WO2019015160A1 - 一种低轨卫星导航增强电离层延迟改正方法 - Google Patents

一种低轨卫星导航增强电离层延迟改正方法 Download PDF

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WO2019015160A1
WO2019015160A1 PCT/CN2017/108244 CN2017108244W WO2019015160A1 WO 2019015160 A1 WO2019015160 A1 WO 2019015160A1 CN 2017108244 W CN2017108244 W CN 2017108244W WO 2019015160 A1 WO2019015160 A1 WO 2019015160A1
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ionospheric
low
delay correction
gnss
orbit
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PCT/CN2017/108244
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English (en)
French (fr)
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柳景斌
陈锐志
李德仁
陈亮
王磊
刘树纶
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武汉大学
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Priority to US16/094,417 priority Critical patent/US10962651B2/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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • 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
    • 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

Definitions

  • the invention belongs to the technical field of satellite positioning and navigation enhancement, and particularly relates to a low-orbit satellite navigation enhanced ionospheric delay correction method.
  • the ionosphere is a partially ionized atmosphere within a height of about 60-1000 km from the ground.
  • the atmospheric molecules or atoms in this region are ionized by the sun's ultraviolet rays, X-rays, high-energy particles and other cosmic rays to generate a large amount of free electrons and positive Negative ions are an important part of the space environment of the sun and the earth.
  • the ionosphere acts as a propagation medium, causing radio waves of different wavelength bands to be reflected, refracted, scattered and absorbed in the ionosphere, thereby affecting communication and broadcasting to a certain extent.
  • effective monitoring and forecasting of electrical layer activities has a very important significance for revealing the law of ionospheric activity and improving the navigation accuracy of satellite navigation users.
  • the delay of GNSS navigation signals caused by the ionosphere can reach several meters or even 100 meters, which affects the application mode and service range of the navigation system, and also promotes the in-depth study of the ionosphere.
  • the currently established satellite navigation systems include the US GPS (Global Positioning System) and the Russian GLONASS. (Global Navigation Satellite System);
  • the systems under construction include Galileo in the European Union and BDS in China. This greatly increases the number of visible satellites in the air and the number of continuously operating GNSS stations, providing unprecedented data resources for high-precision, high-resolution continuous monitoring of ionospheric related research.
  • each GNSS has a national Improve system upgrades and upgrades in terms of improving navigation and positioning accuracy and improving navigation service levels.
  • full consideration is required.
  • the technical indicators and performance of ionospheric monitoring and correction also need to be improved as much as possible. Therefore, accurately correcting the influence of ionospheric delay error has been a hot issue in satellite navigation research and application.
  • the ionospheric delay correction parameter method adopted by single-frequency GNSS receiver users is mainly based on ionospheric theoretical model, empirical model, and ionospheric measurement model established by GNSS measured data.
  • Dual-frequency or multi-frequency GNSS receiver users can use dual-frequency or multi-frequency data to form linear combined observations without ionospheric delay to solve the ionospheric delay, but the delay difference of the signal in the satellite must be considered.
  • GTIM Global Theoretical Ionosphere Model
  • FLIP FieldLine Inter-hemispheric plasma model
  • SUPIM Sheffield University Plasmasphere-Ionosphere model
  • TDIM Time-dependent Ionosphere model
  • SAMI2 Session Initiation Protocol
  • experienced neutral atmospheric models such as MSIS (Mass Spectrometer Incoherent Scatter Model) and HWM (Horizontal Wind Model) are used as inputs or neutral atmospheric density and neutral wind are determined from observational data.
  • MSIS Mass Spectrometer Incoherent Scatter Model
  • HWM Horizontal Wind Model
  • NCAR National Center for Atmospheric Research
  • TIGCM Thermosphere Ionosphere General circulation model
  • CTIM Coupled Thermosphere Ionosphere Model
  • the empirical model is a widely used ionospheric representation. People use mathematical expressions to model a series of time- and spatially discrete observations to describe the changes in the ionospheric parameters. Common empirical models include the international reference ionospheric model IRI, the Bent model, the Nequik model, and the klobuchar model. Although the empirical model is more concise than the theoretical model, the accuracy of the model cannot be guaranteed in all regions of the world. For high-precision positioning users and users in special regions, it is not advisable to use the empirical model for ionospheric correction.
  • the global VTEC models built using measured data mainly include the VTEC grid map GIM (Grid Ionospheric TEC Map) provided by IGS and the spherical harmonic function model provided by CODE.
  • the IGS obtains the final ionospheric TEC grid by weighted averaging the ionospheric TEC grid provided by each analysis center. After the user interpolates between time, longitude and latitude, the VTEC value of a certain place can be obtained.
  • CODE uses the GNSS observation data on the ground tracking station to establish a global VTEC model in the form of a 15th order 15th harmonic function. The least squares global estimation is used to estimate the spherical harmonic model coefficients synchronously for 3 days.
  • the regional VTEC model mostly uses the surface fitting model.
  • the distance weighting method can also be used to establish the grid model.
  • the VTEC model can also be established by using the multi-faceted function.
  • the modeling accuracy is basically the same.
