CN1492237A - Satellite radio detection - Google Patents

Satellite radio detection Download PDF

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Publication number
CN1492237A
CN1492237A CNA021199655A CN02119965A CN1492237A CN 1492237 A CN1492237 A CN 1492237A CN A021199655 A CNA021199655 A CN A021199655A CN 02119965 A CN02119965 A CN 02119965A CN 1492237 A CN1492237 A CN 1492237A
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China
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data
satellite
ionosphere delay
distance measuring
measuring signal
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CNA021199655A
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CN1332213C (en
Inventor
乔汉・伍拉迪米・凯纳尔
乔汉·伍拉迪米·凯纳尔
・罗伯特・纳格勒二世
詹姆斯·罗伯特·纳格勒二世
・奥杜
克劳迪·奥杜
理查德・尔彦
芬坦·理查德·尔彦
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BRITISH MARTHATE Ltd
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BRITISH MARTHATE Ltd
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Priority claimed from GB9521777A external-priority patent/GB2306827B/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/02—Details of the space or ground control segments
    • 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
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/071—DGPS corrections
    • 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
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/072—Ionosphere corrections
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/009—Transmission of differential positioning data to mobile
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude

Abstract

A satellite radiodetermination system comprises global navigation service (GNSS) satellites 2 such as GPS satellites, which generate GNSS ranging signals Rn, geostationary satellites 6 which retransmit ranging signals Rg generated at a navigation land earth station (NLES) 8, including augmentation data A, and medium earth orbit (MEO) satellites 10 which generate ranging signals Rm including regional augmentation data RA transmitted from a satellite access node (SAN) 14. The regional augmentation data RA is supplied by regional augmentation systems 21a, 21b. A navigation receiver 11 receives the ranging signals Rg, Rm, Rn and calculates ionospheric delay values for those ranging signals which are provided on dual frequencies. Using these ionospheric delay values, and optionally the regional augmentation data RA and the augmentation data A, the navigation receiver estimates ionospheric delay values for those ranging signals which are provided on single frequencies. The navigation receiver uses the ranging signals, corrected for ionospheric delay and errors indicated by the augmentation data A and regional augmentation data RA, to calculate position and time accurately.

Description

Satellite radio detection
The application is dividing an application of No. 96112460.1 patents submitting in Patent Office of the People's Republic of China on October 23rd, 1996.
Technical field
The present invention relates to be used for the method and apparatus of radio determination.Radio determination comprises by using the distance measuring signal between terminal and a plurality of beacon to locate and the time.In satellite radio detection, beacon is exactly the satellite on the track.
Background technology
At present, there are two kinds of global radio electrometric determination systems.The GPS/NAVSTAR system comprises a satellite group of stars that moved on the track at 12 hours of being handled by U.S. Department of Defense and serving for U.S. Department of Defense.The GLONASS positioning system then provides similar equipment (hereinafter will not being discussed further) under Russia's government control.
In the GPS/NAVSTAR system, each satellite all is loaded with highly accurate atomic clock, and the clock of all satellites is all by synchronously.The track of all satellites is all accurately grasped, thereby all can draw its instantaneous position to each satellite.Each satellite receives various information from earth station periodically on its track.
Each satellite broadcasting is message clocklike, and message is loaded with:
1. time shown in the satellite atomic clock;
2. the position of satellite; And
3. status information.
The details of the signal format of GPS can find in the second edition in " the GPS normal place service signal technical conditions " that are incorporated herein by reference June nineteen ninety-five.
Tellurian GPS receiver can obtain signal from several satellites.A group of stars is designed to like this, makes almost almost all to see four satellites all the time at least simultaneously in each place of the earth.Notice the different moment of signal from satellite arrival, the knowledge of clock data that use is received and satellite position (sending) with signal, the GPS receiver just can be calculated the relative distance of each satellite, calculates the three-dimensional position of receiver and calibrates its clock from these 4 relative distances thus.
Change the precision that can reduce the radio determination measurement by the caused delay of ionospheric change, thereby in order to carry out some compensation to this, each satellite uses all two frequencies (to be called L 1And L 2) broadcasting.Military GPS receiver can estimate and proofread and correct ionospheric delay by the measurement of two frequencies, because ionospheric delay is with the variation of frequency function.
Though it is military that GPS/NAVSTAR mainly supplies, receiver also can extensively be suitable for civilian.But, commercial receiver can not be decoded to " the P code " on first and second frequencies information signal encrypted, thereby can not carry out the compensation of bifrequency ionosphere.And in order to limit non-military user's professional precision, so-called " selection availability " performance deliberately is introduced into less timing and/or site error in the information signal of using the C/A code coding, and only at L 1On the frequency from each satellites transmits.Military receiver then can not have these intentional errors to signal decoding.
Land station for accurate location aware, might judge which satellite has the sum of errors error much, know that broadcasting a signal points out which satellite has error and is used for the correcting value that the GPS receiver receives, enable to compensate the error that causes owing to the unifrequency measurement, thereby draw a reliable position signal.For example saying explanation to some extent among the US4445110 by the signal that geostationary satellite broadcasting is such.
