WO2021253844A1 - 一种基于低轨宽带互联网星座的导航方法及系统 - Google Patents

一种基于低轨宽带互联网星座的导航方法及系统 Download PDF

Info

Publication number
WO2021253844A1
WO2021253844A1 PCT/CN2021/075537 CN2021075537W WO2021253844A1 WO 2021253844 A1 WO2021253844 A1 WO 2021253844A1 CN 2021075537 W CN2021075537 W CN 2021075537W WO 2021253844 A1 WO2021253844 A1 WO 2021253844A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
navigation
communication
terminal
navigation signal
Prior art date
Application number
PCT/CN2021/075537
Other languages
English (en)
French (fr)
Inventor
蒙艳松
严涛
王瑛
边朗
田野
李天�
Original Assignee
西安空间无线电技术研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 西安空间无线电技术研究所 filed Critical 西安空间无线电技术研究所
Priority to EP21826237.6A priority Critical patent/EP4170390A4/en
Publication of WO2021253844A1 publication Critical patent/WO2021253844A1/zh

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/02Details of the space or ground control segments
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/43Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/21Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/43Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/53Determining attitude
    • G01S19/54Determining attitude using carrier phase measurements; using long or short baseline interferometry
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00Reducing energy consumption in communication networks
    • Y02D30/70Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • This application relates to the technical field of satellite navigation, and in particular to a navigation method and system based on a low-orbit broadband Internet constellation.
  • PNT positioning, navigation and timing
  • the prior art improves the signal landing power by focusing the power on a small area, and reduces the GNSS signal coverage area. Therefore, how to increase the signal landing power while ensuring the coverage of the navigation system based on the low-orbit broadband Internet constellation, and thereby enhance the anti-interference ability of the GNSS signal, has become an urgent problem to be solved.
  • this application provides a navigation method and system based on a low-orbit broadband Internet constellation, through which the second navigation signal and The first communication signal shares spectrum resources and transmission channel broadcasting at the same time, that is, the satellite can send navigation signals to the terminal through the communication spectrum and channel. Since the communication spectrum bandwidth is wider than the traditional navigation GNSS signal spectrum, the bandwidth of the navigation signal is increased. For GNSS signals, the signal's anti-interference ability is improved.
  • the broadband communication signal terminal has high antenna gain, which improves the signal receiving power and further improves the anti-interference ability of the navigation signal.
  • an embodiment of the present application provides a navigation method based on a low-orbit broadband Internet constellation, the method including:
  • a first communication signal is generated according to a preset communication load, and a second navigation signal is generated according to the first communication signal and the first navigation signal, wherein the second navigation signal and the first communication signal share a frequency spectrum at the same time Broadcasting of resources and transmission channels;
  • the second navigation signal is sent to the terminal on the preset communication resource, so that the terminal performs positioning, navigation and timing based on the second navigation signal.
  • the first navigation signal is generated according to the navigation message or the GNSS signal by receiving the satellite navigation broadcast message or the precision message posted on the ground customs station, and then according to the preset communication load
  • a first communication signal is generated
  • a second navigation signal is generated according to the first communication signal and the first navigation signal, wherein the second navigation signal shares spectrum resources and transmission channels with the first communication signal, and then
  • the second navigation signal is sent to the terminal on the preset communication resource, so that the terminal performs positioning, navigation and timing based on the second navigation signal.
  • the second navigation signal and the first communication signal share spectrum resources and transmission channel broadcasting at the same time, that is, the satellite can send navigation signals to the terminal through the communication spectrum and channel. Because the communication spectrum bandwidth is wider than the traditional navigation GNSS signal spectrum, it is improved The bandwidth of the navigation signal is improved, and the anti-interference ability of the navigation signal is improved.
  • the first communication signal includes a service signal and a signaling signal, and the first communication signal includes a Ka-band communication signal or a Ku-band communication signal;
  • the first navigation signal includes a continuous Ka-band navigation signal and/or a continuous L-band navigation signal.
  • generating a second navigation signal according to the first communication signal and the first navigation signal includes:
  • the second navigation signal is obtained by fusing the baseband signal or the intermediate frequency signal with the first communication signal.
