CN114624735A - Processing method for realizing deep space GNSS navigation by Beidou navigation terminal - Google Patents

Processing method for realizing deep space GNSS navigation by Beidou navigation terminal Download PDF

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Publication number
CN114624735A
CN114624735A CN202210226695.XA CN202210226695A CN114624735A CN 114624735 A CN114624735 A CN 114624735A CN 202210226695 A CN202210226695 A CN 202210226695A CN 114624735 A CN114624735 A CN 114624735A
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navigation
satellite
beidou
navigation terminal
beidou navigation
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刘坤
薛志芹
邹国际
刘盛典
陈静
张康宁
陈高峰
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Space Star Technology Co Ltd
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Space Star Technology 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
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • 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
    • G01S19/38—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

Abstract

The invention relates to a processing method for realizing deep space GNSS navigation by a Beidou navigation terminal, belonging to the technical field of Beidou satellite navigation, which comprises the following steps: s1, roughly correcting the local time of the Beidou navigation terminal by using a ground measurement and control station; s2, acquiring track parameters of the upper notes of the ground measurement and control station; s3, completing visibility forecast of the navigation satellite by using the Beidou navigation terminal according to the track parameters; s4, capturing and tracking a first navigation satellite low-rate code signal by using a Beidou navigation terminal according to a forecasted navigation satellite, and resolving observation information; s5, accurately correcting local time by using the Beidou navigation terminal according to the observation information; s6, completing signal processing of the rest visible navigation satellites by using the Beidou navigation terminal; and S7, after the Beidou navigation terminal is used for capturing and tracking a plurality of navigation satellites, positioning and resolving of the Beidou navigation terminal are completed. The invention can effectively realize the position determination of the Beidou navigation terminal in the deep space environment.

Description

Processing method for realizing deep space GNSS navigation by Beidou navigation terminal
Technical Field
The invention relates to the technical field of Beidou satellite navigation, in particular to a processing method for realizing deep space GNSS navigation by a Beidou navigation terminal.
Background
The deep space detector needs to rely on various means to determine the position of the deep space detector in the deep space detection process so as to ensure that the detector can accurately reach a destination or return to the earth. With the completion of the establishment of the GNSS navigation system, the positioning method relying on the GNSS navigation system also becomes an important application means for the deep space exploration of the detector, and therefore, a processing method for realizing the deep space GNSS navigation by the beidou navigation terminal (detector) is required to be provided for the characteristics of the beidou navigation system.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a processing method for realizing deep space GNSS navigation by a Beidou navigation terminal, which can solve the problem that the existing signal processing method cannot quickly realize acquisition tracking and text interpretation of a navigation satellite, so that navigation and positioning cannot be realized, and can effectively realize position determination of the Beidou navigation terminal in a deep space environment.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention provides a processing method for realizing deep space GNSS navigation by a Beidou navigation terminal, which comprises the following steps:
s1, roughly correcting the local time of the Beidou navigation terminal by using a ground measurement and control station;
s2, acquiring track parameters injected on the ground measurement and control station;
s3, completing visibility forecast of a navigation satellite by using the Beidou navigation terminal according to the orbit parameters;
s4, capturing and tracking a first navigation satellite low-rate code signal by using the Beidou navigation terminal according to a forecasted navigation satellite, and resolving observation information;
s5, accurately correcting local time by using the Beidou navigation terminal according to observation information;
s6, completing signal processing of the rest visible navigation satellites by using the Beidou navigation terminal;
and S7, completing positioning calculation of the Beidou navigation terminal after capturing and tracking a plurality of navigation satellites by using the Beidou navigation terminal.
According to an aspect of the invention, in step S1, the time service precision of the Beidou navigation terminal is less than one navigation message frame period of the Beidou navigation signal when the Beidou navigation terminal is calibrated by the ground measurement and control station, and the Beidou navigation terminal can initialize the local time after the time calibration, so that the local time accuracy of the Beidou navigation terminal does not exceed one message frame period.
According to an aspect of the present invention, in step S2, the beidou navigation terminal obtains all navigation satellite ephemeris of the current navigation system and orbit parameter information of the aircraft where the beidou navigation terminal is located, where the beidou navigation terminal includes valid navigation satellite orbit parameters, which are annotated by the ground measurement and control station.
According to an aspect of the present invention, the step S3 includes:
s31, calculating the position of the navigation satellite according to the ephemeris of the navigation satellite acquired in the step S2
Figure BDA0003539499370000021
Calculating the position of the aircraft according to the aircraft track parameter information acquired in the step S2
Figure BDA0003539499370000022
The visual vector of the aircraft to the navigation satellite is:
Figure BDA0003539499370000023
the visual vector for navigating the satellite to the earth's center is:
Figure BDA0003539499370000024
wherein the content of the first and second substances,
Figure BDA0003539499370000025
coordinates (0,0,0) for the geocentric;
s32, visual vectors from the aircraft to the navigation satellite
Figure BDA0003539499370000026
And a visual vector for navigating the satellite to the center of the earth
Figure BDA00035394993700000211
Calculating the beam angle theta of the navigation satellite corresponding to the position of the aircraftxComprises the following steps:
Figure BDA0003539499370000028
based on the position of the navigation satellite
Figure BDA0003539499370000029
Calculating the earth shielding beam angle thetasComprises the following steps:
Figure BDA00035394993700000210
wherein r is the radius length of the earth;
s33, according to the beam angle thetaxAnd earth shielding beam angle thetasAnd judging the visibility of the navigation satellite received by the aircraft.
According to an aspect of the present invention, the specific determination process of step S33 is:
when theta isx＜θsWhen the aircraft is in use, the aircraft cannot receive a navigation signal broadcast by a navigation satellite, and the navigation satellite is invisible relative to the aircraft;
when theta iss＜θx＜θLWhen the aircraft receives the main lobe signal of the navigation signal broadcast by the navigation satellite;
when theta isx＞θLThe aircraft can receive a navigation signal side lobe signal broadcast by a navigation satellite;
wherein, thetaLMain lobe angle of navigation signal broadcast for navigation satellite when thetaLAt 23 °, θLFor the main lobe angle of the low-rate code signal of the navigation satellite, when thetaLAt 30 °, θLIs the main lobe angle of the high rate code signal of the navigation satellite.
According to an aspect of the invention, in the step S4, the beidou navigation terminal performs acquisition and tracking on the low-rate code signal of the visible navigation satellite according to the visibility of the navigation satellite in the step S3, and performs subsequent text message information processing and observation amount calculation.
According to an aspect of the present invention, in the step S5, the beidou navigation terminal accurately corrects the local time of the beidou navigation terminal according to the observation quantity calculated by the first navigation satellite in the step S4 according to the following formula:
Figure BDA0003539499370000031
wherein, TrIs the local time, T, of the Beidou navigation terminalsIn order to be the time of broadcast of the navigation signal,
Figure BDA0003539499370000032
to the position of the first navigation satellite,
Figure BDA0003539499370000033
is the position of the aircraft.
According to an aspect of the present invention, in step S6, the beidou navigation terminal acquires and tracks low-rate code signals and high-rate code signals of all visible navigation satellites except the first navigation satellite according to the visibility of the navigation satellite in step S3, and performs a process of resolving text information and observed quantity.
According to one aspect of the invention, the low-rate code signals are B1I frequency point satellite signals, and the high-rate code signals are B2a frequency point satellite signals.
According to an aspect of the present invention, in the step S7, when the beidou navigation terminal simultaneously tracks and resolves the number of navigation satellites exceeding 4 according to the text information and the observed quantity information of the navigation satellite processed in the step S6, the positioning resolution of the beidou navigation terminal can be completed.
Has the advantages that:
according to the scheme of the invention, the method can solve the problem that the existing signal processing method can not quickly realize acquisition tracking and text interpretation of the navigation satellite, thereby being incapable of realizing navigation positioning. The Beidou navigation terminal realizes that the Beidou navigation system telegraph text information is injected by depending on the ground measurement and control station under the deep space environment, the acquisition and tracking of broadcasting frequency points of the Beidou navigation system are realized, the observation information of the Beidou navigation satellite is obtained, and therefore the positioning resolving of the Beidou navigation terminal is realized. Through the information of the ground measurement and control station, the visibility prediction of the Beidou navigation satellite in the deep space environment can be effectively realized, the signal acquisition tracking processing of the visible satellite can be quickly realized, the time consumed by the polling search of the Beidou navigation terminal is reduced, the positioning application of the Beidou navigation terminal in a weak signal scene is realized, and a positioning application mode is added for the deep space detection application.
Drawings
Fig. 1 schematically shows a flowchart of a processing method for implementing deep space GNSS navigation by a beidou navigation terminal according to an embodiment of the present invention;
fig. 2 schematically shows an implementation example of a processing process of the beidou navigation terminal in the processing method for realizing deep space GNSS navigation by the beidou navigation terminal according to the embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can also be derived from them without inventive effort.
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
Fig. 1 of the present embodiment provides a processing method for performing navigation and positioning on a weak navigation signal (-below 154 dBm) that can be received by using a beidou navigation terminal in a deep space environment. As shown in fig. 1, the processing method for implementing deep space GNSS navigation using the beidou navigation terminal includes the steps of:
step S1, roughly correcting the local time of the Beidou navigation terminal by using the time correction of the ground measurement and control station;
s2, acquiring track parameters annotated on a ground measurement and control station;
step S3, completing visibility forecast of the navigation satellite by using the Beidou navigation terminal according to the orbit parameters;
s4, capturing and tracking the first low-rate code signal of the navigation satellite by using the Beidou navigation terminal according to the forecasted navigation satellite, and resolving observation information;
s5, accurately correcting local time by using the Beidou navigation terminal according to the observation information;
step S6, processing signals of the rest visible navigation satellites by using the Beidou navigation terminal;
and step S7, completing positioning calculation of the Beidou navigation terminal after capturing and tracking a plurality of navigation satellites by the Beidou navigation terminal. In this embodiment, after the terminal completes the acquisition and tracking processing of more than 4 navigation satellites, the positioning calculation of the terminal can be completed.
According to the concept of the invention, the processing method of the deep space GNSS navigation can effectively solve the problems that the Beidou navigation terminal acquires the uploading information of the ground measurement and control station in a deep space scene, the satellite visibility forecast is carried out, the capturing and tracking processing of the first satellite of the low-rate code signal is realized, the local time is accurately corrected, the capturing and tracking processing of the subsequent navigation frequency point is further completed, and the positioning calculation of the Beidou navigation terminal is completed after the processing of more than 4 navigation satellites is simultaneously realized. The Beidou navigation terminal realizes that the Beidou navigation system telegraph text is injected by depending on the ground measurement and control station in a deep space environment, the acquisition and tracking of broadcasting frequency points of the Beidou navigation system are realized, the observation information of the Beidou navigation satellite is obtained, and therefore the positioning resolving of the Beidou navigation terminal is realized. The scheme can solve the problem that the existing signal processing method can not quickly realize the acquisition tracking and the text interpretation of the navigation satellite, thereby being incapable of realizing navigation positioning.
In the process of completing the rough local time correction in the step S1, the time service precision of the Beidou navigation terminal is less than a navigation message frame period of the Beidou navigation signal when the Beidou navigation terminal is calibrated by the ground measurement and control station, and the Beidou navigation terminal can initialize the local time after the time calibration so that the local time accuracy of the Beidou navigation terminal does not exceed one message frame period.
In the process of acquiring the orbit parameters noted in the ground measurement and control station in step S2, the beidou navigation terminal acquires all the navigation satellite ephemeris of the current navigation system noted in the ground measurement and control station and the orbit parameter information of the aircraft where the beidou navigation terminal is located, and the navigation satellite ephemeris contains effective navigation satellite orbit parameters.
In this embodiment, the specific process of completing the visibility prediction of the navigation satellite in step S3 includes:
step S31, calculating the position of the navigation satellite according to the ephemeris of the navigation satellite acquired in the step S2
Figure BDA0003539499370000051
Calculating the position of the aircraft according to the aircraft orbit parameter information acquired in the step S2
Figure BDA0003539499370000052
The visual vector of the aircraft to the navigation satellite is therefore:
Figure BDA0003539499370000053
the visual vector for navigating the satellite to the earth's center is:
Figure BDA0003539499370000054
wherein the content of the first and second substances,
Figure BDA0003539499370000055
coordinates (0,0,0) of the geocenter;
step S32, according to the visual vector from the aircraft to the navigation satellite
Figure BDA0003539499370000056
And a visual vector for navigating the satellite to the center of the earth
Figure BDA0003539499370000057
Calculating the beam angle theta of the navigation satellite corresponding to the position of the aircraftxComprises the following steps:
Figure BDA0003539499370000061
based on the position of the navigation satellite
Figure BDA0003539499370000062
Calculating the earth shielding beam angle thetasComprises the following steps:
Figure BDA0003539499370000063
wherein r is the radius length of the earth;
step S33, according to the beam angle thetaxAnd the earth shielding beam angle thetasJudging the visibility of the aircraft for receiving the navigation satellite: when theta isx＜θsIn time, the aircraft cannot receive the navigation signal broadcast by the navigation satellite, and the navigation satellite is invisible relative to the aircraft;
when theta iss＜θx＜θLWhen the aircraft receives the main lobe signal of the navigation signal broadcast by the navigation satellite;
when theta isx＞θLThe aircraft can receive a navigation signal side lobe signal broadcast by a navigation satellite;
wherein, thetaLFor navigatingAngle of main lobe of satellite broadcast navigation signal, when thetaLWhen the angle is about 23 degrees, thetaLFor the main lobe angle of the low-rate code signal of the navigation satellite, when thetaLWhen about 30 degrees, thetaLIs the main lobe angle of the high rate code signal of the navigation satellite.
In the process of completing the capturing and tracking processing of the first navigation satellite low-rate code signal in the step S4, the beidou navigation terminal captures and tracks the low-rate code signal of the visible navigation satellite according to the visibility of the navigation satellite in the step S3, and performs subsequent message information processing and observation quantity calculation.
In the process of accurately correcting the local time in the step S5, the Beidou navigation terminal accurately corrects the local time of the Beidou navigation terminal according to the observed quantity calculated by the first navigation satellite in the step S4 and the following formula:
Figure BDA0003539499370000064
wherein, TrLocal time, T, for the Beidou navigation terminalsIn order to be the time of broadcast of the navigation signal,
Figure BDA0003539499370000065
to the position of the first navigation satellite,
Figure BDA0003539499370000066
is the position of the aircraft.
In the process of completing the processing of the remaining visible navigation satellite signals in the step S6, the beidou navigation terminal captures and tracks the low-rate code signals and the high-rate code signals of all the remaining visible navigation satellites except the first navigation satellite according to the visibility of the navigation satellite in the step S3, and performs subsequent message information processing and observation amount processing.
In the process of completing the positioning calculation of the beidou navigation terminal in the step S7, when the number of the navigation satellites capable of being tracked and calculated simultaneously exceeds 4 according to the navigation satellite results (text information and observed quantity information) processed in the step S6, the positioning calculation of the beidou navigation terminal can be completed.
Fig. 2 is an implementation example of a processing process of the beidou navigation terminal in the processing method for realizing deep space GNSS navigation by the beidou navigation terminal of the present invention. In this embodiment, as shown in fig. 2, the processing procedure of the beidou navigation terminal specifically includes the following steps:
step S201, a Beidou navigation terminal acquires the upper note information of a ground measurement and control station;
s202, the Beidou navigation terminal calculates the position of a navigation satellite according to the above-noted navigation ephemeris and calculates the position of an aircraft according to the above-noted aircraft orbit parameters;
step S203, the Beidou navigation terminal calculates the visibility of the low-rate code frequency point B1I frequency point satellite according to the position of the navigation satellite and the position of the aircraft, and the visible satellite forecast of the navigation satellite is carried out;
step S204, the Beidou navigation terminal completes the acquisition and tracking processing of the B1I frequency point satellite signals;
step S205, the Beidou navigation terminal performs corresponding observation information processing on the satellite which completes the satellite signal processing of the B1I frequency point;
step S206, judging whether the processing of the visible satellites of the B1I frequency point by the Beidou navigation terminal is finished, continuing to execute the step S207 after all the visible satellites of the B1I frequency point are processed, and switching the next visible satellite and executing the step S204 if the processing is not finished;
step S207, the Beidou navigation terminal performs fine correction on the local time of the Beidou navigation terminal according to the finished observation information of the satellite signals of the B1I frequency points;
step S208, the Beidou navigation terminal starts to conduct visibility forecast processing on the high-rate code signal B2a frequency point satellite;
s209, the Beidou navigation terminal completes the acquisition and tracking processing of the B2a frequency point satellite signals;
step S210, the Beidou navigation terminal performs corresponding observation information processing on the satellite which completes the satellite signal processing of the B2a frequency point;
step S211, judging whether the processing of the visible satellites of the B2a frequency point by the Beidou navigation terminal is finished, continuing to execute the step S212 after all the visible satellites of the B2a frequency point are processed, and switching to the next visible satellite and executing the step S209 if the processing is not finished;
step S212, the Beidou navigation terminal judges whether the number of the navigation satellites capable of stably obtaining the observed quantity currently exceeds 4, if the number of the navigation satellites exceeds 4, the step S213 is executed, and if the number of the navigation satellites exceeds 4, the next round of visible satellite processing is started and the step S202 is executed;
and S213, the Beidou navigation terminal completes positioning calculation to obtain the position of the Beidou navigation terminal.
According to the scheme, the visibility prediction of the Beidou navigation satellite in the deep space environment can be effectively realized through the information on the ground measurement and control station, the signal acquisition and tracking processing of the visible satellite can be quickly realized, the time consumed by polling search of the Beidou navigation terminal is reduced, the positioning application of the Beidou navigation terminal in a weak signal scene is realized, and a positioning application mode is added for the deep space detection application.
The sequence numbers of the above steps related to the method of the present invention do not mean the order of execution of the method, and the order of execution of the steps should be determined by their functions and inherent logic, and should not limit the implementation process of the embodiment of the present invention.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. A processing method for realizing deep space GNSS navigation by a Beidou navigation terminal comprises the following steps:
s1, roughly correcting the local time of the Beidou navigation terminal by using a ground measurement and control station;
s2, acquiring track parameters injected on the ground measurement and control station;
s3, completing visibility forecast of a navigation satellite by using the Beidou navigation terminal according to the orbit parameters;
s4, capturing and tracking a low-rate code signal of a first navigation satellite by using the Beidou navigation terminal according to a forecasted navigation satellite, and resolving observation information;
s5, accurately correcting local time by using the Beidou navigation terminal according to observation information;
s6, completing signal processing of the rest visible navigation satellites by using the Beidou navigation terminal;
and S7, completing positioning calculation of the Beidou navigation terminal after capturing and tracking a plurality of navigation satellites by using the Beidou navigation terminal.
2. The processing method according to claim 1, wherein in step S1, the time service precision of the beidou navigation terminal is less than one navigation message frame period of the beidou navigation signal when the beidou navigation terminal is calibrated by the ground measurement and control station, and the beidou navigation terminal can initialize the local time after the time service so that the local time accuracy of the beidou navigation terminal does not exceed one message frame period.
3. The processing method according to claim 1, wherein in step S2, the beidou navigation terminal obtains all navigation satellite ephemeris of a current navigation system and orbit parameter information of an aircraft where the beidou navigation terminal is located, which are annotated by a ground measurement and control station, and the navigation satellite ephemeris contains valid navigation satellite orbit parameters.
4. The processing method according to claim 3, wherein the step S3 includes:
s31, calculating the position of the navigation satellite according to the ephemeris of the navigation satellite acquired in the step S2
Figure FDA0003539499360000011
Calculating the position of the aircraft according to the aircraft track parameter information acquired in the step S2
Figure FDA0003539499360000012
The aircraft to navigation satellite visibility vector is:
Figure FDA0003539499360000013
the visual vector for navigating the satellite to the earth's center is:
Figure FDA0003539499360000014
wherein the content of the first and second substances,
Figure FDA0003539499360000015
coordinates (0,0,0) for the geocentric;
s32, visual vectors from the aircraft to the navigation satellite
Figure FDA0003539499360000016
And a visual vector for navigating the satellite to the center of the earth
Figure FDA0003539499360000017
Calculating the beam angle theta of the navigation satellite corresponding to the position of the aircraftxComprises the following steps:
Figure FDA0003539499360000021
based on the position of the navigation satellite
Figure FDA0003539499360000022
Calculating the earth shielding beam angle thetasComprises the following steps:
Figure FDA0003539499360000023
wherein r is the radius length of the earth;
s33, according to the beam angle thetaxAnd earth shielding beam angle thetasAnd judging the visibility of the navigation satellite received by the aircraft.
5. The processing method according to claim 4, wherein the specific determination process of step S33 is:
when theta isx＜θsIn time, the aircraft cannot receive the navigation signal broadcast by the navigation satellite, and the navigation satellite is invisible relative to the aircraft;
when theta iss＜θx＜θLWhen the aircraft receives the main lobe signal of the navigation signal broadcast by the navigation satellite;
when theta isx＞θLThe aircraft can receive a navigation signal side lobe signal broadcast by a navigation satellite;
wherein, thetaLAngle of main lobe of navigation signal broadcast for navigation satellite when thetaLAt 23 °, θLFor the main lobe angle of the low-rate code signal of the navigation satellite, when thetaLAt 30 °, θLIs the main lobe angle of the high rate code signal of the navigation satellite.
6. The processing method according to claim 1, wherein in the step S4, the beidou navigation terminal performs acquisition and tracking on the low-rate code signals of the visible navigation satellites according to the visibility of the navigation satellites in the step S3, and performs subsequent text information processing and observation amount calculation.
7. The processing method according to claim 1, wherein in the step S5, the beidou navigation terminal accurately corrects the local time of the beidou navigation terminal according to the observation quantity solved by the first navigation satellite in the step S4 according to the following formula:
Figure FDA0003539499360000024
wherein, TrIs the local time, T, of the Beidou navigation terminalsIn order to be the time of broadcast of the navigation signal,
Figure FDA0003539499360000025
to the position of the first navigation satellite,
Figure FDA0003539499360000026
is the position of the aircraft.
8. The processing method according to claim 1, wherein in the step S6, the beidou navigation terminal performs acquisition and tracking on the low-rate code signals and the high-rate code signals of all visible navigation satellites except the first navigation satellite according to the visibility of the navigation satellite in the step S3, and performs the resolving process of the text information and the observed quantity.
9. The processing method as claimed in claim 8, wherein the low-rate code signals are B1I frequency-point satellite signals, and the high-rate code signals are B2a frequency-point satellite signals.
10. The processing method according to claim 1, wherein in step S7, the positioning solution of the beidou navigation terminal is completed when the beidou navigation terminal simultaneously tracks and solves the number of navigation satellites exceeding 4 according to the text information and the observed quantity information of the navigation satellite processed in step S6.
CN202210226695.XA 2022-03-09 2022-03-09 Processing method for realizing deep space GNSS navigation by Beidou navigation terminal Pending CN114624735A (en)

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