But, when employed correction can be calculated by the reference ground station of known location, this correcting value became and little by little reduces precision along with distance reference land station is farther because of ionosphere (and other are such as tropospheric atmospheric envelope) different relation.Thereby the purposes of this " differential GPS " technology is restricted.
Do not receive two frequencies with the GPS receiver that compensation ionosphere changes if do not provide to work in, perhaps receive the differential GPS corrected receiver, can broadcast a signal that comprises some relevant ionosphere status data.In recent years, a kind of possibility of WAAS-Wide Area Augmentation System comes into question.An example is to increase enlarging system (WAAS) by the wide area that is used to provide entire United States difference correction information that Directorate of Air of the United States Federal advises.In this wide area system, be used for the ionosphere corrections data that a zone (for example Europe or the U.S.) is separated into the map reference grid of each point and be the broadcasting of the geostationary satellite of this regional service by one, and, insert between each map lattice point with derivation and be used for the single frequency signal that a numerical value that ionosphere delay proofreaies and correct is added to each gps satellite in the visual field at receiver end.Also broadcasting is used for compensating the correction data of " selection availability " error.US-A-5323322 narrates a kind of satellite radio detection system of broadcasting ionized layer data.
The 49th annual meeting file of ION of holding in June, 1993 " utilizes the civilian GNSS progress of synchronous earth satellite ", the file " Global Navigation Satellite System (GNSS) that is used for following civilian requirement " of the 18th annual meeting file of the INA that holds in October, 1993 " consideration that the enforcement of CNSS integrality passage and following GNSS increase " and 94 years technical plans of PLANS of holding in April, 1994 all has J.R.Nagle, and G.V.Kinal and A.J.VanDierenclonck suggestion are with other Low Earth Orbit, middle orbit and geostationary orbit commercial satellite replenish the GPS/NAVSTAR system.
Summary of the invention
According to an aspect of the present invention, a kind of satellite radio detection receiver is provided, it receives a multi-frequency distance measuring signal and a unifrequency distance measuring signal, derive an ionospheric delay numerical value from the multi-frequency distance measuring signal by the relative delay between the different frequency of measuring the multi-frequency distance measuring signal launched, and go out to be used for the delay numerical value of another distance measuring signal according to the ionosphere delay numerical estimation that the multi-frequency distance measuring signal is recorded.
According to another aspect of the present invention, provide a satellite payload that works in arbitrary mode of dual mode.In first kind of mode, satellite payload generates from managing distance measuring signal, and this signal does not comprise from what land station received and increases the expansion data.In the second way, satellite is transmitted extraly from what land station received and is increased the expansion data.
In another aspect of the present invention, a kind of satellite payload is provided, this load can generate one from managing distance measuring signal and can broadcasting the data that receive from land station.If do not receive data from land station, then satellite payload generates pseudo-data that are used to broadcast, and is open to keep broadcast channel.
According to a further aspect in the invention, a kind of device that is used to be connected to the satellite Ingress node is provided, this device is arranged to receive and increases the expansion data, Ingress node determines the position of enterable satellite via satellite, and whether the decision satellite position drops within the preset range (expand data source and become with increasing) and increase the expansion data to the output of satellite Ingress node when dropping within the preset range in the position of satellite.
According to a further aspect in the invention, a kind of satellite navigation receiver is provided, this receives function and receives ionosphere delay data, but can only use ionosphere delay data (if can for example say by a kind of be used for the visit of ionosphere delay data the code of ionosphere delay data decryption is accomplished) when carrying out radio determination.
According to a further aspect of the invention, provide a kind of being used for to increase the device that expands data to the supply of satellite Ingress node, this device is arranged to encrypt the ionosphere delay data and does not encrypt and the irrelevant difference correction data of ionosphere delay, and the ionosphere delay data and the unencrypted difference correction data of encrypting are outputed to the satellite Ingress node.
According to a further aspect in the invention, provide a kind of satellite navigation receiver, this receiver is arranged to receive ionosphere delay data and residual error data, and uses residual error adjustment of data ionosphere delay data.
According to a further aspect in the invention, provide a kind of difference correction network, this network receives the ionosphere delay data from another difference correction network, receives distance measuring signal and calculates error the ionosphere delay data thus from Navsat.
Description of drawings
Only narrate all embodiment of the present invention with reference to accompanying drawing as an example now, in the accompanying drawings:
Fig. 1 is a schematic diagram of satellite radio detection system;
Fig. 2 is the schematic diagram for a part of satellite radio detection system of North America and South America service;
Fig. 3 is the block scheme of the navigation service load of MEO satellite;
Fig. 4 is the block scheme of navigation neceiver;
Fig. 5 is the sketch map that is used for representing the map reference grid of ionosphere information; And
Fig. 6 is that sketch map is a little passed through in explanation calculating ionosphere;
Embodiment
Fig. 1 illustrate roughly the satellite radio detection system each parts and between relation.For example GPS/NASTAR satellite and/or GLONASS satellite provide by one or many GNSS (global navigational satellite service) satellite 2 from pipe distance measuring signal Rn.Many geostationary satellite 6 navigation transponders (example is Inmarsat-3 signal communication satellite or the special-purpose synchronous Navsat of the earth as proposed) each year, be used for from land navigation earth station (NLES) 8 difference correction and other being increased expansion data A and be forwarded to navigation neceiver 11, increasing expansion data A provides relevant GNSS satellite 2 and distance measuring signal R thereof nIntegrality, sum of errors ionosphere information.
