CN116679323A - Navigation satellite overseas fault diagnosis method - Google Patents

Navigation satellite overseas fault diagnosis method Download PDF

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Publication number
CN116679323A
CN116679323A CN202310348099.3A CN202310348099A CN116679323A CN 116679323 A CN116679323 A CN 116679323A CN 202310348099 A CN202310348099 A CN 202310348099A CN 116679323 A CN116679323 A CN 116679323A
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satellite
error
signal
inter
clock
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CN116679323B (en
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辛洁
刘利
张天桥
刘帅
田翌君
郭靖蕾
王冬霞
黄双临
吴杉
邵佳妮
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32021 Army Of Chinese Pla
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a navigation satellite overseas fault diagnosis method, which comprises the following steps: the system comprises a signal domain monitoring module, an information domain monitoring module and a navigation satellite overseas fault diagnosis module; the signal domain monitoring module monitors a satellite working clock, signal time delay jump, signal power jump, signal frequency jump and signal phase jump to obtain a signal integrity mark; the information domain monitoring module is used for processing the orbit parameters, the clock error parameters, the autonomous navigation messages of the other stars and the inter-satellite measurement information of the satellite, and obtaining information domain monitoring information; and the navigation satellite off-site fault diagnosis module processes the signal domain monitoring information and the information domain monitoring information to obtain an off-site navigation satellite fault diagnosis result. Aiming at the running state monitoring requirement of the navigation satellite in the process of tracking without a ground station, the invention can realize the rapid diagnosis and identification of the satellite faults outside the country based on a small amount of inter-satellite link rapid feedback information.

Description

Navigation satellite overseas fault diagnosis method
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a navigation satellite overseas fault diagnosis method.
Background
The satellite navigation system is a national important space-time information infrastructure, and four satellite navigation systems such as GPS, GLONASS, galileo, BDS all realize global satellite navigation service, but cannot realize full arc tracking of an on-orbit satellite due to the locality of deployment of ground monitoring tracking stations, taking a typical 24/3/1Walk constellation MEO satellite as an example, the MEO satellite needs about 24 hours when rotating around the earth, and the effective tracking time of a ground station monitoring network in China is about 8 hours, so that the satellite has about 2/3 times each day in an invisible arc of the ground monitoring tracking station. In addition, the timeliness of the information transmitted back to the main control station by the off-the-road ground monitoring tracking station is low, and the rapid identification and diagnosis of the off-the-road satellite faults are difficult to realize. Whether the running state of the off-shore navigation satellite can be rapidly identified, and the fault can be rapidly positioned and treated, so that the method has important significance for improving the continuity and reliability of satellite navigation system service.
With the continuous promotion of the modernization process of each large satellite navigation system, navigation satellites of the GPS, BDS and other systems gradually carry inter-satellite link loads, so that inter-satellite measurement and information transmission are possible. Meanwhile, considering that the transmission capacity of inter-satellite data information is limited, the design of the rapid fault diagnosis method based on the limited inter-satellite data information has important practical application value.
Disclosure of Invention
The technical problem to be solved by the invention is that aiming at the problem that the global satellite navigation service is deployed by a ground monitoring tracking station, the global tracking of an in-orbit satellite cannot be realized, the timeliness of the information returned to a main control station by an overseas ground monitoring tracking station is low, and the rapid identification and diagnosis of an overseas satellite fault are difficult to realize, the invention provides a navigation satellite overseas fault diagnosis method, which aims at solving the problems that the navigation satellite is insufficient in overseas monitoring capability, the overseas fault cannot be identified and the like.
In order to solve the above technical problems, a first aspect of the embodiments of the present invention discloses a navigation satellite overseas fault diagnosis method, which includes:
s1, monitoring a satellite working clock, signal time delay jump, signal power jump, signal frequency jump and signal phase jump by using a signal domain monitoring module to obtain a signal integrity mark; the signal integrity mark is signal domain monitoring information;
s2, processing the orbit parameter, the clock error parameter, the autonomous navigation message of the other star and the inter-satellite measurement information by using an information domain monitoring module to obtain information domain monitoring information;
and S3, processing the signal domain monitoring information and the information domain monitoring information by using an off-site navigation satellite fault diagnosis module to obtain an off-site navigation satellite fault diagnosis result.
In a first aspect of the embodiment of the present invention, the monitoring, by using a signal domain monitoring module, of a satellite working clock, signal delay hopping, signal power hopping, signal frequency hopping, and signal phase hopping to obtain a signal integrity identifier includes:
s11, the signal domain monitoring module detects a satellite working clock to obtain a working clock alarming identifier;
s12, the signal domain monitoring module monitors signal time delay jump, signal power jump, signal frequency jump and signal phase jump between the current moment and the previous moment to obtain a signal time delay difference value, a signal power difference value, a signal frequency difference value and a signal phase difference value between the current moment and the previous moment;
s13, when the work Zhong Gaojing indicates that an alarm state exists and/or the signal delay difference value, the signal power difference value, the signal frequency difference value and the signal phase difference value are greater than a preset signal delay difference value threshold value, a preset signal power difference value threshold value, a preset signal frequency difference value threshold value and a preset signal phase difference value threshold value, setting the signal integrity indicator as an undamaged state;
s14, returning the signal integrity mark to a ground operation control center according to a broadcasting period by utilizing an inter-satellite link.
