CN110187364B - Low-rail navigation enhanced precision correction data generation and uploading system and method - Google Patents
Low-rail navigation enhanced precision correction data generation and uploading system and method Download PDFInfo
- Publication number
- CN110187364B CN110187364B CN201910516948.5A CN201910516948A CN110187364B CN 110187364 B CN110187364 B CN 110187364B CN 201910516948 A CN201910516948 A CN 201910516948A CN 110187364 B CN110187364 B CN 110187364B
- Authority
- CN
- China
- Prior art keywords
- data
- orbit
- low
- satellite
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
-
- 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
- G01S19/40—Correcting position, velocity or attitude
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a low-orbit navigation enhancement precision correction data generation and injection system and a method, wherein a ground data processing center station combines monitoring data acquired by a GNSS monitoring station and low-orbit satellite monitoring data acquired by a satellite measurement and control station, processes and generates SSR data, the generated SSR data are evaluated and then transmitted to three business data injection stations, the three business data injection stations respectively transmit the three business data to three geostationary orbit communication satellites serving as high-orbit satellites through injection channels, the low-orbit navigation enhancement satellites receive SSR data broadcast by the geostationary orbit communication satellites, and an enhanced navigation signal is generated by processing the injected SSR data by utilizing navigation enhancement load, so that high-precision orbit determination and low-orbit navigation enhancement information generation is completed. Compared with the prior art, the method for generating and uploading the SSR correction data of the navigation system, which is required by the low-orbit navigation enhancement system, is not dependent on the link between the low-orbit satellites, reduces the complexity of the low-orbit system, improves the reliability and prolongs the service life of the low-orbit constellation system.
Description
Technical Field
The invention relates to the technical field of navigation enhancement, in particular to a system and a method for generating and uploading low-rail navigation enhancement precision correction data.
Background
Global navigation satellite systems (Global Navigation Satellite System, GNSS), in particular the GPS system in the united states, the GLONASS system in russia, the european Galileo system and the beidou system in china, have been widely used worldwide to provide navigation and positioning services for users in various fields. However, with popularization of application, the current fields of high-precision mapping, precision agriculture, transportation, aviation management and the like have higher and higher requirements on navigation positioning precision, usability and integrity, and the conventional GNSS system cannot meet the requirements.
In the current navigation field, an IGS organization utilizes the observation data of more than 400 tracking monitoring stations worldwide to calculate GNSS post/real-time precise orbit and precise clock error products, and then broadcasts the products through the Internet based on NTRIP protocol.
The navigation receiver can achieve improvement of navigation positioning accuracy by receiving GNSS precise orbit and precise clock error products, the highest single-point positioning accuracy can reach centimeter level, but the navigation receiver can not acquire precise data through Internet in many application scenes, such as on-board GNSS receivers of all satellites of a low-orbit navigation enhanced satellite system, if centimeter level positioning is to be achieved, GNSS precise orbit products and precise clock error products on the ground must be acquired through other communication links, and the system generally adopts a low-orbit inter-satellite link mode, and is uploaded to one of satellites through a ground station and then is transmitted to each satellite of a constellation system through inter-orbit inter-satellite links and inter-orbit inter-satellite links.
The current inter-satellite communication terminal suitable for the micro-nano satellite has low maturity, in addition, the addition of inter-satellite links improves the requirements on the power supply capacity and the bearing capacity of the low-orbit micro-nano satellite platform, the prior art and research also provide the requirements on the inter-satellite data efficient transmission route and the like, the complexity of a low-orbit constellation system is greatly improved, the system construction cost is increased, and the system reliability is reduced. In addition, the generation of the real-time precision data of the current GPS system is based on more than 400 tracking monitoring stations worldwide, but the number of ground tracking monitoring stations of the Beidou system is small and cannot be distributed worldwide.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a system and a method for generating and uploading low-rail navigation enhanced precision correction data.
The aim of the invention can be achieved by the following technical scheme:
a low-rail navigation-enhanced precision correction data generation and injection system, the system comprising: the system comprises a GNSS satellite, a low-orbit navigation enhancement satellite, three uniformly distributed geostationary orbit communication satellites, a GNSS monitoring station, a ground data processing center station, a satellite measurement and control station and three service data uploading stations, wherein the GNSS monitoring station is positioned on the ground;
the system comprises a low-orbit navigation enhancement satellite, a satellite monitoring station, a ground data processing center station, a satellite monitoring station and a satellite monitoring station, wherein the GNSS satellite is used for sending navigation signals to the low-orbit navigation enhancement satellite and the GNSS monitoring station, the low-orbit navigation enhancement satellite is used as the low-orbit satellite, an on-satellite navigation monitoring receiver is arranged on the low-orbit navigation enhancement satellite and is used for receiving GPS, GLONASS, galileo and Beidou system signals, original observation data comprising corresponding pseudo code ranging information Pi and carrier phase measuring information Li are transmitted to the satellite monitoring station in real time through data transmission, navigation enhancement load is carried on the low-orbit navigation enhancement satellite, the ground data processing center station combines the monitoring data acquired by the GNSS monitoring station and the on-orbit satellite monitoring data acquired by the satellite monitoring station, SSR data are generated through processing, the generated SSR data are transmitted to three business data uploading stations through the Internet after being evaluated, the three business data uploading stations are respectively transmitted to three earth stationary orbit communication satellites serving as high-orbit satellites through uploading channels and broadcast, the low-orbit navigation enhancement satellite receives the SSR data broadcasted by the earth stationary orbit communication satellites, the navigation enhancement satellite is processed by the navigation enhancement load, the uploaded by the navigation enhancement load is used for generating and the enhanced navigation signal, and the high-precision orbit determination and the low-orbit navigation enhancement information are generated.