  • generating a second navigation signal according to the first communication signal and the first navigation signal further includes:
  • the second navigation signal is generated according to the first communication signal and the clock difference information.
  • the second navigation signal includes at least one of the following signals:
  • the continuous navigation signal obtained by fusion of the baseband signal or the intermediate frequency signal and the service signal is defined as Ka_N; or
  • the continuous navigation signal obtained by fusing the baseband signal or the intermediate frequency signal and the signaling signal is defined as Ka_S; or
  • the continuous L-band navigation signal is defined as L_N; or
  • the baseband signal or the intermediate frequency signal is fused with the communication signal to obtain a pulse navigation signal, which is defined as Ka_P; or
  • the second communication signal is defined as Ka_C, where the Ka_C is a communication signal carrying the clock difference information.
  • the advantages of the wide Ka frequency band are used to broadcast broadband continuous navigation signals Ka_N in the Ka frequency band to improve anti-interference ability; Or broadcast the conduction and fusion high-power pulse signal Ka_P at the same time to achieve "pulse + continuous" increase signal power; or broadcast the high-power communication signal Ka_C to further increase the power of the navigation signal equivalently.
  • the wireless resource management function can be used when needed, and when there is no communication service, the power can be allocated to the navigation signal to directly increase the power of the navigation signal.
  • sending the second navigation signal to the terminal on a preset communication resource includes:
  • an embodiment of the present application provides a navigation method based on a low-orbit broadband Internet constellation, the method including:
  • the method further includes:
  • the ultra-short baseline antenna system includes at least two antennas
  • the carrier phase observation equation is determined according to the second navigation signal sent by any two satellites received by each antenna, and the carrier phase double difference value is determined by double difference calculation according to the carrier phase observation equation, so The relationship between the position vector of any two satellites, the baseline vector between antennas in the ultra-short baseline antenna system, and the ambiguity of the double-difference carrier;
  • a set of relational equations is obtained according to the second navigation signals sent by the at least four satellites and the relation, and the double-difference carrier ambiguity in the relational equation is solved according to a preset integer ambiguity solving algorithm, and The solved double-difference carrier whole-cycle ambiguity is brought into the relational equation to solve the baseline vector between antennas in the ultra-short baseline antenna system;
  • the pose parameters include a pitch angle, a yaw angle, and a roll angle.
  • the embodiments of the present application provide a navigation system based on a low-orbit broadband Internet constellation, the system including: a constellation, a ground customs station, and at least one terminal; wherein,
  • the ground gateway station is used to inject satellite navigation messages into the constellation
  • the constellation includes multiple satellites located on different orbits, used to receive satellite navigation messages or GNSS signals annotated by ground gateways, and generate a first navigation signal according to the navigation messages or the GNSS signals; according to a preset
  • the communication load generates a first communication signal, and a second navigation signal is generated based on the first communication signal and the first navigation signal, wherein the second navigation signal and the first communication signal simultaneously share spectrum resources and transmit Channel broadcasting; sending the second navigation signal to the at least one terminal on a preset communication resource;
  • the at least one terminal is configured to perform navigation and positioning based on the second navigation signal.
  • each of the at least one terminal is provided with a Ka-band signal communication antenna, or both a Ka-band signal communication antenna and an L-band signal navigation antenna, wherein the Ka-band signal The communication antenna is used to receive the second navigation signal.
  • a navigation system based on a broadband Internet constellation is constructed, which is a navigation system that independently provides positioning, navigation and timing services, rather than just a GNSS augmentation system. At the same time, it can also interoperate with GNSS to provide PNT services in joint use.
  • an embodiment of the present application provides a navigation device based on a low-orbit broadband Internet constellation, which includes:
  • a receiving unit configured to receive a satellite navigation broadcast message or a precision message posted on a ground customs station, and generate a first navigation signal according to the navigation broadcast message or the precision message;
  • the generating unit is configured to generate a first communication signal according to a preset communication load, and generate a second navigation signal according to the first communication signal and the first navigation signal, wherein the second navigation signal is the same as the first navigation signal.
  • Communication signals share spectrum resources and transmit channel broadcasts at the same time;
  • the sending unit is configured to send the second navigation signal to the terminal on a preset communication resource, so that the terminal performs navigation and positioning based on the second navigation signal.