In a first aspect of the embodiment of the present invention, the processing, by using an information domain monitoring module, the track parameter, the clock error parameter, the autonomous navigation message of the other star and the inter-satellite measurement information to obtain information domain monitoring information includes:
s21, the information domain monitoring module performs summation and subtraction on the double unidirectional ranging, and decouples the track and clock error parameters to obtain an inter-satellite track chain building residual error and an inter-satellite clock error chain building residual error;
s22, processing the autonomous navigation message of the other star and the inter-satellite measurement information of the satellite by using an autonomous navigation model based on EKF filtering to obtain the autonomous ephemeris parameters of the other star and the autonomous clock difference parameters of the other star;
the self-star autonomous ephemeris parameters and the self-star autonomous clock difference parameters form a self-star autonomous navigation message;
s23, the inter-satellite orbit link establishment residual error and the inter-satellite clock error link establishment residual error form the information domain monitoring information by the self-satellite autonomous navigation message;
s24, the information domain monitoring information is returned to the ground operation control center according to the broadcasting period by utilizing the inter-satellite links.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the performing summing and differencing on the two unidirectional ranging to decouple the track and the clock difference parameter to obtain an inter-satellite track link establishment residual and an inter-satellite clock difference link establishment residual includes:
s211, calculating T of the satellite A when the satellite A is on the clock face by using the first ranging model 1 The time of receipt of the guardRanging signal transmitted by star B to obtain T 1 Distance measurement value ρ 'of time' BA (T 1 )；
S212, the distance measurement value rho' BA (T 1 ) To time T 0 Obtaining a first ranging value rho BA (T 0 )；
S213, calculating T of satellite B at its clock face by using the second ranging model 2 Receiving the ranging signal transmitted by the satellite A at moment to obtain T 2 Distance measurement value ρ 'of time' AB (T 2 )；
S214, the distance measurement value rho' AB (T 2 ) To time T 0 Obtaining a second ranging value ρ AB (T 0 )；
S215, calculating model of ranging correction value by using the forecast ephemeris, and calculating the ranging value rho' BA (T 1 ) Processing to obtain the predicted ephemeris ranging correction value Deltaρ BA ；
S216, calculating a model for the ranging value rho 'by using the satellite clock parameter ranging correction value' AB (T 2 ) Processing to obtain the satellite clock parameter ranging correction value delta rho AB ；
S217, regarding the first ranging value ρ BA (T 0 ) And the second ranging value ρ AB (T 0 ) Processing to obtain an inter-satellite orbit link establishment residual error;
s218, for the first ranging value ρ BA (T 0 ) And the second ranging value ρ AB (T 0 ) And processing to obtain inter-satellite clock difference link establishment residual errors.
In a first aspect of the embodiment of the present invention, the processing the signal domain monitoring information and the information domain monitoring information by using a navigation satellite overseas fault diagnosis module to obtain an overseas navigation satellite fault diagnosis result includes:
s31, calculating the current ephemeris reference time t by using the self-ephemeris parameters in the self-navigation message i User ranging error of (a)And the last ephemeris reference time t i-1 User ranging error +.>And calculate the user ranging error difference +.>
S32, calculating the current ephemeris reference time t by using the self-star autonomous clock difference parameter in the self-star autonomous navigation message i Satellite clock error absolute error of (2)And the last ephemeris reference time t i-1 Satellite clock error absolute error of->And calculating to obtain satellite clock difference absolute error difference value +.>
S33, calculating the current ephemeris reference time t by using the autonomous clock difference parameter of the satellite in the autonomous navigation circuit i Satellite clock error relative to time error of (2)And the last ephemeris reference time t i-1 Satellite clock error relative to time error of (2)And calculating the satellite clock difference relative time error difference value +.>
S34, the navigation satellite overseas fault diagnosis module establishes a link residual error for the signal integrity mark, the inter-satellite orbit, the inter-satellite clock difference and the user rangingError differenceThe satellite clock difference absolute error difference value +.>And the satellite clock difference relative time error differenceAnd processing to obtain the navigation satellite overseas fault diagnosis result.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the current ephemeris reference time t i User ranging error of (a)The calculation method of (1) is as follows:
s311, calculating ephemeris reference time t by using the self-ephemeris parameters in the autonomous navigation message i Is a satellite position of (2);
s312, referencing the ephemeris to time t i Comparing the satellite positions of the corresponding satellites with the precise ephemeris of the corresponding satellites to obtain an orbit determination error;
s313, converting the track measurement error into radial information, track following information and normal information;
s314, processing the radial information, the trace information and the normal information to obtain a front ephemeris reference time t i User ranging error of (a)
