with better ensuring that star smooth under half-duplex mode
Communication.
Detailed description of the invention
Fig. 1 is the structure composed schematic diagram of satellite earth station of the present invention；
Fig. 2 is that the present invention obtains satellite precise position and speed flow diagram；
Fig. 3 is that satellite earth station of the present invention passes through satellite-control station acquisition satellite GNSS data schematic diagram；
Fig. 4 is measurement data time delay relational graph of the present invention；
Fig. 5 is the difference signal that the present invention calculates data and GNSS measured data by training neural network learning ephemeris
Figure；
Fig. 6 is the present invention by training neural network amendment ephemeris to calculate schematic diagram data.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure composed schematic diagram of satellite earth station of the present invention.
Referring to Figure 1, satellite earth station provided by the invention includes GNSS subsystem, aobvious control subsystem, base band subsystem
With transceiving radio frequency subsystem, the transceiving radio frequency subsystem is connected by antenna feeder subsystem with aobvious control subsystem, base of the invention
In the satellite position speed data processing method of satellite earth station, include the following steps:
S1 the satellite GNSS data at a certain moment) is obtained；
S2 it) obtains almanac data and extrapolates the position and speed of the moment satellite；
S3) the position and speed of the position and speed for the moment satellite for extrapolating ephemeris and the moment satellite of GNSS measurement
The data for the Cartesian form being transformed under geocentric inertial coordinate system are subtracted each other, and position and speed deviation between the two is obtained
Value；
S4) method neural network based calculates the three-dimensional position speed obtained with ephemeris and subtracts each other the position speed of acquisition
Deviation is spent respectively as the input and output sample of neural network, neural network is trained, and constructs " satellite position speed-
The mapping relations of position and speed deviation ", runing time is more long, and the mapping area of building is more；
S5) in the region for having been built up mapping relations, ephemeris is pushed away using the position and speed deviation that neural network exports
The satellite position speed of calculation compensates；In the region for being constructed without mapping relations, the satellite position of ephemeris reckoning is directlyed adopt
Speed data；
S6 the position and speed value of output) is transformed into the earth's core fixed coordinate system by geocentric inertial coordinate system.
In step sl, satellite earth station obtains satellite earth station in T by GNSS subsystemkThe GNSS location at moment and
Speed data, and be converted to the three-dimensional position and speed data of the Cartesian form under a certain coordinate system.Such as WGS84 coordinate
System, a kind of geocentric coordinate system used in the world.Coordinate origin is earth centroid, and the Z axis of the earth's core rectangular coordinate system in space refers to
The direction agreement earth pole (CTP) defined to BIH (international time service organization) 1984.O, X-axis are directed toward the zero of BIH 1984.0
The intersection point of meridian plane and the equator CTP, Y-axis and Z axis, X-axis are vertically formed right-handed coordinate system.Obtain TkMoment satellite earth station
GNSS location and speed data, and be converted to the three-dimensional position with the Cartesian form under satellite three-dimensional data the same coordinate system
PTkWith speed data VTk, it is expressed as PTk=(X2k,Y2k,Z2k),VTk=(VX2k,VY2k,VZ2k)。
Alternatively, satellite earth station obtains satellite in T from satellite shape tracking telemetry and command station by ground networkkThe GNSS location at moment and
Speed data, as shown in figure 3, and be converted to the three-dimensional position of the Cartesian form under satellite earth station the same coordinate system and
Speed data.For example obtain TkThe GNSS location and speed data of moment satellite, and be converted to a certain coordinate system (such as WGS84 seat
Mark system) under Cartesian form three-dimensional position PSkWith speed data VSk, it is expressed as PSK=(X1k,Y1k,Z1k),VSk
=(VX1k,VY1k,VZ1k)。
The present invention can be calculated by the position and speed data based on satellite and satellite earth station after above-mentioned conversion
Doppler frequency shift amount fdk, and input to base band subsystem；Specific formula is as follows:
λ is the wavelength for communicating frequency point.
Original frequency for transmission is added Doppler frequency shift amount by base band subsystem of the invention, is inputted as new transmission frequency
Transceiving radio frequency subsystem is given, then signal is transmitted to by antenna feeder subsystem by satellite.Use fdkTo emission time TcurThe original of+Δ 2
Beginning uplink signal frequency compensates, and obtains compensated uplink signal frequency and is sent out by radio frequency system and antenna-feeder system
It send.Its compensation formula are as follows: compensated uplink signal frequency=original uplink signal frequency+Doppler frequency shift amount, i.e.,Wherein TcurFor current time, Δ 1 is satellite GNSS data to being transferred to satellite
The amount of delay of earth station, i.e. Δ 1=Tcur-Tk, Δ 2 is the computation delay amount of computing unit, referring to fig. 4.
