CN112415550A - Low-orbit satellite real-time precise orbit determination method and system based on Beidou short message - Google Patents
Low-orbit satellite real-time precise orbit determination method and system based on Beidou short message Download PDFInfo
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- 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
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/03—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
- G01S19/071—DGPS corrections
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/12—Messaging; Mailboxes; Announcements
- H04W4/14—Short messaging services, e.g. short message services [SMS] or unstructured supplementary service data [USSD]
Abstract
The invention belongs to the technical field of communication and positioning, and discloses a low-orbit satellite real-time precise orbit determination method and system based on Beidou short messages.A ground monitoring station acquires basic navigation positioning information of the ground monitoring station by acquiring the basic navigation positioning information of a satellite navigation system and sends the basic navigation positioning information to a ground main control station; the ground main control station generates satellite navigation system differential correction information according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station, and sends the satellite navigation system differential correction information to the uplink injection station; the uplink injection station sends the satellite navigation system differential correction information to a Beidou satellite III; the Beidou third satellite broadcasts the differential correction information of the satellite navigation system by using a short message communication function; and after the low-orbit satellite receives the differential correction information of the satellite navigation system, the low-orbit satellite combines the basic navigation positioning information of the low-orbit satellite received by the satellite-borne receiver of the low-orbit satellite to carry out real-time precise orbit determination. The invention has the advantages of no dependence on an external communication link, complete autonomy, high safety and high cost performance.
Description
Technical Field
The invention relates to the technical field of communication and positioning, in particular to a low-orbit satellite real-time precise orbit determination method and system based on Beidou short messages.
Background
In the past decades, low orbit satellites and constellations thereof are used as sensor-carrying platforms of high-precision earth observation systems, have been widely applied to the fields of resource remote sensing, atmospheric exploration, ocean development, military reconnaissance and the like, and have irreplaceable roles in scientific research, economic construction, social development and national security. In recent years, with a rapid increase in demand for global communication, scientific research, and the like, many low-orbit constellation programs have appeared like bamboo shoots in the spring after rain, such as Oneweb, Iridium (Iridium), SpaceX in the united states, swan goose, rainbow cloud, and centrispace in china, Samsung in korea, and the like. Therefore, it is necessary to research the real-time precise orbit determination of low orbit satellites in the global scope.
The satellite-borne GNSS technology has been developed as a mainstream means for precision orbit determination of low-orbit satellites due to its advantages of improving the autonomy of space tasks, reducing the cost of ground operations, reducing the burden of ground equipment, and the like. However, the satellite-borne GNSS orbit determination based on the GNSS basic navigation service product can only achieve meter-level accuracy, and cannot meet the real-time data processing requirements of ocean height measurement, atmospheric occultation inversion and the like. In order to improve the real-time orbit determination precision of the satellite-borne GNSS, a real-time GNSS precision orbit clock error product is generally provided by adopting an external communication mode.
In order to implement real-time broadcasting of precision products, existing real-time systems often employ communication methods such as mobile networks, radio stations, and communication satellites. However, mobile networks and radio stations are limited by the distribution of base stations, and are generally deployed in densely populated areas, and in sparsely populated areas or unmanned areas, the base stations are not covered in place, not only have limited range, but also are susceptible to severe weather. Although communication satellites can provide wide-range, all-weather, real-time communications, the communication costs are prohibitively expensive. Meanwhile, the communication links are extremely easy to be interfered by hostile force, and the safety of communication cannot be completely guaranteed.
Disclosure of Invention
The invention provides a low-orbit satellite real-time precise orbit determination method and system based on Beidou short messages, and solves the problems that in the prior art, a GNSS system is limited in basic navigation service precision, a communication link is small in coverage range, high in manufacturing cost and poor in safety.
The invention provides a low-orbit satellite real-time precise orbit determination method based on Beidou short messages, which is used for configuring a satellite-borne receiver for a low-orbit satellite and comprises the following steps:
s11, the ground monitoring station acquires the basic navigation positioning information of the ground monitoring station by acquiring the basic navigation positioning information of the satellite navigation system, and sends the basic navigation positioning information of the ground monitoring station to the ground main control station;
s12, the ground main control station generates satellite navigation system differential correction information according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station, and sends the satellite navigation system differential correction information to an uplink injection station;
s13, the uplink injection station sends the satellite navigation system differential correction information to a Beidou No. three satellite;
s14, broadcasting the differential correction information of the satellite navigation system by the Beidou third satellite by using a short message communication function;
and S15, after the low-orbit satellite receives the satellite navigation system differential correction information, combining the low-orbit satellite basic navigation positioning information received by the satellite-borne receiver of the low-orbit satellite to perform real-time precise orbit determination.