Preferably, the SSR data comprises real-time precision orbit product data and real-time precision clock difference product data.
Preferably, the satellite navigation monitoring receiver is a high-dynamic multimode multi-frequency receiver, and the satellite measurement and control station is provided with a plurality of reflecting surface antennas or digital multi-beam antennas for realizing simultaneous data reception of a plurality of satellites by one station.
A low-orbit navigation enhancement precision correction data generation and uploading method specifically comprises the following steps:
s1, a ground data processing center station acquires monitoring data of a GNSS monitoring station and low-orbit satellite monitoring data received by a satellite measurement and control station in real time through the Internet; the method comprises the following specific steps:
101 The GNSS monitoring station acquires GNSS monitoring data, and specifically comprises target GNSS system double-frequency/three-frequency pseudo code ranging information and carrier phase measuring information.
102 The satellite measurement and control station receives original monitoring data of the satellite navigation monitoring receiver through a satellite data transmission link, wherein the original monitoring data comprises double-frequency/three-frequency pseudo code ranging information and carrier phase measuring information of a target GNSS system.
103 The GNSS monitoring station transmits acquired GNSS monitoring data to the ground data processing center station, and the satellite measurement and control station transmits the acquired original monitoring data to the ground data processing center station through the Internet/dedicated line.
S2, the ground data processing center station processes and generates real-time SSR data, and the real-time SSR data specifically comprises real-time precise track product data and real-time precise clock difference product data. The method specifically comprises the following steps:
201 The ground data processing center station performs data preprocessing on all the acquired original monitoring data to realize cycle slip detection on the carrier phase observation value.
Cycle slip was detected and repaired using MW combining and TECR, i.e.:
constructing M-W combinations using pseudoranges and phases, thereby widelane ambiguity N WL The calculation formula of (2) is as follows:
wherein f 1 And f 2 For the corresponding carrier frequency, phi 1 And phi is 2 Respectively, phase observations at different frequencies, P 1 And P 2 Pseudo-range observations, L, respectively at different frequencies WL Is a wide lane combination lambda WL Is a wide lane wavelength;
when N is WL (k) When the following formula is satisfied, the epoch k is considered to have cycle slip:
in the method, in the process of the invention,
mean value of widelane ambiguity, sigma 2 Variance as widelane ambiguity;
the ionosphere change rate is utilized to detect the cycle slip of the observed value, the value of TECR is a constant in a short time, and the calculation formula of the ionosphere of epoch k-1 is as follows:
in the method, in the process of the invention,
f 1 and f 2 B for the corresponding carrier frequency i And B p Signal frequency deviation lambda between receiver and satellite 1 、λ 2 At a frequency f 1 And f 2 Corresponding wavelength, N 1 、N 2 At a frequency f 1 And f 2 The calculated value of the ionosphere TEC change rate TECR of the corresponding ambiguity, epoch k is:
using epoch to predict the TECR of a k epoch, the expression of the TECR predictor is:
and if the difference value between the TECR calculated value and the TECR predicted value of the current epoch exceeds the threshold value, the epoch is considered to have cycle slip.
Preferably, the threshold is 0.15TECU.
202 And (3) repairing the original monitoring data according to cycle slip detection.
203 The original carrier phase observation data and the pseudo-range observation data are subjected to second-level updating by using an inter-epoch differential estimation method to obtain real-time GNSS clock difference and orbit correction data.
S3, the data center station evaluates the generated SSR data and transmits the evaluated SSR data to three service data uploading stations through the Internet, and the three service data uploading stations respectively transmit the evaluated SSR data to three uniformly distributed geostationary orbit communication satellites through uploading channels; the method specifically comprises the following steps:
301 Quality control and accuracy verification are carried out on the real-time GNSS clock error and the track correction data, and the internal coincidence accuracy and the external coincidence accuracy of the data products are verified.
302 Data through quality control and accuracy verification are synchronously transmitted to three business data uploading stations, the business uploading stations formulate reasonable uploading text formats according to the precise clock error data product updating period and the precise orbit data product updating period, and are used for uploading three geostationary orbit communication satellites through an uplink of a high orbit communication satellite, and the three geostationary orbit communication satellites broadcast GNSS precise data products.