  • the measured model compares the empirical model to reflect the actual condition of the ionosphere, it is based on the observation data of the ground tracking station, so it is limited by the distribution of the tracking station.
  • the area such as the marine desert is less or even missing due to the station, and the measured model is The accuracy of these areas is not ideal, so no Can meet the needs of all users.
  • ground-based augmentation system In order to improve the accuracy and reliability of GNSS navigation and positioning, and to meet the requirements of real-time high-precision navigation and positioning, it is necessary to use an enhanced system to generate GNSS positioning error correction numbers and provide them to the end user. According to the way of correcting the number playing, it can be divided into ground-based augmentation system and satellite-based augmentation system; according to the different coverage of the correction number, it can be divided into local area augmentation system and wide area augmentation system. Both ground-based augmentation systems (GBAS) and satellite-based augmentation systems (SBAS) require continuous operation of reference stations on the ground, using the GNSS data observed by these ground reference stations to calculate the coverage area.
  • GBAS ground-based augmentation systems
  • SBAS satellite-based augmentation systems
  • the ionospheric delay correction parameters are sent to the GNSS user via the communication link, and these error corrections are applied in the GNSS positioning calculation of the user side to improve the positioning accuracy.
  • the difference is that the ground-based augmentation system uses terrestrial communication transmission links, such as radio stations or the Internet; and the satellite-based augmentation system needs to upload the ionospheric corrections calculated by the ground data processing center to the geosynchronous orbit satellite, and then the earth.
  • the synchronous orbit satellite is sent to the ground user. Whether the foundation or the satellite-based augmentation system relies on a certain number of ground reference stations, as well as the corresponding infrastructure and communication facilities, it takes a lot of manpower and resources to operate and maintain.
  • Ground-based augmentation systems include the US CORS system, the European EPN system, the German SAPOS system, the Japanese GeoNet system, and the Beidou ground-based augmentation system currently under construction in China.
  • the ground-based enhanced differential system consists of a continuous operation base station network, a system control and data center, a data communication network, and a user application subsystem.
  • the base station subsystem is mainly composed of an antenna, a receiver, a communication device, a power supply device, and a lightning protection device.
  • Satellite-based augmentation systems also known as "wide-area augmentation systems," include WAAS in the United States.
  • the present invention provides a low-orbit satellite navigation enhanced ionospheric delay correction method, which uses a low-orbit spacecraft as a motion carrier platform to continuously observe the Earth's ionosphere with loads carried on the platform. Obtaining the electron density distribution of the ionosphere, providing ionospheric delay correction parameter information for satellite navigation system users, improving the accuracy, reliability and completeness of satellite navigation and positioning;
  • the low-altitude spacecraft motion carrier includes an artificial satellite with low-orbit operation and other unmanned motion carriers whose orbits are less than 2000 km from the ground;
  • the Earth's ionospheric observation loads include satellite navigation receivers and other devices that observe the number of Earth's ionospheric electrons, electron temperature, electron density, collision frequency, ion temperature, ion density, ion composition, and ionospheric physical parameters;
  • the method specifically includes the following steps;
  • Step 1 Launch a group of low-orbit satellites equipped with GNSS receivers to receive dual-frequency or multi-frequency signals of GNSS satellites;
  • Step 2 The GNSS receiver mounted on the low-orbit satellite determines the position of the low-orbit satellite, and thereby determines the orbital parameters of the low-orbit satellite;
  • Step 3 determining the ionospheric electron content on the signal propagation path by using a dual-frequency or multi-frequency signal of the GNSS receiver mounted on the low-orbit satellite;
  • Step 4 Determine a regional or global ionospheric electron content distribution by using a dual-frequency or multi-frequency signal of the GNSS receiver mounted on the low-orbit satellite according to the orbit of the low-orbit satellite;
  • Step 5 According to the orbit of the low-orbit satellite, use the dual-frequency or multi-frequency signals of the GNSS receiver mounted on the low-orbit satellite to determine a regional or global ionospheric electron content gradient, and obtain the space for the ionospheric electronic content change. distributed;
  • Step 6 According to the running orbit of the low-orbit satellite, use the dual-frequency or multi-frequency signals of the GNSS receiver mounted on the low-orbit satellite to monitor whether the ionospheric event occurs; when the ionospheric event occurs, calculate the time of occurrence of the ionospheric event, Parameter information of position and amplitude;
  • Step 7 Establish an appropriate ionospheric model from the ionospheric data calculated in steps 3-6, and use the ionospheric model to calculate the ionospheric delay correction parameter delay correction parameter at any position on the earth surface; step 7 can be performed on the low-orbit satellite. It is also possible to transfer the relevant data to the ground station and complete it at the ground station computer;
  • Step 8 Send the ionospheric model calculated in step 7 to the earth surface user GNSS receiver, input the user's coarse position, time and satellite position to the ionospheric model, and output the corresponding ionospheric delay correction parameter delay correction parameter;
  • Step 9 Calculate the ionospheric delay correction parameter delay correction parameters of all satellites according to step 8. Perform the ionospheric delay error in the observed signal in the GNSS positioning mathematical model. Corrected and obtained improved positioning results;
