CN116482610A - Self-positioning method based on Doppler frequency change rate of downlink signal of low-orbit satellite - Google Patents
Self-positioning method based on Doppler frequency change rate of downlink signal of low-orbit satellite Download PDFInfo
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- CN116482610A CN116482610A CN202310498069.0A CN202310498069A CN116482610A CN 116482610 A CN116482610 A CN 116482610A CN 202310498069 A CN202310498069 A CN 202310498069A CN 116482610 A CN116482610 A CN 116482610A
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- 238000012545 processing Methods 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 3
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- 229910052741 iridium Inorganic materials 0.000 description 2
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Classifications
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0242—Determining the position of transmitters to be subsequently used in positioning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to the field of signal processing and parameter estimation, and discloses a self-positioning method based on the Doppler frequency change rate of a downlink signal of a low-orbit satellite. Compared with the prior art, the method can realize effective self-positioning without accurately estimating the transmitting frequency of the downlink signal, and has wide application range and simple and effective algorithm.
Description
Technical Field
The invention belongs to the field of signal processing and parameter estimation, and particularly relates to a self-positioning method based on a Doppler frequency change rate of a downlink signal of a low-orbit satellite.
Background
With the rapid development of Global Navigation Satellite System (GNSS) applications, GNSS has become an important infrastructure for information construction of a country, and can provide services such as navigation, positioning, time service, etc. for various applications, such as the Global Positioning System (GPS) system of the united states, the beidou system of China, the GALILEO system of europe (GALILEO), the GLONASS (GLONASS) of russia, etc., which are important markers for the comprehensive national force of modern large nations and countries. In the field of military countermeasure, with the rapid development of anti-navigation signals, the future battlefield is likely to face the scene of navigation signal failure, and how to acquire the actual position information of all the equipment is of great importance.
With the development of satellite communication industry, low-orbit satellite communication has become a development hotspot in the field of space-based information systems, such as an iridium system of an iridium communication company in the united states, a full-ball system of a Laura high-pass satellite service company, an OneWeb constellation of an OneWeb company, a star link (StarLink) system of a space exploration company in the united states, and the like. The low-orbit satellite communication system has the advantages of high signal strength, large number of satellites, wide coverage range and the like, can take satellite downlink signals as a signal source for opportunistic signal positioning, and provides effective self-positioning information for receiving equipment in the scene of navigation signal failure.
Disclosure of Invention
The invention aims to provide a self-positioning method based on the Doppler frequency change rate of a downlink signal of a low-orbit satellite, which provides effective self-positioning information for receiving equipment under the condition that a navigation signal fails.
The invention adopts the technical scheme that:
a self-positioning method based on Doppler frequency change rate of downlink signals of low-orbit satellites comprises the following steps:
step 1, establishing a self-positioning model based on the Doppler frequency change rate of a downlink signal of a low-orbit satellite;
and 2, constructing a minimum mean square error criterion function by using a self-positioning model, and acquiring the accurate position of the ground receiving station by adopting a Newton iteration method or a grid search method according to the Doppler frequency change rate measured before and after the top of a plurality of satellites.
Further, the self-positioning model constructed in the step 1 is as follows:
in the method, in the process of the invention,for any moment i, frequency measurement is carried out on the received signal to obtain Doppler frequency change rate, r i ＝[x-x i ,y-y i ,z-z i ] T ，/>For the distance between the satellite and the ground receiving station at the ith moment, (x, y, z) is the ground receiving station position to be solved, (x) i ,y i ,z i ) For the position of the satellite at the i-th moment,for the speed of the satellite at the i-th moment, +.>Is the acceleration vector of the satellite, lambda is the wavelength of the satellite downlink signal, and xi i The Doppler frequency change rate is the measurement error;
the measured values of the Doppler frequency change rates at N moments are expressed as a matrix:
wherein ω= [ ω ] 1 ,ω 2 ,…,ω N ] T ，H＝[h 1 (x,y,z),h 2 (x,y,z),…,h N (x,y,z)] T ，ξ＝[ξ 1 ,ξ 2 ,…,ξ N ] T N is a set value;
further, the step 2 specifically includes:
the mean square error is used as a criterion function to transform the self-positioning model, thus obtaining
Constructing a minimum mean square error criterion function as
And solving the minimum mean square error criterion function by adopting a Newton iteration method or a grid search method to obtain the position (x, y, z) of the receiving station.
The beneficial effects of the invention are as follows:
1. aiming at the GNSS navigation signal failure scene, the invention provides a novel self-positioning method based on the low-orbit satellite downlink signal.
2. The invention adopts the self-positioning method based on the Doppler frequency change rate of the downlink signal of the low-orbit satellite, does not need to accurately estimate the transmitting frequency of the downlink signal, has wide application range and simple and effective algorithm.
Drawings
FIG. 1 is a schematic diagram of a self-positioning scenario based on a low-orbit satellite downlink signal according to the present invention;
FIG. 2 is a plot of the points under the satellite for 6 low-orbit satellites according to the invention;
FIG. 3 is a frequency extraction result of 6 low-orbit satellite downlink signals according to the present invention;
FIG. 4 is a plot of the rate of change of the downlink signal frequency for 6 low-orbit satellites according to the invention;
fig. 5 shows the self-positioning result of the receiving device of the present invention.
FIG. 6 is a flow chart of the self-positioning method of the present invention.
Detailed Description
The invention is further described with reference to the drawings and detailed description.
The invention relates to a self-positioning method based on the Doppler frequency change rate of a downlink signal of a low-orbit satellite, which adopts the technical scheme that firstly, a self-positioning model based on the Doppler frequency change rate of the downlink signal of the low-orbit satellite is established, and then, the accurate position of a receiving device is obtained by adopting a Newton iteration method or a grid search method according to the Doppler frequency change rate measured before and after the top of a plurality of satellites, as shown in figure 6, and is specifically as follows:
step 1: and constructing a self-positioning model based on the Doppler frequency change rate of the downlink signal of the low-orbit satellite.
As shown in fig. 1, which is a schematic diagram of a self-positioning scene based on a downlink signal of a low-orbit satellite, firstly, the low-orbit satellite rotates around the earth at a high speed, and a relative motion exists between a ground receiver and the satellite all the time; the satellite transmits downlink signals, the signals received by the ground receiver are necessarily affected by Doppler effect, and the instantaneous frequency of the received signals is
f＝f 0 +f d (1)
Wherein f 0 Is the transmitting frequency of the satellite downlink signal, f d Is Doppler frequency, f is the frequency of the received signal, and f d Can be expressed as
Wherein, c is the speed of light,for the relative movement speed between the satellite and the ground receiving station, the relative movement speed at the ith moment can be expressed as
Wherein,,for the speed of the satellite at the ith moment, u i ＝r i /||r i The I is a unit vector in the distance direction between the satellite and the ground receiving station, and r i ＝[x-x i ,y-y i ,z-z i ] T ，/>For the distance between the satellite and the ground receiving station at the ith moment, (x, y, z) is the ground receiving station position to be solved, (x) i ,y i ,z i ) The position of the satellite at the i-th moment.
Second, according to the principle of kinematics, the rate of change of the Doppler frequency of the signal reflects the radial acceleration of the relative motion between the satellite and the ground receiving station, the relationship between the two can be expressed as
Where λ is the wavelength of the satellite downlink signal, which can be obtained by coarse frequency measurement, expressed as λ=c/f according to the wavelength versus frequency 0 Is derived and availableThe influence of the frequency measurement error on the wavelength is small and can be ignored. Radial acceleration->Can be obtained by deriving the formula (3),
wherein,,is the acceleration vector of the satellite.
Finally, the Doppler frequency change rate obtained by frequency measurement of the received signal at any time i of the comprehensive formula (4) and the formula (5) is to be
Equation (6) reflects the observed quantity, i.e., the Doppler frequency change rateRelationship with the position (x, y, z) of the ground receiving station to be solved, where ζ i Is the measurement error of the Doppler frequency change rate. The measured values of the doppler frequency change rates at N times are represented as a matrix,
wherein ω= [ ω ] 1 ,ω 2 ,…,ω N ] T ，H＝[h 1 (x,y,z),h 2 (x,y,z),…,h N (x,y,z)] T ，ξ＝[ξ 1 ,ξ 2 ,…,ξ N ] T . Equation (7) is a self-positioning model function based on Doppler frequency change rate of low-orbit satellite downlink signal, and is related to the Doppler frequency change rate measurement valueSatellite position (x) i ,y i ,z i ) Satellite velocity v i Satellite acceleration a i And the position (x, y, z) of the receiving station to be solved, wherein the satellite position, the speed and the acceleration can be obtained through two ephemeris calculation.
Step 2: and high-precision self-positioning of the receiving equipment is realized by utilizing the Doppler frequency change rate before and after the top of the plurality of satellites.
The self-positioning model function established by the formula (7) is converted by adopting the mean square error as a criterion function, thus obtaining
Constructing a minimum mean square error criterion function as
The solution to equation (9) may be performed using either newton's iterative method or grid search method, where the receiving station position (x, y, z) is obtained using a grid search based method. It should be noted that, the solution method for the formula (9) is not limited to the newton iteration method or the grid search method, and other optimization solution algorithms still fall within the scope of the invention.
The following is a more specific example:
in the experiment of the invention, the real geographic position of an electronic device is assumed to be (121.5 DEG E,25 DEG N), the geographic position is unknown due to the failure of GNSS navigation signals, the Doppler frequency change rate is obtained by measuring the frequency of downlink signals transmitted by a plurality of satellites, and the accurate positioning of the electronic device is completed by combining (9). First, the frequency f of the satellite downlink signal is set 0 For 11.325GHz, it should be noted that f is the case for a ground receiving station 0 Is an unknown quantity; in the experiment, the start-stop time is set to be 2023, 1 month and 6 days, 01:36:00, to 2023, 1 month and 6 days, 01:48:00,6 satellites sequentially pass through the upper space of the receiving device, wherein the single satellite passes through the top time for 120s, the total tracking time is 720s, two ephemeris of 6 low-orbit satellites are shown in table 1, the positions, the speeds and the accelerations of the 6 satellites at any moment can be obtained according to the two ephemeris, and the satellite point tracks of the 6 satellites in the experiment process are shown in fig. 2. The ground equipment sequentially performs frequency measurement on downlink signals of 6 satellites to obtain f, and the frequency measurement result of the downlink signals of 6 satellites is shown in fig. 3, and the change rate curve of the Doppler frequency is shown in fig. 4. Then according to formula (9), the receiving equipment is positioned by utilizing Doppler frequency change rate of 6 satellite downlink signals of Star-1, star-2, star-3, star-4, star-5 and Star-6, the positioning result is shown in figure 5, the frequency measurement precision is 100Hz, the positioning precision is 100m, and the algorithm provided by the invention is proved to be in GNSS navigationThe high-precision self-positioning of the electronic equipment can be realized under the condition of signal failure, and the algorithm is simple and effective.
TABLE 1
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any other way, but is intended to cover any modifications or equivalent variations according to the technical spirit of the present invention, which fall within the scope of the present invention as defined by the appended claims.
Claims (3)
1. The self-positioning method based on the Doppler frequency change rate of the downlink signal of the low-orbit satellite is characterized by comprising the following steps of:
step 1, establishing a self-positioning model based on the Doppler frequency change rate of a downlink signal of a low-orbit satellite;
and 2, constructing a minimum mean square error criterion function by using a self-positioning model, and acquiring the accurate position of the ground receiving station by adopting a Newton iteration method or a grid search method according to the Doppler frequency change rate measured before and after the top of a plurality of satellites.
2. The self-positioning method based on the Doppler frequency change rate of the downlink signal of the low-orbit satellite according to claim 1, wherein the self-positioning model constructed in the step 1 is as follows:
in the method, in the process of the invention,for any moment i, frequency measurement is carried out on the received signal to obtain Doppler frequency change rate, r i ＝[x-x i ,y-y i ,z-z i ] T ，/>For the distance between the satellite and the ground receiving station at the ith moment, (x, y, z) is the ground receiving station position to be solved, (x) i ,y i ,z i ) For the position of the satellite at the i-th moment,for the speed of the satellite at the i-th moment, +.>Is the acceleration vector of the satellite, lambda is the wavelength of the satellite downlink signal, and xi i The Doppler frequency change rate is the measurement error;
the measured values of the Doppler frequency change rates at N moments are expressed as a matrix:
wherein ω= [ ω ] 1 ,ω 2 ,…,ω N ] T ，H＝［h 1 (x,y,z),h 2 (x,y,z),…,h N (x,y,z)］ T ，ξ＝[ξ 1 ,ξ 2 ,…,ξ N ] T N is a set value.
3. The self-positioning method based on the Doppler frequency change rate of the downlink signal of the low-orbit satellite according to claim 1, wherein the step 2 is specifically:
the mean square error is used as a criterion function to transform the self-positioning model, thus obtaining
Constructing a minimum mean square error criterion function as
And solving the minimum mean square error criterion function by adopting a Newton iteration method or a grid search method to obtain the position (x, y, z) of the receiving station.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117889831A (en) * | 2024-03-13 | 2024-04-16 | 成都本原星通科技有限公司 | Terminal positioning method based on low-orbit satellite image matching |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117889831A (en) * | 2024-03-13 | 2024-04-16 | 成都本原星通科技有限公司 | Terminal positioning method based on low-orbit satellite image matching |
| CN117889831B (en) * | 2024-03-13 | 2024-06-04 | 成都本原星通科技有限公司 | Terminal positioning method based on low-orbit satellite image matching |
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