The position and speed for position and speed and the GNSS measurement that ephemeris of the present invention calculates is transformed into same Earth central inertial respectively
Under coordinate system；Then the position and speed that ephemeris calculates is subtracted each other respectively at the position and speed that GNSS is measured, obtains two
Position and speed deviation between person；The three-dimensional data for the position and speed that subsequent time ephemeris calculates also is transformed into again same
Under geocentric inertial coordinate system, compensated respectively with above-mentioned position and speed deviation；Compensated position and speed data are turned
The earth's core fixed coordinate system (84 coordinate system of WGS) is changed to, to obtain the precision positions and velocity amplitude of any time.
The present invention can obtain the difference between ephemeris reckoning data and GNSS measurement data by neural network learning, such as
Shown in Fig. 5:
1) in the case that current time GNSS location and speed can obtain, using GNSS data, and neural network is trained；
2) neural network is trained based on network inputs and network output.The neural network can be defeated for 6 inputs 6
Neural network out, 6 input quantities are the three-dimensional position value and three-dimensional velocity value of satellite, and 6 output quantities are the three-dimensional position of satellite
Deviation and three-dimensional velocity deviation.Further, the neural network is 3 layers of BP neural network comprising 1 hidden layer, if just
Beginning the number of hidden nodes is 6；When the network output valve in the region for having been built up mapping relations, which is appointed, is so greater than preset threshold, in original
Have and increase by 1 node on the basis of number of nodes, to the new neural network re -training, and tests the area for having been built up mapping relations
The network output valve in domain no longer changes the number of hidden nodes if output valve is less than preset threshold；If output valve is still greater than default
When threshold value, increase by 1 node every time according to the method described above, and be trained and test, until the output valve of neural network is less than
Until preset threshold.
Specific compensating approach is as shown in Figure 6:
1) it in the case that current time GNSS location and speed cannot obtain, is counted using the neural network that training obtains
It calculates；
2) it when the direct output valve of neural network (difference) is greater than preset threshold, then directly exports original ephemeris and calculates
Three-dimensional position and speed under WGS84 coordinate system；When the direct output valve of neural network (difference) is less than preset threshold, then with poor
Value compensates original ephemeris computation data, exports three-dimensional position and speed correction under WGS84 coordinate system.
In conclusion the present invention corrects ephemeris bring by fusion satellite almanac data and satellite GNSS measurement data
Error term promotes satellite position and velocity estimation precision.Another aspect satellite and earth station relative position and relative velocity can be more
It is accurate to add, and can accurately estimate that star-station Doppler effect bring influences.
Although the present invention is disclosed as above with preferred embodiment, however, it is not to limit the invention, any this field skill
Art personnel, without departing from the spirit and scope of the present invention, when can make a little modification and perfect therefore of the invention protection model
It encloses to work as and subject to the definition of the claims.
Claims (7)
1. a kind of satellite position speed data processing method based on satellite earth station, which comprises the steps of:
S1 the satellite GNSS data at a certain moment) is obtained；
S2 it) obtains almanac data and extrapolates the position and speed of the moment satellite；
S3) the position and speed conversion of the position and speed for the moment satellite for extrapolating ephemeris and the moment satellite of GNSS measurement
The data of Cartesian form under to geocentric inertial coordinate system are subtracted each other, and position and speed deviation between the two is obtained；
S4) method neural network based calculates that the three-dimensional position speed obtained and the position and speed for subtracting each other acquisition are inclined with ephemeris
Difference is trained neural network respectively as the input and output sample of neural network, constructs " satellite position Speed-position
The mapping relations of speed deviation "；
S5) in the region for having been built up mapping relations, ephemeris is calculated using the position and speed deviation that neural network exports
Satellite position speed compensates；In the region for being constructed without mapping relations, the satellite position speed of ephemeris reckoning is directlyed adopt
Data；
S6 the position and speed value of output) is transformed into the earth's core fixed coordinate system by geocentric inertial coordinate system.
2. the satellite position speed data processing method based on satellite earth station as described in claim 1, which is characterized in that institute
Satellite earth station is stated to include GNSS subsystem, show control subsystem, base band subsystem, transceiving radio frequency subsystem and antenna feeder subsystem,
The transceiving radio frequency subsystem is connected by the antenna feeder subsystem with the aobvious control subsystem；
In half-duplex star under communication mode, the aobvious control position and speed of the subsystem based on above-mentioned satellite and earth station itself
Value, is calculated Doppler frequency shift amount, and input to base band subsystem；The base band subsystem is by original frequency for transmission plus more
General Le frequency shift amount inputs to transceiving radio frequency subsystem as new transmission frequency, then signal is transmitted to by antenna feeder subsystem
Satellite.