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the navigation satellite overseas fault diagnosis module performs, on the signal integrity identifier, the inter-satellite orbit link establishment residual, the inter-satellite clock difference link establishment residual, and the user ranging error difference valueThe satellite clock difference absolute error difference value +.>And the satellite clock difference relative time error difference +.>Processing to obtain a navigation satellite overseas fault diagnosis result, including:
s341, when the signal integrity mark is abnormal, judging that the satellite downlink navigation signal is abnormal;
s342, when the signal integrity mark is abnormal, the inter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdThe satellite clock difference absolute error difference value +.>Or the satellite clock difference relative time error difference +.>Exceeding a preset satellite clock error monitoring threshold Lim Clk When the satellite clock is abnormal, judging that the satellite clock is abnormal;
s343, when only the inter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdWhen the satellite clock, the inter-satellite distance measurement load or the on-satellite autonomous navigation unit of the other satellite are judged to be abnormal;
s344, when only the inter-satellite orbit link establishment residual exceeds a preset inter-satellite orbit residual monitoring thresholdWhen the autonomous navigation unit or the inter-satellite distance measurement load on the star of the star is abnormal;
s345, when theInter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdThe inter-satellite orbit link establishment residual exceeds a preset inter-satellite orbit residual monitoring threshold value +.>Said user range error difference +.>Exceeding a preset satellite position error threshold +.>The satellite clock difference absolute error difference value +.>Or the satellite clock difference relative time error difference +.>Exceeding a preset satellite clock error monitoring threshold Lim Clk And judging that the autonomous navigation unit on the star has abnormality.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the method further includes:
the diagnosis content of the navigation satellite overseas fault diagnosis module is based on the information domain monitoring result and the signal domain monitoring result without transmission error code or abnormal wild value data.
A second aspect of the embodiments of the present invention discloses a computer-readable storage medium storing computer instructions that, when called, are used to perform the navigation satellite overseas fault diagnosis method described in the first aspect of the present invention.
A third aspect of the embodiment of the present invention discloses an electronic device, which includes the navigation satellite overseas fault diagnosis method described in the first aspect of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
(1) A fault diagnosis method for combining information domain and signal is designed. The invention takes the signal integrity monitoring capability of the navigation satellite as a main part, and combines the on-board autonomous navigation message information generated based on the autonomous navigation message of the other satellite and the inter-satellite distance measurement information to realize the rapid generation of the running state identification and the diagnostic information of the navigation satellite.
(2) Make up for the rapid diagnosis of the navigation satellite overseas faults. The invention builds a working mode for quickly diagnosing and identifying the navigation satellite overseas faults based on inter-satellite link ranging and data transmission information based on the practical problem that the navigation satellite overseas does not have ground station tracking monitoring.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for diagnosing an overseas fault of a navigation satellite disclosed in an embodiment of the invention;
FIG. 2 is a functional block diagram of a navigation satellite overseas fault diagnosis method disclosed in an embodiment of the invention;
FIG. 3 is a sequence diagram of inter-satellite orbit link residuals and inter-satellite clock error link residuals for a navigation satellite off-satellite fault diagnostic method of a navigation satellite off-satellite fault diagnostic method disclosed in an embodiment of the invention;
fig. 4 is a flow chart of an implementation of a navigation satellite overseas fault diagnosis method disclosed in an embodiment of the invention.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or elements is not limited to the list of steps or elements but may, in the alternative, include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses a navigation satellite overseas fault diagnosis method, which comprises the following steps: the system comprises a signal domain monitoring module, an information domain monitoring module and a navigation satellite overseas fault diagnosis module; the signal domain monitoring module monitors a satellite working clock, signal time delay jump, signal power jump, signal frequency jump and signal phase jump to obtain a signal integrity mark; the signal integrity mark is signal domain monitoring information; the information domain monitoring module is used for processing the orbit parameters, the clock error parameters, the autonomous navigation messages of the other stars and the inter-satellite measurement information of the satellite, and obtaining information domain monitoring information; and the navigation satellite off-site fault diagnosis module processes the signal domain monitoring information and the information domain monitoring information to obtain an off-site navigation satellite fault diagnosis result. Aiming at the running state monitoring requirement of the navigation satellite in the process of tracking without a ground station, the invention can realize the rapid diagnosis and identification of the satellite faults outside the country based on a small amount of inter-satellite link rapid feedback information. The following will describe in detail.