  • the GNSS system includes China's Beidou navigation system, the US GPS global positioning system, the Russian GLONASS system, the European Galileo navigation system, and any combination of the above two or more systems;
  • step 3 is specifically: loading the GNSS satellite navigation receiver on the low-orbit spacecraft, receiving the satellite navigation and positioning signals, determining the position of the low-orbit satellite, and calculating the ionospheric electron content by using the observation value of the navigation receiver, and The electronic content of the receiver position, estimating the ionospheric delay correction parameter delay correction parameter of the location of the other GNSS user, and using the estimated delay correction parameter for the GNSS user position solution;
  • step 5 is specifically: calculating the electron content of the spacecraft at different positions by using the observation values of the GNSS satellite navigation receiver mounted on the low-orbit spacecraft, and further calculating the gradient of the ionospheric electron content change in the three-dimensional space;
  • step 7 is specifically: calculating the electron content of the spacecraft at different positions by using the observation values of the GNSS satellite navigation receiver mounted on the low-orbit spacecraft, and establishing an electron content model of the ionosphere, which can be used for calculation The ionospheric delay correction parameter delay correction parameter of the location of other GNSS users;
  • step 8 is specifically: calculating a user position ionospheric delay correction parameter using a computer carried by the low-altitude spacecraft, and estimating other ionospheric delays of other GNSS users, including the location of the earth surface user, based on the low-orbit spacecraft observations. Correct the parameter delay correction parameters;
  • step 9 is specifically: calculating a user position ionospheric delay correction parameter in the data calculation center, and transmitting the low-orbit spacecraft observation value to the data calculation center, and calculating the data
  • the center estimates other GNSS users, including the ionospheric delay correction parameter delay correction parameters of the location of the Earth surface user;
  • the load device equipped with the low-altitude spacecraft includes a GNSS receiver, an ionospheric drop detector and an ionospheric top detector, and the observed ionospheric physical parameter data determines whether a series of ionospheric events occur, and observation
  • the ionospheric physical parameter data includes upper ionospheric changes, ionospheric scintillation, magnetic storms, ionospheric storms, proton storms, and ionospheric disturbances;
  • the present invention utilizes a low-orbiting satellite constellation as a mobile base station, capable of continuously observing the global or wide-area ionosphere without being restricted by terrestrial land coverage or ground infrastructure, and can be truly wide Provide uniform ionospheric correction and enhancement services in the domain and even globally, including areas that cannot be covered by ground-based augmentation systems such as oceans, deserts, and mountains;
  • the system is low-cost, using less satellites and their ionospheric observation loads can cover a wide area or a global scale, and wireless satellite communication methods reduce the need for ground infrastructure construction, both of which reduce the cost of the system.
  • the GNSS receiver equipped with the low-orbit satellite observes the ionospheric electron content.
  • the ionization of the covered area can be calculated. Gradient distribution of layer electron content;
  • the orbit of the low-orbit satellite is located in the height range of the ionosphere.
  • the ionospheric condition monitoring device By carrying the ionospheric condition monitoring device on the low-orbit satellite, the ionospheric event can be monitored in real time, and the user receiver can track the GNSS signal based on the event information.
  • Appropriate adaptive processing in digital signal processing and positioning solution improves the positioning accuracy and reliability of GNSS users.
  • FIG. 1 is a schematic structural view of a method for enhancing a parameter correction of a low-orbit satellite ionospheric delay correction according to the present invention
  • FIG. 2 is a flow chart of a method for enhancing a low-orbit satellite ionospheric delay correction parameter according to the present invention.
  • the method for using the method of the present invention includes: 1) a GNSS satellite constellation; 2) a low-orbit satellite constellation; 3) an instrument mounted on a low-orbit satellite; 4) a low-orbit satellite Data transmission communication link; 5) ground enhanced data processing system; 6) earth surface GNSS users.
  • the GNSS satellite constellation includes the established US Global Positioning System (GPS), the Russian GLONASS (Global Navigation Satellite System), and the Galileo system under construction in the European Union and the Beidou navigation and positioning system in China. These constellations are mainly composed of MEO, GEO, and IGSO satellites.
  • the satellite orbit has a high altitude and is in the magnetic layer.
  • Low-orbit satellite constellation whose flight orbit height is required to be in the ionosphere.
  • Instruments and equipment used in low-orbit satellites mainly include dual-frequency or multi-frequency GNSS receivers, small ionospheric photometers TIP, beacons, RF beacon transmitters, ion velocity meters, and on-board computing devices.
  • the GNSS dual-frequency or multi-frequency receiver performs orbit determination and precise ion orbit determination and ionospheric electron content measurement.
  • the small ionospheric photometer estimates the total electron density of the satellite to the Earth.
  • the beacon uses a radio transmitter to transmit electromagnetic signals and, after being distributed at various receiving stations, estimates the high-resolution electron density field and total electron content (TEC) at the super-ionosphere height.
  • TEC total electron content
  • RF beacon transmitters, ion velocity meters, etc. are used to provide richer ionospheric parameters to better monitor ionospheric detail changes and special phenomena.
