CN113253312A - Joint satellite navigation method, system, electronic device and storage medium - Google Patents

Joint satellite navigation method, system, electronic device and storage medium Download PDF

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CN113253312A
CN113253312A CN202110366432.4A CN202110366432A CN113253312A CN 113253312 A CN113253312 A CN 113253312A CN 202110366432 A CN202110366432 A CN 202110366432A CN 113253312 A CN113253312 A CN 113253312A
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satellite
orbit
low
clock
inter
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CN113253312B (en
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冯学斌
吴耀华
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Discovery Data Technology Shenzhen Co ltd
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Discovery Data Technology Shenzhen Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—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
    • 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
    • G01S19/246—Acquisition or tracking or demodulation of signals transmitted by the system involving long acquisition integration times, extended snapshots of signals or methods specifically directed towards weak signal acquisition
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a combined satellite navigation method, a system, electronic equipment and a storage medium, and relates to the technical field of satellite testing, wherein the combined satellite navigation method comprises the following steps: determining the high-precision time reference of a satellite navigation system by utilizing a bidirectional link between high-orbit satellites and a satellite-borne atomic clock; the whole network time synchronization of the high orbit satellites is realized through time synchronization among the high orbit satellites, and the high-precision determination of the orbits of the high orbit satellites is realized; the low-orbit satellite receives the navigation signal and the orbit information of the high-orbit satellite by using a satellite-borne GNSS receiver, and performs autonomous orbit determination and clock error estimation of the low-orbit satellite; and combining the high-orbit satellite orbit information, the low-orbit satellite orbit information and the clock error information to form a meter-level or decimeter-level navigation service full flow of the whole satellite navigation system. The combined satellite navigation method can solve the high coupling problem of the satellite orbit error and the satellite clock error, does not need to process the high orbit satellite clock error information any more, and obviously improves the service precision of the satellite navigation system.

Description

Joint satellite navigation method, system, electronic device and storage medium
Technical Field
The invention relates to the technical field of satellite testing, in particular to a combined satellite navigation method, a combined satellite navigation system, electronic equipment and a storage medium.
Background
Time synchronization is the basis for the operation of a navigation satellite system. In a conventional Global Navigation Satellite System (GNSS), in order to solve Navigation positioning, multiple atomic clocks are required to establish a time reference inside the GNSS, namely, a GNSS System time, which is denoted as gnsst (GNSS time). In a GNSS system, time synchronization is required between all satellites, ground stations, and users. The satellite navigation system provides navigation positioning and time service, and must provide orbit information of navigation satellites and clock error information of each satellite clock and system time to users, and the accuracy of the orbit and clock error information determines the service accuracy of the satellite navigation system.
In the Time Synchronization technology of the traditional satellite navigation system, an ODTS (Orbit Determination and Time Synchronization) method is adopted, the obtained satellite clock error information contains Orbit errors, no matter what clock error estimation and clock error prediction model is adopted, model errors are introduced again, and the errors finally affect the positioning and Time service accuracy of the satellite navigation system.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the embodiment of the invention provides a joint satellite navigation method, which can solve the high coupling problem of satellite orbit errors and satellite clock error, does not need to process high-orbit satellite clock error information any more, can realize high-precision orbit determination and prediction, and obviously improves the service precision of a satellite navigation system.
The embodiment of the invention also provides a combined satellite navigation system.
The embodiment of the invention also provides the electronic equipment.
The embodiment of the invention also provides a computer readable storage medium.
According to the embodiment of the first aspect of the invention, the joint satellite navigation method comprises the following steps:
acquiring first inter-satellite bidirectional link observation data among high-orbit satellites, and performing high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock error of all high-orbit satellite clocks relative to the initial satellite base time reference;
establishing a satellite-ground and inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data with the clock difference eliminated, and calculating the precise orbit and forecast orbit information according to the satellite-ground and inter-satellite link observation equation;
acquiring low earth orbit satellite downlink navigation signal observation data, and calculating low earth orbit satellite real-time orbit parameters and low earth orbit satellite real-time clock errors according to the low earth orbit satellite downlink navigation signal observation data and the forecast orbit information;
performing low-orbit satellite orbit prediction according to the low-orbit satellite real-time orbit parameters to obtain autonomous orbit prediction data of the low-orbit satellite;
forecasting the clock error of the low orbit satellite according to the real-time clock error of the low orbit satellite to obtain the clock error forecasting data of the low orbit satellite;
and performing satellite navigation according to the forecast orbit information, the autonomous orbit forecast data of the low-orbit satellite and the clock error forecast data of the low-orbit satellite.
The joint satellite navigation method according to the embodiment of the first aspect of the invention has at least the following advantages: determining the high-precision time reference of a satellite navigation system by utilizing a bidirectional link between high-orbit satellites and a satellite-borne atomic clock; meanwhile, the whole network time synchronization of the high orbit satellites is realized through time synchronization among the high orbit satellites, and under the condition, the high-precision determination of the orbits of the high orbit satellites is realized; on the basis, the low-orbit satellite receives the navigation signal and the orbit information of the high-orbit satellite by using a satellite-borne GNSS receiver to carry out autonomous orbit determination and clock error estimation of the low-orbit satellite; the high-orbit satellite orbit information, the low-orbit satellite orbit information and the clock error information are combined to form a meter-level or decimeter-level navigation service full flow of the whole satellite navigation system, the problem of high coupling of satellite orbit errors and satellite clock error can be solved, the high-orbit satellite clock error information does not need to be processed, high-precision orbit determination and prediction can be realized, and the service precision of the satellite navigation system is remarkably improved.
According to some embodiments of the present invention, the obtaining of first inter-satellite bidirectional link observation data between high earth orbit satellites and performing high earth orbit satellite clock error comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference includes: the first inter-satellite two-way ranging observation values are reduced to the same moment, and a first clock error between the high-orbit satellites is calculated; acquiring a main satellite-based time reference, and calculating a second clock difference between a high-precision atomic clock of the high-orbit satellite and the main satellite-based time reference; and performing high earth orbit satellite clock difference comprehensive adjustment calculation according to the first clock difference and the second clock difference to obtain the initial satellite-based time reference.