Example 1
Referring to fig. 1, fig. 1 is a flowchart of a method for diagnosing an overseas fault of a navigation satellite according to an embodiment of the invention. The navigation satellite overseas fault diagnosis method described in fig. 1 may be used in the fields of satellite fault diagnosis, satellite communication, etc., and the embodiment of the invention is not limited. As shown in fig. 1, the navigation satellite off-shore fault diagnosis method may include a signal domain monitoring module, an information domain monitoring module, and a navigation satellite off-shore fault diagnosis module;
s1, monitoring a satellite working clock, signal time delay jump, signal power jump, signal frequency jump and signal phase jump by using a signal domain monitoring module to obtain a signal integrity mark; the signal integrity mark is signal domain monitoring information;
further, the satellite working clock monitoring covers monitoring of satellite clock availability status, satellite Zhong Tiaoxiang, satellite clock hopping, and the like. If the satellite clock has no working signal output or the satellite clock phase jump/frequency modulation value exceeds the satellite Zhong Tiaoxiang/frequency modulation monitoring threshold, the working clock alarm mark is set to be in an alarm state.
Further, the signal time delay jump state monitoring needs to analyze whether the difference value between the time delay value of the current reference time signal and the last calculated time value exceeds a signal time delay jump monitoring threshold value.
And similarly, the signal power jump, the signal frequency jump and the signal phase jump state monitoring need to analyze whether the difference value between the power, the frequency and the phase value of the signal at the current reference moment and the last calculated moment exceeds a signal power/frequency/phase jump monitoring threshold value.
S2, processing the orbit parameter, the clock error parameter, the autonomous navigation message of the other star and the inter-satellite measurement information by using an information domain monitoring module to obtain information domain monitoring information;
and S3, processing the signal domain monitoring information and the information domain monitoring information by using an off-site navigation satellite fault diagnosis module to obtain an off-site navigation satellite fault diagnosis result.
Fig. 2 is a schematic block diagram of a navigation satellite overseas fault diagnosis method disclosed in an embodiment of the invention.
Further, the signal domain monitoring module is utilized to monitor a satellite working clock, signal time delay jump, signal power jump, signal frequency jump and signal phase jump to obtain a signal integrity mark, and the signal domain monitoring module comprises:
s11, the signal domain monitoring module detects a satellite working clock to obtain a working clock alarming identifier;
s12, the signal domain monitoring module monitors signal time delay jump, signal power jump, signal frequency jump and signal phase jump between the current moment and the previous moment to obtain a signal time delay difference value, a signal power difference value, a signal frequency difference value and a signal phase difference value between the current moment and the previous moment;
s13, when the work Zhong Gaojing indicates that an alarm state exists and/or the signal delay difference value, the signal power difference value, the signal frequency difference value and the signal phase difference value are greater than a preset signal delay difference value threshold value, a preset signal power difference value threshold value, a preset signal frequency difference value threshold value and a preset signal phase difference value threshold value, setting the signal integrity indicator as an undamaged state;
s14, returning the signal integrity mark to a ground operation control center according to a broadcasting period by utilizing an inter-satellite link.
Further, the information domain monitoring module processes the orbit parameter, the clock error parameter, the his star autonomous navigation message and the star-to-ground star measurement information to obtain information domain monitoring information, including:
s21, the information domain monitoring module performs summation and subtraction on the double unidirectional ranging, and decouples the track and clock error parameters to obtain an inter-satellite track chain building residual error and an inter-satellite clock error chain building residual error;
s22, processing the autonomous navigation message of the other star and the inter-satellite measurement information of the satellite by using an autonomous navigation model based on EKF filtering to obtain the autonomous ephemeris parameters of the other star and the autonomous clock difference parameters of the other star;
the self-star autonomous ephemeris parameters and the self-star autonomous clock difference parameters form a self-star autonomous navigation message;
s23, the inter-satellite orbit link establishment residual error and the inter-satellite clock error link establishment residual error form the information domain monitoring information by the self-satellite autonomous navigation message;
s24, the information domain monitoring information is returned to the ground operation control center according to the broadcasting period by utilizing the inter-satellite links.
Further, the method for obtaining the inter-satellite orbit link establishment residual and the inter-satellite clock difference link establishment residual by summing and differencing the double unidirectional ranging and decoupling the orbit and clock difference parameters includes:
s211, calculating T of the satellite A when the satellite A is on the clock face by using the first ranging model 1 Receiving the ranging signal transmitted by the satellite B at the moment to obtain T 1 Distance measurement value ρ 'of time' BA (T 1 )；
The first ranging model is:
further, summing and differencing the two-way ranging can decouple the track and clock error parameters. The mutual transmitting and mutual receiving distance measurement summation at the same moment only comprises distance information, can be used for track determination, and the mutual transmitting and mutual receiving distance measurement summation at the same moment only comprises clock difference information and can be used for clock difference measurement. Considering that the time division system mutually transmits and mutually receives the distance measurement time difference, the bidirectional observation needs to be calculated to the same time.
