CN113777628A - Navigation enhancement method and system - Google Patents
Navigation enhancement method and system Download PDFInfo
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- CN113777628A CN113777628A CN202110170179.5A CN202110170179A CN113777628A CN 113777628 A CN113777628 A CN 113777628A CN 202110170179 A CN202110170179 A CN 202110170179A CN 113777628 A CN113777628 A CN 113777628A
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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
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
The invention discloses a navigation enhancement method, which comprises the following steps: monitoring and storing original navigation enhancement data; processing the navigation enhancement data to obtain first navigation enhancement information and outputting the first navigation enhancement information; receiving first navigation enhancement information, injecting the first navigation enhancement information into the low-orbit satellite through a terminal, and updating the navigation enhancement information of the whole low-orbit satellite network into the first navigation enhancement information based on the inter-satellite link; receiving a global satellite navigation signal, and obtaining second navigation enhancement information according to the first navigation enhancement information and the global satellite navigation signal; and modulating the first navigation enhancement information and the second navigation enhancement information to output third navigation enhancement information. By adopting the navigation enhancement method and the system provided by the invention, the first navigation enhancement information is injected into the low-orbit satellite through the terminal, the global satellite navigation signal is synthesized to generate the second navigation enhancement information, the third navigation enhancement information is generated by modulation, and centimeter-level positioning and nanosecond-level time service are realized by utilizing the global coverage characteristic of the whole low-orbit satellite network.
Description
Technical Field
The invention relates to the technical field of navigation, and also relates to the technical field of satellite communication, in particular to a navigation enhancement method and a navigation enhancement system.
Background
With the vigorous development in the fields of automatic driving, mobile internet, unmanned aerial vehicle logistics distribution and the like, the user provides new requirements for accurate navigation: centimeter-level positioning accuracy and nanosecond-level time service accuracy. To improve the position and time accuracy, navigation enhancement method assistance is required. Common navigation enhancement methods in the prior art include geosynchronous orbit satellite-based enhancement methods and ground-based enhancement methods. According to the geosynchronous orbit satellite-based augmentation method, because a global navigation satellite is in a medium-high orbit, the change on a space geometric structure type is not obvious in a short time, if a user needs to realize centimeter-level positioning accuracy, convergence time of about 30 minutes is needed at least, and the geosynchronous orbit satellite can only cover an area below 70 degrees of north and south latitude and cannot cover a high latitude area, and in addition, a large amount of capital investment is needed for building a large-caliber antenna earth station in order to realize the forwarding of navigation augmentation information by the geosynchronous orbit satellite; the ground enhancement method can only cover land areas, if the coverage range is to be enlarged, a large number of reference monitoring stations must be built and the support of a ground cellular network is guaranteed, and in use, a user needs to send a request to a ground enhancement operation center through a mobile cellular network, and once the request is excessive, the network is crowded and even paralyzed, so that the service is interrupted.
Disclosure of Invention
The invention aims to provide a navigation enhancement method and a navigation enhancement system, and solves the problems that the geosynchronous orbit satellite-based enhancement method in the prior art cannot cover the area with the latitude of more than 70 degrees in the north and south, the ground enhancement method only can cover the land, the global coverage cannot be realized, and the construction cost of the two methods is high.
Aiming at the limitation of the prior art, the invention provides a navigation enhancement method, which comprises the following steps:
monitoring and storing original navigation enhancement data;
processing the navigation enhancement data to obtain first navigation enhancement information and outputting the first navigation enhancement information;
receiving the first navigation enhancement information, injecting the first navigation enhancement information into a low earth orbit satellite through a terminal, and updating the navigation enhancement information of the whole low earth orbit satellite network into first navigation enhancement information based on an inter-satellite link;
receiving a global satellite navigation signal, and obtaining second navigation enhancement information according to the first navigation enhancement information and the global satellite navigation signal;
and modulating the first navigation enhancement information and the second navigation enhancement information to output third navigation enhancement information.
Preferably, the step of receiving the first navigation enhancement information, injecting the first navigation enhancement information into the low earth orbit satellite through the terminal, and updating the navigation enhancement information of the whole low earth orbit satellite network into the first navigation enhancement information based on the inter-satellite link includes:
receiving the first navigation enhancement information;
formatting the first navigation enhancement information according to data;
injecting the first navigation information into a low earth orbit satellite through an uplink communication link of a terminal;
and updating the navigation enhancement information of the whole low earth orbit satellite network into first navigation enhancement information based on the inter-satellite link.
Further, before updating the navigation enhancement information of the whole low earth orbit satellite network to the first navigation enhancement information based on the inter-satellite link, the navigation enhancement method further includes:
establishing same-orbit inter-satellite links among low-orbit satellites in the same orbit plane;
and establishing an inter-orbital satellite link between low-orbit satellites in different orbital planes.
Preferably, the step of modulating the first navigation enhancement information and the second navigation enhancement information to output third navigation enhancement information comprises:
reading an interface control instruction, and performing text arrangement on the first navigation enhancement information and the second navigation enhancement information according to the control instruction;
carrying out error correction coding, interleaving and spread spectrum processing on the arranged text;
and modulating the processed text to a preset frequency point to output third navigation enhancement information.
In particular, the third navigation enhancement information includes navigation information enhancement and navigation signal enhancement.
Specifically, the original navigation enhancement data includes a satellite number, a signal branch code, a pseudo code phase observed quantity, a carrier-to-noise ratio, a doppler frequency shift, and a monitoring station weather.
Specifically, the first navigation enhancement information includes a global navigation satellite ephemeris, a global navigation satellite clock error, and a global navigation satellite health status.
Accordingly, the present invention also provides a navigation enhancement system, comprising:
the monitoring module is used for monitoring and storing original navigation enhancement data;
the processing module is used for processing the navigation enhancement data to obtain first navigation enhancement information;
the injection module is used for injecting the first navigation enhancement information into a low-orbit satellite through a terminal;
the updating module is used for updating the navigation enhancement information of the whole low earth orbit satellite network into first navigation enhancement information based on an inter-satellite link;
the generating module is used for obtaining second navigation enhancement information according to the first navigation enhancement information and the global satellite navigation signal;
and the modulation module is used for modulating the first navigation enhancement information and the second navigation enhancement information and outputting third navigation enhancement information.
Further, the navigation enhancement system further comprises:
and the link establishing module is used for establishing a same-orbit inter-satellite link or an inter-different-orbit inter-satellite link.
Further, the modulation module comprises:
the reading module is used for reading the interface control instruction;
the arrangement module is used for carrying out text arrangement on the first navigation enhancement information and the second navigation enhancement information according to the control instruction;
a correction module for carrying out error correction coding, interleaving and spread spectrum processing on the arranged text
The embodiment of the invention has the following beneficial effects:
according to the navigation enhancement method and the system, the first navigation enhancement information is injected into the low-orbit satellite through the terminal, the global satellite navigation signal is synthesized to generate the second navigation enhancement information, the third navigation enhancement information is generated by modulation, and centimeter-level positioning and nanosecond-level time service are realized by utilizing the global coverage characteristic of the whole low-orbit satellite network.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a navigation enhancement method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a navigation enhancement system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another navigation enhancement system provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an inter-satellite link established in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that reference herein to "an embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated, whereby the features defined as "first", "second", "third" may explicitly or implicitly include one or more of such features. Also, the terms "first," "second," and "third" are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that such usage data may be interchanged under appropriate circumstances such that embodiments of the invention described herein may be practiced in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of steps and modules is not necessarily limited to a list of steps and modules that is expressly listed, but may include other steps and modules not expressly listed or inherent to the method and system herein.
Examples
Referring to fig. 1, which is a flow chart illustrating a navigation enhancement method according to an embodiment of the present invention, the present specification provides the steps shown in the flow chart, but may include more or less steps based on conventional or non-inventive labor. In the actual enhancement process, it can be executed according to the flow steps shown in the figure. The navigation enhancement method comprises the following steps:
s110, monitoring and storing original navigation enhancement data;
it should be noted that, in the embodiment of this specification, the original navigation enhancement data includes data such as a satellite number, a signal branch code, a pseudo code phase observed quantity, a carrier-to-noise ratio, a doppler shift, and a monitoring station weather.
In the embodiment of the present disclosure, the original navigation enhancement data is monitored by monitoring stations, where the monitoring stations are tens or hundreds of global navigation satellite monitoring stations and low-earth orbit satellite monitoring stations distributed around the world, and are fixed stations for monitoring global navigation satellite signals and low-earth orbit satellite navigation enhancement signals. The global navigation satellite monitoring station can be an international global navigation service center monitoring station, can also be a monitoring station of an international navigation monitoring and evaluating system, and can also be a global navigation satellite monitoring station which is self-built and arranged in the global scope; the low-orbit satellite monitoring station is a monitoring station which is self-built and arranged in the global scope and is used for monitoring the low-orbit satellite navigation enhancement signals.
S120, processing the navigation enhancement data to obtain first navigation enhancement information and outputting the first navigation enhancement information;
in an embodiment of the present disclosure, the first navigation enhancement information includes information such as a global navigation satellite ephemeris, a global navigation satellite clock error, and a global navigation satellite health status. The global navigation satellite ephemeris is specifically a global navigation satellite ephemeris with variable update frequency; the global navigation satellite clock error is specifically global navigation satellite clock error with variable update frequency.
In the embodiment of the present specification, the navigation enhancement data is processed by the self-built data processing center of the present invention to obtain the first navigation enhancement information.
S130, receiving the first navigation enhancement information, injecting the first navigation enhancement information into a low-orbit satellite through a terminal, and updating the navigation enhancement information of the whole low-orbit satellite network into first navigation enhancement information based on an inter-satellite link;
in the embodiment of the present specification, the whole network of low-earth satellites includes tens to hundreds of low-earth satellites distributed in a plurality of orbital planes, and coverage of any place including land and sea in the world can be achieved.
In this embodiment of the present specification, the step of receiving the first navigation enhancement information, injecting the first navigation enhancement information into the low earth orbit satellite through the terminal, and updating the navigation enhancement information of the whole low earth orbit satellite network into the first navigation enhancement information based on the inter-satellite link may specifically be:
receiving the first navigation enhancement information;
formatting the first navigation enhancement information according to data;
injecting the first navigation information into a low earth orbit satellite through an uplink communication link of a terminal;
and updating the navigation enhancement information of the whole low earth orbit satellite network into first navigation enhancement information based on the inter-satellite link.
In the embodiment of the specification, the terminal has two functions of communication and navigation, not only is used as an information injection station to inject the navigation enhancement information into the low-orbit satellite, but also can directly receive the global satellite navigation signal and the low-orbit satellite navigation enhancement signal to realize high-precision positioning and time service.
As shown in fig. 4, in this embodiment of the present disclosure, before updating the navigation enhancement information of the entire network of low earth orbit satellites to the first navigation enhancement information based on the inter-satellite link, the navigation enhancement method further includes: establishing same-orbit inter-satellite links among low-orbit satellites in the same orbit plane; different-orbit inter-satellite links are established among low-orbit satellites in different orbital planes, so that one-satellite-communication and one-satellite-communication are realized.
S140, receiving a global satellite navigation signal, and obtaining second navigation enhancement information according to the first navigation enhancement information and the global satellite navigation signal;
in the embodiment of the present specification, the low earth orbit satellite receives global navigation enhancement information, and completes on-satellite precise single point positioning according to the first navigation enhancement information updated by the whole network.
S150, modulating the first navigation enhancement information and the second navigation enhancement information to output third navigation enhancement information;
in an embodiment of this specification, the step of modulating the first navigation enhancement information and the second navigation enhancement information to output third navigation enhancement information specifically includes:
reading an interface control instruction, and performing text arrangement on the first navigation enhancement information and the second navigation enhancement information according to the control instruction;
carrying out error correction coding, interleaving and spread spectrum processing on the arranged text;
and modulating the processed text to a preset frequency point to output third navigation enhancement information.
In an embodiment of the present specification, the third navigation enhancement information includes navigation information enhancement and navigation signal enhancement.
Referring to fig. 2 and 3, there are shown schematic structural diagrams of two navigation enhancement systems provided by the embodiment of the present invention, which are as follows:
the navigation enhancement system includes:
a monitoring module 210 for monitoring and storing the original navigation enhancement data;
a processing module 220, configured to process the navigation enhancement data to obtain first navigation enhancement information;
an injection module 230, configured to inject, by the terminal, the first navigation enhancement information into a low earth orbit satellite;
and a link establishing module 240, configured to establish an inter-satellite link on the same orbit or an inter-satellite link on an off-orbit.
And the updating module 250 is configured to update the navigation enhancement information of the whole low earth orbit satellite network to the first navigation enhancement information based on the inter-satellite link.
A generating module 260, configured to obtain second navigation enhancement information according to the first navigation enhancement information and the global satellite navigation signal;
a modulation module 270, configured to modulate the first navigation enhancement information and the second navigation enhancement information to output third navigation enhancement information.
In an embodiment of the present specification, the modulation module includes:
the reading module is used for reading the interface control instruction;
the arrangement module is used for carrying out text arrangement on the first navigation enhancement information and the second navigation enhancement information according to the control instruction;
and the correction module is used for carrying out error correction coding, interleaving and spread spectrum processing on the arranged text.
By adopting the navigation enhancement method and the system provided by the embodiment of the invention, the first navigation enhancement information is injected into the low-orbit satellite through the terminal, the global satellite navigation signal is synthesized to generate the second navigation enhancement information, the third navigation enhancement information is generated by modulation, and centimeter-level positioning and nanosecond-level time service are realized by utilizing the global coverage characteristic of the whole low-orbit satellite network.
It should be noted that: the foregoing descriptions of the embodiments of the present invention are provided for illustration only, and not for the purpose of limiting the invention as defined by the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments. In particular, as for the embodiment of the apparatus, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by instructions associated with hardware via a program, which may be stored in a computer readable medium.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A navigation enhancement method, characterized in that the navigation enhancement method comprises:
monitoring and storing original navigation enhancement data;
processing the navigation enhancement data to obtain first navigation enhancement information and outputting the first navigation enhancement information;
receiving the first navigation enhancement information, injecting the first navigation enhancement information into a low earth orbit satellite through a terminal, and updating the navigation enhancement information of the whole low earth orbit satellite network into first navigation enhancement information based on an inter-satellite link;
receiving a global satellite navigation signal, and obtaining second navigation enhancement information according to the first navigation enhancement information and the global satellite navigation signal;
and modulating the first navigation enhancement information and the second navigation enhancement information to output third navigation enhancement information.
2. The method of claim 1, wherein the step of receiving the first navigation enhancement message, injecting the first navigation enhancement message into the low earth orbit satellite through the terminal, and updating the navigation enhancement message of the whole network of the low earth orbit satellite into the first navigation enhancement message based on the inter-satellite link comprises:
receiving the first navigation enhancement information;
formatting the first navigation enhancement information according to data;
injecting the first navigation information into a low earth orbit satellite through an uplink communication link of a terminal;
and updating the navigation enhancement information of the whole low earth orbit satellite network into first navigation enhancement information based on the inter-satellite link.
3. The navigation enhancement method according to claim 1, wherein before updating the navigation enhancement information of the entire network of low earth orbit satellites to the first navigation enhancement information based on the inter-satellite link, the navigation enhancement method further comprises:
establishing same-orbit inter-satellite links among low-orbit satellites in the same orbit plane;
and establishing an inter-orbital satellite link between low-orbit satellites in different orbital planes.
4. The method of claim 1, wherein modulating the first navigation enhancement information and the second navigation enhancement information to output third navigation enhancement information comprises:
reading an interface control instruction, and performing text arrangement on the first navigation enhancement information and the second navigation enhancement information according to the control instruction;
carrying out error correction coding, interleaving and spread spectrum processing on the arranged text;
and modulating the processed text to a preset frequency point to output third navigation enhancement information.
5. The navigation enhancement method of claim 1, wherein the third navigation enhancement information comprises navigation information enhancement and navigation signal enhancement.
6. The method of claim 1, wherein the raw navigation augmentation data comprises satellite numbers, signal branch codes, pseudo code phase observations, carrier-to-noise ratios, doppler shifts, and station weather.
7. The method of claim 1, wherein the first navigation enhancement information comprises gnss ephemeris, gnss clock error and gnss health.
8. A navigation enhancement system, comprising:
the monitoring module is used for monitoring and storing original navigation enhancement data;
the processing module is used for processing the navigation enhancement data to obtain first navigation enhancement information;
the injection module is used for injecting the first navigation enhancement information into a low-orbit satellite through a terminal;
the updating module is used for updating the navigation enhancement information of the whole low earth orbit satellite network into first navigation enhancement information based on an inter-satellite link;
the generating module is used for obtaining second navigation enhancement information according to the first navigation enhancement information and the global satellite navigation signal;
and the modulation module is used for modulating the first navigation enhancement information and the second navigation enhancement information and outputting third navigation enhancement information.
9. The navigation augmentation system of claim 8, further comprising:
and the link establishing module is used for establishing a same-orbit inter-satellite link or an inter-different-orbit inter-satellite link.
10. The navigation enhancement system of claim 8, wherein the modulation module comprises:
the reading module is used for reading the interface control instruction;
the arrangement module is used for carrying out text arrangement on the first navigation enhancement information and the second navigation enhancement information according to the control instruction;
and the correction module is used for carrying out error correction coding, interleaving and spread spectrum processing on the arranged text.
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Application publication date: 20211210 |