According to some embodiments of the present invention, the acquiring second inter-satellite bidirectional link observation data, synchronizing all high-earth satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-earth satellite clocks with respect to the initial satellite-based time reference includes: calculating high orbit clock errors and high orbit clock speed parameters of all the high orbit satellites according to the second inter-satellite bidirectional link observation data and the first clock errors; and performing satellite clock phase modulation according to the high orbit clock error, the high orbit clock speed parameter and the first clock error, and eliminating the clock error of all high orbit satellite clocks relative to the initial satellite-based time reference.
According to some embodiments of the present invention, the establishing an observation equation of a satellite-ground link and an inter-satellite link according to the observation data of the first inter-satellite bidirectional link after the clock difference is eliminated, and calculating the precise orbit and forecast orbit information according to the observation equation of the satellite-ground link and the inter-satellite link, includes: the observation data of the first inter-satellite bidirectional link are reduced to the same moment, and an inter-satellite geometric distance observation value between the high-orbit satellites is calculated; establishing the link observation equation between the satellite and the ground according to the geometric distance observation value between the satellites; calculating the initial position, the speed information and the perturbation parameter state vector of the satellite according to the satellite-ground link observation equation and the inter-satellite link observation equation; and performing orbit integration according to the initial position of the satellite, the speed information and the perturbation parameter state vector to obtain the precise orbit and the forecast orbit information.
According to some embodiments of the present invention, the acquiring of the downlink navigation signal observation data of the low earth orbit satellite, and the calculating of the real-time orbit parameter and the real-time clock error of the low earth orbit satellite according to the downlink navigation signal observation data of the low earth orbit satellite and the forecast orbit information include: extracting a pseudo-range observation value according to the forecast orbit information, and calculating the real-time orbit parameters of the low-orbit satellite according to the pseudo-range observation value; and iterating the initial state of the real-time orbit parameters of the low-orbit satellite according to the downlink navigation signal observation data of the low-orbit satellite, and calculating the real-time clock error of the low-orbit satellite.
According to some embodiments of the invention, the low-earth satellite real-time orbit parameters comprise: the method comprises the following steps of (1) initial track number, empirical acceleration parameters and pseudorandom pulse parameters; the low earth orbit forecasting is carried out according to the real-time orbit parameters of the low earth orbit satellite to obtain autonomous orbit forecasting data of the low earth orbit satellite, and the method comprises the following steps: and performing orbit integration according to the initial orbit root, the empirical acceleration parameter and the pseudorandom pulse parameter to obtain the autonomous orbit prediction data of the low-orbit satellite.
According to some embodiments of the invention, the low earth orbit satellite clock error forecast data comprises: clock error and clock speed parameters of low earth orbit satellite clock error forecast; the low earth orbit satellite clock error forecasting is carried out according to the low earth orbit satellite real-time clock error to obtain low earth orbit satellite clock error forecasting data, and the method comprises the following steps: and calculating clock error and clock speed parameters of the clock error forecast of the low earth orbit satellite according to the real-time clock error of the low earth orbit satellite and a preset linear model.
A joint satellite navigation system according to an embodiment of the second aspect of the present invention includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring first inter-satellite bidirectional link observation data among high-orbit satellites and performing high-orbit satellite clock error comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
the second acquisition module is used for acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with the time reference of the satellite navigation system according to the second inter-satellite bidirectional link observation data and eliminating clock errors of all high-orbit satellite clocks relative to the initial satellite-based time reference;
the calculation module is used for establishing a satellite-ground link observation equation and an inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data after clock difference is eliminated, and calculating a precise orbit and forecast orbit information according to the satellite-ground link observation equation and the inter-satellite link observation equation;
the third acquisition module is used for acquiring low-earth-orbit satellite downlink navigation signal observation data and calculating low-earth-orbit satellite real-time orbit parameters and low-earth-orbit satellite real-time clock errors according to the low-earth-orbit satellite downlink navigation signal observation data and the forecast orbit information;
the first forecasting module is used for forecasting the orbit of the low-orbit satellite according to the real-time orbit parameters of the low-orbit satellite to obtain autonomous orbit forecasting data of the low-orbit satellite;
the second forecasting module is used for forecasting the clock error of the low orbit satellite according to the real-time clock error of the low orbit satellite to obtain the clock error forecasting data of the low orbit satellite;
and the navigation module is used for performing satellite navigation according to the forecast orbit information, the autonomous orbit forecast data of the low-orbit satellite and the clock error forecast data of the low-orbit satellite.
The joint satellite navigation system according to the embodiment of the second aspect of the invention has at least the following advantages: by implementing the combined satellite navigation method of the embodiment of the first aspect of the invention, the problem of high coupling of the satellite orbit error and the satellite clock error can be solved, the processing of the high orbit satellite clock error information is not needed, the high-precision orbit determination and forecast can be realized, and the service precision of the satellite navigation system is obviously improved.
An electronic device according to an embodiment of the third aspect of the invention includes: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions that are executable by the at least one processor to cause the at least one processor to perform the joint satellite navigation method of the first aspect when the instructions are executed.
According to the electronic device of the embodiment of the third aspect of the invention, at least the following beneficial effects are achieved: by implementing the combined satellite navigation method of the embodiment of the first aspect of the invention, the problem of high coupling of the satellite orbit error and the satellite clock error can be solved, the processing of the high orbit satellite clock error information is not needed, the high-precision orbit determination and forecast can be realized, and the service precision of the satellite navigation system is obviously improved.
A computer-readable storage medium according to an embodiment of the fourth aspect of the present invention, the storage medium storing computer-executable instructions for causing a computer to perform the joint satellite navigation method of the first aspect.
