CN111381256A - Method and system for calculating phase center offset error of active remote sensing satellite antenna - Google Patents

Method and system for calculating phase center offset error of active remote sensing satellite antenna Download PDF

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CN111381256A
CN111381256A CN202010163564.2A CN202010163564A CN111381256A CN 111381256 A CN111381256 A CN 111381256A CN 202010163564 A CN202010163564 A CN 202010163564A CN 111381256 A CN111381256 A CN 111381256A
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phase center
antenna
satellite
coordinate system
remote sensing
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CN111381256B (en
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陆晴
陈筠力
万向成
陈重华
李楠
赵迪
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Shanghai Institute of Satellite Engineering
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Shanghai Institute of Satellite Engineering
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements

Abstract

The invention provides a method and a system for calculating the offset error of an active remote sensing satellite antenna phase center, wherein a vector of the satellite GNSS antenna phase center under a WGS84 coordinate system is obtained by processing GNSS observation data, and the error comprises a measurement error of a GNSS; obtaining a connecting line vector between a phase center of a GNSS antenna and a phase center of an active remote sensing antenna under a satellite body coordinate system according to ground measurement, wherein errors comprise installation and deformation errors of the GNSS antenna and the phase center of the active remote sensing antenna; calculating a coordinate conversion matrix from a satellite body coordinate system to a WGS84 coordinate system, wherein errors comprise satellite attitude pointing errors, GNSS measurement errors and orbit parameter conversion errors; and calculating to obtain the vector and offset error of the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system. The method is simple, high in calculation accuracy and strong in applicability, has good application prospect and market prospect, and is a key step for processing the precise image of the active remote sensing satellite.

Description

Method and system for calculating phase center offset error of active remote sensing satellite antenna
Technical Field
The invention relates to the field of overall satellite design, in particular to a method and a system for calculating phase center offset errors of an active remote sensing satellite antenna, and particularly relates to calculation of an on-orbit phase of an active remote sensing satellite.
Background
The active remote sensing satellite flies in an orbit space through the main satellite and the auxiliary satellite, the satellite transmits, and the main satellite and the auxiliary satellite receive at the same time to form an effective interference baseline and form interference mapping on the earth. The accuracy of the active remote sensing antenna phase center calculation directly influences the surveying and mapping precision.
Found through retrieval, patent document CN 102981174a discloses a method for correcting relative positioning accuracy by GPS antenna phase center change, which includes the following steps: the two targets are both provided with a GPS receiver and a GPS antenna, and relative positioning is carried out on the two targets by utilizing GPS satellite signals; determining the phase center change of the GPS antennas of the two targets; determining the relation between the antenna phase center change and the target relative positioning accuracy correction quantity according to the antenna phase center change; and correcting the relative positioning accuracy of the target by using the correction quantity. The method and the device realize the correction of the relative positioning result of the target according to the change of the antenna phase center and improve the relative positioning precision of the target. But is not suitable for the phase center coordinate system conversion and the phase center offset error calculation of the active remote sensing satellite antenna.
Therefore, it is necessary to design a method for calculating the phase center offset error of the active remote sensing satellite antenna, which has the advantages of simple method, high calculation accuracy and strong applicability.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for calculating the phase center offset error of an active remote sensing satellite antenna.
The method for calculating the phase center offset error of the active remote sensing satellite antenna comprises the following steps:
step S1: processing to obtain a vector of a GNSS antenna phase center under a WGS84 coordinate system based on GNSS observation data, wherein the offset error comprises a GNSS measurement error;
step S2: according to ground measurement, obtaining a connecting line vector between a GNSS antenna phase center and an active remote sensing antenna phase center under a satellite body coordinate system, wherein the offset error comprises an installation and deformation error of the GNSS antenna phase center and an installation and deformation error of the active remote sensing antenna phase center;
step S3: calculating a coordinate conversion matrix from a satellite body coordinate system to a WGS84 coordinate system according to the vector and the connecting line vector, wherein the offset error comprises a satellite attitude pointing error, a GNSS measurement error and an orbit parameter conversion error;
step S4: and calculating to obtain the vector and the offset error of the phase center of the active remote sensing satellite antenna in the WGS84 coordinate system according to the coordinate transformation matrix.