  • the first communication signal includes a service signal and a signaling signal, and the first communication signal includes a Ka-band communication signal or a Ku-band communication signal;
  • the first navigation signal includes a continuous Ka-band navigation signal and/or a continuous L-band navigation signal.
  • the generating unit is specifically configured to:
  • the second navigation signal is obtained by fusing the baseband signal or the intermediate frequency signal with the first communication signal.
  • the generating unit is further configured to:
  • the second navigation signal is generated according to the first communication signal and the clock difference information.
  • the second navigation signal includes at least one of the following signals:
  • the continuous navigation signal obtained by fusion of the baseband signal or the intermediate frequency signal and the service signal is defined as Ka_N; or
  • the continuous navigation signal obtained by fusing the baseband signal or the intermediate frequency signal and the signaling signal is defined as Ka_S; or
  • the continuous L-band navigation signal is defined as L_N; or
  • the baseband signal or the intermediate frequency signal is fused with the communication signal to obtain a pulse navigation signal, which is defined as Ka_P; or
  • the second communication signal is defined as Ka_C, where the Ka_C is a communication signal carrying the clock difference information.
  • the sending unit is specifically configured to:
  • an embodiment of the present application provides a navigation device based on a low-orbit broadband Internet constellation, which includes:
  • the receiving unit is configured to receive a second navigation signal sent by at least four satellites in the constellation, wherein the second navigation signal and the first communication signal generated by the satellite according to a preset communication load simultaneously share spectrum resources and transmission channels broadcast;
  • the positioning unit is configured to determine the pseudorange between the satellite and the terminal and the observed value of the carrier phase of each satellite according to the second navigation signal, and compare the pseudorange and the observed value of the carrier phase to the The terminal performs positioning.
  • the device further includes: a determining unit; the determining unit is specifically configured to:
  • the ultra-short baseline antenna system includes at least two antennas
  • the carrier phase observation equation is determined according to the second navigation signal sent by any two satellites received by each antenna, and the carrier phase double difference value is determined by double difference calculation according to the carrier phase observation equation, so The relationship between the position vector of any two satellites, the baseline vector between antennas in the ultra-short baseline antenna system, and the ambiguity of the double-difference carrier;
  • a set of relational equations is obtained according to the second navigation signals sent by the at least four satellites and the relation, and the double-difference carrier ambiguity in the relational equation is solved according to a preset integer ambiguity solving algorithm, and The solved double-difference carrier whole-cycle ambiguity is brought into the relational equation to solve the baseline vector between antennas in the ultra-short baseline antenna system;
  • the pose parameters include a pitch angle, a yaw angle, and a roll angle.
  • an embodiment of the present application provides a satellite, and the satellite includes:
  • a memory for storing instructions executed by at least one processor
  • the processor is configured to execute instructions stored in the memory to execute the method described in the first aspect.
  • an embodiment of the present application provides a terminal, and the terminal includes:
  • a memory for storing instructions executed by at least one processor
  • the processor is configured to execute instructions stored in the memory to execute the method described in the second aspect.
  • the present application provides a computer-readable storage medium that stores computer instructions that, when the computer instructions are run on a computer, cause the computer to execute the operations described in the first aspect and the second aspect Methods.
  • FIG. 1 is a schematic flowchart of a navigation method based on a low-orbit broadband Internet constellation provided by an embodiment of this application;
  • FIG. 2 is a schematic diagram of a Ka_P signal frame structure provided by an embodiment of the application.
  • FIG. 3 is a schematic diagram of an ultra-short baseline attitude measurement based on Ka_N signal provided by an embodiment of this application;
  • FIG. 4 is a schematic structural diagram of a navigation system based on a low-orbit broadband Internet constellation provided by an embodiment of the application;
  • FIG. 5 is a schematic structural diagram of a navigation device based on a low-orbit broadband Internet constellation provided by an embodiment of the application;
  • FIG. 6 is a schematic structural diagram of a navigation device based on a low-orbit broadband Internet constellation provided by an embodiment of the application;
  • FIG. 7 is a schematic structural diagram of a navigation device based on a low-orbit broadband Internet constellation provided by an embodiment of the application.
