CN111538045A - On-orbit precision pre-evaluation method for satellite-borne navigation receiver - Google Patents
On-orbit precision pre-evaluation method for satellite-borne navigation receiver Download PDFInfo
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- CN111538045A CN111538045A CN202010427541.8A CN202010427541A CN111538045A CN 111538045 A CN111538045 A CN 111538045A CN 202010427541 A CN202010427541 A CN 202010427541A CN 111538045 A CN111538045 A CN 111538045A
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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 discloses an on-orbit precision pre-evaluation method of a satellite-borne navigation receiver, which comprises the following steps of: a. acquiring position and speed information of a navigation satellite, position and speed information of a user satellite, time information and the number of visible satellites of the navigation satellite; b. calculating a precision evaluation factor at a certain moment according to a direction vector between each visible navigation satellite and a user satellite at the moment; c. calculating the standard deviation of the position precision according to the precision evaluation factor and the standard deviation of the satellite pseudo-range measurement error; d. and c, repeating the steps b and c, and calculating the standard deviation of the position accuracy at all the moments. The method can pre-evaluate the on-orbit precision of the satellite-borne navigation receiver before satellite transmission, and the evaluation result is accurate, so that beneficial references are provided for the overall design of the satellite and the distribution of the satellite indexes, and a basis for designing the safety and reliability is provided for a research party of satellite-borne navigation receiver equipment.
Description
Technical Field
The invention belongs to the technical field of satellite-borne navigation, and particularly relates to an on-orbit precision pre-evaluation method of a satellite-borne navigation receiver.
Background
The satellite-borne navigation receiver is standard platform equipment of various user satellites, and can obtain measurement information such as pseudo-range (distance between a user satellite with errors and each visible navigation satellite), Doppler and the like by receiving navigation signals of a GPS/GLONASS/BD2 navigation constellation and by capturing, tracking and synchronizing the navigation signals. Using the measurement information, navigation solution can be performed, and three-dimensional position, three-dimensional speed and time reference (PPS) of the user satellite in WGS84 coordinate system are output, so as to provide accurate orbit information and time information for the user satellite, wherein the three-dimensional position is X-axis position, Y-axis position and Z-axis position, and the three-dimensional speed is X-axis speed, Y-axis speed and Z-axis speed.
The position and speed accuracy is an important technical index of the satellite navigation receiver, and the pre-evaluation of the position and speed accuracy is the basic technical information which is required to be provided by an equipment developer before a satellite general unit purchases satellite navigation receiver equipment. The accuracy and the reliability of the position and speed precision pre-evaluation method are particularly important. An accurate position and speed precision evaluation method of a satellite navigation receiver is lacked at present.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a satellite-borne navigation receiver on-orbit precision pre-evaluation method, which utilizes STK satellite simulation software to carry out data mining, then carries out analysis processing on the mined data, and evaluates the processing result, thereby pre-estimating the approximate precision index of the position and the speed of the satellite-borne navigation receiver when the satellite actually runs in orbit.
The technical scheme adopted by the invention is as follows: a satellite-borne navigation receiver on-orbit precision pre-evaluation method comprises the following steps:
a. inputting user satellite orbit configuration information into satellite simulation software, and acquiring navigation satellite position and speed information, user satellite position and speed information, time information and navigation satellite visible star number from the software after the software is operated;
the navigation star is one or more of a GPS constellation navigation star, a GLONASS constellation navigation star and a BD2 constellation navigation star. The navigation constellation depends on the navigation constellation configuration of the satellite navigation receiver. The acquired information comprises each satellite position of a GPS constellation, each satellite position of a BD2 constellation, each satellite position of a GLONASS constellation, the satellite position of a user, the number of visible GPS stars, the number of visible BD2 stars and the number of visible GLONASS stars.