Preferably, the step S12 includes the following sub-steps:
s121, the ground main control station generates a satellite navigation system precise orbit and clock error product according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station;
and S122, the ground main control station calculates and generates the satellite navigation system differential correction information according to the satellite navigation system precise orbit, the clock error product and the satellite navigation system broadcast ephemeris in the ground monitoring station basic navigation positioning information, and sends the satellite navigation system differential correction information to the uplink injection station.
Preferably, the specific implementation manner of step S121 is:
constructing an observation model of a satellite navigation system;
the ground master control station carries out linearization processing on the observation model according to the physical position information of the ground master control station and the basic navigation positioning information of the ground monitoring station;
and calculating the linearized observation model by using a least square method to generate the precise orbit and clock error products of the satellite navigation system.
Preferably, before calculating the linearized observation model by using a least square method, a reference constraint condition is configured in advance; and under the reference constraint condition, calculating the linearized observation model by adopting a least square method.
Preferably, the specific implementation manner of step S122 is:
calculating according to the precise orbit and the clock error product of the satellite navigation system to obtain the satellite position of the precise ephemeris and the satellite clock error of the precise clock error, and calculating according to the broadcast ephemeris of the satellite navigation system to obtain the satellite position of the broadcast ephemeris and the satellite clock error of the broadcast ephemeris;
performing difference processing on the satellite position of the precise ephemeris and the satellite position of the broadcast ephemeris to generate a coordinate correction number in an XYZ direction of a protocol terrestrial fixation system, and performing difference processing on the satellite clock difference of the precise clock difference and the satellite clock difference of the broadcast ephemeris to generate a clock difference correction number;
correspondingly converting the coordinate correction numbers in the XYZ direction of the protocol ground fixed system into the radial direction, the tangential direction and the normal direction of a satellite respectively to generate satellite navigation system orbit difference correction information;
averaging the clock correction numbers to obtain an average value of the clock correction numbers, and subtracting the average value of the clock correction numbers from the clock correction numbers to obtain clock difference correction information of the satellite navigation system;
and the satellite navigation system orbit difference correction information and the satellite navigation system clock difference correction information form the satellite navigation system difference correction information.
Preferably, the specific implementation manner of step S14 is:
broadcasting the satellite navigation system differential correction information of the visible satellite of the low earth orbit satellite through the global short message function of the Beidou satellite III in the global range;
and simultaneously broadcasting the differential correction information of the satellite navigation system of the full constellation in the domestic and peripheral areas through the regional short message function of the Beidou satellite III.
Preferably, the Beidou third satellite obtains the visible satellite information of the low-orbit satellite according to the forecast orbit of the low-orbit satellite and the forecast orbit of the satellite navigation system in the global range.
The invention provides a low orbit satellite real-time precise orbit determination system based on Beidou short messages, which comprises the following components:
the ground monitoring station is used for acquiring basic navigation positioning information of a satellite navigation system, acquiring basic navigation positioning information of the ground monitoring station and sending the basic navigation positioning information of the ground monitoring station to a ground main control station;
the ground main control station is used for generating satellite navigation system differential correction information according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station, and sending the satellite navigation system differential correction information to the uplink injection station;
the uplink injection station is used for sending the satellite navigation system differential correction information to a Beidou No. three satellite;
the Beidou third satellite is used for broadcasting the satellite navigation system differential correction information by utilizing a short message communication function;
the low-orbit satellite is used for combining basic navigation positioning information of the low-orbit satellite received by a satellite-borne receiver of the low-orbit satellite to carry out real-time precise orbit determination after receiving the differential correction information of the satellite navigation system;
the Beidou short message-based low-orbit satellite real-time precise orbit determination system is used for realizing the steps in the Beidou short message-based low-orbit satellite real-time precise orbit determination method.