  • FIG. 8 is a schematic structural diagram of a satellite provided by an embodiment of the application.
  • FIG. 9 is a schematic structural diagram of a terminal provided by an embodiment of the application.
  • Step 101 Receive a satellite navigation broadcast message or a precision message posted on a ground customs station, and generate a first navigation signal according to the navigation broadcast message or the precision message.
  • the satellites in the constellation can be connected to the ground gateway station through a feeder link, and after the connection is established, the constellation can receive the navigation messages posted by the ground gateway station, where:
  • the navigation message includes satellite ephemeris, almanac, correction parameters of satellite clock, ionospheric delay model parameters, etc.
  • the constellation is composed of multiple satellites.
  • a satellite-borne GNSS signal receiver is set in the constellation, which can receive the GNSS signal sent by the GNSS system.
  • the constellation is based on the GNSS signal and preset
  • the navigation message is generated autonomously according to the message generation rules of, and then the first navigation signal is generated according to the navigation message.
  • Step 102 Generate a first communication signal according to a preset communication load, and generate a second navigation signal according to the first communication signal and the first navigation signal, wherein the second navigation signal is the same as the first communication signal At the same time share spectrum resources and transmit channel broadcast.
  • a communication load is set on the satellites in the constellation, and the communication load can generate a first communication signal, where the first communication signal is used for communication between the constellation and the ground gateway. Signal.
  • a navigation load is set on the satellites in the constellation, and the navigation load can generate the first navigation signal based on the navigation message.
  • the first communication signal and the first navigation signal may include multiple types of signals, and a preferred one is used as an example for description.
  • the first communication signal includes a service signal and a signaling signal, and the first communication signal includes a Ka-band communication signal or a Ku-band communication signal;
  • the first navigation signal includes a continuous Ka-band navigation signal and/or a continuous L-band navigation signal.
  • the satellite transmits the communication signal in the Ka or Ku frequency band, and the communication signal is transmitted using a frequency division + time division + multi-beam system.
  • the beams are divided into signaling beams and service beams. Among them, The number of service beams is N beam , and N beam ⁇ 2, the user downlink service signal is broadcast in the service beam.
  • the signaling beam is a wide beam covering the sphere, which is used for the initial establishment of a link between the terminal and the satellite.
  • the bandwidth of the user downlink frequency band is BW Ka , BW Ka ⁇ 100 MHz, which is equally divided into N BW sub-bands, each service beam uses one or more sub-bands, and the number of users supported by each service beam is N user .
  • the constellation to generate the second navigation signal according to the first communication signal and the first navigation signal.
  • the following is a better way as an example. instruction.
  • generating a second navigation signal according to the first communication signal and the first navigation signal includes : Obtain a baseband signal or an intermediate frequency signal according to the first navigation signal; fuse the baseband signal or an intermediate frequency signal with the first communication signal to obtain the second navigation signal.
  • generating a second navigation signal according to the first communication signal and the first navigation signal further includes: receiving a signal sent by the ground gateway station, and determining a receiving time of the signal And sending time, determining the propagation delay of the first signal according to the receiving time and the sending time; sending the first communication signal to the ground gateway station, and receiving the ground gateway station based on the first The second signal propagation delay determined by the communication signal; the clock difference information between the constellation and the ground gateway station is determined according to the first signal propagation delay and the second signal propagation delay; according to the first signal propagation delay A communication signal and the clock difference information generate the second navigation signal.
  • the ground gateway sends a signal to the constellation, and the constellation determines the reception time and the transmission time of the signal after receiving the signal, where the reception time refers to the reception of the constellation
  • the time of the signal, the transmission time refers to the time when the ground gateway station sends the signal;
  • the constellation determines the first signal propagation delay according to the receiving time and the sending time, specifically, the first signal propagation delay is determined according to the following formula:
  • T e ⁇ s represents the propagation delay of the first signal; Represents the time of the ground clock face when the ground customs station sends a signal; T 1,e represents the time of the satellite clock face when the satellite receives the signal; Express The coordinate vector of the satellite at time; p e represents the ECEF coordinate vector of the ground gateway; ⁇ t s represents the preset satellite clock error; ⁇ t e represents the preset clock error of the ground gateway; Represents the preset hardware delay of the satellite receiving signal; tg 1,e represents the preset hardware delay of the signal sent by the ground gateway; I 1 represents the preset ionospheric and tropospheric delay; Indicates the preset effect delay.