One or many Medium-Earth Orbit (MEO) satellite 10 are for example advised the satellite with ICO (TM) global system, the zone of ground satellite Ingress node (SAN) 14 emissions is increased expand data RA and be forwarded to navigation neceiver 11 and merge to from managing distance measuring signal R mWith distance measuring signal R from GNSS satellite 2 rSynchronously.The satellite that is used for ICO (TM) system of being advised is a group of stars of 10 satellites of 6 hours tracks on two orbit planes, and every satellite is loaded with a Communications And Navigation service load.
Accurately the prison of location aware shows that station 16a, 16b and 16c network receive the distance measuring signal R from GNSS satellite 2 n, with distance measuring signal R from MEO satellite 10 m, and calculate the position that is included among these distance measuring signals and the error of temporal information according to the difference between the position (showing that by distance measuring signal R and prison station 16 physical location calculates).The difference correction data show that by prison station 16a, 16 falls 16c and is transferred to Region control station 18, the position that control station 18 is obtained the MEO satellite 10 that comprises report to some extent and GNSS satellite 2 and the error of time increase expansion data A.In other words, prison shows that station 16 can be simple receiver, carries out and difference correction is placed on Region control station 18.
Position among the distance measuring signal R and timing error are shown between station 16a, 16b and the 16c at prison and can not changed.But, show that from prison difference correction data that station 16a, 16b and 16c receive then can show the different and different of the ionosphere delay (quantity of the free electron of the ionosphere part of passing on signal is decided) of the signals that station 16 receives and other delays such as the tropospheric delay that is caused by troposphere reflection because of each prison.
Therefore, Region control station 18 should be able to be obtained respectively and be used for distance measuring signal R m, R nIn error numerical value and the data that are used for the ionosphere delay numerical value in zone, ionosphere (distance measuring signal pass this zone arrive each prison show station 16a, 16b and 16c).This data transmission is used for launching by geostationary satellite 6 navigation receivers 11 to increase the form that expands data A to NLES8.
In addition, increase the expansion data and be transferred to the enterable service network 20 of supplier that the zone increases enlarging system 21a and 21b.This zone increases this locality prison that enlarging system 21a, 21b can comprise the difference correction data that are used to calculate concrete zone and shows the station.The zone increases to be expanded data RA and can for example say and comprise more accurate ionospheric data and the correction data that increases expansion data A to relevant concrete zone, is imported by the ISP on the service network 20.The zone increases expansion data RA can comprise that some or all increase expansion data A.The zone increases expansion data RA and is transported to SAN14, is used for through 10 emissions of MEO satellite and by navigation neceiver 11 selective receptions.
Above-mentioned satellite radio detection system except GPS and GLONASS for example are provided existing satellite to measure to serve, also provides the extra distance measuring signal R from MEO satellite 10 mIn the present embodiment, distance measuring signal R mBe the bifrequency distance measuring signal, be similar to the used signal of military user in the gps system, but not encrypted, thereby can use for Any user.Above the radio determination system also increase in the overhead broadcasting in vast zone and expand data A by geostationary satellite 6, this increases and expands additional areas that data are subjected to 10 broadcasting of MEO satellite and increase and expand data RA and replenish.
Increase and expand the distance measuring signal R that data A is encoded into the NLES8 generation gIn and be broadcast to navigation neceiver 11 through geostationary satellite 6.The position of geostationary satellite 6 determines at NLES8, and NLES8 comprises that also a precise time benchmark and the time reference on MEO satellite 10 and the GNSS satellite 2 such as atomic clock or bifrequency satellite radio detection device is synchronous.Be transmitted into the distance measuring signal R of synchronous satellite 6 at NLES8 gIn the delay that comprised be determined and distance measuring signal R gComprise the position and the time data that are calculated, make and when geostationary satellite 6 is transmitted, accurately represent the time of forwarding and the position of synchronous satellite.
The signal that is forwarded to NLES8 by geostationary satellite 6 provides a timing loop, and this loop make to be determined to become possibility by NLES8 to the delay of geostationary satellite 6, also makes the measurement ionospheric effect become possibility.Like this, distance measuring signal R gJust enough accurately processed, seem from managing generate the same by geostationary satellite 6.
Above-mentioned satellite radio detection system can provide stage by stage that to be equivalent to the enhancement service gradually that top GNSS satellite 2 provides as follows.
Existing or the former Syncom satellite of planning of stage 1-for example Inmarsat-3 satellite is transmitted distance measuring signals as geostationary satellite 6 and is increased expansion data R g, A.
The auxiliary special-purpose Navsat of stage 2-is used as auxiliary Syncom satellite 6 and sends into geostationary orbit.These special-purpose navigation guide and guard stars can generate from managing distance measuring signal R g
Stage 3-emission MEO satellite 10 provides auxiliary distance measuring signal R mIncrease expansion data RA with the forwarding zone.