b. Calculating a precision evaluation factor at a certain moment according to a direction vector between each visible navigation satellite and a user satellite at the moment; the method specifically comprises the following steps:
suppose that the number of GPS visual navigation stars is N, the number of BD2 visual navigation stars is M, and the number of GLONASS visual navigation stars is L at the time t; user satellite position vector representation as
The three-axis component of the position is expressed as (xu yu zu), and the position vector of the navigation star is expressed as
The three-axis component of the position is represented as
For the GPS constellation, the direction vectors between each visible navigation satellite and the user satellite are listed:
wherein
Similarly, for the BD2 constellation, the direction vector of each visible navigation satellite can be found:
similarly, for the GLONASS constellation, the direction vector of each visible navigation satellite can be found:
constructing H matrix
Solving matrix D
Calculating a precision evaluation factor:
c. calculating the standard deviation of the position precision according to the precision evaluation factor and the standard deviation of the satellite pseudo-range measurement error;
σp＝PDOP×σUERE，
in the formula sigmapIs the standard deviation of the position accuracy, and σUEREIs the standard deviation of the satellite pseudorange measurement errors.
d. And (c) repeating the steps b and c, calculating the standard deviation of the position precision at all the moments, and comprehensively estimating the on-orbit precision of the satellite-borne navigation receiver.
The working principle is as follows: the satellite-borne navigation receiver is important platform equipment which various satellites must have, and the performance of the receiver plays an important role in whether the satellite load can normally operate. Among the performances of the receiver, on-orbit accuracy is the most important performance index. Therefore, the on-orbit accuracy of the satellite-borne navigation receiver must be pre-evaluated by various means before the satellite transmits.
The on-orbit accuracy can be expressed as:
σP＝PDOP×σUERE
in the formula sigmapIs the standard deviation of on-orbit accuracy, and σUEREIs the standard deviation of the satellite pseudorange measurement error and PDOP is the position accuracy factor. According to the method, various parameters are configured on STK simulation software, the STK simulation software is used for data mining, the position and speed information of the navigation satellite, the position and speed information of the user satellite, the time information and the visible star number of the navigation satellite at each moment are acquired, the PDOP value is calculated according to the geometric configuration between the user satellite and the navigation satellite group which can be received by the user satellite, and the on-orbit precision of the satellite-borne navigation receiver is pre-evaluated through the PDOP value. SigmaUEREThe size of (2) is one of the main performance indexes of the satellite-borne navigation receiver, and the measurement can be carried out by a double difference method, which is not described herein again.
Compared with the prior art, the invention has the beneficial effects that: the method can pre-evaluate the on-orbit precision of the satellite-borne navigation receiver before satellite transmission, and the evaluation result is accurate, so that beneficial references are provided for the overall design of the satellite and the distribution of the satellite indexes, and a basis for designing the safety and reliability is provided for a research party of satellite-borne navigation receiver equipment.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a flow chart of a data post-processing method of the present invention;
FIG. 3 is a graph of the number of usable stars according to the present invention over time;
FIG. 4 is a graph of PDOP value versus time for the present invention;
FIG. 5 is a graph of the variation of prediction accuracy over time in accordance with the present invention;
fig. 6 is a graph showing the on-orbit actual measurement accuracy of the present invention as a function of time.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention discloses an on-orbit precision pre-evaluation method for a satellite-borne navigation receiver, which is different from that in figure 1.
In the case, a pair of antennas is used for simultaneously receiving satellite signals of three navigation constellations of GPS, BD2 and GLONASS, and the antennas are installed on a day-to-day basis. The STK software version used was STK 9. The user satellite orbit configuration is as follows:
semi-major axis of the track: 21560 km;
track eccentricity ratio: 0;
track inclination angle: 50.13 degrees;
elevation point geographic longitude: 287.4 °;
argument of perigee: 106.5 degrees;
flattening the proximal angle: 194 °;
the simulation start time is set as: 01May 201904: 00: 0000.000, simulation duration: and 3 days.
After the configuration is completed, the STK software is operated, then data mining is carried out, wherein the data mining mainly comprises the step of extracting data information required by precision evaluation from the STK software after the configuration is completed, wherein the data information comprises navigation satellite position and speed information, user satellite position and speed information, time information, navigation satellite visible star number and the like. The data mining process is a conventional operation of STK software.
According to the excavated data, data post-processing is carried out, a direction vector between each visible navigation satellite and the user satellite is calculated, an H matrix is constructed, a matrix D is solved, a precision evaluation factor and a standard deviation of position precision are calculated, and a change curve of the number of visible satellites along with time can be obtained, which is shown in figure 3, and a change curve of a PDOP value along with time is shown in figure 4.
From fig. 4 it can be concluded that the PDOP value is less than 2 throughout the simulation period. Satellite-borne navigation receiver sigmaUEREThe size of (2) is 3m, the satellite-borne guide can be obtainedThe on-orbit accuracy of the navigation receiver is approximately 6 meters, and the variation curve of the position accuracy along with time is shown in figure 5.
In order to verify the accuracy of the estimated precision, the on-orbit precision analysis is carried out on the on-orbit telemetering data of the satellite provided with the satellite-borne navigation receiver, and the change curve of the on-orbit precision analysis result along with time is shown in figure 6. It can be seen from fig. 6 that the true on-track accuracy is 5.6 meters, which is roughly equivalent to the estimated on-track accuracy of 6 meters. Therefore, it can be concluded that this patent is properly working.
The navigation constellation depends on the configuration of the navigation constellation of the satellite-borne navigation receiver, and if the satellite-borne navigation receiver is a single GPS satellite-borne navigation receiver, the navigation constellation participating in the precision evaluation only selects the GPS constellation navigation satellite.
The present invention has been described in detail with reference to the embodiments, but the description is only illustrative of the present invention and should not be construed as limiting the scope of the present invention. The scope of the invention is defined by the claims. The technical solutions of the present invention or those skilled in the art, based on the teaching of the technical solutions of the present invention, should be considered to be within the scope of the present invention, and all equivalent changes and modifications made within the scope of the present invention or equivalent technical solutions designed to achieve the above technical effects are also within the scope of the present invention.
Claims (5)
1. A satellite-borne navigation receiver on-orbit precision pre-evaluation method is characterized by comprising the following steps: the method comprises the following steps:
a. acquiring position and speed information of a navigation satellite, position and speed information of a user satellite, time information and the number of visible satellites of the navigation satellite;
b. calculating a precision evaluation factor at a certain moment according to a direction vector between each visible navigation satellite and a user satellite at the moment;
c. calculating the standard deviation of the position precision according to the precision evaluation factor and the standard deviation of the satellite pseudo-range measurement error;
d. and c, repeating the steps b and c, and calculating the standard deviation of the position accuracy at all the moments.
2. The on-orbit accuracy pre-evaluation method of the satellite-borne navigation receiver as claimed in claim 1, characterized in that: and b, acquiring the information in the step a from satellite simulation software.
3. The on-orbit accuracy pre-evaluation method of the satellite-borne navigation receiver as claimed in claim 1, characterized in that: the navigation star is one or more of a GPS constellation navigation star, a GLONASS constellation navigation star and a BD2 constellation navigation star.
4. The on-orbit accuracy pre-evaluation method of the satellite-borne navigation receiver as claimed in claim 1 or 3, wherein: in the step b, assuming that the number of GPS visual navigation stars is N, the number of BD2 visual navigation stars is M, and the number of GLONASS visual navigation stars is L at the time t; user satellite position vector representation as
The three-axis component of position is represented as (x)uyuzu) The position vector of the navigation star is expressed as
The three-axis component of the position is represented as
i＝1，2，...，N+M+L；
For the GPS constellation, the direction vectors between each visible navigation satellite and the user satellite are listed:
wherein
Similarly, for the BD2 constellation, the direction vector of each visible navigation satellite can be found:
similarly, for the GLONASS constellation, the direction vector of each visible navigation satellite can be found:
constructing H matrix
Solving matrix D
Calculating a precision evaluation factor:
5. the on-orbit accuracy pre-evaluation method of the satellite-borne navigation receiver as set forth in claim 4, wherein: in the step c, the step (c),
σp＝PDOP·σUERE，
in the formula sigmapIs the standard deviation of the position accuracy, and σUEREIs the standard deviation of the satellite pseudorange measurement errors.
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| CN106507915B (en) * | 2012-04-05 | 2014-10-22 | 上海新跃仪表厂 | Based on high rail autonomous navigation of satellite method in weak navigation constellation signal |
| CN103901443A (en) * | 2014-03-04 | 2014-07-02 | 哈尔滨工程大学 | Assessment method for GNSS interoperability |
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