  • the constellation sends communication signals to the ground gateway station.
  • the ground gateway station determines the satellite clock time when the satellite sends the communication signal and the ground clock time when the ground gateway station receives the communication signal.
  • the satellite clock face time when the communication signal is sent and the ground clock face time when the ground gateway station receives the communication signal calculate the second signal propagation time delay.
  • the second signal propagation delay is calculated according to the following formula:
  • T s ⁇ e represents the propagation delay of the second signal
  • T 2,e represents the clock face time of the ground customs station when the ground customs station receives the communication signal
  • the ground gateway station calculates the second signal propagation delay, it sends the second signal propagation delay to the constellation, and the constellation obtains the constellation and the ground gateway according to the first signal propagation delay and the second signal propagation delay.
  • Information about the clock difference between stations is calculated by the following formula:
  • ( ⁇ t s - ⁇ t e ) represents clock error information.
  • the second navigation signal includes at least one of the following signals: a continuous navigation signal obtained by fusion of the baseband signal or the intermediate frequency signal and the service signal, which is defined as Ka_N; or The continuous navigation signal obtained by fusing the baseband signal or the intermediate frequency signal and the signaling signal is defined as Ka_S; or the continuous L-band navigation signal is defined as L_N; or the baseband signal or the intermediate frequency signal and the communication signal
  • the pulse navigation signal is obtained by fusion, which is defined as Ka_P; or the second communication signal, which is defined as Ka_C, where the Ka_C is a communication signal carrying the clock error information, and the communication signal is a cooperative communication signal.
  • Ka_N, Ka_S, and Ka_C can all share the spectrum with the communication signal and broadcast through the communication channel, and Ka_P occupies part of the time slot, spectrum, and power resources of the communication signal.
  • Step 103 Send the second navigation signal to the terminal on a preset communication resource, so that the terminal performs navigation and positioning based on the second navigation signal.
  • the second navigation signal needs to be sent to the terminal on the preset communication frequency band resource. Since the second navigation signal may include at least one signal, there are many ways for the constellation to send the second navigation signal to the terminal. The following takes a better way as an example for description.
  • sending the second navigation signal to the terminal on a preset communication resource includes: sending the Ka_P to the terminal in a multi-carousel manner on the communication resource; Or use the chip-level coding method to encode and group the Ka_N to obtain multiple groups of chip groups, and send different chip groups to the terminal through different beams on the communication resource; or based on the communication narrow beam, The terminal broadcasts the second navigation signal with continuous wide coverage.
  • the sending process of the first continuous navigation signal Ka_N, the second continuous navigation signal Ka_S, the second communication signal Ka_C, and the pulse navigation signal Ka_P are briefly introduced below.
  • the fundamental wave signal or the intermediate frequency signal is generated according to the first navigation signal, and the fundamental wave signal or intermediate frequency signal is fused with the service signal of the Ka band to obtain the first continuous navigation signal.
  • a continuous navigation signal is a Ka-band signal.
  • the constellation After the constellation obtains the first continuous navigation signal, it is transmitted through the Ka-band radio frequency transmission channel.
  • the multi-service beam can be used for continuous broadcasting, wherein the ranging code sequence used by the first continuous signal transmitted by different beams may be the same or different, which is not limited here.
  • the multi-service beams can use chip-hop beams.
  • the baseband signal can be expressed as:
  • s Ka-N, baseband (t) represents a Ka_N baseband signal
  • d Ka-N (t) is a preset satellite navigation message
  • c Ka-N (t) is a preset ranging code.
  • the ranging codes are grouped with N chip chips as a group, where N chip ⁇ 1, and then different chips are grouped in different beams for broadcast. If the first continuous navigation signal is broadcast in N Ka-N beams, and n ⁇ N Ka-N ⁇ N beam , the first continuous navigation signal in the nth beam can be expressed by the following formula:
  • the carrier center frequencies of different beams may be the same or different, and the signal bandwidth may be the bandwidth of the entire communication resource. However, if the signal bandwidth is the bandwidth of the entire communication resource, multiple first continuous navigation signals need to be generated.