Stage 1 for example provides wide area to increase expansion according to the WAAS technical manual.Stage 1 to 3 provides more distance measuring signal, to reduce having the dependence of the GNSS that selects availability.
The system operation example
The satellite radio detection system that Fig. 2 illustrates Fig. 1 provides an example of navigation Service in North America and South America.Geostationary satellite 6 expands data A in the overhead broadcasting in North America and South America by increasing of obtaining of a first area control station 18a.At the first service area 24a that covers the U.S., the first service network 20a provides only the effective zone of first service area to be increased and expands data RA a, ratio is said the overhead ionospheric more accurate ionospheric data of the relevant U.S..The zone increases expands data RA aBeing sent to the first satellite Ingress node 14a also broadcasts by a MEO satellite 10a in the first service area 24a sky.Distance measuring signal R gCan obtain from GNSS satellite 2a and 2b at the first service area 24a.The time that in the first service area 24a, will on its track, advance along with these satellites and changing greater than the number of a visible GNSS satellite 2 in predetermined minimum angle of elevation and identification.
First MEO satellite 10a also will move until its elevation angle with respect to the first service area 24a and fall below the threshold value that is suitable for broadcast reception.So a SAN14a selects another MEO satellite 10 with the elevation angle that is higher than the broadcast reception threshold value (preferably that of the convergence first service area 24a).SAN14a stops to first MEO satellites transmits and replaces beginning to selected MEO satellite 10 emissions.The broadcasting interruption of expanding data RA for avoiding the zone to increase, SAN14a can be to first MEO satellite 10a and selected MEO satellite 10 boths emissions during joining.
The second service area 24b in South America comprises a second area control station 18b who shows network (this network prison is shown in the distance measuring signal that the second service area 24b receives) reception information from prison.Information from second area control station 18b is sent to first area control station 18a, makes wide area differential control information by prolonging and the prison in two America, north and south shows that network collects together.Like this, the timing of distance measuring signal and site error just can determine more accurately.The second service network 20b receives from the more accurate ionosphere information in the information of second area control station 18b and the other export area 24b.This information relay to the two SAN14b launch information by the latter and broadcast to the second service area 24b through the 2nd MEO satellite 10b.
After this, on wide area, effectively increase expansion information by geostationary satellite 6 broadcasting that the wide area district had direct line of sight.More detailed information with more accurate geographical validity is by MEO satellite 10 broadcasting that cover the less area of earth surface.The information of geostationary satellite and MEO satellite broadcasting is just consistent with the covering area of these satellites like this.
Navsat
Fig. 3 illustrates the navigation service load of a MEO satellite 10.
Service load comprises a frequency standard 30 such as atomic clock one class.A highly accurate frequency signal f is fed to oscillator 32 by frequency standard 30, and oscillator provides a time signal t who is taken as standard time (for example UTC).
Time signal t is supplied to navigation signal generator 34.Service load also comprises one from Tracking Through Telemetry and control (TT ﹠amp; C) land station's (not shown) receives the TT ﹠amp that encrypts; The TT ﹠amp of C data; C interface 42.TT ﹠amp; C interface is to processor 44 supply trace informations, and processor generates the data of the position prediction table information that comprises MEO satellite 10.The position prediction table is written in the storer 46, and storer adds that error correction do not rewritten by new position prediction table before new position prediction table is verified immediately to prevent data and suffer the destruction of external radiation and to have the position prediction table of a Double Register before making.The position prediction table is read from storer 46 by navigation signal generator 34, and signal generator 34 uses the same gang gold code that uses with GPS/NAVSTAR satellite described in the GPS technical manual that time signal t and position prediction table are encoded.Gold code is a kind of have low auto-correlation and the low pseudo noise to other gold code simple crosscorrelation (PRN) sign indicating number.
The intermediate-freuqncy signal IF that includes the position prediction table of having encoded and time data supplies with upconverter 36.The latter becomes intermediate-freuqncy signal respectively by broadcast antenna 40 and the 38 different frequency F that launch 1And F 2
Frequency F 1And F 2Can be substantially with GPS L 1And L 2Identical frequency to keep the compatibility with existing GPS receiver, perhaps can depart from L 1And L 2Frequency is so that the navigation neceiver 11 that can only be modified from the signal of MEO satellite 10 receives.In one embodiment, F 1Be 1576MHz, F 2Be 1228MHz.
The work of navigation signal generator 34 is by processor 44 controls, and status information is then supplied with processor 44 by navigation signal generator 34.
Service load also comprises a feed link channel interface 48 that increases expansion information RA from SAN 14 receiving areas.Processor 44 selectively to storer 46 supply areas increase expansion information RA with the signal that mixes navigation signal generator 34 output in.