Preferably, the ground master control station includes:
the computing unit is used for generating a satellite navigation system precise orbit and clock error product according to the physical position information of the computing unit and the basic navigation positioning information of the ground monitoring station;
and the processing unit is used for calculating and generating the satellite navigation system differential correction information according to the satellite navigation system precise orbit, the clock error product and the satellite navigation system broadcast ephemeris in the ground monitoring station basic navigation positioning information, and sending the satellite navigation system differential correction information to the uplink injection station.
Preferably, the Beidou satellite III comprises:
the GEO satellite is used for broadcasting the satellite navigation system differential correction information of a full constellation in the interior and the surrounding areas by utilizing the short message communication function of the Beidou third satellite region after receiving the satellite navigation system differential correction information;
and the MEO satellite is used for broadcasting the satellite navigation system differential correction information of the visible satellite of the low earth orbit satellite in a global range by utilizing the global short message communication function of the Beidou third satellite after receiving the satellite navigation system differential correction information.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
in the invention, a satellite-borne receiver is configured for a low earth orbit satellite, and a ground monitoring station acquires basic navigation positioning information of the ground monitoring station by acquiring the basic navigation positioning information of a satellite navigation system and sends the basic navigation positioning information to a ground main control station; the ground main control station generates satellite navigation system differential correction information according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station, and sends the satellite navigation system differential correction information to the uplink injection station; the uplink injection station sends the satellite navigation system differential correction information to a Beidou satellite III; the Beidou third satellite broadcasts the differential correction information of the satellite navigation system by using a short message communication function; and after the low-orbit satellite receives the differential correction information of the satellite navigation system, the low-orbit satellite combines the basic navigation positioning information of the low-orbit satellite received by the satellite-borne receiver of the low-orbit satellite to carry out real-time precise orbit determination. The invention utilizes the global short message communication function of the Beidou No. three system in China, and the correction information such as real-time high-precision satellite orbit, clock error and the like is broadcasted through the global short message communication function, and a satellite-borne receiver is configured on a low-orbit satellite constellation, so that the real-time precise orbit determination of the low-orbit satellite in the global range is realized. The invention gives full play to the characteristic of wide short message communication coverage of the Beidou No. three system, and has the advantages of no dependence on an external communication link, complete autonomy, high safety and high cost performance.
Drawings
Fig. 1 is a flowchart of a low orbit satellite real-time precise orbit determination method based on a big dipper short message in an embodiment of the present invention;
fig. 2 is a flowchart illustrating the subdivision process of step S12 in the method for real-time precise orbit determination of a low orbit satellite based on a beidou short message according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a low-orbit satellite real-time precise orbit determination system based on a big dipper short message in the embodiment of the present invention;
fig. 4 is a schematic diagram of an internal structure of a ground main control station in a low-orbit satellite real-time precise orbit determination system based on a Beidou short message according to an embodiment of the present invention.
Detailed Description
With the continuous construction of the Beidou No. three system in China, 3 GEO satellites of the Beidou No. three system can provide regional short message communication service in Asia-Pacific areas, and MEO satellites can expand the short message service range to the world. The invention discloses a low-orbit satellite real-time precise orbit determination method and system based on Beidou global short messages, aiming at solving the problems that the basic navigation service precision of the existing GNSS system is limited, and the common communication link has the defects of small coverage area, high manufacturing cost, poor safety and the like. The invention utilizes the global short message communication function of the Beidou No. three system in China to realize the real-time precise orbit determination of the low orbit satellite in the global range by broadcasting the correction information such as the real-time high-precision satellite orbit, the clock error and the like. Meanwhile, the invention gives full play to the characteristic of wide short message communication coverage range of the Beidou No. three system, and has the advantages of no dependence on an external communication link, complete autonomy, high safety and high cost performance.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
The embodiment of the invention provides a low-orbit satellite real-time precise orbit determination method based on Beidou short messages, which comprises the following steps of:
and S11, the ground monitoring station acquires the basic navigation and positioning information of the ground monitoring station by acquiring the basic navigation and positioning information of the satellite navigation system, and sends the basic navigation and positioning information of the ground monitoring station to the ground main control station.
And S12, the ground main control station generates satellite navigation system differential correction information according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station, and sends the satellite navigation system differential correction information to the uplink injection station.