  • the fundamental wave signal or the intermediate frequency signal is generated according to the first navigation signal, and the fundamental wave signal or intermediate frequency signal is fused with the signaling signal of the Ka band to obtain the second continuous navigation signal, where,
  • the second continuous navigation signal is also a Ka-band signal.
  • the constellation After the constellation generates the second continuous navigation signal, it is transmitted through the Ka-band radio frequency transmission channel.
  • the constellation transmits the second continuous navigation signal it can broadcast by using a wide-covering ball beam, where the wide-covering ball beam is a signaling beam.
  • the second continuous navigation signal can be expressed by the following formula:
  • s Ka-S (t) represents the second continuous navigation signal
  • P Ka-S represents the power of the second continuous navigation signal
  • d Ka-S (t) represents the preset satellite navigation message
  • c Ka-S (t) Represents the preset ranging code
  • f Ka-S is the preset signaling beam carrier center frequency
  • ⁇ 0, Ka-S is the preset initial carrier phase of the signaling beam.
  • the second continuous navigation signal broadcast by each signaling beam may use a different ranging code or the same ranging code. It is not limited here.
  • the communication signal sent by the constellation is a burst signal, that is, there may be no communication signal in any beam, or there may be multiple communication signals, and the bandwidth, time slot, and bandwidth of each communication signal
  • the power is adjustable.
  • the modulation methods include high-order modulation QAM or APSK modulation.
  • the j-th second communication signal broadcast can be expressed as:
  • the constellation may occupy part of the time slot and frequency resources of the communication signal to broadcast the pulse navigation signal Ka_P.
  • the constellation can broadcast the pulse navigation signal by beam hopping between multiple beams, and can use the BPSK or QPSK modulation method to modulate the pulse navigation signal Ka_P during broadcasting to obtain the modulated Ka_P.
  • the frame of the modulated Ka_P consists of three parts: continuous wave (CW), PRN code used for ranging, and PRN code of the modulated satellite navigation message data.
  • CW continuous wave
  • PRN code used for ranging
  • PRN code of the modulated satellite navigation message data PRN code of the modulated satellite navigation message data.
  • T Ka-P T CW + T pilot + T data
  • T Ka-P represents the frame length Ka_P a modulated communication signal is an integer multiple of the minimum time slot T F; T CW indicates the length of a continuous wave; T pilot indicates the length of the PRN code for ranging; T data Indicates the length of the PRN code of the modulated satellite navigation message data.
  • Ka_P baseband signal is expressed as:
  • s Ka-P, baseband (t) represents the baseband signal of the pulse navigation signal; when 0 ⁇ t ⁇ T CW , d Ka-P (t)c Ka-P (t) ⁇ 1 or d Ka-P ( t)c Ka-P (t) ⁇ -1, which is the CW frame header CW, when T CW ⁇ t ⁇ T CW + T pilot , d Ka-P (t) ⁇ 1, c Ka-P (t ) Is the value of the ranging PRN code, when T CW + T pilot ⁇ t ⁇ T Ka-P , d Ka-P (t) is the value of the modulated low-speed message, and c Ka-P (t) is the data PRN The value of the code.
  • FIG. 2 shows a schematic diagram of a Ka_P signal frame structure.
  • the Ka_P signal frame is composed of a continuous wave frame header CW, a ranging PRN code, and a data PRN code.
  • the Ka_P signal can be polled and broadcast among multiple beams.
  • the time that the Ka_P signal stays in a single beam is T beam , and T beam is an integer multiple of the minimum time slot T F. And there is T beam ⁇ T Ka-P .
  • T beam is an integer multiple of the minimum time slot T F.
  • T beam is an integer multiple of the minimum time slot T F.
  • T beam ⁇ T Ka-P .
  • N beams for broadcasting the Ka_P signal it can be polled and broadcast among all N beams .
  • the duty cycle in a single beam is T Ka-P /(N beam ⁇ T beam ); Polling is performed between some beams, and multiple Ka_P signals are broadcast at the same time.