  • the on-board computing device has sufficient data recording capacity and pre-processing and processing functions to transmit observation data and solution data to ground computing centers and ground users on a regular or real-time basis.
  • the data transmission communication link carried by the low-orbit satellite is used to transmit the low-orbit satellite observation data and the solution data to the ground computing center or the ground GNSS user (depending on whether the navigation enhancement data is processed by the satellite computer or the ground data processing system) ).
  • Ground enhanced data processing system Receive and process observation data of low-orbit satellites, generate navigation-enhanced ionospheric correction parameter data, and send enhanced data to GNSS users through the communication system.
  • Earth surface GNSS users include GNSS single frequency, GNSS navigation positioning and timing users for dual-frequency, multi-frequency receivers.
  • the present invention provides a low-orbit satellite navigation enhanced ionospheric delay correction parameter method, comprising the steps of: first transmitting a group of low-orbit satellites, and the low-orbit satellites are equipped with GNSS dual-frequency or multi-frequency receivers and Other ionospheric observation equipment, the GNSS receiver mounted on the low-orbit satellite receives the GNSS satellite signal to determine the position of the low-orbit satellite, and thus determines the orbital parameters of the low-orbit satellite, and uses the dual-frequency or multi-frequency data to solve the signal.
  • the ionospheric electron content TEC on the propagation path; determining the ionospheric electron content distribution (two-dimensional spatial distribution) and ionization in a regional or global range according to the orbit of the low-orbit satellite and the ionospheric electron content TEC on the signal propagation path Layer electron content gradient (three-dimensional spatial distribution of changes in ionospheric electron content); monitoring of ionospheric events by TEC parameters and beacons and other ionospheric physical observation devices, when the event occurs, calculating the time of occurrence of the event, Parameter information such as position and amplitude; using regional or global ionospheric electron content distribution, ionospheric electron content Data such as degrees and ionospheric events establish an appropriate ionospheric model, which can be used to calculate ionospheric delay correction parameters at any position on the Earth's surface (this step can be done on low-orbit satellites or transmitted to ground stations).