S4, broadcasting the real-time SSR data by three geostationary orbit communication satellites, receiving broadcasting signals by the low orbit navigation enhancement satellites, and uploading the real-time SSR data. The method comprises the following specific steps:
401 Low-orbit navigation enhancement satellite receives GNSS precise data products broadcast by geostationary orbit communication satellites through an on-board satellite-borne receiving antenna.
402 The low-orbit navigation enhancement satellite utilizes the comprehensive analysis GNSS precise data product to send the low-orbit navigation enhancement load to the internal data interface, and the low-orbit navigation enhancement load completes high-precision orbit determination and low-orbit navigation enhancement information generation according to the GNSS precise data product data.
Compared with the prior art, the invention has the following advantages:
(1) The invention utilizes the advantage of global distribution of the low-orbit satellite, can acquire satellite navigation monitoring receiver data, the monitoring data of a ground GNSS monitoring station, combines the combined processing of the low-orbit satellite monitoring data acquired by the satellite measurement and control station to generate GNSS precise data products, and compared with the traditional mode of processing by only adopting the ground tracking monitoring station in the prior art, the quantity of the ground tracking monitoring stations required by the invention of the GNSS precise data products with the same precision is greatly reduced, thereby reducing the system construction cost;
(2) The invention uses the high-orbit communication satellite as the data transmission node for transmission, so that the low-orbit navigation enhancement system satellite is not provided with the low-orbit inter-satellite communication terminal, the bearing and power consumption pressure of the low-orbit micro-nano satellite platform is reduced, the complexity of the low-orbit satellite system is greatly reduced, and the system maturity is improved.
Drawings
FIG. 1 is a schematic diagram of a low-rail navigation enhanced precision correction data generation and injection system according to the present invention;
FIG. 2 is a flow chart of the observation data preprocessing in the present invention;
FIG. 3 is a schematic view of measurement and control ranges of five satellite measurement and control stations according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of five satellite measurement and control stations combined with a visible low-orbit satellite at any time;
FIG. 5 is a schematic view of a ground-based low-rail fusion GNSS precise orbit determination;
FIG. 6 is a schematic diagram of the relative relationship of three service data uploading stations and three geostationary orbit satellites;
FIG. 7 is a schematic diagram of the time of day of the visible arc period of three high rail satellites versus low rail satellites;
fig. 8 is a schematic diagram of the latitude zone of the lower point of the low-orbit star when three high-orbit and low-orbit stars are visible.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
As shown in FIG. 1, the invention relates to a low-orbit navigation-enhanced precise correction data generation and injection system, which comprises GNSS satellites, low-orbit navigation-enhanced satellites, three uniformly distributed geostationary orbit communication satellites, a GNSS monitoring station, a business data injection station, a ground data processing center station and a satellite measurement and control station, wherein the GNSS monitoring station, the business data injection station, the ground data processing center station and the satellite measurement and control station are positioned on the ground. The GNSS satellites are used to transmit navigation signals to low-orbit navigation-augmentation satellites and GNSS monitoring stations. The service data uploading stations are three and are uniformly distributed on the surface of the earth.
The GNSS monitoring station receives GNSS real-time observation data provided by GNSS satellites, and generates SSR (State Space Representation, state space representation information) data after the GNSS real-time observation data are processed by the ground data processing center station, wherein the SSR data specifically comprise real-time precise orbit product data and real-time precise clock difference product data.
The GNSS monitoring stations all have corresponding datum points, and the datum point coordinates are matched with the deviation of the receiving antenna relative to the datum points to know the datum coordinates (X) of the phase center of the receiving antenna Datum ，Y Datum ，Z Datum ). The GNSS monitoring station is provided with a monitoring station receiver, the monitoring station receiver is a multimode multi-frequency receiver, can receive GPS, GLONASS, galileo and Beidou system signals, and provides pseudo-range observation data Pi and carrier phase observation data Li of multi-system multi-frequency point navigation signals. The GNSS monitoring station can transmit the original observation data such as the corresponding pseudo code ranging information Pi, the carrier phase measuring information Li and the like to the ground data processing center station in real time through data transmission.
The low-orbit navigation enhancement satellite is provided with an on-board navigation monitoring receiver for receiving satellite-borne GNSS observation data and transmitting the GNSS observation data to a satellite measurement and control station. Preferably, the on-board navigation monitoring receiver is a high dynamic receiver. The low-orbit navigation enhancing satellite is provided with a low-orbit navigation enhancing load. The satellite measurement and control station realizes the simultaneous data reception of one station to a plurality of satellites by being provided with a plurality of reflecting surface antennas or digital multi-beam antennas, and acquires the low-orbit on-satellite monitoring data of the low-orbit navigation enhancement satellite. The satellite navigation monitoring receiver of the low-orbit navigation enhancement satellite is also a multimode multi-frequency receiver, can receive GPS, GLONASS, galileo and Beidou system signals, transmits corresponding original observation data such as pseudo code ranging information Pi and carrier phase measuring information Li to a satellite measurement and control station in real time through data transmission, for example, when the low-orbit constellation is composed of 4 satellites and 40 satellites, the orbit height is 1100km, and when the sun is in synchronous orbit, 5 ground satellite monitoring stations are ground construction karsh, canon, shanghai, sodium and Chile, the 5 station measurement and control range schematic diagrams are shown in figure 3, and through simulation, the number of visible low-orbit satellites at any moment is greater than 15 when the 5 ground stations are combined, and the time variation of the number of the visible satellites is shown in figure 4. Correspondingly, the GNSS monitoring stations are distributed in 10 stations of Beijing, lasa, uruxol, changchun, kunming, shanghai, wuhan, xishan, brillouin Ailisi and Abutila.