Preferably, in step 1, the vector of the phase center of the satellite GNSS antenna in the WGS84 coordinate system is obtained through high-precision post-processing on the ground by using raw observation data of the GNSS receiver.
Preferably, in step 2, phase center vectors of GNSS antennas in the satellite body coordinate system are respectively obtained according to the post-ground calibration measurement
Figure BDA0002406633170000021
Vector of active remote sensing antenna phase center
Figure BDA0002406633170000022
Then calculating to obtain a relative vector between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna
Figure BDA0002406633170000023
GNSS antenna phase center installation and distortion errors are
Figure BDA0002406633170000024
Installation and deformation errors of active remote sensing antenna phase center
Figure BDA0002406633170000025
The calculation formula is as follows:
Figure BDA0002406633170000026
wherein the content of the first and second substances,
Figure BDA0002406633170000027
and the relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing satellite antenna is represented.
Preferably, in step 3, the coordinate transformation matrices from the satellite body coordinate system to the orbit coordinate system, to the J2000 inertial coordinate system, and to the WGS84 coordinate system are respectively calculated by using the instantaneous orbit parameter, the satellite attitude angle, and the universal time, and the calculation formula is as follows:
Figure BDA0002406633170000028
wherein M represents a coordinate transformation matrix from a satellite body coordinate system to a WGS84 coordinate system, Δ M represents a deviation term of the coordinate transformation matrix, PR, NR and EP are respectively a time offset matrix, a nutation matrix and a polar shift matrix, and ER is an earth rotation matrix;
l () is a coordinate system transformation matrix, Lx(α) is a transformation of α degrees of rotation about the x-axis, Ly(α) is a transformation of α degrees of rotation about the y-axis, Lz(α) is a translation relation of α degrees of rotation about the z-axis;
omega is a ascension angle of a rising intersection point, i is an orbit inclination angle, u is a latitude argument, psi, phi and theta are a yaw angle, a roll angle and a pitch angle of a satellite attitude, α is a satellite inclination angle, delta omega, delta i and delta u are errors caused by measurement and orbit parameter conversion of a GNSS respectively, delta psi, delta phi and delta theta are satellite attitude pointing errors respectively, delta omega is deviation of the ascension angle of the rising intersection point caused by the measurement and the orbit parameter conversion of the GNSS, delta i is inclination deviation caused by the measurement and the orbit parameter conversion of the GNSS, delta u is deviation of the latitude argument caused by the measurement and the orbit parameter conversion of the GNSS, delta psi is deviation of the yaw angle of the satellite attitude, and delta phi is deviation of the roll angle of the satellite attitude and delta theta is deviation of the pitch angle of the satellite attitude.
Preferably, in step 4, the vector and offset error of the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system are calculated, and the calculation formula is as follows:
Figure BDA0002406633170000031
wherein the content of the first and second substances,
Figure BDA0002406633170000032
a vector representing the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system,
Figure BDA0002406633170000033
representing the vector deviation of the phase center of the satellite active remote sensing antenna under a WGS84 coordinate system;
Figure BDA0002406633170000034
a vector representing the phase center of the GNSS antenna in the WGS84 coordinate system,
Figure BDA0002406633170000035
representing the vector deviation of the phase center of the GNSS antenna under the WGS84 coordinate system;
Figure BDA0002406633170000036
representing the relative vector between the GNSS antenna phase centre and the active remote sensing antenna phase centre,
Figure BDA0002406633170000037
and the relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna is represented.