  • the low-orbit satellite or ground computing center sends the calculated ionospheric model to the Earth surface user GNSS receiver, and the user inputs the coarse position, time and satellite position to the ionospheric model, and the model outputs corresponding
  • the ionospheric delay correction parameters are calculated; the ionospheric delay correction parameters of all satellites to the user are calculated, and the ionospheric delay error in the observed signal is corrected in the GNSS positioning mathematical model to obtain improved positioning results.

Abstract

一种全球卫星导航系统(GNSS)低轨卫星导航增强电离层延迟改正方法，该方法采用低轨卫星GNSS接收机载荷接收到的GNSS卫星导航信号，为地球表面用户提供导航增强电离层信息，在该方法中，低轨卫星作为一个移动的导航增强基准站，对全球电离层进行连续观测，生成电离层延迟改正信息，将这些信息发送给地面用户，获得增强的导航性能。该方法提供的电离层延迟改正数据可实现全球覆盖，而不是区域覆盖，尤其是能覆盖广大的海洋区域；提供电离层梯度数据，对电离层延迟改正的精度更高；对电离层活动状态和事件进行在轨监测，为地面用户提供电离层延迟改正完备性信息。

Description

一种低轨卫星导航增强电离层延迟改正方法 技术领域
本发明属于卫星定位导航增强技术领域，具体涉及一种低轨卫星导航增强电离层延迟改正方法。
背景技术
电离层是距地面高度约为60-1000km范围内部分离子化的大气层，该区域内的大气分子或原子在太阳紫外线、X射线、高能粒子以及其他宇宙射线的作用下电离生成大量的自由电子和正、负离子，是日地空间环境的重要组成部分。电离层作为一种传播介质造成不同波段的无线电波在电离层中被反射、折射、散射和吸收，从而对通信和广播造成一定程度的影响。在如今全球导航卫星系统迅猛发展的时代，对电层活动进行有效监测和预报，对揭示电离层的活动规律、提高卫星导航用户的导航定精度都具有非常重的要意义。
由电离层引起的GNSS导航信号时延可达数米甚至百米级，影响着导航系统的应用模式与服务范围，同时也不断推动着电离层的深入研究。自美国在上世纪_50年代末期建立多普勒卫星导航系统以来，目前各国都在积极发展、建立自己的卫星导航系统，目前已建成的卫星导航系统包括美国GPS(Global Positioning System)、俄罗斯GLONASS(Global Navigation Satellite System)；正在建设的系统有欧盟的Galileo以及中国的BDS。这极大的增加了空中可视卫星数量和连续运行GNSS观测站的数目，为高精度、高分辨率地连续监测电离层相关研究提供了前所未有的数据资源。目前，各GNSS拥有国正 在从提高导航定位精度与提高导航服务水平等方面加紧对系统改善与升级。在系统建设与改善的各个环节都要求进行充分的考虑，同样对电离层监测及修正的技术指标与性能也需要尽可能提高。因此，精确改正电离层延迟误差的影响，一直是卫星导航研究及应用中的热点问题。
GNSS测量中，单频GNSS接收机用户采用的电离层延迟改正参数方法主要基于电离层理论模型、经验模型，以及利用GNSS实测数据建立的电离层实测模型。双频或多频GNSS接收机用户可以采用双频或多频数据组成无电离层延迟的线性组合观测值，求解电离层延迟，但必须考虑信号在卫星内的时延差。
常见的理论模型包括论:GTIM(Global Theoretical Ionosphere Model),FLIP(FieldLine Inter-hemispheric plasma model)、SUPIM(Sheffield University Plasmasphere-Ionosphere model)、TDIM(Time-dependent Ionosphere model),SAMI2等，其中有些模型需要经验的中性大气模型如MSIS(Mass Spectrometer IncoherentScatter Model)和HWM(Horizontal Wind Model)作为输入或者由观测数据确定中性大气密度和中性风。上述模型是区域性的主要覆盖中低纬度地区，也有全球电离层理论模型:NCAR(National Center for Atmospheric Research)，TIGCM(Thermosphere IonosphereGeneral circulation model)和CTIM(Coupled Thermosphere Ionosphere Model)。他们求解中性大气方程以便确定中性大气的组成和动力学成分，并在模型内部将电离层动力学和中 性大气动力学两部分进行藕合。尽管理论模型有利于观察输入的各种物理参数的相对影响及其可能的变化，但过于复杂，难于直接应用于GNSS用户。