The computer-readable storage medium according to the fourth aspect of the present invention has at least the following advantages: by implementing the combined satellite navigation method of the embodiment of the first aspect of the invention, the problem of high coupling of the satellite orbit error and the satellite clock error can be solved, the processing of the high orbit satellite clock error information is not needed, the high-precision orbit determination and forecast can be realized, and the service precision of the satellite navigation system is obviously improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method for joint satellite navigation according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a combined satellite navigation system according to an embodiment of the present invention;
fig. 3 is a functional block diagram of an electronic device according to an embodiment of the invention.
Reference numerals:
the system comprises a first acquisition module 200, a second acquisition module 210, a calculation module 220, a third acquisition module 230, a first forecasting module 240, a second forecasting module 250, a navigation module 260, a processor 300, a memory 310, a data transmission module 320, a camera 330 and a display screen 340.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
First, several terms referred to in the present application are resolved:
1. LEO: the Low Earth Orbit is also called a Low Orbit satellite, the Low Orbit is an Orbit with a lower height from the spacecraft to the ground, the Orbit height of the Low Orbit satellite is 200-2000 kilometers, and the satellite in the height range is the Low Orbit satellite.
2. MEO: medium Earth Orbit, a Medium Orbit satellite or a Medium Orbit Earth satellite, mainly refers to an Earth satellite with a satellite Orbit 2000-20000 km away from the Earth surface. It belongs to the earth nonsynchronous satellite and can realize the real global coverage and more effective frequency reuse.
3. IGSO: an incorporated GeoSynchronous Orbit satellite or an Inclined GeoSynchronous Orbit satellite is an Orbit satellite with an operation Orbit plane and an earth equatorial plane forming an included angle, the operation cycle of the Inclined GeoSynchronous Orbit satellite is also 24 hours, namely a 24-hour Orbit, the Orbit cycle of the satellite is equal to the rotation cycle of the earth, the directions of the Orbit cycle and the rotation cycle are consistent, and the orbits of the satellite under the satellites at the same time every day are the same.
4. GEO: geostationary Earth orbit, or geosynchronous orbit, satellite refers to an artificial satellite in a circular orbit that orbits the Earth at about 36000km above the equator of the Earth. Satellites operate in orbit for the same period as the earth spins, so that the satellites are always above the same region of the earth each day, and such satellites are called geostationary satellites.
5. ODTS: orbit Determination and Time Synchronization, satellite precision Orbit Determination and Time Synchronization or satellite precision Orbit Determination and Time Synchronization.
6. GNSS: global Navigation Satellite System, Global Satellite Navigation System or Global Satellite Navigation System, i.e. the latest application System of GPS technology in the field of Navigation communication.
In the Time Synchronization technology of the traditional satellite navigation system, an ODTS (Orbit Determination and Time Synchronization) method is adopted, the obtained satellite clock error information contains Orbit errors, no matter what clock error estimation and clock error prediction model is adopted, model errors are introduced again, and the errors finally affect the positioning and Time service accuracy of the satellite navigation system.
Based on the above, the embodiment of the invention provides a joint satellite navigation method, a joint satellite navigation system, an electronic device and a storage medium, which can solve the high coupling problem of satellite orbit errors and satellite clock error, do not need to process high-orbit satellite clock error information, can realize high-precision orbit determination and prediction, and remarkably improve the service precision of a satellite navigation system.
The combined satellite navigation system for executing the combined satellite navigation method in the embodiment of the invention comprises a mixed constellation of GEO/IGSO/MEO high-orbit satellites and LEO low-orbit satellites, wherein inter-satellite laser two-way communication measuring links or inter-satellite Ka two-way communication measuring links are arranged among all the high-orbit satellites, inter-satellite laser two-way communication measuring links or Ka two-way communication measuring links can be arranged or not arranged between the high-orbit satellites and the low-orbit satellites and between the low-orbit satellites, different orbital planes respectively select a part of GEO, IGSO and MEO high-orbit satellites to carry high-precision atomic clocks, other high-orbit satellites and low-orbit satellites do not need to carry high-precision atomic clocks, low-cost crystal oscillators can be selected as satellite clocks, and GNSS receivers are carried on the low-orbit satellites.
Referring to fig. 1, a joint satellite navigation method according to an embodiment of the first aspect of the present invention includes:
and S100, acquiring first inter-satellite bidirectional link observation data among the high-earth orbit satellites, and performing high-earth orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference.
Wherein, the observation data of the first inter-satellite bidirectional link can be an inter-satellite bidirectional link observation value between high orbit satellites of the high-precision atomic clock; the initial satellite based time reference may be an initial time reference of a joint satellite navigation system. Optionally, the inter-satellite bidirectional link observation value (i.e., the first inter-satellite bidirectional link observation data) between the high-earth satellites of the high-precision atomic clock in the mixed constellation may be used to determine the high-precision time reference of the combined satellite navigation system, specifically, the first inter-satellite bidirectional link observation value may be used to calculate the relative clock error between two satellites, and perform the high-earth satellite clock error comprehensive adjustment to obtain the high-precision system comprehensive atomic time, which is used as the time reference of the satellite navigation system, so as to obtain the initial satellite-based time reference.
And step S110, acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with the time reference of the satellite navigation system according to the second inter-satellite bidirectional link observation data, and eliminating clock errors of all high-orbit satellite clocks relative to the initial satellite-based time reference.
Wherein the second inter-satellite bidirectional link observation data may be inter-satellite bidirectional link measurement observations among all high earth orbit satellites. Optionally, the inter-satellite bidirectional link between all the high-orbit satellites may be used to measure an observed value (i.e., second inter-satellite bidirectional link observation data), the relative clock error between two satellites calculated in step S100 is used, and the clock error and the clock speed parameter of all the high-orbit satellites are calculated by using a least square method; and then, by using the calculated clock errors of all the high-orbit satellites through an inter-satellite communication link and through satellite clock phase modulation, the clock errors of all the high-orbit satellites relative to a satellite-based time reference are eliminated, and the synchronization of all the high-orbit satellite clocks and the satellite navigation system time reference is completed in real time, so that the high-orbit satellite ranging does not have the satellite clock errors any more.
And step S120, establishing a satellite-ground and inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data with the clock difference eliminated, and calculating the precise orbit and forecast orbit information according to the satellite-ground and inter-satellite link observation equation.