3. the satellite position speed data processing method based on satellite earth station as claimed in claim 2, which is characterized in that institute
It states step S1 Satellite earth station and satellite earth station is obtained in T by GNSS subsystemkThe GNSS location and speed data at moment,
Meanwhile satellite earth station obtains satellite in T from satellite-control station by ground networkkThe GNSS location and speed data at moment,
The position and speed data of the two are all converted to the three-dimensional position and speed of the Cartesian form under the fixed coordinate system of the earth's core
Data；
The Doppler frequency shift amount fdkSpecific formula for calculation is as follows:
Use fdkTo emission time Tcur+Δ2Original uplink signal frequency foriginTcur+Δ2It compensates, obtains on compensated
Row signal frequency is simultaneously sent by transceiving radio frequency subsystem and antenna feeder subsystem；Compensated uplink signal frequency=original
Uplink signal frequency+Doppler frequency shift amount, i.e.,
PSkFor TkThree-dimensional position of the moment satellite in rectangular co-ordinate, VSkFor TkNumber of speed of the moment satellite in rectangular co-ordinate
According to being expressed as PSK=(X1k,Y1k,Z1k),VSk=(VX1k,VY1k,VZ1k)；
PTkFor TkThree-dimensional position of the moment satellite earth station in same rectangular co-ordinate, VTkFor TkMoment, satellite earth station was same
Speed data in rectangular co-ordinate, is expressed as PTk=(X2k,Y2k,Z2k),VTk=(VX2k,VY2k,VZ2k)；
Tcur is current time, and Δ 1 is satellite GNSS data to the amount of delay for being transferred to satellite earth station, i.e. Δ 1=Tcur-
Tk, Δ 2 are the computation delay amount of computing unit.
4. the satellite position speed data processing method based on satellite earth station as described in claim 1, which is characterized in that institute
State step S5) in the region for having been built up mapping relations, ephemeris is calculated using the position and speed deviation of neural network output
Satellite position speed compensate；In the region for being constructed without mapping relations, the satellite position speed of ephemeris reckoning is directlyed adopt
Degree evidence；When the direct output valve of neural network is greater than preset threshold, determine that this region has still been constructed without mapping relations, then directly
Connect the three-dimensional position and speed for exporting that original ephemeris is extrapolated；When the direct output valve of neural network is less than preset threshold, sentence
This fixed region has constructed mapping relations, then is compensated with difference to original ephemeris computation data.
5. the satellite position speed data processing method based on satellite earth station as described in claim 1, which is characterized in that institute
Stating the earth's core fixed coordinate system is WGS84 coordinate system.
6. the satellite position speed data processing method as described in claim 1 or 4 based on satellite earth station, the nerve net
Network is 66 output nerve networks of input, and 6 inputs are the three-dimensional position value and three-dimensional velocity value of satellite, and 6 outputs are the three-dimensional of satellite
Position deviation value and three-dimensional velocity deviation.
7. the satellite position speed data processing method based on satellite earth station as claimed in claim 6, the neural network
For 3 layers of BP neural network comprising 1 hidden layer, if initial the number of hidden nodes is 6；When the region for having been built up mapping relations
When network output valve is appointed so greater than preset threshold, increase by 1 node on the basis of original number of nodes, to the new neural network weight
New training, and the network output valve for having been built up the region of mapping relations is tested, if output valve is less than preset threshold, no longer change
Become the number of hidden nodes；If preset threshold is still greater than in output valve, increase by 1 node every time according to the method described above, and instructed
Practice and test, until the output valve of neural network is less than preset threshold.
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| PCT/CN2019/079305 WO2020186536A1 (en) | 2019-03-21 | 2019-03-22 | Method for processing satellite position velocity data based on satellite earth station |
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| CN111624634A (en) * | 2020-05-11 | 2020-09-04 | 中国科学院深圳先进技术研究院 | Satellite positioning error evaluation method and system based on deep convolutional neural network |
| CN111624634B (en) * | 2020-05-11 | 2022-10-21 | 中国科学院深圳先进技术研究院 | Satellite positioning error evaluation method and system based on deep convolutional neural network |
| CN112152678A (en) * | 2020-10-27 | 2020-12-29 | 四川九洲电器集团有限责任公司 | Calculation circuit for Doppler frequency offset of low-earth orbit satellite |
| WO2023078049A1 (en) * | 2021-11-04 | 2023-05-11 | 华为技术有限公司 | Communication method and related apparatus |
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