经验模型是一种应用非常广泛的电离层表述方式，人们通过数学表达将一系列时间、空间上离散的观测数据模型化，从而实现对电离层参数连续性变化的描述。常见的经验模型包括国际参考电离层模型IRI,Bent模型、Nequik模型、klobuchar模型等。虽然经验模型较理论模型更为简洁，但模型精度不能在全球所有区域得到保证，对于高精度定位用户、以及特殊区域用户而言，仅采用经验模型进行电离层改正是不可取的。
利用实测数据建立的全球性VTEC模型主要有IGS提供的VTEC格网图GIM(Grid Ionospheric TEC Map)和CODE提供的球谐函数模型。IGS通过对各分析中心提供的电离层TEC格网进行加权平均得到最终的电离层TEC格网，用户在时间、经度、和纬度间进行内插后，即可获得某时某地的VTEC值。CODE利用地面跟踪站上的GNSS观测资料，采用了15阶15次的球谐函数的形式建立了全球性的VTEC模型，采用最小二乘整体估计，同步估计3天的球谐函数模型系数。区域性的VTEC模型较多地采用曲面拟合模型，还可利用距离加权法来建立格网模型，也可采用多面函数来建立VTEC模型，建模精度大体相同。虽然实测模型对比经验模型更能反映电离层的实际状况，但都是基于地面跟踪站的观测资料，故受限于跟踪站的分布，海洋沙漠等区域由于测站较少甚至缺失，实测模型在这些区域的精度并不理想，因此不 能满足所有用户的需求。
为了提高GNSS导航定位的精度与可靠性，满足实时高精度导航定位的需求，需要使用增强系统生成GNSS定位误差改正数，并提供给终端用户。根据改正数播放的方式，可以分为地基增强系统和星基增强系统；根据改正数工作覆盖范围不同，可以分为局域增强系统和广域增强系统等。地基增强系统(GBAS，ground-based augmentation systems)和星基增强系统(SBAS，satellite-based augmentation systems),都需要在地面布设连续运行参考站，利用这些地面参考站观测的GNSS数据计算所覆盖区域的电离层延迟改正参数，通过通信链路将这些改正数发送到GNSS用户，在用户端的GNSS定位计算中应用这些误差改正数以提高定位精度。其不同之处在于，地基增强系统使用地面通信传输链路，如无线电台或互联网等；而星基增强系统需将地面数据处理中心计算的电离层改正数上传到地球同步轨道卫星，再由地球同步轨道卫星向地面用户发送。无论是地基还是星基增强系统均依赖于一定数量的地面参考站，以及相应的基础设施和通信设施，运行和维护花费较大人力物力。
地基增强系统包括美国CORS系统、欧洲的EPN系统、德国的SAPOS系统、日本的GeoNet系统，以及我国当前正在建设中的北斗地基增强系统。地基增强差分系统由连续运行基准站网、系统控制与数据中心、数据通信网络以及用户应用子系统等组成，其中，基准站子系统主要由天线、接收机、通信设备、供电设备、避雷设备、气象设备及观测室等组成。星基增强系统也称“广域增强系统”包括美国的WAAS、 欧洲的EGNOS、日本的MSAS以及印度的GAGAN等系统，它在大范围内布设地面参考站，计算增强改正信号，通过地球静止轨道卫星广播增强信号来提高地面GNSS用户的定位精度。由于空中和海上无法建立连续运行参考站(CORS)作为基准站，因此航空和航海等大尺度应用中，无法使用地面上的局域差分技术，只能通过星基广域增强系统来提高GNSS用户的性能。不论是地基增强系统还是星基增强系统，都需要在地面布设连续运行参考站，运行和维护花费较大人力物力。
发明内容
为了解决上述问题，本发明提供一种低轨卫星导航增强电离层延迟改正方法，所述方法以低轨航天器为运动载体平台，以搭载在该平台上的载荷对地球电离层进行连续观测，获得电离层的电子密度分布，为卫星导航系统用户提供电离层延迟改正参数信息，提高卫星导航定位的精确度、可靠性和完备性；
进一步地，低轨航天器运动载体包括低轨运行的人造卫星和其他运行轨道离地面高度小于2000公里的无人运动载体；
进一步地，地球电离层观测载荷包括卫星导航接收机和其他对地球电离层电子数量、电子温度、电子密度、碰撞频率、离子温度、离子密度、离子成分电和离层物理参数进行观测的设备；
进一步地，所述方法具体包括以下步骤；
步骤1、发射一组低轨卫星，低轨卫星上搭载有GNSS接收机，接收GNSS卫星的双频或多频信号；
步骤2、低轨卫星上的搭载的GNSS接收机确定低轨卫星的位置，并由此确定低轨卫星的轨道参数；
步骤3、利用低轨卫星上的搭载的GNSS接收机的双频或多频信号确定信号传播路径上的电离层电子含量；
步骤4、根据低轨卫星的运行轨道，利用低轨卫星上搭载的GNSS接收机的双频或多频信号确定一个区域或全球范围的电离层电子含量分布；
步骤5、根据低轨卫星的运行轨道，利用低轨卫星上搭载的GNSS接收机的双频或多频信号确定一个区域或全球范围的电离层电子含量梯度，得出电离层电子含量变化的空间分布；
步骤6、根据低轨卫星的运行轨道，利用低轨卫星上搭载的GNSS接收机的双频或多频信号监测电离层事件是否发生；电离层事件发生时，计算该电离层事件发生的时间、位置和幅度的参数信息；
步骤7、由步骤3-6计算的电离层数据建立适当的电离层模型，利用该电离层模型计算地球表面任意位置的电离层延迟改正参数延迟改正参数；步骤7可以在低轨卫星上完成，也可以将有关数据传输到地面站，在地面站计算机完成；
步骤8、将步骤7计算的电离层模型发送到地球表面用户GNSS接收机，输入用户的粗位置、时间和卫星位置到该电离层模型，该电离层模型输出相应的电离层延迟改正参数延迟改正参数；
步骤9、按步骤8计算所有卫星的电离层延迟改正参数延迟改正参数，在GNSS定位数学模型中对观测信号中的电离层延迟误差进行 改正，获得改进的定位结果；