Optionally, the inter-satellite link observation equation may be established by calculating the geometric distance observation value between two satellites after the first inter-satellite two-way distance measurement observation value is reduced to the same time; solving unknown parameters including initial satellite position, speed and perturbation parameter state vectors by using a satellite-to-ground link observation equation and an inter-satellite link observation equation; and finally, obtaining the position and the speed of the satellite at any time by using the initial position and the speed information of the initial orbit of the precise satellite and the perturbation parameter state vector which are obtained by calculation and adopting orbit integration, wherein the integration interval comprises a satellite orbit fitting arc section and a forecasting arc section, and the precise orbit and the forecasting orbit information of the high orbit satellite are obtained.
Step S130, acquiring low earth orbit satellite downlink navigation signal observation data, and calculating low earth orbit satellite real-time orbit parameters and low earth orbit satellite real-time clock error according to the low earth orbit satellite downlink navigation signal observation data and the forecast orbit information.
Optionally, the initial orbit root, the empirical acceleration parameter and the pseudorandom pulse parameter may be solved by using high-orbit satellite downlink navigation signal observation data received by the low-orbit satellite-borne GNSS receiver and high-orbit satellite precision forecast orbit information, combining a dynamics method and a geometry method, so as to determine the low-orbit satellite orbit and obtain the low-orbit satellite real-time orbit parameter and the low-orbit satellite real-time clock error.
And step S140, performing low-orbit satellite orbit prediction according to the real-time orbit parameters of the low-orbit satellite to obtain autonomous orbit prediction data of the low-orbit satellite.
Optionally, the orbit integration may be adopted according to the initial orbit root, the empirical acceleration parameter, and the pseudorandom pulse parameter obtained in step S130, and the low-orbit satellite orbit prediction may be performed in real-time orbit, so as to obtain the autonomous orbit prediction data of the low-orbit satellite.
And S150, forecasting the clock error of the low orbit satellite according to the real-time clock error of the low orbit satellite to obtain the clock error forecasting data of the low orbit satellite.
Optionally, the clock offset and the clock speed parameter of the clock offset forecast of the low earth orbit satellite are calculated by using a linear model according to the real-time clock offset of the low earth orbit satellite acquired in step S130 because the clock offset forecast time of the low earth orbit satellite is short, so as to obtain the clock offset forecast data of the low earth orbit satellite.
And step S160, performing satellite navigation according to the forecast orbit information, the autonomous orbit forecast data of the low orbit satellite and the clock error forecast data of the low orbit satellite.
Optionally, the orbit information of the high orbit satellite (including the predicted orbit information of the high orbit satellite), the orbit of the low orbit satellite and the clock error information (namely the autonomous orbit prediction data of the low orbit satellite and the clock error prediction data of the low orbit satellite) can be combined, and the navigation positioning service is provided through the high orbit satellite without clock error and the low orbit satellite with clock error, so that the meter-level or decimeter-level navigation service full flow of the whole satellite navigation system is formed, the processing of the clock error information of the high orbit satellite is not required, and the satellite navigation precision is improved.
According to the combined satellite navigation method, the high-precision time reference of the satellite navigation system is determined by utilizing the bidirectional link between the high-orbit satellites and the satellite-borne atomic clock; meanwhile, the whole network time synchronization of the high orbit satellites is realized through time synchronization among the high orbit satellites, and under the condition, the high-precision determination of the orbits of the high orbit satellites is realized; on the basis, the low-orbit satellite receives the navigation signal and the orbit information of the high-orbit satellite by using a satellite-borne GNSS receiver to carry out autonomous orbit determination and clock error estimation of the low-orbit satellite; the high-orbit satellite orbit information, the low-orbit satellite orbit information and the clock error information are combined to form a meter-level or decimeter-level navigation service full flow of the whole satellite navigation system, the problem of high coupling of satellite orbit errors and satellite clock error can be solved, the high-orbit satellite clock error information does not need to be processed, high-precision orbit determination and prediction can be realized, and the service precision of the satellite navigation system is remarkably improved.
In some embodiments of the present invention, acquiring observation data of a first inter-satellite bidirectional link between high earth orbit satellites, and performing a clock error comprehensive adjustment calculation of the high earth orbit satellites according to the observation data of the first inter-satellite bidirectional link to obtain an initial satellite-based time reference includes:
computing the first inter-satellite bidirectional distance measurement observation value to the sameAt time, a first clock difference between the high earth orbit satellites is calculated. Alternatively, the calculation of the relative clock difference between planets may be advanced. For example, assuming that the first inter-satellite bidirectional link observation data includes inter-satellite bidirectional distance measurement observation values between high earth orbit satellites, the inter-satellite bidirectional distance measurement observation values between the high earth orbit satellites can be reduced to the same time, assuming that the high earth orbit satellites carrying high-precision atomic clocks in pairs are divided into a satellite i and a satellite j, and then calculating the relative clock difference between the two satellites through the following formula (1) to obtain a first clock difference Δ clkij(t)：
Figure BDA0003007723970000091
In the formula (II), clki(t) and clkj(t) clock differences of clock surfaces of the satellite i and the satellite j relative to a time reference of a navigation system respectively; rhoji(t) is an inter-satellite ranging observation value which is reduced to the satellite i from the satellite j at the moment t; rhoij(t) is the inter-satellite range observation attributed to satellite i to satellite j at time t,
Figure BDA0003007723970000092
for inter-satellite link equipment transmit-receive delay of satellite i,
Figure BDA0003007723970000093
time delay, epsilon, of inter-satellite link equipment for satellite jijThe combined value of the two-way range finding observation noise between the satellites is shown, and c is the speed of light.
And acquiring a main satellite-based time reference, and calculating a second clock difference between a high-precision atomic clock of the high-orbit satellite and the main satellite-based time reference.