The ground data processing center station is used for jointly processing the monitoring data acquired by the GNSS monitoring station and the low-orbit satellite monitoring data of the low-orbit navigation enhancement satellite acquired by the satellite measurement and control station to generate SSR data. And the generated SSR data is transmitted to three business data uploading stations worldwide through the Internet after being evaluated. The ground data processing center station is provided with a main computer and a backup computer for data processing.
The three business data uploading stations are respectively transmitted to three uniformly distributed high-orbit satellites, namely the geostationary orbit communication satellites, through uploading channels.
The geostationary orbit communication satellite is used for broadcasting the real-time SSR data of the uploading. The low-orbit navigation enhancement satellite is used for receiving broadcasting signals of the geostationary orbit communication satellite and finishing uploading of the real-time SSR data.
The invention also relates to a low-orbit navigation enhanced precision correction data generation and uploading method, which comprises the following steps:
step one, a ground data processing center station acquires monitoring data of a GNSS monitoring station and monitoring data on a low orbit satellite received by a satellite monitoring station in real time through the Internet. The method comprises the following specific steps:
101 Firstly, GNSS monitoring data is acquired from a GNSS monitoring station on the ground, and specifically comprises double-frequency/three-frequency pseudo code ranging information, carrier phase measuring information and the like of a target GNSS system.
102 The satellite measurement and control station receives the original monitoring data of the navigation monitoring receiver on the satellite through a satellite data transmission link and also comprises the double-frequency/three-frequency pseudo code ranging information and the carrier phase measuring information of the target GNSS system.
103 The satellite measurement and control station transmits the acquired data to the ground data processing center station through the Internet/private line.
And step two, processing and generating real-time SSR data by a ground data processing center station, wherein the real-time SSR data specifically comprises real-time precise track product data and real-time precise clock difference product data. The method comprises the following specific steps:
201 The ground data processing center station performs data preprocessing on the acquired original observation data to realize cycle slip detection on the carrier phase observation value.
The method adopts MW combination and ionosphere TEC change rate (TECR) to detect and repair cycle slip. The method comprises the following steps:
constructing M-W combinations using pseudoranges and phases, thereby widelane ambiguity N WL The calculation formula of (2) is as follows:
wherein f 1 And f 2 For the corresponding carrier frequency, phi 1 And phi is 2 Respectively, phase observations (units: weeks), P at different frequencies 1 And P 2 Pseudo-range observations (in meters), L, respectively at different frequencies WL Is a wide lane combination (unit: meter), lambda WL Is a wide lane wavelength.
When N is WL (k) When the following formula is satisfied, the epoch k is considered to have cycle slip, that is, the following formula is satisfied:
in the method, in the process of the invention,
mean value, sigma, of widelane ambiguities 2 Representing the variance of the widelane ambiguity.
The ionosphere (TECR) value can be considered a constant for a short time using ionosphere change rate detection observation cycle slip, and the ionosphere for epoch k-1 is calculated as follows:
in the method, in the process of the invention,
f 1 and f 2 B for the corresponding carrier frequency i And B p The signal frequency deviation of the receiver end and the satellite end respectively can be considered as constant in a period of time; lambda (lambda) 1 、λ 2 At a frequency f 1 And f 2 Corresponding wavelength, N 1 、N 2 At a frequency f 1 And f 2 Corresponding ambiguity. Thus, the ionospheric TEC change rate TECR for epoch k is calculated as:
in addition, since the variation value of the ionosphere TECR is gentle in a short time, the TECR of the k epoch can be predicted by using the previous epoch, and the formula is as follows:
according to the characteristic that the variation of the ionosphere TECR is gentle in a short time, the difference value between the TECR calculated value and the TECR predicted value of the current epoch is small in the case that cycle slip does not theoretically occur. Therefore, when the difference exceeds the threshold (0.15 TECU/s), the epoch is considered to have cycle slip.
202 Data preprocessing is carried out on the original observed data, cycle slip calculation of the carrier phase observed value is carried out, and the original observed data is repaired.
When a cycle slip of epoch k is detected by step 201), the following calculation equations can be listed according to the MW combination and TECR combination detection formulas:
where a is an integer and b is a real number. For the real value delta N obtained above 1 、ΔN 2 Rounding to obtain L 1 Frequency sum L 2 The whole cycle jump value in frequency is further repaired, and a specific flow chart is shown in fig. 2.
203 The original carrier phase observation data and the pseudo-range observation data are subjected to second-level updating by using an inter-epoch differential estimation method to obtain real-time GNSS clock difference and orbit correction data.