进一步地，所述GNSS系统包括中国的北斗导航系统、美国的GPS全球定位系统、俄罗斯的GLONASS系统、欧洲的Galileo导航系统，以及上述两种或多种系统的任意组合；
进一步地，步骤3具体为：将GNSS卫星导航接收机搭载于低轨航天器，接收卫星导航定位信号，确定低轨卫星的位置，同时利用导航接收机的观测值计算电离层电子含量，并依据该接收机位置的电子含量，推算其他GNSS用户所在位置的电离层延迟改正参数延迟改正参数，将该推算的延迟改正参数用于GNSS用户位置解算；
进一步地，步骤5具体为：利用搭载于低轨航天器的GNSS卫星导航接收机的观测值计算航天器所在不同位置的电子含量，进一步计算电离层电子含量变化在三维空间的梯度；
进一步地，步骤7具体为：利用搭载于低轨航天器的GNSS卫星导航接收机的观测值计算航天器所在不同位置的电子含量，建立电离层的电子含量模型，该电子含量模型可以用于推算其他GNSS用户所在位置的电离层延迟改正参数延迟改正参数；
进一步地，步骤8具体为：使用低轨航天器所载的计算机计算用户位置电离层延迟改正参数，根据低轨航天器观测值在轨推算其他GNSS用户，包括地球表面用户所在位置的电离层延迟改正参数延迟改正参数；
进一步地，步骤9具体为：在数据计算中心计算用户位置电离层延迟改正参数，将低轨航天器观测值发送至数据计算中心，数据计算 中心推算其他GNSS用户，包括地球表面用户所在位置的电离层延迟改正参数延迟改正参数；
进一步地，所述利用低轨航天器所搭载的载荷设备，包括GNSS接收机、电离层垂测仪和电离层顶部探测仪，观测的电离层物理参数数据确定一系列电离层事件是否发生，观测的电离层物理参数数据包括上层电离层变化、电离层闪烁、磁暴、电离层暴、质子暴和电离层行扰；
本发明的有益效果如下：
1)全球范围广域覆盖，本发明利用低轨卫星星座作为移动基站，能对全球或广域范围的电离层进行连续观测，不受地面陆地覆盖范围或地面基础设施的制约，能真正在广域甚至全球范围内提供统一的电离层改正增强服务，包括海洋、沙漠、山区等地基增强系统不能覆盖的区域；
2)系统低成本，使用较少的卫星及其电离层观测载荷即能覆盖广域或全球范围，采用无线卫星通信方法减少了地面基础设施建设的需求，这两方面都减少了系统的成本，在广域或全球范围内通过统一的系统，进行自动化观测、数据处理，提供统一的导航定位增强服务，减少整体系统的成本；
3)电离层状态综合观测与监测，与地基增强系统类似，低轨卫星搭载的GNSS接收机观测电离层电子含量，同时，基于低轨卫星作为移动基站快速运动的特性，可以计算所覆盖区域电离层电子含量的梯度分布；
4)低轨卫星运行轨道位于电离层高度范围中，通过在低轨卫星上搭载电离层状态监测设备，能够实时对电离层事件进行监测，用户接收机基于该类事件信息能够在GNSS信号跟踪、数字信号处理和定位解算中进行适当的自适应处理，提高GNSS用户的定位精度和可靠性。
附图说明
图1为本发明低轨卫星电离层延迟改正参数增强方法的结构示意图；
图2为本发明低轨卫星电离层延迟改正参数增强方法的流程图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细描述。应当理解，此处所描述的具体实施例仅仅用于解释本发明，并不用于限定本发明。相反，本发明涵盖任何由权利要求定义的在本发明的精髓和范围上做的替代、修改、等效方法以及方案。进一步，为了使公众对本发明有更好的了解，在下文对本发明的细节描述中，详尽描述了一些特定的细节部分。对本领域技术人员来说没有这些细节部分的描述也可以完全理解本发明。
下面结合附图和具体实施例对本发明作进一步说明，但不作为对本发明的限定。下面为本发明的举出最佳实施例：
如图1所示，本发明所述方法使用系统包括，1)GNSS卫星星座；2)低轨卫星星座；3)搭载于低轨卫星的仪器设备；4)低轨卫星搭 载的数据传输通信链路；5)地面增强数据处理系统；6)地球表面GNSS用户。接下来简要介绍每部分组成。1)GNSS卫星星座包括已建成的美国GPS(Global Positioning System)、俄罗斯GLONASS(Global Navigation Satellite System)，以及正在建设的系统欧盟的Galileo、中国的北斗导航定位系统等。这些星座主要由MEO,GEO,IGSO卫星组成，卫星轨道高度较高，处于磁层中。2)低轨卫星星座，其飞行轨道高度要求处于电离层中。3)搭载于低轨卫星的仪器设备主要有双频或多频GNSS接收机、小型电离层光度计TIP、信标仪、射频信标发射机、离子速度计、星载计算设备等。其中GNSS双频或多频接收机进行定轨卫星精密定位定轨和电离层电子含量测量。小型电离层光度计推算卫星至地球方向的电子密度总量。信标仪使用无线电发射机发射电磁波信号，经由分布于各地接受站接受后，推算在超电离层高度的高解析度的电子密度场和总电子含量(TEC)。射频信标发射机、离子速度计等用于提供更为丰富的电离层参量，更好监测电离层细节变化和特殊现象。星载计算设备具有足够的数据记录容量及预处理、处理功能，能定期或实时将观测数据、解算数据传输到地面计算中心、地面用户。4)低轨卫星搭载的数据传输通信链路用于把低轨卫星观测数据、解算数据传输到地面计算中心或地面GNSS用户(依导航增强数据是在卫星计算机处理还是在地面数据处理系统处理)。5)地面增强数据处理系统。接收并处理低轨卫星的观测数据，生成导航增强电离层改正参数数据，并通过通信系统将增强数据发送给GNSS用户。6)地球表面GNSS用户包括拥有GNSS单频、 双频、多频接收机的GNSS导航定位和授时用户。