Optionally, one high orbit satellite carrying a high-precision atomic clock may be selected as a main satellite, inter-satellite clock differences of other satellites carrying high-precision atomic clocks relative to the main satellite are calculated by using the calculation method of the first clock difference shown in the above formula (1), the original satellite-based time reference TA1(t) is established in an equal-weight manner, and clock differences of the satellite-borne clocks of the other satellites relative to the original satellite-based time reference are calculated by using the following formula (2), that is, the second clock difference clk is calculatedj_TA1(t)：
Figure BDA0003007723970000101
Where n1 is the number of clocks involved in establishing the time scale, the clock difference of each clock with respect to the initial clock can be obtained from the following equation (3):
Figure BDA0003007723970000102
and performing high earth orbit satellite clock difference comprehensive adjustment calculation according to the first clock difference and the second clock difference to obtain an initial satellite-based time reference. Optionally, the clock offset relative to the initial time scale still contains three deterministic components, namely time difference, frequency difference and frequency drift. To determine the initial satellite-based time reference, the clock offset of the high-precision atomic clock of the orbiting satellite from the original satellite-based time reference is calculated, a second clock offset clk may be adjustedj_TA1(t) performing second-order polynomial fitting on the time sequence, and deducting second-order polynomial clock error to obtain residual clock error value xxj(t) represented by the following formula (4):
Figure BDA0003007723970000103
wherein
Figure BDA0003007723970000104
Respectively, the zero, first and second order term coefficients of the clock error, t0To fit the reference time instant. Using xxj(t) Allan variance of clock error calculated by time series
Figure BDA0003007723970000105
Evaluating the stability of each clock, and weighting each clock, wherein the weighting determination method comprises the following steps:
Figure BDA0003007723970000106
Figure BDA0003007723970000107
wherein, wj(t) is the normalized weight of each clock, in order to reduce the influence of the clock with high performance on the final result, the weight is set to be an upper limit, and the maximum weight formula is as follows:
Figure BDA0003007723970000111
where A is an empirical constant, taken at 2.5 as defined by BIPM. The final autonomic timescale TA2(t) is obtained by equation (7) below:
Figure BDA0003007723970000112
the clock difference clk of the satellite clock of each high orbit satellite relative to the initial satellite-based time referencej_TA2(t) can be obtained by the following formula (8):
Figure BDA0003007723970000113
then, when the high-precision system integrated atom can be obtained through the formula (8), the high-precision system integrated atom is used as a satellite navigation system time reference, and the initial satellite-based time reference is obtained. The initial satellite-based time reference is obtained through the observation data of the first inter-satellite bidirectional link, the satellite-borne high-precision atomic clock realized on the high-orbit satellite is adopted, and the high-precision navigation system time can be established and maintained by utilizing the atomic clocks and the inter-satellite links arranged on part of the high-orbit satellites, so that the determination of the satellite-based time reference among the high-orbit satellites is realized, the established time reference is not influenced by the precision of the ground observation data, and the precision is high.
In some embodiments of the present invention, acquiring second inter-satellite bidirectional link observation data, synchronizing all high-earth satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-earth satellite clocks with respect to an initial satellite-based time reference includes:
and calculating high orbit clock error and high orbit clock speed parameters of all the high orbit satellites according to the observation data of the second inter-satellite bidirectional link and the first clock error. Optionally, the centralized estimation of the clock error parameters of the full-constellation satellites can be performed by using the inter-link satellite relative clock error observed values of all the high-orbit satellites within a certain time length. Specifically, clock offsets and clock speed parameters of all the high orbit satellites can be calculated according to second inter-satellite bidirectional link observation data among all the high orbit satellites and the calculated relative clock offsets (i.e., the first clock offset) between two high orbit satellites, which are specifically as follows:
because the link establishment of all the inter-satellite links can be completed in a round-robin manner within 1 minute, the influence of the clock drift of the satellite within the time length of 1 minute can be ignored, and therefore, each satellite only estimates the clock difference A0And clock speed A1Parameter, fix a certain satellite clock difference clk that has been synchronized to the on-satellite time referencej_TA2And (t) simultaneously estimating clock error and clock speed parameters of n-1 satellites in the n-satellite constellation relative to the same reference, thereby realizing time synchronization among all satellites.
The clock error is expressed as a function of its deterministic component by the following equation (9) without considering satellite clock noise.
Figure BDA0003007723970000121
Where t is the clock error observation time t0For the reference time of the clock difference parameter,
Figure BDA0003007723970000122
and
Figure BDA0003007723970000123
clock error and clock speed parameters of the ith satellite. Furthermore, the first clock error can be used to calculate the high orbit clock error and high orbit clock speed parameters of all high orbit satellites by using a least square method, and the specific calculation mode is as shown in the following formula (10):
Figure BDA0003007723970000124
the high orbit clock error and high orbit clock speed parameters of all high orbit satellites can be calculated by the formula (10).
And performing satellite clock phase modulation according to the high orbit clock error, the high orbit clock speed parameter and the first clock error, and eliminating the clock error of all high orbit satellite clocks relative to the initial satellite-based time reference. Optionally, the inter-satellite communication link may be used to calculate the high orbit clock error and the high orbit clock speed parameter of all the high orbit satellites according to the above formula (10), and eliminate the clock error of all the high orbit satellites relative to the initial satellite-based time reference through satellite clock phase modulation, so as to implement the whole network time synchronization of the high orbit satellites through time synchronization, and make the high orbit satellites no longer have satellite clock errors in ranging.