S212, the distance measurement value rho' BA (T 1 ) To time T 0 Obtaining a first ranging value rho BA (T 0 )：
Wherein Δρ BA Ranging corrections for the predicted ephemeris;
s213, calculating T of satellite B at its clock face by using the second ranging model 2 Receiving the ranging signal transmitted by the satellite A at moment to obtain T 2 Distance measurement value ρ 'of time' BA (T 2 )；
The second ranging model is:
s214, the distance measurement value rho' AB (T 2 ) To time T 0 Obtaining a second ranging value ρ AB (T 0 )：
Wherein Δρ AB For the satellite clock parameter ranging correction value, subscripts A, B represent satellite a and satellite B respectively, subscripts AB and BA represent one-way ranging directions, the first is a signal transmitter, and the second is a signal receiver;representing the three-dimensional position vector of the satellite, clk representing the satellite clock, τ Send And τ Rcv Respectively representing the transmitting time delay and the receiving time delay of the link equipment between satellites, c is the speed of light, and epsilon is the measurement noise and other unmodeled errors; delta is the modelable error correction of the ranging value, and for inter-satellite ranging, the correction comprises satellite antenna phase center correction and relativistic effect correction; for satellite-ground ranging, the method also comprises errors such as troposphere delay correction, station eccentricity correction, tide correction and the like;
s215, calculating model of ranging correction value by using the forecast ephemeris, and calculating the ranging value rho' BA (T 1 ) Processing to obtain the predicted ephemeris ranging correction value Deltaρ BA ；
The calculation model of the ranging correction value of the forecast ephemeris is as follows:
s216, calculating a model for the ranging value rho 'by using the satellite clock parameter ranging correction value' AB (T 2 ) Processing to obtain the satellite clock parameter ranging correction value delta rho AB ；
The star clock parameter ranging correction value calculation model is as follows:
s217, regarding the first ranging value ρ BA (T 0 ) And the second ranging value ρ AB (T 0 ) Processing to obtain an inter-satellite orbit link establishment residual error;
establishing a chain residual error for the inter-satellite orbit;
s218, for the first ranging value ρ BA (T 0 ) And the second ranging value ρ AB (T 0 ) Processing to obtain inter-satellite clock difference link establishment residual errors:
clk A (T 0 )-clk B (T 0 ) And establishing a chain residual error for the inter-satellite clock difference.
If sampling is performed at 5-minute sampling intervals, an inter-satellite orbit link residual error and an inter-satellite clock difference link residual error sequence diagram between the present satellite and other link-building satellites shown in fig. 3 can be obtained.
Further, the processing the signal domain monitoring information and the information domain monitoring information by using the navigation satellite overseas fault diagnosis module to obtain an overseas navigation satellite fault diagnosis result includes:
s31, calculating the current ephemeris reference time t by using the self-ephemeris parameters in the self-navigation message i User ranging error of (a)And the last ephemeris reference time t i-1 User ranging error +.>And calculate the user ranging error difference +.>
S32, calculating the current ephemeris reference time t by using the self-star autonomous clock difference parameter in the self-star autonomous navigation message i Satellite clock error absolute error of (2)And the last ephemeris reference time t i-1 Satellite clock error absolute error of->And calculating to obtain satellite clock difference absolute error difference value +.>
S33, calculating the current ephemeris reference time t by using the autonomous clock difference parameter of the satellite in the autonomous navigation circuit i Satellite clock error relative to time error of (2)And the last ephemeris reference time t i-1 Satellite clock error relative to time error of (2)And calculating the satellite clock difference relative time error difference value +.>
S34, the navigation satellite overseas fault diagnosis module establishes a link residual error for the signal integrity mark, the inter-satellite orbit, the inter-satellite clock difference and the user ranging error difference valueThe satellite clock difference absolute error difference value +.>And the satellite clock difference relative time error differenceAnd processing to obtain the navigation satellite overseas fault diagnosis result.
Further, the current ephemeris reference time t i User ranging error of (a)The calculation method of (1) is as follows:
s311, calculating ephemeris reference time t by using the self-ephemeris parameters in the autonomous navigation message i Is a satellite position of (2);
s312, referencing the ephemeris to time t i Comparing the satellite positions of the corresponding satellites with the precise ephemeris of the corresponding satellites to obtain an orbit determination error;
s313, converting the track measurement error into radial information, track following information and normal information;
s314, processing the radial information, the trace information and the normal information to obtain a front ephemeris reference time t i User ranging error of (a)
Where Δr is radial information, Δt is along-track information, and Δn is normal information.
Further, analyzing whether the inter-satellite orbit link establishment residual between the own satellite and the other satellite in the current information updating period exceeds an inter-satellite orbit residual monitoring threshold
Similarly, analyzing whether the inter-satellite clock difference build-up chain residual between the own satellite and other satellites in the current information updating period exceeds an inter-satellite clock difference residual monitoring threshold
By calculating the current ephemeris reference time t i A kind of electronic deviceWith the last ephemeris reference time t i-1 Is->Whether the difference between them exceeds a satellite position error threshold +.>
Further, the clock error reference time t is calculated by utilizing the star autonomous clock error parameter in the autonomous navigation circuit i The satellite relative clock difference is compared with the precision clock difference of the corresponding satellite to obtain the satellite clock difference absolute errorMeanwhile, calculating the absolute errors of satellite clocks of all autonomous television satellites returned to the satellite through inter-satellite links so as to update the satellites of all satellites in the current periodAfter the clock difference absolute clock difference is subjected to median rejection, the obtained average value is taken as a space-based time reference, the time difference between the satellite and the space-based time reference is calculated, and the satellite clock difference relative time error>
Further, whether the starting duration time of the current EKF-based distributed autonomous navigation algorithm exceeds an autonomous running duration time monitoring threshold t is judged auto_lim . If less than threshold t auto_lim Calculating the reference time t of the current clock difference i Satellite clock error absolute error of (2)With the last ephemeris reference time t i-1 Satellite clock error absolute error of->Whether the difference between the two exceeds a satellite clock error monitoring threshold Lim Clk The method comprises the steps of carrying out a first treatment on the surface of the If greater than or equal to the threshold t auto_lim Calculating the reference time t of the current clock difference i Satellite clock error relative time error ∈>With the last ephemeris reference time t i-1 Satellite clock error absolute error of->Whether the difference between the two exceeds a satellite clock error monitoring threshold Lim Clk 。
Further, the navigation satellite overseas fault diagnosis module is configured to perform signal integrity identification, inter-satellite orbit link establishment residual error, inter-satellite clock difference link establishment residual error, and user ranging error difference value on the navigation satellite overseas fault diagnosis moduleThe satellite clock difference absolute error difference value +.>And the satellite clock difference relative time error differenceProcessing to obtain a navigation satellite overseas fault diagnosis result, including:
s341, when the signal integrity mark is abnormal, judging that the satellite downlink navigation signal is possibly abnormal;
s342, when the signal integrity mark is abnormal, the inter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdThe satellite clock difference absolute error difference value +.>Or the satellite clock difference relative time error difference +.>Exceeding a preset satellite clock error monitoring threshold Lim Clk When the satellite clock is judged to have abnormality, the satellite clock is judged to have possibility of abnormality;
s343, when only the inter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdWhen the satellite clock, the inter-satellite ranging load or the on-satellite autonomous navigation unit of the other satellite are judged to be abnormal;
s344, when only the inter-satellite orbit link establishment residual exceeds a preset inter-satellite orbit residual monitoring thresholdWhen the method is used, the situation that an autonomous navigation unit or an inter-satellite ranging load on the star of the star is possibly abnormal is judged;
s345, when the inter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdThe inter-satellite orbit link establishment residual exceeds a preset inter-satellite orbit residual monitoring threshold value +.>Said user range error difference +.>Exceeding a preset satellite position error threshold +.>The satellite clock difference absolute error difference value +.>Or the satellite clock difference relative time error difference +.>Exceeding a preset satellite clock error monitoring threshold Lim Clk And when the autonomous navigation unit on the star is judged to have the possible abnormality.
Further, the method further comprises:
the diagnosis content of the navigation satellite overseas fault diagnosis module is based on the information domain monitoring result and the signal domain monitoring result without transmission error code or abnormal wild value data.
Example two
An implementation flow of a navigation satellite overseas fault diagnosis method of the second embodiment of the invention may be implemented in accordance with the flow shown in fig. 4.
1. Signal domain monitoring
In the embodiment, the satellite utilizes the autonomous monitoring capability on the satellite to monitor and compare the working state of the working clock of the satellite and the jump conditions of signal delay, power, frequency and phase in real time, generates a signal integrity mark according to timing sequence convention, and realizes the transmission to a ground operation control center through inter-satellite links with other satellites 2 and in-environment satellites.
2. Information domain monitoring
In this embodiment, the present star and his 1, his 2 enter the inter-satellite link, obtain his 1, his 2 inter-satellite ranging information and his autonomous navigation message, then utilize his on-satellite autonomous navigation unit, calculate and produce this star and his 1, his 2 inter-satellite clock difference link establishment residual, this star and his 1, his 2 inter-satellite orbit difference link establishment residual, and this star autonomous navigation message information covering this star main ephemeris parameter and this star autonomous clock difference parameter, and through the inter-satellite link with his 2, in-house transfer star according to the time schedule agreement, realize to the sending of the ground operation control center.
3. Comprehensive diagnosis
The ground operation control center performs real-time research and judgment on the signal integrity mark, calculates the inter-satellite clock difference chain building residual error between the present satellite and the other satellites 1 and 2 and the inter-satellite orbit chain building residual error between the present satellite and the other satellites 1 and 2, and calculates the inter-satellite orbit chain building residual error between the present satellite and the other satellites 1 and 2And->Or->And Lim Clk And (3) carrying out research and judgment on the difference value of the two.
In summary, the invention provides a navigation satellite overseas fault diagnosis method combining an information domain and a signal domain, which realizes the rapid diagnosis of the navigation satellite overseas fault through the signal domain monitoring result and the information domain monitoring result which are rapidly returned outside the navigation satellite.
Example III
The embodiment of the invention discloses a computer readable storage medium, which comprises the navigation satellite overseas fault diagnosis method as described in the first embodiment and the second embodiment. It should be noted that, for the detailed description of the navigation satellite overseas fault diagnosis method, please refer to the detailed description of the related content in the first embodiment and the second embodiment, and the detailed description of this embodiment is omitted.
Example IV
The embodiment of the invention discloses electronic equipment, which comprises the navigation satellite overseas fault diagnosis method as described in the first embodiment and the second embodiment. It should be noted that, for the detailed description of the navigation satellite overseas fault diagnosis method, please refer to the detailed description of the related content in the first embodiment and the second embodiment, and the detailed description of this embodiment is omitted.
The apparatus embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a navigation satellite overseas fault diagnosis method which is disclosed by the embodiment of the invention and is only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (10)

1. A navigation satellite overseas fault diagnosis method, the method comprising:
s1, monitoring a satellite working clock, signal time delay jump, signal power jump, signal frequency jump and signal phase jump by using a signal domain monitoring module to obtain a signal integrity mark; the signal integrity mark is signal domain monitoring information;
s2, processing the orbit parameter, the clock error parameter, the autonomous navigation message of the other star and the inter-satellite measurement information by using an information domain monitoring module to obtain information domain monitoring information;
and S3, processing the signal domain monitoring information and the information domain monitoring information by using an off-site navigation satellite fault diagnosis module to obtain an off-site navigation satellite fault diagnosis result.
2. The method for diagnosing an overseas fault of a navigation satellite according to claim 1, wherein the monitoring of the satellite clock, the signal delay jump, the signal power jump, the signal frequency jump, the signal phase jump by the signal domain monitoring module to obtain the signal integrity mark comprises:
s11, the signal domain monitoring module detects a satellite working clock to obtain a working clock alarming identifier;
s12, the signal domain monitoring module monitors signal time delay jump, signal power jump, signal frequency jump and signal phase jump between the current moment and the previous moment to obtain a signal time delay difference value, a signal power difference value, a signal frequency difference value and a signal phase difference value between the current moment and the previous moment;
s13, when the work Zhong Gaojing indicates that an alarm state exists and/or the signal delay difference value, the signal power difference value, the signal frequency difference value and the signal phase difference value are greater than a preset signal delay difference value threshold value, a preset signal power difference value threshold value, a preset signal frequency difference value threshold value and a preset signal phase difference value threshold value, setting the signal integrity indicator as an undamaged state;
s14, returning the signal integrity mark to a ground operation control center according to a broadcasting period by utilizing an inter-satellite link.
3. The method for diagnosing an overseas fault of a navigation satellite according to claim 1, wherein the processing the orbit parameter, the clock error parameter, the autonomous navigation message of the other satellite and the inter-satellite measurement information by using the information domain monitoring module to obtain information domain monitoring information comprises:
s21, the information domain monitoring module performs summation and subtraction on the double unidirectional ranging, and decouples the track and clock error parameters to obtain an inter-satellite track chain building residual error and an inter-satellite clock error chain building residual error;
s22, processing the autonomous navigation message of the other star and the inter-satellite measurement information of the satellite by using an autonomous navigation model based on EKF filtering to obtain the autonomous ephemeris parameters of the other star and the autonomous clock difference parameters of the other star;
the self-star autonomous ephemeris parameters and the self-star autonomous clock difference parameters form a self-star autonomous navigation message;
s23, the inter-satellite orbit link establishment residual error and the inter-satellite clock error link establishment residual error form the information domain monitoring information by the self-satellite autonomous navigation message;
s24, the information domain monitoring information is returned to the ground operation control center according to the broadcasting period by utilizing the inter-satellite links.
4. The method for diagnosing an overseas fault of a navigation satellite according to claim 3, wherein said decoupling the orbit and clock error parameters by summing and differencing the two unidirectional ranging results to obtain an inter-satellite orbit link establishment residual and an inter-satellite clock error link establishment residual, comprises:
s211, calculating T of the satellite A when the satellite A is on the clock face by using the first ranging model 1 Receiving the ranging signal transmitted by the satellite B at the moment to obtain T 1 Distance measurement value ρ 'of time' BA (T 1 )；
S212, the distance measurement value rho' BA (T 1 ) To time T 0 Obtaining a first ranging value rho BA (T 0 )；
S213, calculating T of satellite B at its clock face by using the second ranging model 2 Receiving the ranging signal transmitted by the satellite A at moment to obtain T 2 Distance measurement value ρ 'of time' AB (T 2 )；
S214, the distance measurement value rho' AB (T 2 ) To time T 0 Obtaining a second ranging value ρ AB (T 0 )；
S215, calculating model of ranging correction value by using the forecast ephemeris, and calculating the ranging value rho' BA (T′ 1 ) Processing to obtain the predicted ephemeris ranging correction value Deltaρ BA ；
S216, calculating a model for the ranging value rho 'by using the satellite clock parameter ranging correction value' AB (T′ 2 ) Processing to obtain the satellite clock parameter ranging correction value delta rho AB ；
S217, regarding the first ranging value ρ BA (T 0 ) And the second ranging value ρ AB (T 0 ) Processing to obtain an inter-satellite orbit link establishment residual error;
s218, for the first ranging value ρ BA (T 0 ) And the second ranging value ρ AB (T 0 ) And processing to obtain inter-satellite clock difference link establishment residual errors.