The invention provides a system for calculating the phase center offset error of an active remote sensing satellite antenna, which comprises:
module S1: processing to obtain a vector of a GNSS antenna phase center under a WGS84 coordinate system based on GNSS observation data, wherein the offset error comprises a GNSS measurement error;
module S2: according to ground measurement, obtaining a connecting line vector between a GNSS antenna phase center and an active remote sensing antenna phase center under a satellite body coordinate system, wherein the offset error comprises an installation and deformation error of the GNSS antenna phase center and an installation and deformation error of the active remote sensing antenna phase center;
module S3: calculating a coordinate conversion matrix from a satellite body coordinate system to a WGS84 coordinate system according to the vector and the connecting line vector, wherein the offset error comprises a satellite attitude pointing error, a GNSS measurement error and an orbit parameter conversion error;
module S4: and calculating to obtain the vector and the offset error of the phase center of the active remote sensing satellite antenna in the WGS84 coordinate system according to the coordinate transformation matrix.
Preferably, in the module 1, the vector of the phase center of the satellite GNSS antenna in the WGS84 coordinate system is obtained through high-precision post-processing on the ground by using raw observation data of the GNSS receiver.
Preferably, in the module 2, phase center vectors of GNSS antennas in the satellite body coordinate system are respectively obtained according to post-ground calibration measurement
Figure BDA0002406633170000038
Vector of active remote sensing antenna phase center
Figure BDA0002406633170000039
Then calculating to obtain a relative vector between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna
Figure BDA00024066331700000310
GNSS antenna phase center installation and distortion errors are
Figure BDA00024066331700000311
Installation and deformation errors of active remote sensing antenna phase center
Figure BDA00024066331700000312
The calculation formula is as follows:
Figure BDA00024066331700000313
wherein the content of the first and second substances,
Figure BDA00024066331700000314
and the relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing satellite antenna is represented.
Preferably, in the module 3, the instantaneous orbit parameter, the satellite attitude angle, and the universal time are used to respectively calculate coordinate transformation matrices from the satellite body coordinate system to the orbit coordinate system, to the J2000 inertial coordinate system, and to the WGS84 coordinate system, and the calculation formula is as follows:
Figure BDA0002406633170000041
wherein M represents a coordinate transformation matrix from a satellite body coordinate system to a WGS84 coordinate system, Δ M represents a deviation term of the coordinate transformation matrix, PR, NR and EP are respectively a time offset matrix, a nutation matrix and a polar shift matrix, and ER is an earth rotation matrix;
l () is a coordinate system transformation matrix, Lx(α) is a transformation of α degrees of rotation about the x-axis, Ly(α) is a transformation of α degrees of rotation about the y-axis, Lz(α) is a translation relation of α degrees of rotation about the z-axis;
omega is a ascension angle of a rising intersection point, i is an orbit inclination angle, u is a latitude argument, psi, phi and theta are a yaw angle, a roll angle and a pitch angle of a satellite attitude, α is a satellite inclination angle, delta omega, delta i and delta u are errors caused by measurement and orbit parameter conversion of a GNSS respectively, delta psi, delta phi and delta theta are satellite attitude pointing errors respectively, delta omega is deviation of the ascension angle of the rising intersection point caused by the measurement and the orbit parameter conversion of the GNSS, delta i is inclination deviation caused by the measurement and the orbit parameter conversion of the GNSS, delta u is deviation of the latitude argument caused by the measurement and the orbit parameter conversion of the GNSS, delta psi is deviation of the yaw angle of the satellite attitude, and delta phi is deviation of the roll angle of the satellite attitude and delta theta is deviation of the pitch angle of the satellite attitude.
Preferably, in the module 4, the vector and offset error of the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system are calculated, and the calculation formula is as follows:
Figure BDA0002406633170000042
wherein the content of the first and second substances,
Figure BDA0002406633170000043
a vector representing the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system,
Figure BDA0002406633170000044
representing the vector deviation of the phase center of the satellite active remote sensing antenna under a WGS84 coordinate system;
Figure BDA0002406633170000045
a vector representing the phase center of the GNSS antenna in the WGS84 coordinate system,
Figure BDA0002406633170000046
representing the vector deviation of the phase center of the GNSS antenna under the WGS84 coordinate system;
Figure BDA0002406633170000047
representing the relative vector between the GNSS antenna phase centre and the active remote sensing antenna phase centre,
Figure BDA0002406633170000048
and the relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna is represented.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the method, the vector and offset error of the phase center of the active remote sensing antenna under the WGS84 coordinate system can be rapidly calculated through a series of coordinate system conversion according to GNSS observation data, the phase center of the satellite active remote sensing antenna, the position of the phase center of the GNSS antenna and the like.
2. The method is simple, high in calculation accuracy and strong in applicability, and has good application prospect and market prospect.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a geometric relationship between an active remote sensing satellite GNSS and an active remote sensing antenna phase center according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The embodiment of the invention provides a method for calculating phase center offset errors of an active remote sensing satellite antenna, which comprises the following steps:
step 1, processing observation data of a GNSS (global navigation positioning system) to obtain a vector of a satellite GNSS antenna phase center under a WGS84 coordinate system, wherein errors comprise measurement errors of the GNSS;
step 2, obtaining a connecting line vector between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna under a satellite body coordinate system according to ground measurement, wherein errors comprise installation and deformation errors of the GNSS antenna and the phase center of the active remote sensing antenna;
step 3, calculating a coordinate conversion matrix from the satellite body coordinate system to a WGS84 coordinate system, wherein errors comprise satellite attitude pointing errors, GNSS measurement errors and orbit parameter conversion errors;
and 4, calculating to obtain a vector and an offset error of the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system.
In the step 1, the vector of the phase center of the satellite GNSS antenna under the WGS84 coordinate system is obtained through the original observation data of the double-satellite GNSS receiver and high-precision post-processing on the ground
Figure BDA0002406633170000051
GNMeasurement error of SS is
Figure BDA0002406633170000052
In the step 2, phase center vectors of the GNSS antenna in the satellite body coordinate system are respectively obtained according to the post-calibration measurement of the ground
Figure BDA0002406633170000053
Vector of active remote sensing antenna phase center
Figure BDA0002406633170000054
Then calculating to obtain a relative vector between the phase center of the satellite GNSS antenna and the phase center of the active remote sensing antenna
Figure BDA0002406633170000055
The relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing satellite antenna is represented, and the installation and deformation errors of the phase centers of the GNSS antenna and the active remote sensing antenna are respectively
Figure BDA0002406633170000061
The calculation formula is as follows:
Figure BDA0002406633170000062
in step 3, a coordinate transformation matrix from the satellite body coordinate system to the orbit coordinate system, to the J2000 inertial coordinate system, to the WGS84 coordinate system is calculated by using the instantaneous orbit parameter, the satellite attitude angle, the world time, and the like, and the calculation formula is as follows:
Figure BDA0002406633170000063
wherein M represents a coordinate transformation matrix from a satellite body coordinate system to a WGS84 coordinate system, Δ M represents a deviation term of the coordinate transformation matrix, PR, NR and EP are respectively a time offset matrix, a nutation matrix and a polar shift matrix, and ER is an earth rotation matrix; the polar shift matrix is a standard calculation method, is not the key point of the invention, and is not described again;
l () is a coordinate system transformation matrix, Lx(α) is a transformation of α degrees of rotation about the x-axis, Ly(α) is a transformation of α degrees of rotation about the y-axis, Lz(α) is a translation relation rotated α degrees around the z-axis,
Figure BDA0002406633170000064
omega is the ascension of the elevation intersection point, i is the inclination angle of the orbit, u is the latitude argument, psi, phi and theta are the yaw angle, the roll angle and the pitch angle of the satellite attitude, α is the angle of the satellite inclined flight, delta omega, delta i and delta u are errors caused by the measurement of GNSS and the conversion of orbit parameters, and delta psi, delta phi and delta theta are the pointing errors of the satellite attitude.
In the step 4, the vector and the offset error of the phase center of the satellite active remote sensing antenna under the WGS84 coordinate system are calculated according to the calculation results of the above steps, and the calculation formula is as follows:
Figure BDA0002406633170000065
wherein the content of the first and second substances,
Figure BDA0002406633170000066
a vector representing the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system,
Figure BDA0002406633170000067
representing the vector deviation of the phase center of the satellite active remote sensing antenna under a WGS84 coordinate system;
Figure BDA0002406633170000068
a vector representing the phase center of the GNSS antenna in the WGS84 coordinate system,
Figure BDA0002406633170000069
representing the vector deviation of the phase center of the GNSS antenna under the WGS84 coordinate system;
Figure BDA00024066331700000610
representing the relative vector between the GNSS antenna phase centre and the active remote sensing antenna phase centre,
Figure BDA00024066331700000611
and the relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna is represented.
As shown in figure 1, a satellite star 10 is provided with a GNSS antenna 1, an active remote sensing antenna 2 and a solar array 3, OsAnd installing an origin of a coordinate system for the satellite, wherein S is a phase center of the active remote sensing antenna of the satellite, and G is a phase center of the GNSS antenna of the satellite.
In summary, the method for calculating the phase center offset error of the active remote sensing satellite antenna can quickly calculate the vector and the offset error of the phase center of the active remote sensing antenna in the WGS84 coordinate system through a series of coordinate system transformations according to the GNSS observation data, the phase center of the active remote sensing antenna, the position of the phase center of the GNSS antenna, and the like. The calculation method is simple, high in calculation precision, strong in applicability, good in application prospect and market prospect, and is a key step for processing the precise images of the active remote sensing satellite.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A method for calculating phase center offset errors of an active remote sensing satellite antenna is characterized by comprising the following steps:
step S1: processing to obtain a vector of a GNSS antenna phase center under a WGS84 coordinate system based on GNSS observation data, wherein the offset error comprises a GNSS measurement error;
step S2: according to ground measurement, obtaining a connecting line vector between a GNSS antenna phase center and an active remote sensing antenna phase center under a satellite body coordinate system, wherein the offset error comprises an installation and deformation error of the GNSS antenna phase center and an installation and deformation error of the active remote sensing antenna phase center;
step S3: calculating a coordinate conversion matrix from a satellite body coordinate system to a WGS84 coordinate system according to the vector and the connecting line vector, wherein the offset error comprises a satellite attitude pointing error, a GNSS measurement error and an orbit parameter conversion error;
step S4: and calculating to obtain the vector and the offset error of the phase center of the active remote sensing satellite antenna in the WGS84 coordinate system according to the coordinate transformation matrix.
2. The method for calculating the phase center offset error of the active remote sensing satellite antenna according to claim 1, wherein in the step 1, the vector of the phase center of the satellite GNSS antenna in the WGS84 coordinate system is obtained through high-precision post-processing on the ground through original observation data of a GNSS receiver.
3. The method for calculating the phase center offset error of the active remote sensing satellite antenna according to claim 1, wherein in the step 2, the phase center vector of the GNSS antenna in the satellite body coordinate system is obtained according to the measurement after ground calibration
Figure FDA0002406633160000011
Vector of active remote sensing antenna phase center
Figure FDA0002406633160000012
Then calculating to obtain a relative vector between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna
Figure FDA0002406633160000013
GNSS antenna phase center installation and distortion errors are
Figure FDA0002406633160000014
Installation and deformation errors of active remote sensing antenna phase center
Figure FDA0002406633160000015
The calculation formula is as follows:
Figure FDA0002406633160000016
wherein the content of the first and second substances,
Figure FDA0002406633160000017
and the relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing satellite antenna is represented.
4. The method for calculating the phase center offset error of the active remote sensing satellite antenna according to claim 1, wherein in the step 3, the coordinate transformation matrices from the satellite body coordinate system to the orbit coordinate system, to the J2000 inertial coordinate system, and to the WGS84 coordinate system are calculated respectively by using the instantaneous orbit parameter, the satellite attitude angle, and the world time, and the calculation formula is as follows:
Figure FDA0002406633160000018
wherein M represents a coordinate transformation matrix from a satellite body coordinate system to a WGS84 coordinate system, Δ M represents a deviation term of the coordinate transformation matrix, PR, NR and EP are respectively a time offset matrix, a nutation matrix and a polar shift matrix, and ER is an earth rotation matrix;
l () is a coordinate system transformation matrix, Lx(α) is a transformation of α degrees of rotation about the x-axis, Ly(α) is a transformation of α degrees of rotation about the y-axis, Lz(α) is a translation relation of α degrees of rotation about the z-axis;
omega is a ascension angle of a rising intersection point, i is an orbit inclination angle, u is a latitude argument, psi, phi and theta are a yaw angle, a roll angle and a pitch angle of a satellite attitude, α is a satellite inclination angle, delta omega, delta i and delta u are errors caused by measurement and orbit parameter conversion of a GNSS respectively, delta psi, delta phi and delta theta are satellite attitude pointing errors respectively, delta omega is deviation of the ascension angle of the rising intersection point caused by the measurement and the orbit parameter conversion of the GNSS, delta i is inclination deviation caused by the measurement and the orbit parameter conversion of the GNSS, delta u is deviation of the latitude argument caused by the measurement and the orbit parameter conversion of the GNSS, delta psi is deviation of the yaw angle of the satellite attitude, and delta phi is deviation of the roll angle of the satellite attitude and delta theta is deviation of the pitch angle of the satellite attitude.
5. The method for calculating the phase center offset error of the active remote sensing satellite antenna according to claim 4, wherein in the step 4, the vector and the offset error of the phase center of the active remote sensing satellite antenna under the WGS84 coordinate system are calculated and calculated according to the following formula:
Figure FDA0002406633160000021
wherein the content of the first and second substances,
Figure FDA0002406633160000022
a vector representing the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system,
Figure FDA0002406633160000023
representing the vector deviation of the phase center of the satellite active remote sensing antenna under a WGS84 coordinate system;
Figure FDA0002406633160000024
a vector representing the phase center of the GNSS antenna in the WGS84 coordinate system,
Figure FDA0002406633160000025
representing the vector deviation of the phase center of the GNSS antenna under the WGS84 coordinate system;
Figure FDA0002406633160000026
representing the relative vector between the GNSS antenna phase centre and the active remote sensing antenna phase centre,
Figure FDA0002406633160000027
and the relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna is represented.
6. A system for active remote sensing satellite antenna phase center offset error calculation, comprising:
module S1: processing to obtain a vector of a GNSS antenna phase center under a WGS84 coordinate system based on GNSS observation data, wherein the offset error comprises a GNSS measurement error;
module S2: according to ground measurement, obtaining a connecting line vector between a GNSS antenna phase center and an active remote sensing antenna phase center under a satellite body coordinate system, wherein the offset error comprises an installation and deformation error of the GNSS antenna phase center and an installation and deformation error of the active remote sensing antenna phase center;
module S3: calculating a coordinate conversion matrix from a satellite body coordinate system to a WGS84 coordinate system according to the vector and the connecting line vector, wherein the offset error comprises a satellite attitude pointing error, a GNSS measurement error and an orbit parameter conversion error;
module S4: and calculating to obtain the vector and the offset error of the phase center of the active remote sensing satellite antenna in the WGS84 coordinate system according to the coordinate transformation matrix.
7. The system for active remote sensing satellite antenna phase center offset error calculation as claimed in claim 6, wherein in the module 1, the vector of the satellite GNSS antenna phase center under WGS84 coordinate system is obtained through high precision post-processing on ground through GNSS receiver raw observation data.
8. The system for calculating phase center offset error of active remote sensing satellite antenna according to claim 6, wherein in the module 2, the phase center vector of GNSS antenna under the satellite body coordinate system is obtained according to the measurement after ground calibration
Figure FDA0002406633160000031
Vector of active remote sensing antenna phase center
Figure FDA0002406633160000032
Then calculating to obtain a relative vector between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna
Figure FDA0002406633160000033
GNSS antenna phase center installation and distortion errors are
Figure FDA0002406633160000034
Installation and deformation errors of active remote sensing antenna phase center
Figure FDA0002406633160000035
The calculation formula is as follows:
Figure FDA0002406633160000036
wherein the content of the first and second substances,
Figure FDA0002406633160000037
representing the relative between the phase center of a GNSS antenna and the phase center of an active remote sensing satellite antennaAnd (5) vector deviation.
9. The system for calculating the phase center offset error of the active remote sensing satellite antenna according to claim 6, wherein in the module 3, the coordinate transformation matrices from the satellite body coordinate system to the orbit coordinate system, to the J2000 inertial coordinate system, and to the WGS84 coordinate system are calculated respectively by using the instantaneous orbit parameter, the satellite attitude angle, and the world time, and the calculation formula is as follows:
Figure FDA0002406633160000038
wherein M represents a coordinate transformation matrix from a satellite body coordinate system to a WGS84 coordinate system, Δ M represents a deviation term of the coordinate transformation matrix, PR, NR and EP are respectively a time offset matrix, a nutation matrix and a polar shift matrix, and ER is an earth rotation matrix;
l () is a coordinate system transformation matrix, Lx(α) is a transformation of α degrees of rotation about the x-axis, Ly(α) is a transformation of α degrees of rotation about the y-axis, Lz(α) is a translation relation of α degrees of rotation about the z-axis;
omega is a ascension angle of a rising intersection point, i is an orbit inclination angle, u is a latitude argument, psi, phi and theta are a yaw angle, a roll angle and a pitch angle of a satellite attitude, α is a satellite inclination angle, delta omega, delta i and delta u are errors caused by measurement and orbit parameter conversion of a GNSS respectively, delta psi, delta phi and delta theta are satellite attitude pointing errors respectively, delta omega is deviation of the ascension angle of the rising intersection point caused by the measurement and the orbit parameter conversion of the GNSS, delta i is inclination deviation caused by the measurement and the orbit parameter conversion of the GNSS, delta u is deviation of the latitude argument caused by the measurement and the orbit parameter conversion of the GNSS, delta psi is deviation of the yaw angle of the satellite attitude, and delta phi is deviation of the roll angle of the satellite attitude and delta theta is deviation of the pitch angle of the satellite attitude.
10. The system for calculating the phase center offset error of the active remote sensing satellite antenna according to claim 6, wherein in the module 4, the vector and the offset error of the phase center of the active remote sensing satellite antenna under the WGS84 coordinate system are calculated, and the calculation formula is as follows:
Figure FDA0002406633160000041
wherein the content of the first and second substances,
Figure FDA0002406633160000042
a vector representing the phase center of the satellite active remote sensing antenna in the WGS84 coordinate system,
Figure FDA0002406633160000043
representing the vector deviation of the phase center of the satellite active remote sensing antenna under a WGS84 coordinate system;
Figure FDA0002406633160000044
a vector representing the phase center of the GNSS antenna in the WGS84 coordinate system,
Figure FDA0002406633160000045
representing the vector deviation of the phase center of the GNSS antenna under the WGS84 coordinate system;
Figure FDA0002406633160000046
representing the relative vector between the GNSS antenna phase centre and the active remote sensing antenna phase centre,
Figure FDA0002406633160000047
and the relative vector deviation between the phase center of the GNSS antenna and the phase center of the active remote sensing antenna is represented.
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