In some embodiments of the present invention, establishing an observation equation of a satellite-ground link and an inter-satellite link according to the observation data of the first inter-satellite bidirectional link after the clock difference is eliminated, and calculating the precise orbit and forecast orbit information according to the observation equation of the satellite-ground link and the inter-satellite link, including:
and (4) computing the observation data of the first inter-satellite bidirectional link to the same moment, and computing the inter-satellite geometric distance observation value between the high-orbit satellites. Optionally, the satellite precision orbit determination can be performed by using the observation values of the inter-satellite link and the satellite-ground link which do not contain the satellite clock error, and the satellite orbit high-precision forecast can be performed based on a precise dynamic model. Therefore, the first inter-satellite two-way link observation data (i.e., inter-satellite two-way ranging observation values) without satellite clock difference can be first reduced to the same time, and then the inter-satellite geometric distance observation values of two high orbit satellites can be calculated by the following equation (11):
Figure BDA0003007723970000125
and establishing a satellite-ground and inter-satellite link observation equation according to the inter-satellite geometric distance observation value. Optionally, an observation equation of the satellite-ground link and the inter-satellite link may be established according to the inter-satellite geometric distance observation values of the two high-orbit satellites, as shown in the following equations (12) and (13):
Figure BDA0003007723970000131
Figure BDA0003007723970000132
where ρ isL_ssAnd ρLThe inter-satellite geometric distance observed quantity and the inter-satellite pseudo-range observed quantity in the inter-satellite geometric distance observed value are respectively,
Figure BDA0003007723970000133
and
Figure BDA0003007723970000134
respectively representing high-orbit satellite i, high-orbit satellite j and receiver position, deltatrTo the receiver clock error, ε is the observed random noise.
And calculating the initial position, the speed information and the perturbation parameter state vector of the satellite according to the satellite-ground link observation equation and the inter-satellite link observation equation. Optionally, the unknown parameters including the initial position, the velocity and the perturbation parameter state vector of the satellite can be solved by using the satellite-to-ground and inter-satellite link observation equation. The processing strategy of the satellite precise orbit determination is shown in the following table 1 of a multi-satellite orbit determination strategy:
Figure BDA0003007723970000135
TABLE 1
The satellite initial position, velocity and perturbation parameter state vectors can be calculated from table 1 above.
And performing orbit integration according to the initial position of the satellite, the speed information and the perturbation parameter state vector to obtain a precise orbit and forecast orbit information. Optionally, the initial position and velocity information of the initial orbit of the precision satellite calculated according to the table 1 are assumed to be
Figure BDA0003007723970000136
And perturbation parameter state vector
Figure BDA0003007723970000137
The position and velocity of the satellite at any time t can be obtained by using orbit integration
Figure BDA0003007723970000138
The integration interval comprises a satellite orbit fitting arc segment and a forecasting arc segment, and information of a precise orbit and a forecasting orbit is obtained, and the following formula (14) shows:
Figure BDA0003007723970000139
therefore, the precise orbit and the forecast orbit information of the high orbit satellite can be calculated, and the high-precision determination of the orbit of the high orbit satellite is realized.
In some embodiments of the present invention, acquiring low earth orbit satellite downlink navigation signal observation data, and calculating low earth orbit real-time orbit parameters and low earth orbit satellite real-time clock errors according to the low earth orbit satellite downlink navigation signal observation data and the forecast orbit information includes:
and extracting a pseudo-range observation value according to the forecast orbit information, and calculating the real-time orbit parameters of the low-orbit satellite according to the pseudo-range observation value. Optionally, the GNSS receiver mounted on the low-earth orbit satellite may receive the signal sent by the high-earth orbit satellite and the precise predicted orbit of the high-earth orbit satellite, that is, the predicted orbit information. When the number of the high-orbit satellites received at a certain moment reaches more than 4 (including 4), a pseudo-range observation value can be extracted from the received forecast orbit information, the pseudo-range observation value is utilized to carry out air-rear intersection on the high-orbit satellites, the position of the low-orbit satellite is determined by a geometric method, the low-orbit satellite orbit can be determined by a simplified dynamics orbit determination method, namely a combined dynamics method and a geometric method, and real-time orbit parameters of the low-orbit satellite, including initial numbers of the satellite orbits, power parameters, clock error parameters of the satellite and other data, can be obtained.
And iterating the initial state of the real-time orbit parameters of the low-orbit satellite according to the downlink navigation signal observation data of the low-orbit satellite, and calculating the real-time clock error of the low-orbit satellite. Optionally, a state transition matrix is obtained by integrating the established motion equation according to the downlink navigation signal observation data of the low earth orbit satellite and considering the dynamic state information of the low earth orbit satellite, the satellite dynamic model comprises the planet N-body perturbation, the tide perturbation and the solar radiation pressure perturbation such as the two-body motion, the earth aspheric gravity, the sun and the moon, and the satellite-borne GNSS observation data of the low earth orbit satellite is utilized to perform iterative improvement on the initial state of the low earth orbit satellite in the real-time orbit parameters of the low earth orbit satellite. The weight of dynamics and geometric method information can be properly adjusted, the influence of model errors and perturbation force without accurate modeling is absorbed by utilizing the pseudorandom pulse parameters, and the initial number of satellite orbits, the power parameters and the satellite clock error parameters in the real-time orbit parameters of the low-orbit satellite can be solved. The unknown parameters comprise six initial orbit numbers, nine empirical acceleration parameters, three pseudo-random pulse parameters set every 6-15 minutes and satellite-borne GNSS receiver clock error parameters of the low-orbit satellite of each observation epoch, and therefore the real-time clock error of the low-orbit satellite is calculated. The satellite-borne GNSS receiver of the low-orbit satellite receives the high-orbit satellite navigation signal and the orbit information to carry out autonomous orbit determination and clock error estimation of the low-orbit satellite, the low-orbit constellation signal has high intensity and high transit speed, so that the anti-interference and fast estimation of parameters such as ambiguity, atmosphere, position and the like of a user are improved, the low-orbit constellation orbit and clock error are completely processed autonomously on the satellite, the inter-satellite measurement data does not need to occupy a large number of communication links to return to the ground, the ground does not need to inject the clock error information of the whole network orbit, and the operation and maintenance complexity of the system is reduced.
In some embodiments of the invention, the low-earth orbit real-time orbit parameters comprise: initial orbit number, empirical acceleration parameters, and pseudorandom pulse parameters.
