CN111158034A - Rapid positioning method based on low-earth-orbit satellite multi-coverage scene - Google Patents

Rapid positioning method based on low-earth-orbit satellite multi-coverage scene Download PDF

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CN111158034A
CN111158034A CN202010040265.XA CN202010040265A CN111158034A CN 111158034 A CN111158034 A CN 111158034A CN 202010040265 A CN202010040265 A CN 202010040265A CN 111158034 A CN111158034 A CN 111158034A
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satellite
receiver
information
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positioning
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杨波
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Dongfanghong Satellite Mobile Communication Co Ltd
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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

Abstract

The invention discloses a rapid positioning method based on a low-earth orbit satellite multi-coverage scene, which provides a real-time or quasi-real-time positioning technology aiming at a satellite multi-coverage scene such as a giant constellation and the like, and adopts two steps of rough position estimation and precise position determination to obtain the position of a receiver. Firstly, estimating an initial rough position of a receiver based on multiple coverage characteristics, satellite beam position parameters, pseudo-range observation parameters and Doppler observation parameters; then, taking the estimated position as input, performing Doppler positioning to quickly obtain the position of the receiver; under the condition of more satellite coverage weight, the pseudo range can be directly observed to carry out three-dimensional absolute positioning. The method can make the satellite communication system completely independent of GNSS in the position acquisition level, and is safer and more reliable.

Description

Rapid positioning method based on low-earth-orbit satellite multi-coverage scene
Technical Field
The invention relates to the technical field of low-earth-orbit satellite system positioning navigation, in particular to a quick positioning method based on a low-earth-orbit satellite multi-coverage scene.
Background
In recent years, with the vigorous development of commercial aerospace industry at home and abroad, particularly the research and construction of low-orbit satellite communication systems are emphasized in the aerospace field, a large number of companies and organizations engaged in the research, construction and operation of low-orbit satellite systems emerge like bamboo shoots in the spring after rain, and large, ultra-large and even giant constellation plans are diversified. The traditional low-orbit satellite constellation has a small number of satellites, for example, an iridium satellite system has few areas, single satellite coverage is the mainstream, and a constellation consisting of thousands of satellites will bring an application scene of multiple satellite coverage.
On the other hand, the position reporting needs to be supported by a positioning technology urgently in the process of mobility management when the system runs, and the independence, safety and reliability of the low-earth-orbit satellite communication system require the system to need the positioning technology of the system, so that the system does not depend on GNSS. Therefore, the research of the positioning technology is indispensable in the construction process of the low-orbit satellite communication system.
In a traditional low-earth orbit satellite system, a positioning method is mainly a Doppler positioning method, and the method has a Doppler integration method in a continuous observation scene and a Doppler measurement method in a time intermittent observation scene, and is early applied to a meridian instrument system. However, the method has low positioning accuracy, long observation time and incapability of real-time positioning.
Disclosure of Invention
To the deficiency of the prior art, the technical problem to be solved by the present patent application is: how to provide a quick positioning method based on a low-earth orbit satellite multi-coverage scene, which can realize quick positioning, has high result accuracy, and is safe and reliable.
In order to achieve the purpose, the invention adopts the following technical scheme:
a quick positioning method based on a low-earth orbit satellite multi-coverage scene comprises the following steps:
s1: the receiver simultaneously receives the No. 1-N satellite broadcast signals, analyzes the satellite number information, the satellite position information, the satellite speed information and the beam position information and locally stores the satellite number information, the satellite position information, the satellite speed information and the beam position information;
s2: the receiver simultaneously receives ranging signals issued by satellites 1 to N, and pseudo-range observed quantity information and Doppler observed quantity information are obtained through analysis and stored locally;
s3: judging the number N of covered satellites of the receiver, and if the number N is larger than or equal to 4, turning to the step S11; if N is less than or equal to 3, go to step S4;
s4: selecting a satellite number m, screening out received beam position information corresponding to the receiver, and defining a approximate longitude and latitude range phi of the position of the receiver1；
S5: screening satellite position information and pseudo range observed quantity information of a satellite number m, and defining an approximate position range phi of the position of the receiver2；
S6：Screening satellite position information and Doppler observed quantity information of a satellite number m, and defining an approximate curve range phi of the position of the receiver3；
S7: jointly processing the roughly estimated range phi of the satellite number m1、Φ2And phi3Obtaining a position estimation range omega based on the satellite number m1；
S8: in the satellite multi-coverage scene, the same operation processing steps of the satellites with the satellite number m are carried out on all the satellites covering the receiver, namely the steps S3 to S7, and the position rough estimation range omega of the receiver in the satellite multi-coverage scene is obtained2、…、ΩN；
S9: position rough estimation range omega of receiver under combined processing satellite multi-coverage scene1、…、ΩNTo obtain the final rough estimation position R of the receiver0；
S10: to roughly estimate the position R0For inputting parameters, the Doppler positioning is carried out by utilizing the satellite position information, the satellite speed information and the continuous Doppler observed quantity information to obtain the accurate position R of the receiver1；
S11: selecting the position information of 4 satellites with the minimum DOP precision factor and the corresponding pseudo-range observed quantity information to carry out three-dimensional absolute positioning to obtain the accurate position R of the receiver1。
Further, in step S11, the three-dimensional absolute positioning employs a pseudo-range positioning principle.
Further, the pseudorange location principle is implemented by the following method:
Figure BDA0002367497270000031
Figure BDA0002367497270000032
Figure BDA0002367497270000033
Figure BDA0002367497270000034
wherein x is(m),y(m),z(m)Three-dimensional position information of the satellite numbered m for the satellite, x, y, z being the precise position of the receiver, δ tuFor the receiver clock error, pc (m)Pseudorange observations between the satellite numbered m and the receiver.
Further, in step S9, the rough estimated position is implemented by: and realizing joint estimation under a multi-coverage scene by adopting beam position information, Doppler observed quantity information and pseudo-range observed quantity information.
Further, in step S10, the following steps are adopted when doppler positioning is performed:
a1: shifting the Doppler shift observation fdConverting the measured value into a pseudo range rate observed value rho;
a2: giving an initial value rbAnd
Figure BDA0002367497270000035
estimating R with a coarse position0As an initial value rb；
A3: calculating a partial derivative matrix G and an observed quantity residual error matrix b;
a4: r is calculated by least square methodbAnd
Figure BDA0002367497270000036
correction amount of (1) (Δ r)bAnd Δ δ t;
a5: using correction amount to correct rbAnd
Figure BDA0002367497270000037
a6: and repeating the steps A3 and A4 until the positioning precision reaches the preset precision or the iteration number reaches the required number.
Further, the doppler positioning is realized by the following formula:
1) constructing a partial derivative matrix of a parameter to be estimated based on the satellite broadcast signals:
Figure BDA0002367497270000041
Figure BDA0002367497270000042
Figure BDA0002367497270000043
Figure BDA0002367497270000044
wherein v isk、
Figure BDA0002367497270000045
Respectively obtaining a velocity vector and a position vector of the satellite at the moment k and a position vector of the terminal receiver obtained by the ith iteration;
according to the principle of least squares, the formula for calculating the partial derivative matrix G is as follows:
Figure BDA0002367497270000046
Figure BDA0002367497270000051
2) obtaining the correction quantity of the parameter to be estimated in the ith iterative calculation by using a least square method, wherein the correction quantity is as follows:
[Δrb (i)Δδt(i)]＝(GTG)-1GTb
rb (i)＝rb (i-1)+Δrb (i)
δt(i)＝δt(i-1)+Δδt(i)
compared with the prior art, the quick positioning method based on the low-orbit satellite multi-coverage scene has the following technical effects:
1) according to the rapid positioning method based on the low-orbit satellite multi-coverage scene, the multi-coverage characteristic of the giant constellation satellite is fully utilized, the beam position, the pseudo range and the Doppler information are assisted to carry out rough position estimation, and the result is more accurate;
2) the rapid positioning method based on the low-earth-orbit satellite multi-coverage scene fully utilizes the multi-coverage characteristic of the giant constellation satellite, and directly utilizes the pseudo range for real-time positioning when the coverage number is at least 4, so that the GNSS-like effect can be achieved;
3) according to the rapid positioning method based on the low-orbit satellite multi-coverage scene, after more accurate rough position estimation is obtained, when the Doppler positioning method is used for positioning, the observed quantity is greatly reduced, and the observation time is also greatly shortened.
The invention designs a rapid positioning method based on a low-earth orbit satellite multi-coverage scene, provides a real-time or quasi-real-time positioning technology aiming at a satellite multi-coverage scene such as a giant constellation, and adopts two steps of rough position estimation and precise position determination to obtain the position of a receiver. Under the condition of more satellite coverage, only the pseudo range needs to be observed for positioning, so that the calculation amount of a receiver can be reduced, and the position can be quickly converged. The method can make the satellite communication system completely independent of GNSS in the position acquisition level, and is safer and more reliable.
Description of the drawings:
FIG. 1 is a flowchart of a method for fast positioning under a low-earth orbit satellite multi-coverage scenario according to the present invention;
FIG. 2 is a schematic diagram of a coarse position estimation process based on a low earth orbit satellite multi-coverage scenario according to the present invention;
FIG. 3 is a schematic diagram illustrating a pseudo-range positioning principle in a low earth orbit satellite multi-coverage scenario according to the present invention;
figure 4 is a schematic diagram of the low earth orbit satellite based doppler positioning of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1 to 4, a fast positioning method based on a low earth orbit satellite multiple coverage scenario includes the following steps:
s1: the receiver simultaneously receives the No. 1-N satellite broadcast signals, analyzes the satellite number information, the satellite position information, the satellite speed information and the beam position information and locally stores the satellite number information, the satellite position information, the satellite speed information and the beam position information;
s2: the receiver simultaneously receives ranging signals issued by satellites 1 to N, and pseudo-range observed quantity information and Doppler observed quantity information are obtained through analysis and stored locally;
s3: judging the number N of covered satellites of the receiver, and if the number N is larger than or equal to 4, turning to the step S11; if N is less than or equal to 3, go to step S4;
s4: selecting a satellite number m, screening out received beam position information corresponding to the receiver, and defining a approximate longitude and latitude range phi of the position of the receiver1；
S5: screening satellite position information and pseudo range observed quantity information of a satellite number m, and defining an approximate position range phi of the position of the receiver2；
S6: screening satellite position information and Doppler observed quantity information of a satellite number m, and defining an approximate curve range phi of the position of the receiver3；
S7: jointly processing the roughly estimated range phi of the satellite number m1、Φ2And phi3Obtaining a position estimation range omega based on the satellite number m1；
S8: in the satellite multi-coverage scene, the same operation processing steps of the satellites with the satellite number m are carried out on all the satellites covering the receiver, namely the steps S3 to S7, and the position rough estimation range omega of the receiver in the satellite multi-coverage scene is obtained2、…、ΩN；
S9: position rough estimation range omega of receiver under combined processing satellite multi-coverage scene1、…、ΩNTo obtain the final rough estimation position R of the receiver0；
S10: to roughly estimate the position R0For inputting parameters, the Doppler positioning is carried out by utilizing the satellite position information, the satellite speed information and the continuous Doppler observed quantity information to obtain the accurate position R of the receiver1；
S11: selecting the position information of 4 satellites with the minimum DOP precision factor and the corresponding pseudo-range observed quantity information to carry out three-dimensional absolute positioning to obtain the accurate position R of the receiver1As shown in figure 3 of the attached drawings of the specification.
Specifically, in step S11, the three-dimensional absolute positioning employs a pseudo-range positioning principle.
Specifically, the pseudorange location principle is implemented by the following method:
Figure BDA0002367497270000071
Figure BDA0002367497270000072
Figure BDA0002367497270000073
Figure BDA0002367497270000074
wherein x is(m),y(m),z(m)Three-dimensional position information of the satellite numbered m for the satellite, x, y, z being the precise position of the receiver, δ tuFor the receiver clock error, pc (m)Pseudorange observations between the satellite numbered m and the receiver.
Specifically, in step S9, the rough estimated position is implemented by the following method: and realizing joint estimation under a multi-coverage scene by adopting beam position information, Doppler observed quantity information and pseudo-range observed quantity information. I.e., approximate latitude and longitude ranges based on beam positions, approximate curve ranges based on doppler, approximate position ranges based on pseudorange, and rough position estimation based on the characteristic combination of satellite multiple coverage are schematically shown in fig. 2, and if necessary, a region meshing method can be adopted to further roughly estimate the position.
Specifically, in step S10, referring to fig. 4 of the drawings, the following steps are adopted when performing doppler positioning:
a1: shifting the Doppler shift observation fdConverting the measured value into a pseudo range rate observed value rho;
a2: giving an initial value rbAnd
Figure BDA0002367497270000083
estimating R with a coarse position0As an initial value rb；
A3: calculating a partial derivative matrix G and an observed quantity residual error matrix b;
a4: r is calculated by least square methodbAnd
Figure BDA0002367497270000084
correction amount of (1) (Δ r)bAnd Δ δ t;
a5: using correction amount to correct rbAnd
Figure BDA0002367497270000085
a6: and repeating the steps A3 and A4 until the positioning precision reaches the preset precision or the iteration number reaches the required number.
Specifically, the doppler positioning is realized by the following formula:
1) constructing a partial derivative matrix of a parameter to be estimated based on the satellite broadcast signals:
Figure BDA0002367497270000081
Figure BDA0002367497270000082
Figure BDA0002367497270000091
wherein v isk、
Figure BDA0002367497270000092
Respectively obtaining a velocity vector and a position vector of the satellite at the moment k and a position vector of the terminal receiver obtained by the ith iteration;
according to the principle of least squares, the formula for calculating the partial derivative matrix G is as follows:
Figure BDA0002367497270000093
Figure BDA0002367497270000094
2) obtaining the correction quantity of the parameter to be estimated in the ith iterative calculation by using a least square method, wherein the correction quantity is as follows:
[Δrb (i)Δδt(i)]＝(GTG)-1GTb
rb (i)＝rb (i-1)+Δrb (i)
δt(i)＝δt(i-1)+Δδt(i)
the invention designs a rapid positioning method based on a low-earth orbit satellite multi-coverage scene, provides a real-time or quasi-real-time positioning technology aiming at a satellite multi-coverage scene such as a giant constellation, and adopts two steps of rough position estimation and precise position determination to obtain the position of a receiver. Under the condition of more satellite coverage, only the pseudo range needs to be observed for positioning, so that the calculation amount of a receiver can be reduced, and the position can be quickly converged. The method can make the satellite communication system completely independent of GNSS in the position acquisition level, and is safer and more reliable.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (6)

1. A quick positioning method based on a low-earth-orbit satellite multi-coverage scene is characterized by comprising the following steps:
s1: the receiver simultaneously receives the No. 1-N satellite broadcast signals, analyzes the satellite number information, the satellite position information, the satellite speed information and the beam position information and locally stores the satellite number information, the satellite position information, the satellite speed information and the beam position information;
s2: the receiver simultaneously receives ranging signals issued by satellites 1 to N, and pseudo-range observed quantity information and Doppler observed quantity information are obtained through analysis and stored locally;
s3: judging the number N of covered satellites of the receiver, and if the number N is larger than or equal to 4, turning to the step S11; if N is less than or equal to 3, go to step S4;
s4: selecting a satellite number m, screening out received beam position information corresponding to the receiver, and defining a approximate longitude and latitude range phi of the position of the receiver1；
S5: screening satellite position information and pseudo range observed quantity information of a satellite number m, and defining an approximate position range phi of the position of the receiver2；
S6: screening satellite position information and Doppler observed quantity information of a satellite number m, and defining an approximate curve range phi of the position of the receiver3；
S7: jointly processing the roughly estimated range phi of the satellite number m1、Φ2And phi3Obtaining a position estimation range omega based on the satellite number m1；
S8: in the satellite multi-coverage scene, the same operation processing steps of the satellites with the satellite number m are carried out on all the satellites covering the receiver, namely the steps S3 to S7, and the position rough estimation range omega of the receiver in the satellite multi-coverage scene is obtained2、…、ΩN；
S9: position rough estimation range omega of receiver under combined processing satellite multi-coverage scene1、…、ΩNTo obtain the final rough estimation position R of the receiver0；
S10: to roughly estimate the position R0For inputting parameters, using satellitesThe position information, the satellite velocity information and the continuous Doppler observed quantity information are used for Doppler positioning to obtain the accurate position R of the receiver1；
S11: selecting the position information of 4 satellites with the minimum DOP precision factor and the corresponding pseudo-range observed quantity information to carry out three-dimensional absolute positioning to obtain the accurate position R of the receiver1。
2. The fast positioning method under the multiple coverage scenarios based on low earth orbit satellites as claimed in claim 1, wherein in step S11, the three-dimensional absolute positioning employs pseudo-range positioning principle.
3. The fast positioning method under the low earth orbit satellite multiple coverage scenario as claimed in claim 2, wherein the pseudorange positioning principle is implemented as follows:
Figure FDA0002367497260000021
Figure FDA0002367497260000022
Figure FDA0002367497260000023
Figure FDA0002367497260000024
wherein x is(m),y(m),z(m)Three-dimensional position information of the satellite numbered m for the satellite, x, y, z being the precise position of the receiver, δ tuFor the receiver clock error, pc (m)Pseudorange observations between the satellite numbered m and the receiver.
4. The method as claimed in claim 1, wherein in step S9, the rough estimated position is obtained by: and realizing joint estimation under a multi-coverage scene by adopting beam position information, Doppler observed quantity information and pseudo-range observed quantity information.
5. The fast positioning method under the multiple coverage scenarios of low earth orbit satellites as claimed in claim 1, wherein the step S10 comprises the following steps:
a1: shifting the Doppler shift observation fdConverting the measured value into a pseudo range rate observed value rho;
a2: giving an initial value rbAnd
Figure FDA0002367497260000025
estimating R with a coarse position0As an initial value rb；
A3: calculating a partial derivative matrix G and an observed quantity residual error matrix b;
a4: r is calculated by least square methodbAnd
Figure FDA0002367497260000031
correction amount of (1) (Δ r)bAnd Δ δ t;
a5: using correction amount to correct rbAnd
Figure FDA0002367497260000032
a6: and repeating the steps A3 and A4 until the positioning precision reaches the preset precision or the iteration number reaches the required number.
6. The fast positioning method based on the low earth orbit satellite multiple coverage scene as claimed in claim 5, wherein the Doppler positioning is performed by using the following formula:
1) constructing a partial derivative matrix of a parameter to be estimated based on the satellite broadcast signals:
Figure FDA0002367497260000033
Figure FDA0002367497260000034
Figure FDA0002367497260000035
Figure FDA0002367497260000036
wherein v isk、
Figure FDA0002367497260000037
Respectively obtaining a velocity vector and a position vector of the satellite at the moment k and a position vector of the terminal receiver obtained by the ith iteration;
according to the principle of least squares, the formula for calculating the partial derivative matrix G is as follows:
Figure FDA0002367497260000041
Figure FDA0002367497260000042
2) obtaining the correction quantity of the parameter to be estimated in the ith iterative calculation by using a least square method, wherein the correction quantity is as follows:
[Δrb (i)Δδt(i)]＝(GTG)-1GTb
rb (i)＝rb (i-1)+Δrb (i)
δt(i)＝δt(i-1)+Δδt(i)
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