5. The method for diagnosing an overseas fault of a navigation satellite according to claim 1, wherein the processing the signal domain monitoring information and the information domain monitoring information by using the navigation satellite overseas fault diagnosis module to obtain an overseas navigation satellite fault diagnosis result comprises:
s31, calculating the current ephemeris reference time t by using the self-ephemeris parameters in the self-navigation message i User ranging error of (a)And the last ephemeris reference time t i-1 User ranging error +.>And calculate the user ranging error difference +.>
S32, calculating the current ephemeris reference time t by using the self-star autonomous clock difference parameter in the self-star autonomous navigation message i Satellite clock error absolute error of (2)And the last ephemeris reference time t i-1 Satellite clock error absolute error of->And calculating to obtain satellite clock difference absolute error difference value +.>
S33, calculating the current ephemeris reference time t by using the autonomous clock difference parameter of the satellite in the autonomous navigation circuit i Satellite clock error relative to time error of (2)And the last ephemeris reference time t i-1 Satellite clock error relative time error ∈>And calculating the satellite clock difference relative time error difference value +.>
S34, the navigation satellite overseas fault diagnosis module establishes a link residual error for the signal integrity mark, the inter-satellite orbit, the inter-satellite clock difference and the user ranging error difference valueThe satellite clock difference absolute error difference value +.>And the satellite clock difference relative time error difference +.>And processing to obtain the navigation satellite overseas fault diagnosis result.
6. The method for diagnosing an overseas fault of a navigation satellite of claim 5, wherein said current ephemeris reference time t i User ranging error of (a)The calculation method of (1) is as follows:
s311, calculating ephemeris reference time t by using the self-ephemeris parameters in the autonomous navigation message i Is a satellite position of (2);
s312, referencing the ephemeris to time t i Comparing the satellite positions of the corresponding satellites with the precise ephemeris of the corresponding satellites to obtain an orbit determination error;
s313, converting the track measurement error into radial information, track following information and normal information;
s314, to the instituteThe radial information, the trace information and the normal information are processed to obtain the reference time t of the front ephemeris i User ranging error of (a)
7. The method of claim 5, wherein the navigation satellite off-shore fault diagnosis module identifies the signal integrity, the inter-satellite orbit link establishment residual, the inter-satellite clock difference link establishment residual, the user ranging error difference valueThe satellite clock difference absolute error difference value +.>And the satellite clock difference relative time error difference +.>Processing to obtain a navigation satellite overseas fault diagnosis result, including:
s341, when the signal integrity mark is abnormal, judging that the satellite downlink navigation signal is abnormal;
s342, when the signal integrity mark is abnormal, the inter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdThe satellite clock difference absolute error difference value +.>Or the satellite clock difference relative time error difference +.>Satellite clock exceeding presetDifference error monitoring threshold Lim Clk When the satellite clock is abnormal, judging that the satellite clock is abnormal;
s343, when only the inter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdWhen the satellite clock, the inter-satellite distance measurement load or the on-satellite autonomous navigation unit of the other satellite are judged to be abnormal;
s344, when only the inter-satellite orbit link establishment residual exceeds a preset inter-satellite orbit residual monitoring thresholdWhen the autonomous navigation unit or the inter-satellite distance measurement load on the star of the star is abnormal;
s345, when the inter-satellite clock difference link establishment residual exceeds a preset inter-satellite clock difference residual monitoring thresholdThe inter-satellite orbit link establishment residual exceeds a preset inter-satellite orbit residual monitoring threshold value +.>Said user range error difference +.>Exceeding a preset satellite position error threshold +.>The satellite clock difference absolute error difference value +.>Or the satellite clock difference relative time error difference +.>Satellite exceeding a predetermined valueClock error monitoring threshold Lim Clk And judging that the autonomous navigation unit on the star has abnormality.
8. The navigation satellite off-shore fault diagnosis method according to claim 1, characterized in that said method further comprises:
the diagnosis content of the navigation satellite overseas fault diagnosis module is based on the information domain monitoring result and the signal domain monitoring result without transmission error code or abnormal wild value data.
9. A computer readable storage medium storing computer instructions which, when invoked, are operable to perform the navigation satellite overseas fault diagnosis method of any one of claims 1-8.
10. An electronic device comprising the navigation satellite off-site fault diagnosis method according to any one of claims 1 to 8.
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