And S13, the uplink injection station sends the satellite navigation system differential correction information to the Beidou third satellite.
And S14, after the Beidou third satellite receives the satellite navigation system differential correction information, broadcasting the satellite navigation system differential correction information by using the short message communication function of the Beidou third satellite.
And S15, after the low-orbit satellite receives the satellite navigation system differential correction information, combining the low-orbit satellite basic navigation positioning information received by the satellite-borne receiver of the low-orbit satellite to perform real-time precise orbit determination.
In the embodiment of the present invention, as shown in fig. 2, step S12 specifically includes the following steps:
and S121, the ground main control station generates a satellite navigation system precise orbit and clock error product according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station.
And S122, the ground main control station calculates satellite navigation system differential correction information according to the satellite navigation system precise orbit, the clock error product and the satellite navigation system broadcast ephemeris in the ground monitoring station basic navigation positioning information, and sends the satellite navigation system differential correction information to the uplink injection station.
Further, the ground main control station generates a satellite navigation system precision orbit and clock error product according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station, and the method is realized through the following specific processes:
constructing an observation model of a satellite navigation system;
the ground master control station carries out linearization processing on the observation model according to the physical position information of the ground master control station and the basic navigation positioning information of the ground monitoring station;
and calculating the linearized observation model by using a least square method to generate the precise orbit and clock error products of the satellite navigation system.
In another embodiment, the calculating the linearized observation model by using the least square method to generate a precise orbit and clock error product of the satellite navigation system further includes the following steps: pre-configuring a reference constraint condition; and under the reference constraint condition, calculating the linearized observation model by adopting a least square method.
Further, the step S122 is implemented by the following specific process:
calculating the satellite position of a precise ephemeris and the satellite clock error of the precise clock error according to the precise orbit and the clock error product of the satellite navigation system, and simultaneously calculating the satellite position of a broadcast ephemeris and the satellite clock error of the broadcast ephemeris according to the broadcast ephemeris of the satellite navigation system;
performing difference processing on the satellite position of the precise ephemeris and the satellite position of the broadcast ephemeris to generate a coordinate correction number in an XYZ direction of a protocol terrestrial fixation system, and performing difference processing on the satellite clock difference of the precise clock difference and the satellite clock difference of the broadcast ephemeris to generate a clock difference correction number;
correspondingly converting the coordinate correction numbers in the XYZ direction of the protocol ground fixed system into the radial direction, the tangential direction and the normal direction of a satellite respectively to generate satellite navigation system orbit difference correction information;
meanwhile, averaging the clock correction numbers to obtain an average value of the clock correction numbers, and subtracting the average value of the clock correction numbers from the clock correction numbers to obtain clock difference correction information of the satellite navigation system;
and the satellite navigation system orbit difference correction information and the satellite navigation system clock difference correction information form the satellite navigation system difference correction information.
The following describes in detail the generation of precise orbit and clock error products of a satellite navigation system by a ground main control station according to its own physical location information and basic navigation positioning information of a ground monitoring station by a specific embodiment.
The ground master control station collects GNSS basic navigation positioning information received by the ground monitoring station, and specifically comprises a multi-frequency point pseudo range rho and a carrier phase phi observation value. The pseudorange and phase observations at frequency i from satellite s to rover a may be represented as:
in the formula (1), the reaction mixture is,
as geometrical distance, T, between satellite and survey stationaFor the zenith direction troposphere delay parameter of the survey station, the corresponding mapping function is
c is the speed of light in vacuum, δ tsAnd δ taRespectively the satellite and receiver clock offsets,
fia carrier frequency of frequency point i, corresponding to a wavelength of
In order to tilt the ionospheric delay,
and
pseudorange and carrier phase hardware delays at the receiver, respectively, corresponding
And
for satellite-side pseudorange and carrier-phase hardware delays,
is the integer ambiguity parameter.
In the above formula, errors such as antenna phase deviation and change, phase winding, relativistic effect of satellite clock error and the like, and errors such as multipath and observed value noise and the like are ignored.
Zenith troposphere delay parameter T in formula (1)aClock difference delta t of receiveraAssociated only with the survey station, the satellite clock difference deltatsSatellite only, tilted ionospheric delay parameter Ia sThe hardware delay parameters of the pseudo range and the carrier phase at the satellite end or the receiver end are mainly related to the observation station, the satellite, the observation value type, the tracking frequency and the like.