The precise orbit clock difference data of the GPS, GLONASS, galileo three systems can be obtained by comprehensively processing the observation data of the GNSS monitoring stations, the precise orbit determination of the low orbit satellite can be realized by combining the GPS observation data of the on-board GNSS receiving equipment with the GPS precise orbit clock difference data, then the precise orbit clock difference product of the Beidou system can be obtained by comprehensively processing the observation data of the GNSS monitoring stations of a few Beidou systems by combining the BD observation data of the low orbit satellite with the precise orbit position of the low orbit satellite, and the specific flow chart is shown in figure 5.
And thirdly, the ground data processing center station evaluates the generated SSR data and transmits the SSR data to three global service data uploading stations through the Internet, and the three service data uploading stations respectively transmit the SSR data to three uniformly distributed geostationary orbit communication satellites through uploading channels. The specific contents are as follows:
301 Quality control and precision verification are carried out on the real-time precise clock error product and the precise track product, and the internal coincidence precision and the external coincidence precision of the verification data product are checked and verified in a key way.
The ground data processing center station compares the real-time track product and the real-time clock error product generated by the main computer and the backup computer, and the accuracy is met in calculation, and the current data product can be considered to meet the quality requirement without exceeding a threshold value.
The generated real-time precise track product and real-time precise clock difference product are compared with the real-time SSR data product of the IGS (Instrument guidance system, instrument guide system), and the accuracy of the outer coincidence is calculated, so that the quality requirement can be considered to be met currently without exceeding a threshold value.
302 Data through quality control and accuracy verification are synchronously transmitted to three service data uploading stations, the service uploading stations formulate reasonable uploading text formats according to the updating period of the precision clock error data products and the updating period of the precision orbit data products, and are uploaded to three high-orbit satellites, namely geostationary orbit communication satellites, through the uplink of the high-orbit communication satellites.
The data is transmitted to three service filling stations, the addresses of the three service filling stations are related to the selected three static orbit satellite orbit positions, for example, three satellites of Inmarsat 5F1, 5F2 and 5F3 are selected, the orbit positions of the satellites are 143.5 DEG E, 25 DEG E and 98 DEG W respectively, the stations of the three service filling stations can be selected from Shanghai, nigeria Abigler and Argentina Abies, and the three service filling stations can be ensured to communicate with the three static orbit satellites in real time, and the relative position relationship is shown in figure 6.
The three geostationary orbit communication satellites can communicate with the geostationary orbit communication satellites when LEO passes through two poles, the specific communication and interruption time schematic diagram is shown in fig. 7, the communication time low orbit satellite lower point latitude zone schematic diagram is shown in fig. 8, the communication can be realized within 74 degrees of the satellite lower point north and south latitude, and the ground navigation user distribution is considered, so that the requirements can be met.
And fourthly, broadcasting the real-time SSR data by three geostationary orbit communication satellites, and receiving the real-time SSR data by a low orbit navigation enhancement satellite by using a space-borne receiving antenna to finish uploading the real-time SSR data.
401 Low-orbit satellites (low-orbit navigation-enhancement satellites make use of satellites) receive GNSS precision data products forwarded by high-orbit communication satellites (geostationary orbit communication satellites) to an overhead satellite-borne receiving antenna.
402 The low-orbit navigation enhancement satellite utilizes comprehensive electronic on-board receiving to analyze GNSS precise data products and then sends the GNSS precise data products to the carried low-orbit navigation enhancement load through an internal data interface, and the navigation enhancement load completes high-precision orbit determination, low-orbit navigation enhancement information generation and the like according to the data.