Processor 44 is so that pipe navigation and zone increase the work of expansion dual mode certainly.Certainly manage in the navigate mode, do not deliver to storer 46, thereby MEO satellite 10 is only found range and status information with the data rate broadcasting of per second 50 bits by the data that feed link channel interface 48 is confessed.Increase under the expansion mode in the zone, increase expansion data RA supply storer 46 from the zone that feed link channel interface 48 receives and be incorporated in the navigation signal.Like this, MEO satellite 10 is the status informations of broadcasting integralities and GNSS satellite in addition, the difference correction information that is provided by service network 20 and point out the warning message when satellite radio detection can not reach predetermined accuracy level with the data rate of per second 250 bits.Processor 44 passes through by TT﹠amp; The order that C interface receives is changed between this dual mode.Processor 44 can not have the zone to increase to expand the data can be with for example because change over to from managing navigate mode when not having SAN14 or SAN14 to break down in the visual field.
In other words, processor 44 can generate pseudo-data and is used at distance measuring signal R mMiddle emission, pseudo-data representation do not have available zone to increase expansion data arrival navigation neceiver 11.
The satellite radio detection terminal
Fig. 4 illustrates a kind of being used for and receives range finding and increase the simplified block diagram of the navigation neceiver 11 that expands signal in above-mentioned satellite radio detection system.User terminal 11 comprises that one is used to receive comprise to increase and expands the distance measuring signal R that information A and zone increase expansion information RA g, R nAnd R mAntenna 50.PRN demoder 56 is with each distance measuring signal R decoding and export decoded distance measuring signal R, with the chronometric data t of time of arrival of relevant each distance measuring signal aData decoder 58 is extracted to include to increase from decoded distance measuring signal and is expanded data A, zone and increase the t and the data D of the position prediction table of satellite launch time that expands data RA, each distance measuring signal.Radio determination parts 54 receive data D and chronometric data t a, calculate by bifrequency distance measuring signal R with them mThe ionosphere delay numerical value that causes with the approximate location of navigation neceiver 11, and these data are increased to expand data RA and increase the ionospheric data that expands among the data A and output to ionospheric model and set up parts 60 with being included in the zone.
According to these data, ionospheric model is set up that parts 60 calculate that each distance measuring signal R passes that ionospheric ionosphere is passed through a little and is estimated the L for example by unifrequency distance measuring signal R with this 1The ionosphere delay that gps signal causes (because can not directly measure ionosphere delay) to the unifrequency distance measuring signal.Ionospheric model is set up parts 60 outputs to the estimation ionosphere delay of each unifrequency distance measuring signal R and the bounds on error of the delay that each is estimated.
Radio determination parts 54 receive the ionosphere delay estimated and from t time of arrival of single frequency signal aDeduct them.The delay that is caused by the bifrequency distance measuring signal of directly measuring is by t time of arrival from these signals aDeduct.Increase and expand data A and zone and increase and expand data RA and comprise and control information in the distance measuring signal be used to proofread and correct position and temporal information in each distance measuring signal.Increase and expand data A and zone and increase and expand data RA and also include to indicate and whether have any satellite to be out of order or work incorrect; Be not useable for the integrity information of radio determination from the distance measuring signal R of this satellite.
Then, radio determination parts 54 according to the estimation of the error of corrected distance measuring signal R and position P and time T (according to ionospheric model set up ionospheric error boundary that parts 60 point out and according to increasing the bounds on error that expand the distance measuring signal that data RA, A point out) calculate accurate position P and time T.If the possible error of position P and time T exceeds a predetermined value, then radio determination parts 54 can send an alerting signal vision or the sense of hearing, make the user know that output should not depend on certain application.
Provide the explanation that ionospheric model is set up the work of parts 60 referring now to Fig. 5 and 6.
Expand data A and increase by increasing of geostationary satellite 6 broadcasting and expand data RA and comprise the ionospheric data of forming by the numerical value of the ionosphere delay of one group of last all point of map reference lattice G that are used to calculate earth surface by the zone of MEO satellite 10 broadcasting.The map reference center of a lattice fixes on minimum point N and each lattice point g of geostationary satellite position iThe vertical ionosphere delay of this lattice point of ionosphere delay numeric representation.
Information often is not to all lattice point g iAll be suitable for, thereby ionospheric data comprises the lattice point g of available this ionospheric data iThe inventory of address i, and the delay error of the every bit of relevant vertical ionosphere delay and these points.The ionization number of plies also comprises the position of the minimum point N at place, lattice center.
The form of above-mentioned ionospheric data is used for broadcasting from geostationary satellite, but also is used for the ionosphere information of MEO broadcasting.SAN14 calculates an imaginary earth sync bit, makes the areal coverage (satellite at the visible elevation angle in this district greater than 5 °) of MEO satellite 10 drop on the some lattice g based on this position iIn.Ionospheric data some or all lattice point broadcasting in the areal coverage that drops on MEO satellite 10.So, have compatible form by the ionospheric data of geostationary satellite 6 and 10 broadcasting of MEO satellite.
In order accurately to estimate ionosphere delay to each distance measuring signal R, the ionospheric model of navigation neceiver 11 is set up parts 60 and must be calculated distance measuring signal R and pass in the way that ionosphere arrives the user and pass through a PP, and suitable ionosphere delay data are applied to this pass through a little.
As shown in Figure 6, distance measuring signal R by a satellite for example by MEO satellite 10 emissions that are ε of a elevation angle for navigation neceiver 11.Distance measuring signal R passes ionospheric maximum electron density layer I passing through a PP oLayer I oHeight be assumed to the overhead 400km of earth surface.Navigation neceiver 11 can be released its apparent position from the not calibrated distance measuring signal R of the positional information that also includes satellite 10.By this information and by the radius r of the earth, calculate latitude and the longitude that passes through a PP with known method.
By calculated pass through a PP generally not with ionosphere to effective lattice point g iOne of coincide.Therefore the numerical value of ionosphere delay must be inserted into ionosphere information to effective lattice point g iAnd g I+1Between.Ionospheric model is set up parts 60 and is generated available one or more parameters variations with the lattice point g around suiting iThe pattern function of ionosphere information is used for interpolation with pattern function and passes through the ionosphere delay numerical value of a PP.
The suitable model that is used for interpolation ionosphere delay numerical value provides for WAAS.In this model, by a weighting function that continuous curve surface is provided for example longitude and latitude function, the ionosphere delay numerical value that will contain four lattice points at four jiaos of places of mesh of passing through a little is used for interpolation and passes through a little ionosphere delay numerical value.In other words, can between each is to lattice point, adopt the linear interpolation method along meridian and latitude line both direction.
In addition, ionospheric model set up parts 60 pattern function can be installed to direct measurement by bifrequency distance measuring signal R mOn the ionosphere delay data that obtain, pass through a PP and adjustment model function parameters, make the ionosphere delay numerical value that records suit these and pass through a PP by what calculate these signals.
What pattern function needed is not that ionosphere information and measured delay numerical value are accurately suited; But a kind of approximate suiting for example can adopt least square to suit.
The vertical ionosphere delay numerical value that passes through a little can be calculated thus.But, distance measuring signal R by ionospheric apart from l greater than ionospheric vertical height h, the result has just constituted inclined angle alpha by path and the vertical direction of distance measuring signal R.Thereby vertical ionosphere delay numerical value will multiply by an inclination factor, with ionospheric than big length with respect to crossing.
User's example of operation
To be stated as Africa now provides the object lesson of another embodiment operation of the satellite radio detection system of navigation Service, and wherein geostationary satellite 6 provides distance measuring signal R gBe used for GNSS satellite ranging signal R with including nCorrection message increase the expansion information A, but ionosphere corrections information do not provide by geostationary satellite 6 in the present embodiment, because what can supply Africa is an inefficient information basically.
But the zone prison shows that the station is provided by the local service provider in Kenya.Prison showing station monitoring from the distance measuring signal of MEO satellite 10 and GNSS satellite α and receive geostationary satellite 6 broadcasting in addition increase the expansion information A.Go out vertical ionosphere delay numerical value and ionosphere delay error boundary by this data-evaluation, can use for all users in Kenya territory and territorial sky.This information is forwarded to MEO satellite 10 broadcasting of SAN14 by covering Kenya at that time.
The Navsat that can see near the navigation neceiver 11 in Nairobi is for example to say those satellites shown in the following table 1.
Table 1
Satellite The position angle The elevation angle
????MEO?2 ????184 ????27
????MEO?9 ????310 ????12
????MEO?10 ????40 ????11.5
????AOR-E?GEO ????269 ????30
????IOR?GEO ????91 ????58
????GPS?2 ????250 ????73
????GPS?4 ????355 ????24
????GPS?13 ????150 ????27
Satellite AOR-E is Inmarst (TM) satellite for the service of eastern Atlantic area, and satellite IOR then is Indian Ocean Area service.
Navigation neceiver can be determined the apparent position of satellite above all and needs ionosphere corrections not according to the distance measuring signal that satellite generates or transmits.Estimated value from the ionosphere delay in the distance measuring signal of every satellite is then tried to achieve by laxative remedy.
Ionosphere delay is directly to satellite MEO 2, MEO 9And MEO 10The bifrequency distance measuring signal of emission is calculated.The AOR-E geostationary satellite is regarded as and MEO 9Satellite is in same navigation area.MEO 9Ionosphere delay numerical value in the distance measuring signal is used to estimate that ionosphere delay in the AOR-EGEO distance measuring signal is (by to MEO 9The compensation of elevation difference between satellite and the AOR-E geostationary satellite).For GPS 4And GPS 13The ionosphere delay of satellite then uses MEO 9The ionosphere delay numerical value that records is estimated with Same Way.
GPS 2Satellite is almost overhead gone up, thereby uses by Kenya's prison and show the ionosphere delay information that the station provides, and adds a little degree of tilt correction factor to the difference between 72 ° of actual elevations angle and 90 °.The ionosphere delay error limit data is applied on each estimated ionosphere delay of can not be directly measuring from the bifrequency distance measuring signal.
In this example, navigation terminal 11 receives distance measuring signals from 8 different satellites, and can calculate or estimate the ionosphere delay of each distance measuring signal is not needed to increase the ionospheric data that provides among the expansion data A.In addition, the integrity information that receives from geostationary satellite is used to determine whether have any distance measuring signal should not be used for satellite radio detection.So the result of radio determination was both accurate and reliable.
The area increases expansion information
In the above example, be suitable for the ionosphere delay information of Kenya by one or many MEO satellites forwardings.Each MEO satellite can both than Kenya's broadness the overhead broadcasting in the region of Duoing, for example say that SAN14 had not only received the data that the ISP of Kenya provides but also received the data that other networks provide.In the emission of SAN14, be awarded a different time-gap that repeats in the time frame from the data of each network, so that show that from the difference prison information of network is by time division multiplexing.Following table 2 illustrates each satellite MEO in the previous example 2, MEO 9And MEO 10The example of time slot allocation.
Table 2
Satellite Time slot 1 Time slot 2 Time slot 3 Time slot 4 Time slot 5 Time slot 6
??MEO 2 Kenya Africa Other Other Africa Other
??MEO 9 Kenya Other Europe Other Other Europe
??MEO 10 Kenya Other Other Other Other Other
Satellite MEO 2Be transmitted in effective zone, whole Africa at time slot 2 and 5 and increase the expansion data, this information is subsidiary can be used by the navigation neceiver in the Kenya 11.
Each time slot can be for example to say 6 seconds 1 second time slots in the time frame, and is loaded with 250 Bit datas.
Time slot can be crossed the predetermined area (for example say with meridian and latitude line border and determine) of distributing to the ISP and distributes to the ISP when overhead being loaded with minimum point that the zone increases the MEO satellite 10 of expansion information by SAN14.For example, each area can be the strip of 5 ° of meridians in the Northern Hemisphere or the Southern Hemisphere.
Each time slot can be shared by several ISPs, and each supplier does not all carry the data that are enough to occupy whole time slot alone, so that all told of each time slot all obtains using.The code that each ISP's data are all distributed to that ISP in the time slot is discerned.The supplier of the capacity that the capacity that more than one time slot can be distributed to those requirements can provide more than a time slot.Being used to calculate charge data to ISP's charge is assigned to ISP's time cycle according to the capacity on the MEO satellite 10 and produces according to capacity ratio used in that period.
In other words, provide the zone to increase to expand the service area of data RA for it from the ISP, surpass a minimum angle of elevation for example 5 ° as seen obtain MEO satellite 10 during, time slot can be assigned to the ISP.
Zone in each time slot increases the expansion data and preferably encrypts to guarantee its navigation neceiver that licence can only be arranged decoding.All have the receiver of licence all can use same algorithm to utilize the ionosphere delay data to carry out radio determination, meet a common standard so that carry out radio determination.
In addition, can require the user to buy smart card and insert navigation neceiver, increase expansion information RA so that can visit some or all zone of MEO satellite broadcasting.Do like this, the ISP just can concentrate income.In other words, user terminal can have a keyboard that is input into code, makes it possible to visit one or more zones and increases expansion information time slot.
This shows that different kinds of information can be suitable for different users, need zone or its permissible accuracy level and decide of ionosphere information according to it, and the user can be only for its need information paying.
In the above example, the dissimilar expansion information that increase all are time division multiplexings.But different information channels can be multiplexed with additive method time spent of knowing in this technology, for example with code division multiplex or frequency division multiplex.
Each zone increase the information that expands in the information channel can comprise be used to discern ionospheric data to the effectively data (for example country code) in area, the data of the reliability of expression ionospheric data and expression ionospheric data are to active data in what period.
Because the ionosphere delay modelling parts 60 of navigation neceiver 11 can combine the direct ionosphere delay measurement of ionosphere delay information of same, therefore, more accurate ionospheric model is used to compensate ionosphere delay.Moreover the regional area of relevant region, navigation terminal 11 place increases expansion data RA and is received.Integrity data and bounds on error data had both increased in the zone to expand also to increase among the data RA to expand among the data A and be received.Like this, highly accurate position readings P and time read T can be calculated, and estimate the precision level of these readings simultaneously and drop to a predetermined threshold at precision level to give a warning when following.
Accurate and reliable radio determination like this has increased the potential use of satellite radio detection greatly.
For example, above-mentioned satellite radio detection system can be used on the vital place of security, for example landing aircraft under the low visibility condition.System also has the sea-freight purposes, and it enters the degree of accuracy that provides enough for the harbour under the situation of limited visibility.Also can control in (there needs enough accuracy to determine that train moves on that track) and find application at train.System can provide the precise time reading to use for laboratory or the accurately synchronous communication system of requirement.
Because all range finding and increase expansion information and all provide via satellite, thereby can overcome for the needs of setting up ground difference correction system.
Though top embodiment all uses the MEO satellite such as ICO (TM) satellite one class, for example those are proposed to be used in also can using of ODYSSEY (TM), IRIDIUM (TM), GLOBALSTAR (TM) and TELEDESIC (TM) satellite communication system to other satellite group of stars.Low Earth Orbit (LEO) satellite can produce bigger Doppler shift in its signal, but this can overcome by the adequate compensation in the receiver.Satellite structure described in the embodiment is convenient especially useful, but also can use other structure.For example can replace with the transponder of transmitting navigation signal in the asynchronous satellite from managing navigation signal generation equipment.The zone increases the expansion data can be by having the synchronous of multidrop beam or asynchronous satellite broadcasting.The regional validity of the data broadcasting in the every bit wave beam is coordinated mutually with the area coverage of this spot beam respectively.Navigation neceiver can provide the map datum of height according to the functional form with longitude and latitude, perhaps determines its height according to atmospheric pressure, so that as long as three distance measuring signals are determined longitude, latitude and time.

Claims (18)

1. adaptive designated satellite payload that is used for asynchronous orbiter comprises:
A clock that is used for generation timing signal;
A distance measuring signal generator is used to generate one and includes from the distance measuring signal of the timing data of described time signal derivation;
Relay is used to transmit the data that received from land station by satellite; And
Be used for starting selectively and withdrawing from the device of described relay, described relay starts the distance measuring signal generator independently.
2. adaptive designated satellite payload that is used for asynchronous orbiter comprises:
A clock that is used for generation timing signal;
A distance measuring signal generator is used to generate one and includes from the distance measuring signal of the timing data of described time signal derivation;
Relay is used to transmit the data that received from land station by satellite;
Be used to examine the device that does not then have the data of described reception; And
Be used for according to examine the described device that generates for the pseudo-data of emission that do not exist.
3. be used to provide increase and expand the device of data, comprising for satellites transmits:
Be used to receive the device that increases the expansion data;
Be used to provide the device of the position data of relevant satellite position;
Be used to judge whether position data satisfies the judgment device of a predetermined criterion; And
Be used for making described increasing of being used to launch expand the device of data selectively to described satellite output according to the result of judgment device.
4. one kind provides the method that increases expansion data confession satellites transmits, comprising:
The position data of relevant satellite position is provided;
Whether the judgement position data satisfies a predetermined criterion; And
According to the result of described decision steps, the described expansion data that increase that are used to launch are exported to satellite.
5. satellite radio detection device comprises:
Be used to receive device corresponding to a plurality of distance measuring signals of a plurality of satellites; And
Be used to receive the device of ionosphere delay data, be arranged according to described a plurality of distance measuring signals and respond authroization data that described device provides is carried out radio determination selectively according to described ionosphere delay data device.
6. the device that requires in the claim 5 also comprises the device that is used to receive basically with the irrelevant difference correction data of ionosphere delay, and wherein said device is arranged to carry out radio determination according to described difference correction data in addition.
7. according to the device that requires in claim 5 or the claim 6, wherein said ionosphere delay data are encrypted, and described device comprises the decryption device of deciphering described ionosphere delay data according to described authroization data.
8. the device that requires in any one of the claim 5 to 7 comprises the input media that is used to import described authroization data.
9. the device that increases the expansion data that is provided for launching via satellite comprises:
Be used to receive the described device that expands data that increases, increase and expand the unencryption difference correction data that data include unencrypted ionosphere delay data and have nothing to do with ionosphere delay basically;
Be used to encrypt the device of described ionosphere delay data; And
Be used to export the ionosphere delay data of the described encryption by described satellites transmits and the device of described unencrypted difference correction data.
Ionosphere delay data that are provided for launching via satellite and basically with the method for the irrelevant difference correction data of ionosphere delay, comprising:
Receive the described ionosphere delay data and the described difference correction data of unencryption form;
Encrypt described ionosphere delay data; And
Ionosphere delay data and the described unencrypted difference correction data of exporting described encryption supply emission via satellite.
11. the satellite radio detection device comprises:
Be used to receive from device corresponding to a plurality of distance measuring signals of a plurality of satellites;
Be used to receive the device of ionosphere delay data, and
Be used for receiving the device of described ionosphere delay data about the residual error data of residual error, be arranged according to described a plurality of distance measuring signals, described ionosphere delay data and described residual error data are carried out the described radio determination device of radio determination.
12. the device that requires in the claim 11, wherein said residual error information comprise the bounds on error information of the bounds on error of relevant described ionosphere delay information.
13. be used for determining the device of the residual error of satellite radio detection system, comprise:
Be used to receive device from a plurality of distance measuring signals of multi-satellite;
Be used for receiving the ionosphere delay data and at the device of the difference correction data (irrelevant) of the error of described distance measuring signal with ionosphere delay;
Be used for according to described distance measuring signal (proofreading and correct according to described difference correction data and described ionosphere delay number) calculating location and the calculation element of time; And
Be used for calculating the error calculating device of the error of described ionosphere delay data according to described position of having calculated or time and predetermined reference position or the difference between the time.
14. the device that requires in the claim 13, the wherein said device that is used to receive described distance measuring signal comprises scattered a plurality of receiving station, be arranged to calculate the described calculation element of a plurality of positions that correspond respectively to described each receiving station, and be arranged according to described position of calculating and calculate the described error calculating device of described error corresponding to the respective differences in the precalculated position of described receiving station.
15. a satellite radio detection receiver comprises claim 5 to 8,11 and 12 devices that require in any.
16. a land station comprises the device that claim 3,9,13 or 14 requires in any.
17. satellite that comprises the satellite payload that requires in claim 1 or 2.
18. a satellite radio detection system comprises a plurality of satellite radio detection receivers that require in the claim 15 and the land station that at least one requires in right 16.
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