In navigation satellite data processing, different types of combinations of phase and pseudorange observations are often constructed as needed, where a deionization layer combination is widely used to construct a high-precision data processing observation model, which can be expressed as:
in the formula (I), the compound is shown in the specification,
and
pseudorange and phase observations are combined separately for the deionization layers,
and
combining pseudo-range and phase observation hardware delays for receiver-side deionization layers respectively, wherein the values are as follows:
similarly, satellite-side deionization layer combined pseudorange and phase observation hardware delay
And
respectively as follows:
in the formula (I), the compound is shown in the specification,
the wavelength of the combined observations for the deionization layers,
is the corresponding integer ambiguity parameter, whose value is:
in consideration of the correlation of each parameter in equation (2) with the station, satellite, signal frequency, and the like, equation (2) can be extended to:
in the formula, S represents a GNSS system. For navigation satellite systems such as GPS, GALILEO, Beidou and the like which adopt the code division multiple access technology, the carrier frequencies of different satellites are the same, so the hardware delay of pseudo range and carrier phase observed values at the receiver end is the same for all single system satellites. However, since the GLONASS system employs the frequency division multiple access technique, the pseudorange and phase hardware delays at the corresponding receivers are also related to the satellite (frequency), and different GLONASS satellites (frequencies) correspond to different hardware delays at the receivers.
In the precise orbit determination model, the clock error of the navigation satellite absorbs the hardware delay of the pseudo range at the satellite end in estimation
The hardware delay of pseudo range at the receiver end can be absorbed by the clock error of the receiver
The observation model at this time is:
in the formula (I), the compound is shown in the specification,
when the multimode navigation system is used for processing jointly, only one receiver clock difference parameter is generally estimated, but the receiver clock difference parameter can absorb the hardware delay of a pseudo-range observed value at the receiver end, and the delay parameter is related to the signal frequency and the navigation system, so that different systems correspond to different receiver clock differences
If the corresponding receiver clock error of the GPS system is used
For the reference, the observation model of other systems can be rewritten as:
in the formula (I), the compound is shown in the specification,
i.e. the difference between the pseudo-range hardware delays at the receiver end of the two systems, i.e. the code bias. If the difference of the time reference between different navigation systems is considered, a constant offset parameter needs to be additionally introduced, and the constant offset parameter and the DCB parameter form an Inter-System Bias (ISB) parameter. For a navigation system using cdma, all satellites correspond to the same ISB parameter, and because the GLONASS system uses the fdma technique, different satellites (frequencies) correspond to different ISB parameters, and at this time, the ISB parameters are actually a combination of Inter-Frequency Bias (IFB) between different satellites in the GLONASS system, time reference difference, and code offset between different satellites in the GLONASS system.
Linearizing the formula (8) at initial values of parameters such as given satellite orbit, clock error and the like, wherein unknown parameters mainly comprise: GNSS satellite orbit parameters, ground station position parameters, ground tracking station receiver clock error, GNSS satellite clock error, carrier phase ambiguity, zenith tropospheric delay, ISB/IFB and other parameters.
Wherein the content of the first and second substances,
for GNSS satellite positions rS,sAnd monitoring station location raThe distance between the satellite and the ground calculated by the initial value,
can be expressed as:
in the formula, rS,sFor the satellite orbit parameter x in the orbit determination arc segmentS,sAs a function of (c). In the formula (9)
And
to observe the directional cosine value of the signal, and
obtained by solving the variational equation. In addition, the partial derivatives of the observation model to the receiver clock error, the satellite clock error and the ISB/IFB are 1; the partial derivative of the observation model to the ambiguity parameter is the carrier wavelength lambda; the observation model has a partial derivative of zenith tropospheric delay parameters of
And (4) constructing a normal equation by combining the linearized observation model and solving related parameters under a least square criterion. Because parameters such as receiver clock error, satellite clock error, ISB and the like are related, reference constraint is added during solving. When solving to obtain satellite orbit parameter xS,sThen, continuous orbit products are obtained through kinetic integration.