In summary, by the method, the satellite navigation monitoring receiver data can be acquired by utilizing the advantage of global distribution of the low-orbit satellites, the ground tracking monitoring station monitoring data and the low-orbit satellite monitoring data are jointly processed to generate GNSS precise data products, and compared with the traditional mode of processing by only adopting the ground tracking monitoring stations, the number of the ground tracking monitoring stations required by the method for processing the GNSS precise data products with the same precision is greatly reduced.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions may be made without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (9)
1. The low-orbit navigation enhancement precision correction data generation and injection method is applied to a low-orbit navigation enhancement precision correction data generation and injection system, and is characterized in that the data generation and injection system comprises: the system comprises a GNSS satellite, a low-orbit navigation enhancement satellite, three uniformly distributed geostationary orbit communication satellites, a GNSS monitoring station, a ground data processing center station, a satellite measurement and control station and three service data uploading stations, wherein the GNSS monitoring station is positioned on the ground;
the system comprises a low-orbit navigation enhancement satellite, a satellite monitoring station, a ground data processing center station, a satellite monitoring station and a satellite monitoring station, wherein the GNSS satellite is used for sending navigation signals to the low-orbit navigation enhancement satellite and the GNSS monitoring station, an on-satellite navigation monitoring receiver is arranged on the low-orbit navigation enhancement satellite and is used for receiving GPS, GLONASS, galileo and Beidou system signals, original observation data comprising corresponding pseudo code ranging information Pi and carrier phase measuring information Li are transmitted to the satellite monitoring station in real time through data transmission, navigation enhancement load is carried on the low-orbit navigation enhancement satellite, the ground data processing center station combines the monitoring data acquired by the GNSS monitoring station and on-orbit satellite monitoring data acquired by the satellite monitoring station, SSR data are generated through processing, the generated SSR data are transmitted to three business data uploading stations through the Internet after being evaluated, the three business data uploading stations respectively receive and broadcast the SSR data broadcast by the earth stationary orbit communication satellites, the uploaded SSR data are processed through the navigation enhancement load, and the high-precision orbit determination and low-orbit navigation enhancement information generation are further completed;
the data generation and uploading method comprises the following steps:
1) The ground data processing center station acquires monitoring data of the GNSS monitoring station and low-orbit satellite monitoring data received by the satellite measurement and control station in real time through the Internet;
2) The ground data processing center station processes and generates real-time SSR data, and specifically comprises real-time precise track product data and real-time precise clock difference product data;
3) The data center station evaluates the generated SSR data and transmits the evaluated SSR data to three service data uploading stations through the Internet, and the three service data uploading stations respectively transmit the evaluated SSR data to three uniformly distributed geostationary orbit communication satellites through uploading channels;
4) And the three geostationary orbit communication satellites broadcast the real-time SSR data, and the low orbit navigation enhancing satellites receive broadcasting signals to finish the uploading of the real-time SSR data.
2. The method for generating and uploading low-rail navigation-enhanced precision correction data according to claim 1, wherein the SSR data comprises real-time precision rail product data and real-time precision clock-difference product data.
3. The method for generating and uploading low-orbit navigation-enhanced precise correction data according to claim 1, wherein the satellite navigation monitoring receiver is a high-dynamic multimode multi-frequency receiver, and the satellite measurement and control station is provided with a plurality of reflection surface antennas or digital multi-beam antennas for realizing simultaneous data reception of a plurality of satellites by one station.
4. The method for generating and uploading low-rail navigation-enhanced precision correction data according to claim 1, wherein the step 1) specifically comprises the following steps:
101 The GNSS monitoring station acquires GNSS monitoring data, and specifically comprises target GNSS system double-frequency/three-frequency pseudo code ranging information and carrier phase measuring information;
102 The satellite measurement and control station receives original monitoring data of the navigation monitoring receiver on the satellite through a satellite data transmission link, wherein the original monitoring data comprises double-frequency/three-frequency pseudo code ranging information and carrier phase measuring information of a target GNSS system;
103 The GNSS monitoring station transmits acquired GNSS monitoring data to the ground data processing center station, and the satellite measurement and control station transmits the acquired original monitoring data to the ground data processing center station through the Internet/dedicated line.
5. The method for generating and uploading low-rail navigation-enhanced precision correction data according to claim 4, wherein the step 2) comprises the following steps:
201 The ground data processing center station performs data preprocessing on all the acquired original monitoring data to realize cycle slip detection on the carrier phase observation value;
202 Repairing the original monitoring data according to cycle slip detection;
203 The original carrier phase observation data and the pseudo-range observation data are subjected to second-level updating by using an inter-epoch differential estimation method to obtain real-time GNSS clock difference and orbit correction data.
6. The method for generating and uploading low-rail navigation-enhanced precision correction data according to claim 5, wherein the step 3) comprises the following steps:
301 Quality control and accuracy verification are carried out on real-time GNSS clock error and track correction data, and the internal coincidence accuracy and the external coincidence accuracy of the data products are verified;
302 Data through quality control and accuracy verification are synchronously transmitted to three business data uploading stations, the business uploading stations formulate reasonable uploading text formats according to the precise clock error data product updating period and the precise orbit data product updating period, and are used for uploading three geostationary orbit communication satellites through an uplink of a high orbit communication satellite, and the three geostationary orbit communication satellites broadcast GNSS precise data products.
7. The method for generating and uploading low-rail navigation-enhanced precision correction data according to claim 6, wherein the step 4) comprises the following steps:
401 A low-orbit navigation enhancement satellite receives GNSS precise data products broadcast by geostationary orbit communication satellites through a space-borne antenna;
402 The low-orbit navigation enhancement satellite utilizes the comprehensive analysis GNSS precise data product to send the low-orbit navigation enhancement load to the internal data interface, and the low-orbit navigation enhancement load completes high-precision orbit determination and low-orbit navigation enhancement information generation according to the GNSS precise data product data.