如图2所示，本发明提供一种低轨卫星导航增强电离层延迟改正参数方法，包括如下步骤：首先发射一组低轨卫星，低轨卫星上搭载有GNSS双频或多频接收机及其他电离层观测设备，低轨卫星上的搭载的GNSS接收机接受GNSS卫星信号确定低轨卫星的位置，并由此确定低轨卫星的轨道参数，同时利用双频或多频数据，解算出信号传播路径上的电离层电子含量TEC；根据低轨卫星的运行轨道，以及信号传播路径上的电离层电子含量TEC，确定一个区域或全球范围的电离层电子含量分布(二维空间分布)、电离层电子含量梯度(电离层电子含量变化的三维空间分布)；结合GNSS观测的TEC参数和信标仪等其他电离层物理观测设备监测电离层事件是否发生，事件发生时，计算该事件发生的时间、位置、幅度等参数信息；利用区域或全球的电离层电子含量分布、电离层电子含量梯度、电离层事件等数据建立适当的电离层模型，利用该模型可以计算地球表面任意位置的电离层延迟改正参数(这一步骤可以在低轨卫星上完成，也可以将有关数据传输到地面站，在地面站计算机完成)；低轨卫星或地面计算中心将计算的电离层模型发送到地球表面用户GNSS接收机，用户输入粗位置、时间和卫星位置到该电离层模型，该模型输出相应的电离层延迟改正参数；计算得到所有卫星到用户端的电离层延迟改正参数，在GNSS定位数学模型中对观测信号中的电离层延迟误差进行改正，获得改进的定位结果。
以上所述的实施例，只是本发明较优选的具体实施方式的一种， 本领域的技术人员在本发明技术方案范围内进行的通常变化和替换都应包含在本发明的保护范围内。

Claims (11)

  1. 一种低轨卫星导航增强电离层延迟改正方法，其特征在于，所述方法以低轨航天器为运动载体平台，以搭载在该平台上的载荷对地球电离层进行连续观测，获得电离层的电子密度分布，为卫星导航系统用户提供电离层延迟改正参数信息，提高卫星导航定位的精确度、可靠性和完备性。
  2. 根据权利要求1所述的方法，其特征在于，低轨航天器运动载体包括低轨运行的人造卫星和其他运行轨道离地面高度小于2000公里的无人运动载体。
  3. 根据权利要求1所述的方法，其特征在于，地球电离层观测载荷包括卫星导航接收机和其他对地球电离层电子数量、电子温度、电子密度、碰撞频率、离子温度、离子密度、离子成分电和离层物理参数进行观测的设备。
  4. 根据权利要求1所述的方法，其特征在于，所述方法具体包括以下步骤：
    步骤1、发射一组低轨卫星，低轨卫星上搭载有GNSS接收机，接收GNSS卫星的双频或多频信号；
    步骤2、低轨卫星上的搭载的GNSS接收机确定低轨卫星的位置，并由此确定低轨卫星的轨道参数；
    步骤3、利用低轨卫星上的搭载的GNSS接收机的双频或多频信号确定信号传播路径上的电离层电子含量；
    步骤4、根据低轨卫星的运行轨道，利用低轨卫星上搭载的GNSS接收机的双频或多频信号确定一个区域或全球范围的电离层电子含量分布；
    步骤5、根据低轨卫星的运行轨道，利用低轨卫星上搭载的GNSS接收机的双频或多频信号确定一个区域或全球范围的电离层电子含量梯度，得出电离层电子含量变化的空间分布；
    步骤6、根据低轨卫星的运行轨道，利用低轨卫星上搭载的GNSS接收机的双频或多频信号监测电离层事件是否发生；电离层事件发生时，计算该电离层事件发生的时间、位置和幅度的参数信息；
    步骤7、由步骤3-6计算的电离层数据建立适当的电离层模型，利用该电离层模型计算地球表面任意位置的电离层延迟改正参数延迟改正参数；步骤7可以在低轨卫星上完成，也可以将有关数据传输到地面站，在地面站计算机完成；
    步骤8、将步骤7计算的电离层模型发送到地球表面用户GNSS接收机，输入用户的粗位置、时间和卫星位置到该电离层模型，该电离层模型输出相应的电离层延迟改正参数延迟改正参数；
    步骤9、按步骤8计算所有卫星的电离层延迟改正参数延迟改正参数，在GNSS定位数学模型中对观测信号中的电离层延迟误差进行改正，获得改进的定位结果。
  5. 根据权利要求4所述的方法，其特征在于，所述GNSS系统包括中国的北斗导航系统、美国的GPS全球定位系统、俄罗斯的GLONASS 系统、欧洲的Galileo导航系统，以及上述两种或多种系统的任意组合。
  6. 根据权利要求4所述的方法，其特征在于，步骤3具体为：将GNSS卫星导航接收机搭载于低轨航天器，接收卫星导航定位信号，确定低轨卫星的位置，同时利用导航接收机的观测值计算电离层电子含量，并依据该接收机位置的电子含量，推算其他GNSS用户所在位置的电离层延迟改正参数延迟改正参数，将该推算的延迟改正参数用于GNSS用户位置解算。
  7. 根据权利要求4所述的方法，其特征在于，步骤5具体为：利用搭载于低轨航天器的GNSS卫星导航接收机的观测值计算航天器所在不同位置的电子含量，进一步计算电离层电子含量变化在三维空间的梯度。
  8. 根据权利要求4所述的方法，其特征在于，步骤7具体为：利用搭载于低轨航天器的GNSS卫星导航接收机的观测值计算航天器所在不同位置的电子含量，建立电离层的电子含量模型，该电子含量模型可以用于推算其他GNSS用户所在位置的电离层延迟改正参数延迟改正参数。
  9. 根据权利要求4所述的方法，其特征在于，步骤8具体为：使用低轨航天器所载的计算机计算用户位置电离层延迟改正参数，根据低轨航天器观测值在轨推算其他GNSS用户，包括地球表面用户所在位置的电离层延迟改正参数延迟改正参数。
  10. 根据权利要求4所述的方法，其特征在于，步骤9具体为：在数据计算中心计算用户位置电离层延迟改正参数，将低轨航天器观测值发送至数据计算中心，数据计算中心推算其他GNSS用户，包括地球表面用户所在位置的电离层延迟改正参数延迟改正参数。
  11. 根据权利要求4所述的方法，其特征在于，所述利用低轨航天器所搭载的载荷设备，包括GNSS接收机、电离层垂测仪和电离层顶部探测仪，观测的电离层物理参数数据确定一系列电离层事件是否发生，观测的电离层物理参数数据包括上层电离层变化、电离层闪烁、磁暴、电离层暴、质子暴和电离层行扰。
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