In the embodiment of the present invention, after receiving the satellite navigation system differential correction information, the beidou third satellite in step S14 broadcasts the satellite navigation system differential correction information by using the beidou third satellite short message communication function, and the following two conditions are mainly included:
firstly, after the Beidou third satellite receives the satellite navigation system differential correction information, the Beidou third satellite broadcasts the satellite navigation system differential correction information of a full constellation in the interior and the surrounding areas by using the regional short message communication function of the Beidou third satellite;
and secondly, after the Beidou third satellite receives the satellite navigation system differential correction information, the satellite navigation system differential correction information of the visible satellite of the low earth orbit satellite is broadcasted in the global range by utilizing the global short message communication function of the Beidou third satellite.
Further, after receiving the satellite navigation system differential correction information, the third Beidou satellite broadcasts the satellite navigation system differential correction information in a global scope by using a global short message communication function of the third Beidou satellite, and the method can be realized by the following steps:
the Beidou third satellite determines the condition of the low-orbit satellite visible satellite according to the low-orbit satellite forecast orbit and the satellite navigation system forecast orbit; and the Beidou third satellite broadcasts and broadcasts the tracked satellite navigation system differential correction information in a global range by utilizing the global short message communication function of the Beidou third satellite according to the condition of the low earth orbit satellite visible satellite.
Specifically, in the actual work, the difference and the limitation of the communication bandwidth of the global short message and the regional short message of the Beidou third system are considered, the tracked specific satellite differential correction information can be broadcasted and broadcasted only in the global range, different numerical resolutions can be flexibly formulated according to the system and the type of the satellite, a sub-packet strategy can be adopted in the broadcasting mode, and complete full constellation differential correction information can be broadcasted through at least two short messages; in the interior and its peripheral area, the regional short message communication function can be used to broadcast the full-constellation differential correction information, and at the same time, a higher numerical resolution should be set, so as to reduce the precision loss of orbit and clock error caused by computer truncation error as much as possible. It should be noted that the low earth orbit satellites in the interior and surrounding areas should preferentially use the full constellation difference correction information broadcast by the local short message.
Fig. 3 schematically shows a structural schematic diagram of a low-orbit satellite real-time precise orbit determination system based on a big dipper short message according to an embodiment of the present invention. Referring to fig. 3, the low earth orbit satellite real-time precise orbit determination system based on the beidou short message in the embodiment of the present invention specifically includes a ground monitoring station 301, a ground main control station 302, an uplink injection station 303, a beidou third satellite 304 and a low earth orbit satellite 305, and the low earth orbit satellite is configured with a satellite-borne receiver;
the ground monitoring station 301 is configured to acquire basic navigation positioning information of a satellite navigation system, obtain basic navigation positioning information of the ground monitoring station, and send the basic navigation positioning information of the ground monitoring station to the ground main control station 302;
the ground main control station 302 is configured to generate satellite navigation system differential correction information according to the physical location information of the ground main control station 302 and the ground monitoring station basic navigation positioning information, and send the satellite navigation system differential correction information to the uplink injection station 303;
the uplink injection station 303 is configured to send the satellite navigation system differential correction information to a beidou third satellite 304;
the Beidou third satellite 304 is used for broadcasting the satellite navigation system differential correction information by utilizing a Beidou third satellite short message communication function after receiving the satellite navigation system differential correction information;
the low earth orbit satellite 305 is configured to perform real-time precise orbit determination in combination with the basic navigation and positioning information of the low earth orbit satellite received by the satellite-borne receiver of the low earth orbit satellite after receiving the differential correction information of the satellite navigation system.
In the embodiment of the present invention, as shown in fig. 4, the ground main control station 302 specifically includes a computing unit 3021 and a processing unit 3022, where:
the computing unit 3021 is configured to generate a satellite navigation system precision orbit and clock error product according to the physical location information of the computing unit and the basic navigation and positioning information of the ground monitoring station;
the processing unit 3022 is configured to calculate satellite navigation system differential correction information according to the satellite navigation system precise orbit, the clock error product, and the satellite navigation system broadcast ephemeris in the ground monitoring station basic navigation positioning information, and send the satellite navigation system differential correction information to the uplink injection station.