8. The method for generating and uploading low-rail navigation-enhanced precision correction data according to claim 7, wherein in step 201), MW combination and TECR are adopted to detect and repair cycle slip, and the specific contents are as follows:
constructing M-W combinations using pseudoranges and phases, thereby widelane ambiguity N WL The calculation formula of (2) is as follows:
wherein f 1 And f 2 For the corresponding carrier frequency, phi 1 And phi is 2 Respectively, phase observations at different frequencies, P 1 And P 2 Pseudo-range observations, L, respectively at different frequencies WL Is a wide lane combination lambda WL Is a wide lane wavelength;
when N is WL (k) When the following formula is satisfied, the epoch k is considered to have cycle slip:
in the method, in the process of the invention,
mean value of widelane ambiguity, sigma 2 Variance as widelane ambiguity;
the ionosphere change rate is utilized to detect the cycle slip of the observed value, the value of TECR is a constant in a short time, and the calculation formula of the ionosphere of epoch k-1 is as follows:
in the method, in the process of the invention,
f 1 and f 2 B for the corresponding carrier frequency i And B p Signal frequency deviation lambda between receiver and satellite 1 、λ 2 At a frequency f 1 And f 2 Corresponding wavelength, N 1 、N 2 At a frequency f 1 And f 2 The calculated value of the ionosphere TEC change rate TECR of the corresponding ambiguity, epoch k is:
using epoch to predict the TECR of a k epoch, the expression of the TECR predictor is:
and if the difference value between the TECR calculated value and the TECR predicted value of the current epoch exceeds the threshold value, the epoch is considered to have cycle slip.
9. The method for generating and uploading low-rail navigation-enhanced precision correction data according to claim 8, wherein the threshold value is 0.15TECU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516948.5A CN110187364B (en) | 2019-06-14 | 2019-06-14 | Low-rail navigation enhanced precision correction data generation and uploading system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516948.5A CN110187364B (en) | 2019-06-14 | 2019-06-14 | Low-rail navigation enhanced precision correction data generation and uploading system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110187364A CN110187364A (en) | 2019-08-30 |
| CN110187364B true CN110187364B (en) | 2023-06-09 |
Family
ID=67721862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910516948.5A Active CN110187364B (en) | 2019-06-14 | 2019-06-14 | Low-rail navigation enhanced precision correction data generation and uploading system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110187364B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111045042B (en) * | 2019-12-20 | 2022-03-04 | 西安空间无线电技术研究所 | PPP-RTK enhancement method and system based on 'cloud-end' framework |
| CN111308506B (en) * | 2019-12-25 | 2022-06-24 | 航天恒星科技有限公司 | Ground testing method and device of satellite-based augmentation system and storage medium |
| CN111308511B (en) * | 2020-03-05 | 2021-12-24 | 中国科学院微小卫星创新研究院 | Autonomous health management system and method for navigation satellite load subsystem |
| CN111580133B (en) * | 2020-03-25 | 2022-06-14 | 浙江时空道宇科技有限公司 | Navigation enhancement information processing method and device, electronic equipment and storage medium |
| CN111447004B (en) * | 2020-03-26 | 2022-03-04 | 航天恒星科技有限公司 | System and method for broadcasting navigation enhancement data |
| CN111947667B (en) * | 2020-06-24 | 2022-08-12 | 火眼位置数智科技服务有限公司 | Low-orbit satellite real-time high-precision orbit determination method based on kinematics and dynamics combination |
| CN111896987A (en) * | 2020-07-27 | 2020-11-06 | 火眼位置数智科技服务有限公司 | Method and device for GNSS/INS integrated navigation under low-orbit navigation enhancement |
| CN112601230B (en) * | 2020-11-30 | 2022-08-23 | 中国人民解放军战略支援部队信息工程大学 | Position data protection method based on time window and position encryption |
| CN112817023B (en) * | 2021-01-06 | 2024-03-26 | 西安空间无线电技术研究所 | Non-supported low-rail navigation enhancement system and method based on star-based enhancement service |
| CN112882067B (en) * | 2021-01-29 | 2024-05-28 | 重庆两江卫星移动通信有限公司 | Method and system for acquiring satellite precise orbit and clock error by LEO |
| CN113777632A (en) * | 2021-02-03 | 2021-12-10 | 浙江时空道宇科技有限公司 | Precise point positioning method and system based on satellite channel transmission |
| CN113777628A (en) * | 2021-02-03 | 2021-12-10 | 浙江时空道宇科技有限公司 | Navigation enhancement method and system |
| CN113687394B (en) * | 2021-07-21 | 2023-12-29 | 西安空间无线电技术研究所 | Centimeter-level orbit determination system and method for high-orbit satellite |
| CN113703021B (en) * | 2021-07-29 | 2023-09-29 | 西安空间无线电技术研究所 | Second-level real-time high-precision positioning method and system based on code pseudo range |
| CN114286286A (en) * | 2021-12-20 | 2022-04-05 | 浙江时空道宇科技有限公司 | Time synchronization method, apparatus, medium, and program product |
| CN115144876B (en) * | 2022-09-05 | 2022-12-23 | 湖南矩阵电子科技有限公司 | Low-earth-orbit satellite navigation enhancement terminal test evaluation method and system |
