CN114814908A - Simulation system for low-earth-orbit satellite monitoring GNSS - Google Patents
Simulation system for low-earth-orbit satellite monitoring GNSS Download PDFInfo
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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
- G01S19/38—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
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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
- G01S19/38—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
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
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Abstract
The invention discloses a simulation system for monitoring a GNSS (global navigation satellite system) by a low-earth-orbit satellite, belonging to the technical field of satellite navigation and positioning. The system comprises: the system comprises a medium and low orbit satellite orbit clock error simulation unit, a low orbit satellite borne data simulation unit, a medium and high orbit satellite ground data simulation unit, a low orbit satellite navigation enhancement data simulation unit, a static ground target simulation unit, a data real-time flow simulation unit and a test management unit. The method can accurately simulate the track and observation data of the medium and low orbit satellites, and can simulate the method and performance of the low orbit satellites for monitoring the medium and low orbit satellites in real time. The invention improves the fidelity of simulation through a high-fidelity model and multi-scene simulation, reduces the test deviation of a simulation test result and a real test result, and can be applied to the test evaluation of a future low-orbit satellite monitoring GNSS system.
Description
Technical Field
The invention belongs to the technical field of satellite navigation and positioning, and particularly relates to a simulation system for detecting and monitoring a GNSS (global navigation satellite system) by a low-earth-orbit satellite.
Background
With the establishment of the Beidou-III GPS, there are four global positioning systems (GNSS) including Beidou, GPS, GLONASS and Galileo, and regional satellite navigation systems such as Japanese QZSS and India IRNSS. The GNSS can provide high-precision positioning service for global users, the dependence of the users on the GNSS is deeper and deeper, and the failure of the GNSS causes very serious consequences, so that the problem that the GNSS is monitored continuously in real time is urgently needed to be solved.
Due to various reasons, the GNSS system is difficult to build monitoring stations which are uniformly distributed in the whole world, so that the GNSS monitoring performance is restricted. In recent years, low-orbit constellations have been rapidly developed, and low-orbit internet constellations have been developed in a plurality of countries around the world, including the united states. The low-orbit constellations can be uniformly distributed globally, and due to rapid development of a satellite-borne full-frequency point GNSS receiver, global uniform monitoring of the GNSS by the low-orbit satellites becomes possible.
Disclosure of Invention
In view of the above, the present invention provides a simulation system for detecting and monitoring a GNSS from a low-earth orbit satellite, which can verify various high-fidelity GNSS monitoring scenes, improve fidelity of simulation through a high-fidelity model and multi-scene simulation, and reduce a test deviation between a simulation test result and a real test result.
The invention adopts the following technical scheme:
a simulation system for low earth orbit satellite monitoring GNSS comprises a middle and high earth orbit and low earth orbit clock error simulation unit, a low earth orbit satellite-borne data simulation unit, a middle and high earth orbit satellite ground data simulation unit, a low earth orbit satellite navigation enhancement data simulation unit, a static ground target simulation unit, a data real-time flow simulation unit and a test management unit;
the clock error simulation unit of the middle and high orbit and low orbit satellites is used for simulating the orbits and clock errors of the middle and high orbit GNSS satellites and the low orbit satellites with high fidelity;
the low-orbit satellite-borne data simulation unit is used for simulating low-orbit satellite-borne GNSS data;
the medium and high orbit satellite ground data simulation unit is used for generating ground data of a medium and high orbit GNSS satellite in a simulation manner;
the low-orbit satellite navigation enhancement data simulation unit is used for simulating low-orbit satellite navigation enhancement observed quantity;
the static ground target simulation unit is used for simulating a static track of a ground target;
the data real-time flow simulation unit is used for simulating various observation data of real-time simulation;
the test management unit is used for testing and integrating management of the whole system;
the process of the simulation system for performing the low-earth-orbit satellite real-time monitoring GNSS specifically comprises the following processes:
step 1, generating a high-middle-low orbit satellite constellation by a high-middle orbit and low-orbit satellite orbit clock error simulation unit; giving an initial orbit number of a seed satellite or TLE two-line number, and performing orbit prediction by using a numerical integrator on the basis to generate an original orbit of a high-middle-low orbit satellite constellation; meanwhile, the deviation of 5 cm-10 cm is randomly added to the initial orbit number of the satellite, and the orbit prediction is carried out again, so that the satellite orbit of the high, medium and low orbit satellite constellation with errors is generated; two schemes are adopted for generating the simulated satellite clock error, wherein one scheme is a model preset in a system and comprises a quadratic polynomial model and a constant model; the other scheme is that a clock error file is input, and simulation is carried out according to the clock error solved by the actual low-orbit satellite;
step 2, generating a high-low orbit satellite ephemeris by a high-low orbit satellite orbit clock error simulation unit; firstly, designing a low-orbit broadcast ephemeris, calculating the broadcast ephemeris by adopting a two-body problem, and finally fitting the satellite orbit with errors by using a least square principle and multiple iterations to obtain all reference epoch broadcast ephemeris parameters and generate a high-medium-low orbit satellite broadcast ephemeris; then, taking the orbit/clock error of the satellite with the error as a reference, and taking the orbit/clock error of the satellite as a difference with the fitted high, middle and low orbit broadcast ephemeris/clock error, and transferring the difference to a satellite RTN coordinate system to obtain GNSS precision correction information;
step 3, generating static ground monitoring station information, a static track of a simulation station and the surrounding environment of the station by a static ground target simulation unit, wherein the static track and the surrounding environment of the station comprise weather parameters, air pressure and humidity around the station;
step 4, the low-earth satellite-borne data simulation unit, the medium and high-earth satellite ground data simulation unit and the low-earth satellite navigation enhancement data simulation unit all receive information of static ground monitoring stations generated by the static ground target simulation unit and the high and medium-earth satellite orbit and clock error generated by the medium and high-earth and low-earth satellite orbit clock error simulation unit, then the low-earth satellite-borne data simulation unit generates low-earth satellite-borne data, the medium and high-earth satellite ground data simulation unit generates GNSS ground simulation data, and the low-earth satellite navigation enhancement data simulation unit generates low-earth navigation enhancement data; firstly, according to simulation target constellation orbit data, the position of each epoch at the moment of transmitting a signal by a GNSS or low-orbit satellite is calculated through iteration by the position of a simulation receiver; further calculating the distance, the altitude angle and the azimuth angle of the received satellite transmission, and limiting simulation conditions according to the altitude cut-off angle; calculating the deviation between the satellite antenna phase center and the geometric center by using an antenna phase center correction formula, and calculating the geometric distance of the measured data; then adding simulation clock error, calculating theoretical ionospheric delay according to an ionospheric model, artificially adding carrier cycle slip as required, adding Gaussian noise with a mean value of zero and standard deviation related to a height angle, and respectively simulating the observation data of each epoch of each satellite until the simulation is finished;
step 5, the data real-time stream simulation unit receives low-orbit, medium-high orbit broadcast satellite strength and GNSS precision correction information generated by the medium-high orbit and low-orbit satellite orbit clock error simulation unit and the observation data obtained in the step 4, and then data is broadcasted to a server of the simulation system based on a standard Ntrip protocol;
and 6, the test management unit receives and calculates the low-orbit and GNSS real-time data, analyzes the performance of the high-orbit GNSS satellite in the low-orbit satellite monitoring and evaluates the monitoring performance of the corresponding low-orbit constellation.
Furthermore, the medium-high orbit and low orbit satellite orbit simulation unit can be configured with different constellation configurations according to requirements, and further high-precision models such as an 80-order earth gravity field, a solar system large celestial body three-body perturbation, box-wing sunlight pressure, atmospheric resistance, a moon J2 perturbation, earth tide, earth albedo radiation and thermal radiation are applied, and a multi-step numerical integration method is adopted to obtain high-precision medium-high orbit and low orbit satellite orbits; and meanwhile, a quadratic term form is adopted to obtain the clock error of the high-precision medium-high orbit satellite and the low-precision satellite.
Furthermore, corresponding system errors and noises are added on the generated high-precision orbit of the high-orbit satellite and the low-orbit satellite according to the setting condition so as to obtain a calculated orbit and clock error which are more approximate to the actual condition.
Furthermore, the low-earth-orbit satellite-borne data simulation unit, the medium-high-earth-orbit satellite ground data simulation unit and the low-earth-orbit satellite navigation enhancement data simulation unit can generate standard data according to system input simulation, wherein the standard data comprises simulation satellite telegraph text and ranging data; the observation quantity generated by simulation is based on the clock error of the high-precision medium-high orbit and low-orbit satellite acquired in a quadratic term form, and the satellite text broadcast by simulation is based on the orbit and the clock error after the addition of system errors and noises.
Further, the static ground target simulation unit can simulate a plurality of high-fidelity ground static targets based on regional map data, and the simulated targets comprise large-area static mesh tracks for signal and information monitoring of low-orbit and medium-high orbit satellites.
Furthermore, the real-time simulation capability is realized by the data real-time flow simulation unit, and the method and the performance are used for testing the method and the performance of the low-earth orbit satellite for monitoring the medium-high-earth orbit GNSS satellite in real time.
Furthermore, the test management unit is used for human-computer interaction and performance analysis of high-orbit GNSS satellites in low-orbit satellite monitoring, and the evaluation of monitoring performance of corresponding low-orbit constellations is realized by setting low-orbit constellations with different configurations.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can realize the verification of various high-fidelity GNSS monitoring scenes, improve the fidelity of simulation through a high-fidelity model and multi-scene simulation, and reduce the test deviation of a simulation test result and a real test result.
2. According to the method, the medium-high and low orbit joint orbit determination positioning calculation is performed by simulating the observation data of the medium-high and low orbit satellites, the advantage of global uniform distribution of the low orbit satellites is fully utilized, and the capability verification of monitoring the GNSS by the low orbit satellites is realized.
Drawings
FIG. 1 is a flowchart of an emulation simulation system for a low earth orbit satellite monitoring GNSS in an embodiment of the present invention.
FIG. 2 is a flow chart illustrating low-orbit and GNSS broadcast ephemeris fitting, in accordance with an embodiment of the invention.
FIG. 3 is a flow chart illustrating low-orbit and GNSS data simulation according to an embodiment of the present invention.
Detailed Description
The principles and embodiments of the present invention will be described in more detail below with reference to the accompanying drawings, it being understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting.
Referring to fig. 1 to 3, the system includes: the system comprises a medium and low orbit satellite orbit clock error simulation unit, a low orbit satellite borne data simulation unit, a medium and high orbit satellite ground data simulation unit, a low orbit satellite navigation enhancement data simulation unit, a static ground target simulation unit, a data real-time flow simulation unit, a test management unit and the like.
The orbit clock error simulation unit of the medium and low orbit satellites is used for simulating the orbits, clock errors and the like of the high-fidelity medium and high orbit GNSS satellites and the low orbit satellites; the low-orbit satellite-borne data simulation unit is used for simulating low-orbit satellite-borne GNSS data; the medium and high orbit satellite ground data simulation unit is used for generating ground data of a medium and high orbit GNSS satellite in a simulation mode; the low-orbit satellite navigation enhancement data simulation unit is used for simulating low-orbit satellite navigation enhancement observed quantity; the static ground target simulation unit is used for simulating a static track of a ground target; the data real-time flow simulation unit is used for simulating various observation data of real-time simulation; the test management unit is used for testing and integrating management of the whole system.
The middle-high orbit and low orbit satellite orbit simulation unit can be configured with different constellation configurations according to requirements, supports the configuration of 120 middle-high orbit satellites including four GNSS systems and more than 300 low orbit satellites, further applies high-precision models including an 80-order earth gravity field, solar system large celestial body perturbation, box-wing sunlight pressure, atmospheric resistance, lunar J2 perturbation, earth tide, earth albedo radiation and thermal radiation and adopts a multi-step numerical integration method to obtain high-precision middle-high orbit and low orbit satellite orbits. And meanwhile, a quadratic term form is adopted to obtain the clock error of the high-precision medium-high orbit satellite and the low-precision satellite. In addition, corresponding system errors and noises are added on the generated high-precision orbit of the high-orbit satellite and the low-orbit satellite according to the setting condition so as to obtain a calculated orbit and a clock error which are more approximate to the actual condition.
On the basis of the static ground target simulation unit, the low-earth orbit satellite borne data simulation unit, the medium-high orbit satellite ground data simulation unit and the low-earth orbit satellite navigation enhancement data simulation unit can simulate a plurality of static targets including large-area static mesh tracks and the like according to system input simulation. Thereby generating standard data similar to the GNSS observation, including simulated satellite text, ranging data, GNSS fine correction information, and the like. The observation quantity generated by simulation is based on the clock error of the high-precision middle-high orbit satellite orbit and the low-orbit satellite orbit, and the satellite message broadcast by simulation is based on the calculation of the orbit and the clock error.
The real-time simulation capability is realized by using a data real-time flow simulation unit, a standard Ntrip protocol is adopted, simulation observed quantity, simulation satellite text, GNSS precision correction information and the like are input, and the high-orbit GNSS satellite is monitored in real time by using the low-orbit satellite.
The low earth orbit satellite monitoring GNSS simulation system can process medium and high earth orbit ground observation data, low earth orbit satellite-borne data and low earth orbit navigation enhancement data, and combines the high and medium earth orbit satellites to determine the orbit and clock error, thereby realizing the improvement of the GNSS monitoring capability.
The test management unit is used for human-computer interaction and performance analysis of high-orbit GNSS satellites in low-orbit satellite monitoring, and evaluation of monitoring performance of corresponding low-orbit constellations is achieved by setting low-orbit constellations of different configurations. The interface of the system is consistent with the actual medium-high orbit satellite and the low orbit satellite, and the system can be directly applied to the test evaluation of the system after the low orbit constellation is built.
The method can be used for determining the orbit and the clock error by combining the high-orbit satellite, the medium-orbit satellite and the low-orbit satellite, and fully verifying the GNSS monitoring capability of the low-orbit satellite. The interface of the system is consistent with the actual medium-high orbit satellite and low-orbit satellite, and the system can be directly applied to the test evaluation of the system after the low-orbit constellation is built.
A simulation system for a low earth orbit satellite monitoring GNSS realizes simulation test and evaluation of the low earth orbit satellite monitoring GNSS by generating simulation GNSS observation data and low earth orbit satellite observation data and utilizing the characteristic of global distribution of low earth orbit satellites. The process of the system for monitoring the GNSS in real time by the low-earth orbit satellite comprises the following steps:
step 1, generating a high-middle-low orbit satellite constellation by a high-middle orbit and low orbit satellite orbit clock error simulation unit. Giving the initial orbit number of the 'seed' satellite or the number of two lines of TLE, and performing orbit prediction by using a numerical integrator on the basis to generate the original orbit of a high-middle-low orbit satellite constellation; meanwhile, the deviation of 5 cm-10 cm is randomly added to the initial orbit number of the satellite, and the orbit prediction is carried out again, so that the satellite orbit with errors is generated. Two schemes are adopted for the simulation of the satellite clock error, one scheme is a model preset in a system and comprises a quadratic polynomial model, a constant model and the like; the other scheme is to input a clock error file and simulate according to the clock error solved by the actual low-orbit satellite.
And 2, generating high and low orbit satellite ephemeris by a high and low orbit satellite orbit clock error simulation unit. Firstly, the precision and the calculation complexity of the broadcast ephemeris are comprehensively considered, the low-orbit broadcast ephemeris is designed, then the reference ephemeris is calculated by adopting a two-body problem, finally, the least square principle is utilized, and through multiple iterations, the satellite orbit with errors is fitted to obtain all reference ephemeris parameters, so that the high-low orbit broadcast ephemeris and the medium-low orbit broadcast ephemeris are generated, and the flow of the broadcast ephemeris fitting is shown in fig. 2. And then according to the orbit/clock error of the satellite with error, and the high, medium and low orbit broadcast ephemeris/clock error fitted out make the difference, receive GNSS accurate correction information;
and 3, generating a static ground monitoring station, a static track of the simulation station, the surrounding environment of the station and the like by the static ground target simulation unit, wherein the static track, the surrounding environment and the like of the station comprise weather parameters, air pressure, humidity and the like around the station.
And 4, generating low-orbit satellite-borne data, GNSS ground simulation data, low-orbit navigation enhancement data and the like by a low-orbit satellite-borne data simulation unit, a medium-high orbit satellite ground data simulation unit and a low-orbit satellite navigation enhancement data simulation unit. Firstly, according to a simulated constellation satellite orbit, the position of each epoch at the moment of transmitting a signal by a GNSS or a low-earth-orbit satellite is calculated through iteration by the position of a simulated receiver; and further calculating the distance, the altitude angle and the azimuth angle of the received satellite transmission, and limiting simulation conditions according to the altitude cut-off angle. And calculating the deviation between the satellite antenna phase center and the geometric center by using an antenna phase center correction formula, and calculating the geometric distance of the measured data. And then adding a simulation clock error, calculating theoretical ionospheric delay according to an ionospheric model, and manually adding carrier cycle slip according to needs. Gaussian noise with zero mean and standard deviation related to altitude is added. And respectively simulating the observation data of each epoch of each satellite until the simulation is finished, wherein the flow chart is shown in fig. 3.
And 5, inputting the broadcast ephemeris, the observation data and the GNSS precision correction information generated by simulation into a data real-time stream simulation unit, and broadcasting data to a server of the simulation system based on a standard Ntrip protocol.
And 6, the test management unit receives and calculates the low-orbit and GNSS real-time data, analyzes the performance of the high-orbit GNSS satellite in the low-orbit satellite monitoring and evaluates the monitoring performance of the corresponding low-orbit constellation. By combining the low-orbit satellite-borne data, the low-orbit navigation enhancement data and the GNSS data, the system can realize the combined resolving of the high-orbit satellite, the medium-orbit satellite and the low-orbit satellite.
The method can accurately simulate the track and observation data of the medium and low orbit satellites in real time, improve the fidelity of simulation through a high-fidelity model and multi-scene simulation, reduce the test deviation of a simulation test result and a real test result, and provide the method and the performance for monitoring the medium and low orbit satellites in real time.
In a word, the method can realize the verification of various high-fidelity GNSS monitoring scenes, improve the fidelity of simulation through a high-fidelity model and multi-scene simulation, and reduce the test deviation of a simulation test result and a real test result. Through simulating the observation data of the medium-high and low-orbit satellites, medium-high and low-orbit combined orbit determination positioning resolving is carried out, the advantage of global uniform distribution of the low-orbit satellites is fully utilized, and the capability verification of the low-orbit satellites for monitoring the GNSS is realized. The system interface of the invention is consistent with the actual medium-high orbit satellite and low orbit satellite, and can be directly applied to the test evaluation of the system after the low orbit constellation is built.
Claims (7)
1. A simulation system for low earth orbit satellite monitoring GNSS is characterized by comprising a middle and high earth orbit clock error simulation unit, a low earth orbit satellite borne data simulation unit, a middle and high earth orbit satellite ground data simulation unit, a low earth orbit satellite navigation enhancement data simulation unit, a static ground target simulation unit, a data real-time flow simulation unit and a test management unit;
the clock error simulation unit of the middle and high orbit and low orbit satellites is used for simulating the orbits and clock errors of the middle and high orbit GNSS satellites and the low orbit satellites with high fidelity;
the low-orbit satellite-borne data simulation unit is used for simulating low-orbit satellite-borne GNSS data;
the medium and high orbit satellite ground data simulation unit is used for generating ground data of a medium and high orbit GNSS satellite in a simulation manner;
the low-orbit satellite navigation enhancement data simulation unit is used for simulating low-orbit satellite navigation enhancement observed quantity;
the static ground target simulation unit is used for simulating a static track of a ground target;
the data real-time flow simulation unit is used for simulating various observation data of real-time simulation;
the test management unit is used for testing and integrating management of the whole system;
the process of the simulation system for performing the low-earth-orbit satellite real-time monitoring GNSS specifically comprises the following processes:
step 1, generating a high-middle-low orbit satellite constellation by a high-middle orbit and low-orbit satellite orbit clock error simulation unit; giving an initial orbit number of a seed satellite or TLE two-line number, and performing orbit prediction by using a numerical integrator on the basis to generate an original orbit of a high-middle-low orbit satellite constellation; meanwhile, the deviation of 5 cm-10 cm is randomly added to the initial orbit number of the satellite, and the orbit prediction is carried out again, so that the satellite orbit of the high, medium and low orbit satellite constellation with errors is generated; two schemes are adopted for generating the simulated satellite clock error, wherein one scheme is a model preset in a system and comprises a quadratic polynomial model and a constant model; the other scheme is that a clock error file is input, and simulation is carried out according to the clock error solved by the actual low-orbit satellite;
step 2, generating a high-low orbit satellite ephemeris by a high-low orbit satellite orbit clock error simulation unit; firstly, designing a low-orbit broadcast ephemeris, calculating the broadcast ephemeris by adopting a two-body problem, and finally fitting the satellite orbit with errors by using a least square principle through multiple iterations to obtain all reference epoch broadcast ephemeris parameters to generate a high-low orbit satellite broadcast ephemeris; then, taking the orbit/clock error of the satellite with the error as a reference, and taking the orbit/clock error of the satellite as a difference with the fitted high, middle and low orbit broadcast ephemeris/clock error, and transferring the difference to a satellite RTN coordinate system to obtain GNSS precision correction information;
step 3, generating static ground monitoring station information, a static track of a simulation station and the surrounding environment of the station by a static ground target simulation unit, wherein the static track and the surrounding environment of the station comprise weather parameters, air pressure and humidity around the station;
step 4, the low-earth satellite-borne data simulation unit, the medium and high-earth satellite ground data simulation unit and the low-earth satellite navigation enhancement data simulation unit all receive information of static ground monitoring stations generated by the static ground target simulation unit and the high and medium-earth satellite orbit and clock error generated by the medium and high-earth and low-earth satellite orbit clock error simulation unit, then the low-earth satellite-borne data simulation unit generates low-earth satellite-borne data, the medium and high-earth satellite ground data simulation unit generates GNSS ground simulation data, and the low-earth satellite navigation enhancement data simulation unit generates low-earth navigation enhancement data; firstly, according to simulation target constellation orbit data, the position of each epoch at the moment of signal emission of a GNSS or a low-orbit satellite is calculated through iteration by the position of a simulation receiver; further calculating the distance, the altitude angle and the azimuth angle of the received satellite transmission, and limiting simulation conditions according to the altitude cut-off angle; calculating the deviation between the satellite antenna phase center and the geometric center by using an antenna phase center correction formula, and calculating the geometric distance of the measured data; then adding simulation clock error, calculating theoretical ionospheric delay according to an ionospheric model, artificially adding carrier cycle slip as required, adding Gaussian noise with a mean value of zero and standard deviation related to a height angle, and respectively simulating the observation data of each epoch of each satellite until the simulation is finished;
step 5, the data real-time stream simulation unit receives low-orbit, medium-high orbit broadcast satellite strength and GNSS precision correction information generated by the medium-high orbit and low-orbit satellite orbit clock error simulation unit and the observation data obtained in the step 4, and then data is broadcasted to a server of the simulation system based on a standard Ntrip protocol;
and 6, the test management unit receives and calculates the low-orbit and GNSS real-time data, analyzes the performance of the high-orbit GNSS satellite in the low-orbit satellite monitoring and evaluates the monitoring performance of the corresponding low-orbit constellation.
2. The simulation system for the low-earth-orbit satellite monitoring GNSS as claimed in claim 1, wherein the middle-high-earth-orbit and low-earth-orbit simulation units can be configured with different constellation configurations as required, and further apply high-precision models including 80-order earth gravity field, solar system celestial body perturbation, box-wing sunlight pressure, atmospheric resistance, lunar J2 perturbation, earth tide, earth albedo radiation and thermal radiation, and obtain high-precision middle-high-earth-orbit and low-earth-orbit satellite orbits by adopting a multi-step numerical integration method; and meanwhile, a quadratic term form is adopted to obtain the clock error of the high-precision medium-high orbit satellite and the low-precision satellite.
3. The simulation system of claim 2, wherein the generated high-precision middle-high orbit and low orbit satellites are added with corresponding system errors and noises according to the setting conditions to obtain the calculated orbit and clock error which is closer to the actual conditions.
4. The simulation system for a low earth orbit satellite monitoring GNSS as claimed in claim 3, wherein the low earth orbit satellite-borne data simulation unit, the medium and high earth orbit satellite ground data simulation unit and the low earth orbit satellite navigation enhancement data simulation unit can generate standard data according to system input simulation, the standard data comprises simulation satellite text and ranging data; the observation quantity generated by simulation is based on the clock error of the high-precision medium-high orbit and low-orbit satellite acquired in a quadratic term form, and the satellite text broadcast by simulation is based on the orbit and the clock error after the addition of system errors and noises.
5. The simulation system of claim 1, wherein the static ground target simulation unit simulates a plurality of high-fidelity ground static targets based on regional map data, and the simulated targets comprise large-area static mesh tracks for signal and information monitoring of low-orbit and medium-high orbit satellites.
6. The simulation system of claim 1, wherein the data real-time streaming simulation unit implements real-time simulation capability for testing the performance and method of the low-earth satellite monitoring the high-earth GNSS satellite in real time.
7. The simulation system for a low-earth-orbit satellite monitoring GNSS according to claim 1, wherein the test management unit is configured to perform human-computer interaction and performance analysis of a high-earth-orbit GNSS satellite in low-earth-orbit satellite monitoring, and to implement evaluation of monitoring performance of a corresponding low-earth-orbit constellation by setting low-earth-orbit constellations of different configurations.
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