The method for forecasting the orbit of the low earth orbit satellite according to the real-time orbit parameters of the low earth orbit satellite to obtain the autonomous orbit forecasting data of the low earth orbit satellite comprises the following steps:
and performing orbit integration according to the initial orbit root, the empirical acceleration parameter and the pseudorandom pulse parameter to obtain the autonomous orbit prediction data of the low-orbit satellite. Optionally, the low-orbit satellite orbit prediction may be performed in the real-time orbit by using the orbit integration according to the initial orbit number, the empirical acceleration parameter and the pseudorandom pulse parameter in the real-time orbit parameters of the low-orbit satellite, so as to obtain the autonomous orbit prediction data of the low-orbit satellite. The orbit integration is carried out through the initial orbit root, the empirical acceleration and the pseudorandom pulse parameters to obtain the autonomous orbit prediction data of the low-orbit satellite, the complete on-satellite autonomous processing of the low-orbit constellation orbit is realized, the orbit prediction of the low-orbit satellite is realized, the precision is high, the autonomous operation requirement of the constellation can be met, and the operation and maintenance complexity of the system is reduced.
In some embodiments of the invention, the low earth orbit satellite clock error forecast data comprises: and clock error and clock speed parameters of the low earth orbit satellite clock error forecast.
The method for forecasting the clock error of the low earth orbit satellite according to the real-time clock error of the low earth orbit satellite to obtain the clock error forecasting data of the low earth orbit satellite comprises the following steps:
and calculating the clock error and clock speed parameters of the clock error forecast of the low earth orbit satellite according to the real-time clock error of the low earth orbit satellite and a preset linear model. Optionally, because the low-earth-orbit satellite clock error forecasting time is short, the clock error and the clock speed parameter forecasted by the clock error of the low-earth-orbit satellite can be calculated by using the acquired real-time clock error of the low-earth-orbit satellite and adopting a linear model, so that the clock error forecasting of the low-earth-orbit satellite is realized, the complete on-satellite autonomous processing of the clock error of the low-earth-orbit constellation is realized, and the complexity of system operation and maintenance is reduced.
Referring to fig. 2, a joint satellite navigation system according to an embodiment of the second aspect of the present invention includes:
the first obtaining module 200 is configured to obtain first inter-satellite bidirectional link observation data between the high earth orbit satellites, and perform clock error comprehensive adjustment calculation on the high earth orbit satellites according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
a second obtaining module 210, configured to obtain second inter-satellite bidirectional link observation data, synchronize all high-earth satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminate clock differences of all high-earth satellite clocks with respect to an initial satellite-based time reference;
the calculation module 220 is configured to establish an observation equation of the satellite-ground and inter-satellite links according to the observation data of the first inter-satellite bidirectional link from which the clock difference is eliminated, and calculate the precise orbit and forecast orbit information according to the observation equation of the satellite-ground and inter-satellite links;
a third obtaining module 230, configured to obtain downlink navigation signal observation data of the low earth orbit satellite, and calculate a real-time orbit parameter and a real-time clock error of the low earth orbit satellite according to the downlink navigation signal observation data of the low earth orbit satellite and the forecast orbit information;
the first forecasting module 240 is configured to perform low-orbit satellite orbit forecasting according to the real-time orbit parameters of the low-orbit satellite to obtain autonomous orbit forecasting data of the low-orbit satellite;
the second forecasting module 250 is configured to forecast the clock error of the low earth orbit satellite according to the real-time clock error of the low earth orbit satellite, so as to obtain clock error forecasting data of the low earth orbit satellite;
and the navigation module 260 is used for performing satellite navigation according to the forecast orbit information, the low-orbit satellite autonomous orbit forecast data and the low-orbit satellite clock error forecast data.
By implementing the combined satellite navigation method of the embodiment of the first aspect of the invention, the combined satellite navigation system can solve the problem of high coupling of the satellite orbit error and the satellite clock error, does not need to process the high-orbit satellite clock error information, can realize high-precision orbit determination and forecast, and obviously improves the service precision of the satellite navigation system.
Referring to fig. 3, an embodiment of the third aspect of the present invention further provides a functional module diagram of an electronic device, including: at least one processor 300, and a memory 310 communicatively coupled to the at least one processor 300; the system also comprises a data transmission module 320, a camera 330 and a display screen 340.
Wherein the processor 300 is adapted to perform the joint satellite navigation method in the first aspect embodiment by invoking a computer program stored in the memory 310.
The data transmission module 320 is connected to the processor 300, and is used for implementing data interaction between the data transmission module 320 and the processor 300.
The cameras 330 may include front cameras and rear cameras. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera 330 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The display screen 340 may be used to display information entered by the user or provided to the user. The Display screen 340 may include a Display panel, and optionally, the Display panel may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. Further, the touch panel may cover the display panel, and when the touch panel detects a touch operation thereon or nearby, the touch panel transmits the touch operation to the processor 300 to determine the type of the touch event, and then the processor 300 provides a corresponding visual output on the display panel according to the type of the touch event. In some embodiments, the touch panel may be integrated with the display panel to implement input and output functions.
The memory, as a non-transitory storage medium, may be used to store a non-transitory software program and a non-transitory computer-executable program, such as the joint satellite navigation method in the embodiment of the first aspect of the present invention. The processor implements the joint satellite navigation method in the above-described first embodiment by executing a non-transitory software program and instructions stored in the memory.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data for performing the joint satellite navigation method in the embodiment of the first aspect. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The non-transitory software programs and instructions required to implement the joint satellite navigation method in the first aspect of the embodiment described above are stored in a memory and, when executed by one or more processors, perform the joint satellite navigation method in the first aspect of the embodiment described above.
Embodiments of the fourth aspect of the present invention also provide a computer-readable storage medium storing computer-executable instructions for: the joint satellite navigation method in the embodiment of the first aspect is performed.