| CN117890933B (en) * | 2024-03-12 | 2024-05-31 | 中国科学院国家授时中心 | Low-orbit constellation high-efficiency precise orbit determination and method for improving orbit verification accuracy |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109001763A (en) * | 2018-06-04 | 2018-12-14 | 北京未来导航科技有限公司 | A kind of navigation Enhancement Method and system based on low rail constellation |
| CN109061677A (en) * | 2018-06-28 | 2018-12-21 | 上海卫星工程研究所 | The method for carrying out satellite-based navigation enhancing using low orbit satellite |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103178895B (en) * | 2013-03-12 | 2015-12-09 | 中国空间技术研究院 | TT&C system and method between satellite mobile communication constellation star |
| CN103344971A (en) * | 2013-06-06 | 2013-10-09 | 中国航天时代电子公司 | Optimization method suitable for GNSS real-time data processing |
| CN104570013A (en) * | 2014-12-30 | 2015-04-29 | 北京无线电计量测试研究所 | Detection method of real-time GPS (Global Position System) carrier phase cycle slip for frequency taming |
| CN104849737B (en) * | 2015-04-28 | 2019-01-15 | 中国电子科技集团公司第三十六研究所 | A kind of global position system and localization method |
| CN106656330B (en) * | 2017-01-21 | 2019-07-12 | 航天恒星科技有限公司 | A kind of space optical communication method and space optical communication system |
| CN108761504A (en) * | 2018-04-04 | 2018-11-06 | 南京航空航天大学 | Low rail navigation enhancing satellite system |
| CN108919312B (en) * | 2018-05-03 | 2022-11-04 | 武汉大学 | Autonomous navigation signal enhancement method based on low-earth orbit satellite |
| CN108415050B (en) * | 2018-06-04 | 2020-05-26 | 北京未来导航科技有限公司 | PPP-RTK positioning method based on low-orbit constellation navigation enhancement system |
| CN109001786B (en) * | 2018-06-04 | 2020-06-16 | 北京未来导航科技有限公司 | Positioning method and system based on navigation satellite and low-orbit augmentation satellite |
| CN109088669B (en) * | 2018-07-18 | 2020-12-15 | 北京天链测控技术有限公司 | Low-earth-orbit satellite communication method |
| CN109104236B (en) * | 2018-07-18 | 2020-12-11 | 北京天链测控技术有限公司 | Method for communication between low earth orbit satellite and ground receiving station |
-
2019
- 2019-06-14 CN CN201910516948.5A patent/CN110187364B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109001763A (en) * | 2018-06-04 | 2018-12-14 | 北京未来导航科技有限公司 | A kind of navigation Enhancement Method and system based on low rail constellation |
| CN109061677A (en) * | 2018-06-28 | 2018-12-21 | 上海卫星工程研究所 | The method for carrying out satellite-based navigation enhancing using low orbit satellite |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110187364A (en) | 2019-08-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110187364B (en) | Low-rail navigation enhanced precision correction data generation and uploading system and method | |
| CN109061677B (en) | Method for satellite-based navigation enhancement by using low-earth orbit satellite | |
| JP7097640B2 (en) | Navigation reinforcement methods and systems | |
| CN110031881A (en) | The method of laser ranging auxiliary Static Precise Point Positioning between high precision star | |
| CN106371115B (en) | Based on Big Dipper short message technology multimode multi-frequency sea precision positioning method | |
| CA2823697C (en) | Method and system for determining clock corrections | |
| CN108196272A (en) | A kind of satellite navigation positioning device and method based on real-time accurate One-Point Location | |
| Yang et al. | Chinese navigation satellite systems | |
| CN108072887B (en) | Single-base-station long-distance offshore real-time dynamic positioning method | |
| EP3115807B1 (en) | Gnss receiver with an on-board capability to implement an optimal error correction mode | |
| CN114442128B (en) | Wide-area high-precision positioning system and method based on integration of heaven and earth | |
| CN109061674A (en) | The system and method that dipper system continuous service is monitored using Constellation of Low Earth Orbit Satellites | |
| US20150247931A1 (en) | Locally enhanced gnss wide-area augmentation system | |
| Liu et al. | Improved design of control segment in BDS‐3 | |
| US9562974B2 (en) | Multiple content message base-rover architecture | |
| CN115767430A (en) | Precise petrochemical field space-time information processing and service system based on Beidou | |
| Tang et al. | Orbit determination, clock estimation and performance evaluation of BDS-3 PPP-B2b service | |
| Jiang et al. | TJS-2 geostationary satellite orbit determination using onboard GPS measurements | |
| CN114280644A (en) | PPP-B2B service-based precise point positioning system and method | |
| CN103543454A (en) | Satellite orbit determination system inserted in mobile communication network | |
| Melgard et al. | G2-the first real-time GPS and GLONASS precise orbit and clock service | |
| Liu et al. | Design optimisation of low earth orbit constellation based on BeiDou Satellite Navigation System precise point positioning | |
| Liu et al. | Beidou wide-area augmentation system clock error correction and performance verification | |
| Wang et al. | Comparison of three widely used multi‐GNSS real‐time single‐frequency precise point positioning models using the International GNSS Service real‐time service | |
| Liu | Positioning performance of single-frequency GNSS receiver using Australian regional ionospheric corrections |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |