CN114509790A - Positioning method and positioning system based on low-orbit satellite constellation - Google Patents

Positioning method and positioning system based on low-orbit satellite constellation Download PDF

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Publication number
CN114509790A
CN114509790A CN202210148322.5A CN202210148322A CN114509790A CN 114509790 A CN114509790 A CN 114509790A CN 202210148322 A CN202210148322 A CN 202210148322A CN 114509790 A CN114509790 A CN 114509790A
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China
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satellite
orbit
low
positioning
earth
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Inventor
吕强
宋博
王捷
刘雪强
李瑞凯
杨立业
李阳
郭云龙
刘金全
许建辉
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Beijing Guodian Gaoke Technology Co ltd
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Beijing Guodian Gaoke Technology Co ltd
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Priority to CN202210148322.5A priority Critical patent/CN114509790A/en
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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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)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application discloses a positioning method and a positioning system based on a low earth orbit satellite constellation, wherein the positioning method comprises the following steps: controlling a ground station to generate and regularly transmit a satellite orbit determination signal; performing orbit and time calibration on each low-orbit satellite in a low-orbit satellite constellation according to the satellite orbit determination signal; controlling all low-orbit satellites to generate and regularly transmit satellite positioning signals; when the ground receiver receives satellite positioning signals of a single low-orbit satellite, positioning calculation is carried out on the satellite positioning signals according to the Doppler technology, and positioning position information is obtained. The positioning mode of the low-orbit satellite constellation can obviously reduce the manufacturing cost of the positioning system.

Description

Positioning method and positioning system based on low-orbit satellite constellation
Technical Field
The present invention relates to the field of satellite positioning technologies, and in particular, to a positioning method and a positioning system based on a low earth orbit satellite constellation.
Background
The positioning systems known by modern people are GPS, Beidou and other positioning systems, and both the two systems adopt pseudo-range positioning technology. In principle, the ground receiver firstly obtains the precise orbit of the satellite by receiving the navigation message of the satellite, and simultaneously receives a plurality of carriers with pseudo code information of the satellite, so that the pseudo distance between the receiver and the satellite can be obtained (due to clock error on the ground and the satellite), and then the position of the receiver can be calculated, and the positioning accuracy of the two systems can reach 10-meter-level accuracy.
However, the satellite using pseudo-range positioning technique is expensive to build, and a clock difference of 1 microsecond (us) results in 300000000 × 10 for strict clock synchronization between satellites-6Positioning error of =300 meters, so the satellite is equipped with an expensive high-precision clock; in addition, in order to ensure the stability of the orbit, the satellite adopts a medium and high orbit, and the satellite is expensive in manufacturing cost; and more than 3 satellites must be used simultaneously for positioning. Therefore, the cost of the satellite is high when the pseudo positioning technology is used.
Disclosure of Invention
In order to solve the problem that the cost is high when a satellite positioning system uses a pseudo positioning technology, the application provides a positioning method and a positioning system based on a low-orbit satellite constellation.
In a first aspect, the present application provides a positioning method based on a low earth orbit satellite constellation, which adopts the following technical scheme:
a positioning method based on a low-orbit satellite constellation is applied to a positioning system based on the low-orbit satellite constellation, the positioning system comprises a ground station, the low-orbit satellite constellation and a ground receiver, the low-orbit satellite constellation comprises a plurality of low-orbit satellites, and the positioning method comprises the following steps:
controlling the ground station to generate and regularly transmit a satellite orbit determination signal;
the low-orbit satellite carries out orbit calibration on each low-orbit satellite in the low-orbit satellite constellation according to the satellite orbit determination signal;
controlling all low-orbit satellites to generate and regularly transmit satellite positioning signals;
and when the ground receiver receives satellite positioning signals of a single low-orbit satellite, positioning and resolving are carried out on the satellite positioning signals according to the Doppler technology to obtain positioning position information.
By adopting the technical scheme, the ground station can realize the orbit and time calibration of each low-orbit satellite, so that a high-precision clock source is prevented from being installed on the satellite; because the orbit of the low-orbit satellite in the low-orbit satellite constellation is low, the mobile speed is high, the Doppler effect is large, the positioning can be realized only by positioning and resolving the satellite positioning signal of a single low-orbit satellite according to the Doppler technology, and compared with 3 satellite positioning, the number of satellites required by positioning is reduced; the cost of low orbit satellites is significantly lower than that of high orbit satellites. Therefore, the cost of manufacturing the positioning system can be obviously reduced by using the low-orbit satellite constellation.
Optionally, the low-earth orbit satellite constellation includes 36 low-earth orbit satellites, the dip angles of all the low-earth orbit satellites are 45 degrees, and all the low-earth orbit satellites are equally distributed on the low-earth orbit at the same height.
Optionally, the controlling the ground station to generate and transmit a satellite orbit determination signal includes:
acquiring the satellite number and the ground inclination angle value of the low-orbit satellite constellation;
calculating to obtain the transit time of each low-orbit satellite passing above the ground station according to the number of the satellites and the dip angle value;
and controlling the ground station to generate and transmit a satellite orbit determination signal in the transit time.
Optionally, the positioning method further includes:
and controlling the ground station to generate and regularly transmit a satellite orbit determination signal in the transit time, wherein the satellite orbit determination signal is used for calibrating the time of each low-orbit satellite and calibrating the frequency of each low-orbit satellite.
Optionally, the controlling all the low-earth orbit satellites to generate and transmit the satellite positioning signals at regular time includes:
presetting the transmission interval duration and the signal format of a satellite positioning signal, wherein the signal format comprises the signal composition, the signal duration and the signal bandwidth of the satellite positioning signal;
generating a satellite positioning signal according to the signal format;
and transmitting the satellite positioning signal at fixed time according to the transmission interval duration.
Optionally, after the satellite positioning signal is transmitted according to the transmission interval duration, the method further includes:
and generating and transmitting a navigation message, wherein the navigation message is used for the ground receiver to navigate.
In a second aspect, the present application provides a positioning system based on a low earth orbit satellite constellation, which adopts the following technical solutions:
the system comprises a ground station, a low-orbit satellite constellation and a ground receiver, wherein the low-orbit satellite constellation comprises a plurality of low-orbit satellites;
the ground station control module is used for controlling the ground station to generate and regularly transmit satellite orbit determination signals;
the low-orbit satellite is used for calibrating the time and the orbit of the low-orbit satellite according to the satellite orbit determination signal;
the low-orbit satellite positioning module is used for controlling all low-orbit satellites to generate and regularly transmit satellite positioning signals;
the ground receiver positioning module is used for positioning and resolving the satellite positioning signal according to a Doppler technology when the ground receiver receives the satellite positioning signal of a single low earth orbit satellite to obtain positioning position information, and the positioning position information represents the position information of the ground receiver.
Optionally, the low-earth orbit satellite constellation includes 36 low-earth orbit satellites, the dip angles of all the low-earth orbit satellites are 45 degrees, and all the low-earth orbit satellites are equally distributed on the low-earth orbit at the same height.
Optionally, each low-orbit satellite is provided with a Beidou GPS receiver, and the Beidou GPS receiver is used for receiving a calibration signal of the Beidou satellite and calibrating the orbit and time of the corresponding low-orbit satellite;
the Beidou GPS receiver is used as a standby means for track and time calibration when the ground station cannot work normally or is not in the calibration range of the ground station.
In summary, the present application includes the following beneficial technical effects:
the ground station can realize the orbit and time calibration of each low-orbit satellite, so that a high-precision clock source is prevented from being installed on the satellite;
because the orbit of the low-orbit satellite in the low-orbit satellite constellation is low, the mobile speed is high, the Doppler effect is large, the positioning can be realized only by positioning and resolving the satellite positioning signal of a single low-orbit satellite according to the Doppler technology, and compared with 3 satellite positioning, the number of satellites required by positioning is reduced;
the cost of the low-orbit satellite is obviously reduced compared with that of the high-orbit satellite;
therefore, the cost of the positioning system can be obviously reduced by the positioning mode of the low-orbit satellite constellation.
Drawings
Fig. 1 is a schematic flow chart of the positioning method based on the low earth orbit satellite constellation according to the present application.
Fig. 2 is a schematic structural diagram of a positioning system based on a low earth orbit satellite constellation according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application discloses a positioning method based on a low earth orbit satellite constellation.
Referring to fig. 1, the positioning method includes:
and 101, controlling the ground station to generate and transmit the satellite orbit determination signal at fixed time.
The positioning method is applied to a positioning system based on a low-orbit satellite constellation, the positioning system comprises a ground station, the low-orbit satellite constellation and a ground receiver, the low-orbit satellite constellation comprises a plurality of low-orbit satellites, the low-orbit satellite constellation comprises 36 low-orbit satellites, the ground inclination angles of all the low-orbit satellites are 45 degrees, all the low-orbit satellites are uniformly distributed on a low earth orbit at the same height, the number of the satellites and the ground inclination angle values are already distributed when the low-orbit satellites are transmitted, the number of the satellites and the ground inclination angle values of the low-orbit satellite constellation are obtained, the transit time of each low-orbit satellite passing through the ground station is calculated according to the number of the satellites and the ground inclination angle values, the ground station is controlled to generate and transmit satellite orbit determination signals in the transit time, and specifically, a plurality of satellite orbit determination signals are transmitted every 15 s. The satellite orbit determination signal is used for calibrating the orbit height of each low orbit satellite, and because the orbit is low and influenced by the earth gravity, the orbit height can be deviated, and the calibration needs to be carried out to be constant.
It should be noted that, in addition to performing orbit calibration, the ground station may be controlled to generate and transmit a satellite timing signal and a satellite frequency calibration signal within the transit time, where the satellite timing signal is used to calibrate the time of each low-orbit satellite, and the satellite frequency calibration signal is used to calibrate the frequency of each low-orbit satellite;
and a Beidou GPS receiver can be arranged on a low-orbit satellite to be used as a backup means for satellite calibration orbit and time calibration.
And 102, the low-orbit satellite performs orbit calibration on the low-orbit satellite according to the satellite orbit determination signal.
And 103, controlling all low-orbit satellites to generate and transmit satellite positioning signals at fixed time.
The method comprises the steps of configuring the transmission interval duration and the signal format of a satellite positioning signal in advance, wherein the signal format comprises the signal composition, the signal duration and the signal bandwidth of the satellite positioning signal, assuming that the signal composition comprises 3 frequency-up symbols and one frequency-down symbol, the signal duration is 16ms, the signal bandwidth is 16k, generating the satellite positioning signal according to the signal format, and transmitting the satellite positioning signal according to the transmission interval duration.
It should be noted that the satellite positioning signal may adopt linear frequency modulation;
after the satellite positioning signal is transmitted, a navigation message can be generated and transmitted, the navigation message is used for navigation of a ground receiver, and the navigation message also adopts linear frequency modulation;
when the duration of the satellite positioning signal and the navigation message is 16ms and the bandwidth is 16k, the complexity of an algorithm when a ground receiver carries out capturing is greatly reduced, the capturing threshold reaches-150 dbm and is far lower than that of a Beidou GPS (global positioning system), and indoor positioning can be realized.
And 104, when the ground receiver receives the satellite positioning signal of a single low-orbit satellite, positioning and resolving the satellite positioning signal according to the Doppler technology to obtain positioning position information.
When the ground receiver receives satellite positioning signals of a single low-orbit satellite, positioning calculation is carried out on the satellite positioning signals according to the Doppler technology, and positioning position information is obtained.
The implementation principle of the application is as follows: the ground station can realize the orbit and time calibration of each low-orbit satellite, so that a high-precision clock source is prevented from being installed on the satellite; because the orbit of the low-orbit satellite in the low-orbit satellite constellation is low, the mobile speed is high, the Doppler effect is large, the positioning can be realized only by positioning and resolving the satellite positioning signal of a single low-orbit satellite according to the Doppler technology, and compared with 3 satellite positioning, the number of satellites required by positioning is reduced; the cost of low orbit satellites is significantly lower than that of high orbit satellites. Therefore, the cost can be obviously reduced by using the low-orbit satellite constellation.
In the above embodiment shown in fig. 1, a positioning method based on a low earth orbit satellite constellation is described in detail, and a positioning system based on a low earth orbit satellite constellation using the method is described below by an embodiment, as shown in fig. 2, the present application provides a positioning system based on a low earth orbit satellite constellation, including:
a ground station 201, a low earth orbit satellite constellation and a ground receiver 203, the low earth orbit satellite constellation comprising a plurality of low earth orbit satellites 202;
the ground station control module 204 is used for controlling the ground station 201 to generate and regularly transmit the satellite orbit determination signal;
the low-orbit satellite 202 is used for performing orbit and time calibration on the low-orbit satellite according to the satellite orbit determination signal;
a low-earth satellite positioning module 205 for controlling all low-earth satellites 202 to generate and transmit satellite positioning signals;
the ground receiver positioning module 206 is configured to perform positioning calculation on the satellite positioning signal according to a doppler technique when the ground receiver 203 receives the satellite positioning signal of the single low earth orbit satellite 202, so as to obtain positioning location information, where the positioning location information represents location information of the ground receiver 203.
The implementation principle of the application is as follows: the ground station 201 can realize orbit calibration of each low-orbit satellite 202, so that a high-precision clock source is prevented from being installed on the satellite; because the orbit of the low-orbit satellite 202 in the low-orbit satellite constellation is low, the moving speed is high, the Doppler effect is large, the positioning can be realized only by positioning and resolving the satellite positioning signal of a single low-orbit satellite 202 according to the Doppler technology, and compared with 3 satellite positioning, the number of satellites required by positioning is reduced; the cost of the low orbit satellite 202 is significantly lower than that of the high orbit satellite; therefore, the positioning mode of the low-orbit satellite constellation can obviously reduce the manufacturing cost.
The low-orbit satellite constellation comprises 36 low-orbit satellites, the dip angles of all the low-orbit satellites are 45 degrees, and all the low-orbit satellites are uniformly distributed on the low-orbit of the earth at the same height;
each low-orbit satellite is provided with a Beidou GPS receiver, and the Beidou GPS receiver is used for receiving a calibration signal of the Beidou satellite and carrying out orbit and time calibration on the corresponding low-orbit satellite;
the Beidou GPS receiver is used as a standby means for track and time calibration when the ground station can not work normally or is not in the calibration range of the ground station.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.

Claims (9)

1. A positioning method based on a low-earth-orbit satellite constellation is applied to a positioning system based on the low-earth-orbit satellite constellation, the positioning system comprises a ground station, the low-earth-orbit satellite constellation and a ground receiver, the low-earth-orbit satellite constellation comprises a plurality of low-earth-orbit satellites, and the positioning method comprises the following steps:
controlling a ground station to generate and regularly transmit a satellite orbit determination signal;
the low-orbit satellite carries out time and orbit calibration on the low-orbit satellite according to the received satellite orbit determination signal;
controlling all low-orbit satellites to generate and regularly transmit satellite positioning signals;
and when the ground receiver receives satellite positioning signals of a single low-orbit satellite, positioning and resolving are carried out on the satellite positioning signals according to the Doppler technology to obtain positioning position information.
2. The low-earth-orbit-satellite-constellation-based positioning method according to claim 1, wherein the low-earth-orbit-satellite constellation comprises 36 low-earth-orbit satellites, all of which have an earth inclination angle of 45 degrees and are distributed on the earth low-earth-orbit at the same height.
3. The low-earth satellite constellation-based positioning method of claim 2, wherein controlling the ground station to generate and transmit a satellite orbit determination signal comprises:
acquiring the satellite number and the ground inclination angle value of the low-orbit satellite constellation;
calculating to obtain the transit time of each low-orbit satellite passing above the ground station according to the number of the satellites and the dip angle value;
and controlling the ground station to generate and transmit a satellite orbit determination signal in the transit time.
4. The low-earth-orbit satellite-constellation-based positioning method of claim 3, further comprising:
and controlling the ground station to generate and regularly transmit a satellite orbit determination signal in the transit time, wherein the satellite orbit determination signal is used for calibrating the time of each low-orbit satellite and calibrating the orbit of each low-orbit satellite.
5. The low-earth satellite constellation-based positioning method of claim 2, wherein the controlling all low-earth satellites to generate and transmit satellite positioning signals at regular time comprises:
presetting the transmission interval duration and the signal format of a satellite positioning signal, wherein the signal format comprises the signal composition, the signal duration and the signal bandwidth of the satellite positioning signal;
generating a satellite positioning signal according to the signal format;
and transmitting the satellite positioning signal at fixed time according to the transmission interval duration.
6. The low-earth-orbit satellite constellation-based positioning method according to claim 5, wherein after the satellite positioning signal is transmitted periodically according to the transmission interval duration, the method further comprises:
and generating and transmitting a navigation message, wherein the navigation message is used for the ground receiver to navigate.
7. A positioning system based on a low earth orbit satellite constellation, comprising:
the system comprises a ground station, a low-orbit satellite constellation and a ground receiver, wherein the low-orbit satellite constellation comprises a plurality of low-orbit satellites;
the ground station control module is used for controlling the ground station to generate and regularly transmit satellite orbit determination signals;
the low-orbit satellite is used for calibrating the time and the orbit of the low-orbit satellite according to the satellite orbit determination signal;
the low-orbit satellite positioning module is used for controlling all low-orbit satellites to generate and regularly transmit satellite positioning signals;
the ground receiver positioning module is used for positioning and resolving the satellite positioning signal according to a Doppler technology when the ground receiver receives the satellite positioning signal of a single low earth orbit satellite to obtain positioning position information, and the positioning position information represents the position information of the ground receiver.
8. The low-orbiting satellite constellation based on claim 7, wherein said low-orbiting satellite constellation comprises 36 low-orbiting satellites, all having a geostationary angle of 45 degrees, all distributed in the same altitude of the earth's low-orbiting orbit.
9. The low-earth-orbit-satellite-constellation-based positioning system of claim 8, wherein each low-earth-orbit satellite is provided with a Beidou GPS receiver, and the Beidou GPS receiver is used for receiving calibration signals of the Beidou satellite and carrying out orbit and time calibration on the corresponding low-earth-orbit satellite;
the Beidou GPS receiver is used as a standby means for track and time calibration when the ground station cannot work normally or is not in the calibration range of the ground station.
CN202210148322.5A 2022-02-17 2022-02-17 Positioning method and positioning system based on low-orbit satellite constellation Pending CN114509790A (en)

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CN116155367B (en) * 2023-04-17 2023-07-04 北京国电高科科技有限公司 Data transmission method, device, system, electronic equipment and medium

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Application publication date: 20220517