In some embodiments, the storage medium stores computer-executable instructions, which when executed by one or more control processors, for example, by one of the processors in the electronic device of the embodiment of the third aspect, may cause the one or more processors to perform the joint satellite navigation method of the embodiment of the first aspect.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A method for joint satellite navigation, comprising:
acquiring first inter-satellite bidirectional link observation data among high-orbit satellites, and performing high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock error of all high-orbit satellite clocks relative to the initial satellite base time reference;
establishing a satellite-ground and inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data with the clock difference eliminated, and calculating the precise orbit and forecast orbit information according to the satellite-ground and inter-satellite link observation equation;
acquiring low earth orbit satellite downlink navigation signal observation data, and calculating low earth orbit satellite real-time orbit parameters and low earth orbit satellite real-time clock errors according to the low earth orbit satellite downlink navigation signal observation data and the forecast orbit information;
performing low-orbit satellite orbit prediction according to the low-orbit satellite real-time orbit parameters to obtain autonomous orbit prediction data of the low-orbit satellite;
forecasting the clock error of the low orbit satellite according to the real-time clock error of the low orbit satellite to obtain the clock error forecasting data of the low orbit satellite;
and performing satellite navigation according to the forecast orbit information, the autonomous orbit forecast data of the low-orbit satellite and the clock error forecast data of the low-orbit satellite.
2. The method of claim 1, wherein the obtaining first inter-satellite bidirectional link observation data between the high earth orbit satellites and performing high earth orbit satellite clock error comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference comprises:
the first inter-satellite two-way ranging observation values are reduced to the same moment, and a first clock error between the high-orbit satellites is calculated;
acquiring a main satellite-based time reference, and calculating a second clock difference between a high-precision atomic clock of the high-orbit satellite and the main satellite-based time reference;
and performing high earth orbit satellite clock difference comprehensive adjustment calculation according to the first clock difference and the second clock difference to obtain the initial satellite-based time reference.
3. The method of claim 2, wherein the obtaining second inter-satellite two-way link observations, synchronizing all of the high earth satellite clocks to a satellite navigation system time reference based on the second inter-satellite two-way link observations, and canceling clock offsets of all of the high earth satellite clocks relative to the initial satellite-based time reference comprises:
calculating high orbit clock errors and high orbit clock speed parameters of all the high orbit satellites according to the second inter-satellite bidirectional link observation data and the first clock errors;
and performing satellite clock phase modulation according to the high orbit clock error, the high orbit clock speed parameter and the first clock error, and eliminating the clock error of all high orbit satellite clocks relative to the initial satellite-based time reference.
4. The method of claim 1, wherein the establishing an observation equation of the satellite-ground and inter-satellite links according to the observation data of the first inter-satellite bidirectional link after the clock difference is eliminated, and the calculating the precise orbit and forecast orbit information according to the observation equation of the satellite-ground and inter-satellite links comprises:
the observation data of the first inter-satellite bidirectional link are reduced to the same moment, and an inter-satellite geometric distance observation value between the high-orbit satellites is calculated;
establishing the link observation equation between the satellite and the ground according to the geometric distance observation value between the satellites;
calculating the initial position, the speed information and the perturbation parameter state vector of the satellite according to the satellite-ground link observation equation and the inter-satellite link observation equation;
and performing orbit integration according to the initial position of the satellite, the speed information and the perturbation parameter state vector to obtain the precise orbit and the forecast orbit information.
5. The method of claim 1, wherein the obtaining of the low earth satellite downlink navigation signal observation data, and the calculating of the low earth satellite real-time orbit parameter and the low earth satellite real-time clock error according to the low earth satellite downlink navigation signal observation data and the forecast orbit information comprise:
extracting a pseudo-range observation value according to the forecast orbit information, and calculating the real-time orbit parameters of the low-orbit satellite according to the pseudo-range observation value;
and iterating the initial state of the real-time orbit parameters of the low-orbit satellite according to the downlink navigation signal observation data of the low-orbit satellite, and calculating the real-time clock error of the low-orbit satellite.
6. The method of claim 5, wherein the low-earth satellite real-time orbit parameters comprise: the method comprises the following steps of (1) initial track number, empirical acceleration parameters and pseudorandom pulse parameters;
the low earth orbit forecasting is carried out according to the real-time orbit parameters of the low earth orbit satellite to obtain autonomous orbit forecasting data of the low earth orbit satellite, and the method comprises the following steps:
and performing orbit integration according to the initial orbit root, the empirical acceleration parameter and the pseudorandom pulse parameter to obtain the autonomous orbit prediction data of the low-orbit satellite.
7. The method of claim 5, wherein the low earth orbit satellite clock error forecast data comprises: clock error and clock speed parameters of low earth orbit satellite clock error forecast;
the low earth orbit satellite clock error forecasting is carried out according to the low earth orbit satellite real-time clock error to obtain low earth orbit satellite clock error forecasting data, and the method comprises the following steps:
and calculating clock error and clock speed parameters of the clock error forecast of the low earth orbit satellite according to the real-time clock error of the low earth orbit satellite and a preset linear model.
8. A joint satellite navigation system, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring first inter-satellite bidirectional link observation data among high-orbit satellites and performing high-orbit satellite clock error comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
the second acquisition module is used for acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with the time reference of the satellite navigation system according to the second inter-satellite bidirectional link observation data and eliminating clock errors of all high-orbit satellite clocks relative to the initial satellite-based time reference;
the calculation module is used for establishing a satellite-ground link observation equation and an inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data after clock difference is eliminated, and calculating a precise orbit and forecast orbit information according to the satellite-ground link observation equation and the inter-satellite link observation equation;
the third acquisition module is used for acquiring low-earth-orbit satellite downlink navigation signal observation data and calculating low-earth-orbit satellite real-time orbit parameters and low-earth-orbit satellite real-time clock errors according to the low-earth-orbit satellite downlink navigation signal observation data and the forecast orbit information;
the first forecasting module is used for forecasting the orbit of the low-orbit satellite according to the real-time orbit parameters of the low-orbit satellite to obtain autonomous orbit forecasting data of the low-orbit satellite;
the second forecasting module is used for forecasting the clock error of the low orbit satellite according to the real-time clock error of the low orbit satellite to obtain the clock error forecasting data of the low orbit satellite;
and the navigation module is used for performing satellite navigation according to the forecast orbit information, the autonomous orbit forecast data of the low-orbit satellite and the clock error forecast data of the low-orbit satellite.
9. An electronic device, comprising:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement the joint satellite navigation method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the joint satellite navigation method of any one of claims 1 to 7.
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