Further, the computing unit 3021 is specifically configured to construct an observation model of a satellite navigation system; carrying out linearization processing on the observation model according to the physical position information of the observation model and the basic navigation positioning information of the ground monitoring station; and calculating the observation model after linearization by adopting a least square method to obtain the precise orbit and clock error products of the satellite navigation system.
In another optional embodiment, the calculating unit 3021 is specifically further configured to configure a reference constraint condition in advance; and under the reference constraint condition, calculating the linearized observation model by adopting a least square method.
Further, big dipper No. three satellite 304 specifically includes:
the GEO satellite is used for broadcasting the differential correction information of the satellite navigation system of a full constellation in the interior and the surrounding areas by utilizing the short message communication function of the Beidou third satellite region after receiving the differential correction information of the satellite navigation system;
and the MEO satellite is used for broadcasting the satellite navigation system differential correction information of the visible satellite of the low earth orbit satellite in a global range by utilizing the global short message communication function of the Beidou third satellite after receiving the satellite navigation system differential correction information.
For the system embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
According to the Beidou third satellite based real-time precise orbit determination method and system provided by the embodiment of the invention, the Beidou third satellite is introduced as a communication medium, so that the problems of small coverage range, high manufacturing cost, poor safety and the like of a general communication link are solved, and the real-time precise orbit determination of the low orbit satellite in the global range can be realized by broadcasting real-time high-precision satellite orbit, clock error and other correction information through the global short message communication function of the Beidou third system in China. Moreover, the method gives full play to the characteristic of wide short message communication coverage range of the Beidou No. three system, and has the advantages of no dependence on an external communication link, complete autonomy, high safety and high cost performance.
In addition, the Beidou short message-based low-orbit satellite real-time precise orbit determination method and system provided by the embodiment of the invention configure a satellite-borne receiver for the low-orbit satellite, and can realize real-time, autonomous and high-precision orbit determination of the low-orbit satellite by receiving basic navigation information and adding differential correction information broadcast by a Beidou satellite III so as to meet high-precision requirements of low-orbit enhancement and the like.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. A low-orbit satellite real-time precise orbit determination method based on Beidou short messages is characterized in that a satellite-borne receiver is configured for a low-orbit satellite, and the method comprises the following steps:
s11, the ground monitoring station acquires the basic navigation positioning information of the ground monitoring station by acquiring the basic navigation positioning information of the satellite navigation system, and sends the basic navigation positioning information of the ground monitoring station to the ground main control station;
s12, the ground main control station generates satellite navigation system differential correction information according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station, and sends the satellite navigation system differential correction information to an uplink injection station;
s13, the uplink injection station sends the satellite navigation system differential correction information to a Beidou No. three satellite;
s14, broadcasting the differential correction information of the satellite navigation system by the Beidou third satellite by using a short message communication function;
and S15, after the low-orbit satellite receives the satellite navigation system differential correction information, combining the low-orbit satellite basic navigation positioning information received by the satellite-borne receiver of the low-orbit satellite to perform real-time precise orbit determination.
2. The Beidou short message-based low-orbit satellite real-time precise orbit determination method according to claim 1, wherein the step S12 comprises the following sub-steps:
s121, the ground main control station generates a satellite navigation system precise orbit and clock error product according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station;
and S122, the ground main control station calculates and generates the satellite navigation system differential correction information according to the satellite navigation system precise orbit, the clock error product and the satellite navigation system broadcast ephemeris in the ground monitoring station basic navigation positioning information, and sends the satellite navigation system differential correction information to the uplink injection station.
3. The Beidou short message-based low-orbit satellite real-time precise orbit determination method according to claim 2, characterized in that the specific implementation manner of the step S121 is as follows:
constructing an observation model of a satellite navigation system;
the ground master control station carries out linearization processing on the observation model according to the physical position information of the ground master control station and the basic navigation positioning information of the ground monitoring station;
and calculating the linearized observation model by using a least square method to generate the precise orbit and clock error products of the satellite navigation system.
4. The Beidou short message-based low-orbit satellite real-time precise orbit determination method according to claim 3, characterized in that before the least square method is adopted to calculate the linearized observation model, a reference constraint condition is configured in advance; and under the reference constraint condition, calculating the linearized observation model by adopting a least square method.
5. The Beidou short message-based low-orbit satellite real-time precise orbit determination method according to claim 2, characterized in that the specific implementation manner of the step S122 is as follows:
calculating according to the precise orbit and the clock error product of the satellite navigation system to obtain the satellite position of the precise ephemeris and the satellite clock error of the precise clock error, and calculating according to the broadcast ephemeris of the satellite navigation system to obtain the satellite position of the broadcast ephemeris and the satellite clock error of the broadcast ephemeris;
performing difference processing on the satellite position of the precise ephemeris and the satellite position of the broadcast ephemeris to generate a coordinate correction number in an XYZ direction of a protocol terrestrial fixation system, and performing difference processing on the satellite clock difference of the precise clock difference and the satellite clock difference of the broadcast ephemeris to generate a clock difference correction number;
correspondingly converting the coordinate correction numbers in the XYZ direction of the protocol ground fixed system into the radial direction, the tangential direction and the normal direction of a satellite respectively to generate satellite navigation system orbit difference correction information;
averaging the clock correction numbers to obtain an average value of the clock correction numbers, and subtracting the average value of the clock correction numbers from the clock correction numbers to obtain clock difference correction information of the satellite navigation system;
and the satellite navigation system orbit difference correction information and the satellite navigation system clock difference correction information form the satellite navigation system difference correction information.
6. The Beidou short message-based low-orbit satellite real-time precise orbit determination method according to claim 1, wherein the step S14 is specifically realized in the following manner:
broadcasting the satellite navigation system differential correction information of the visible satellite of the low earth orbit satellite through the global short message function of the Beidou satellite III in the global range;
and simultaneously broadcasting the differential correction information of the satellite navigation system of the full constellation in the domestic and peripheral areas through the regional short message function of the Beidou satellite III.
7. The method according to claim 6, wherein the Beidou No. three satellite obtains the visible satellite information of the low earth orbit satellite according to the forecast orbit of the low earth orbit satellite and the forecast orbit of the satellite navigation system in a global range.
8. The utility model provides a low orbit satellite real-time accurate orbit determination system based on big dipper short message which characterized in that includes:
the ground monitoring station is used for acquiring basic navigation positioning information of a satellite navigation system, acquiring basic navigation positioning information of the ground monitoring station and sending the basic navigation positioning information of the ground monitoring station to a ground main control station;
the ground main control station is used for generating satellite navigation system differential correction information according to the physical position information of the ground main control station and the basic navigation positioning information of the ground monitoring station, and sending the satellite navigation system differential correction information to the uplink injection station;
the uplink injection station is used for sending the satellite navigation system differential correction information to a Beidou No. three satellite;
the Beidou third satellite is used for broadcasting the satellite navigation system differential correction information by utilizing a short message communication function;
the low-orbit satellite is used for combining basic navigation positioning information of the low-orbit satellite received by a satellite-borne receiver of the low-orbit satellite to carry out real-time precise orbit determination after receiving the differential correction information of the satellite navigation system;
the Beidou short message-based low-orbit satellite real-time precise orbit determination system is used for realizing the steps in the Beidou short message-based low-orbit satellite real-time precise orbit determination method in any one of claims 1-7.
9. The Beidou short message-based low-orbit satellite real-time precise orbit determination system according to claim 8, wherein the ground master control station comprises:
the computing unit is used for generating a satellite navigation system precise orbit and clock error product according to the physical position information of the computing unit and the basic navigation positioning information of the ground monitoring station;
and the processing unit is used for calculating and generating the satellite navigation system differential correction information according to the satellite navigation system precise orbit, the clock error product and the satellite navigation system broadcast ephemeris in the ground monitoring station basic navigation positioning information, and sending the satellite navigation system differential correction information to the uplink injection station.
10. The Beidou short message-based low-orbit satellite real-time precise orbit determination system according to claim 8, wherein the Beidou satellite III comprises:
the GEO satellite is used for broadcasting the satellite navigation system differential correction information of a full constellation in the interior and the surrounding areas by utilizing the short message communication function of the Beidou third satellite region after receiving the satellite navigation system differential correction information;
and the MEO satellite is used for broadcasting the satellite navigation system differential correction information of the visible satellite of the low earth orbit satellite in a global range by utilizing the global short message communication function of the Beidou third satellite after receiving the satellite navigation system differential correction information.
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