  • the second navigation signal also includes an L-band navigation signal;
  • the L-band navigation signal is a continuous wave, and its structure is similar to that of a traditional GNSS signal, and can be denoted as L_N by customization.
  • the constellation can directly modulate the L_N signal by spread spectrum method to obtain the adjusted signal.
  • the adjusted signal is composed of satellite navigation messages, preset ranging codes and carrier waves, which is compatible with traditional GNSS signals, thereby increasing the navigation signal The number can speed up the convergence time of precision positioning, and can be integrated with GNSS signals for receiving and processing.
  • the L_N signal can be broadcast at one frequency, two frequency points, and three frequency points. The frequency can be selected as the traditional GNSS L frequency band or the mobile communication frequency band 1518-1525MHz. Specifically, at the jth frequency point, the L_N signal can be Expressed as:
  • the constellation when it generates the second navigation signal, it can also synthesize the Ka_N, Ka_P, and Ka_C signals, and broadcast the synthesized signal through the Ka-band radio frequency transmission channel.
  • the signal synthesis can be performed in the digital domain or in the analog domain.
  • the intermediate frequency is synthesized by a combiner.
  • the power spectrum of the Ka_N signal needs to be set ⁇ pdB lower than the power spectrum of the Ka_C signal, where ⁇ p ⁇ 15.
  • the power of the Ka_C signal is allocated to the Ka_N signal through wireless resource management to increase the power of the navigation signal.
  • the first navigation signal is generated according to the navigation message or the GNSS signal by receiving the satellite navigation broadcast message or the precision message posted on the ground customs station, and then according to the preset communication load Generating a first communication signal, and generating a second navigation signal according to the first communication signal and the first navigation signal, wherein the second navigation signal and the first communication signal share spectrum resources and transmission channel broadcasting at the same time, Then, the second navigation signal is sent to the terminal on the preset communication resource, so that the terminal performs positioning, navigation and timing based on the second navigation signal.
  • the second navigation signal and the first communication signal share spectrum resources and transmission channels, that is, satellites can send navigation signals to the terminal through the communication spectrum and channels.
  • the communication spectrum bandwidth is wider than the traditional navigation GNSS signal spectrum, navigation is improved.
  • the bandwidth of the signal In order to achieve interference to the entire navigation signal, the power of the interference signal needs to be distributed across the bandwidth of the entire navigation signal. The wider the navigation signal bandwidth, the lower the power spectrum under the same interference signal power. It is necessary to achieve a similar interference effect to the GNSS signal. It can only increase the power of the interfering signal. That is to say, compared with the GNSS signal, the anti-interference ability of the broadband navigation signal of this patent is improved.
  • the broadband communication signal terminal has high antenna gain, which improves the signal receiving power and further improves the anti-interference ability of the navigation signal.
  • an embodiment of the present application provides a navigation method based on a low-orbit broadband Internet constellation.
  • the method includes the following steps:
  • Step 201 Receive a second navigation signal sent by at least four satellites in the constellation, where the second navigation signal and the first communication signal generated by the satellite according to a preset communication load simultaneously share spectrum resources and transmit channel broadcasts.
  • Step 202 Determine the pseudorange between the satellite and the terminal and the observed value of the carrier phase of each satellite according to the second navigation signal, and perform operations on the terminal according to the pseudorange and the observed value of the carrier phase. position.
  • the constellation determines the second navigation signal, it needs to send the second navigation signal to the terminal, and the terminal can realize positioning, navigation, timing, attitude measurement, and construction based on receiving the second navigation signal.
  • Chain function where the second navigation signal includes one or more types of signals among L_N, Ka_N, Ka_S, Ka_P, Ka_C, and GNSS signals.
  • the terminal is configured with a Ka-band antenna or both a Ka-band antenna and an L-band antenna.
  • the following describes the process of navigation and positioning of the terminal according to the second navigation signal in the two cases respectively.
  • the terminal is equipped with a Ka-band antenna and an L-band antenna at the same time
  • the terminal can receive signals of at least one of Ka_N, Ka_S, Ka_P, and Ka_C, as well as L_N signals. If the terminal receives the L_N signal, the process for the terminal to perform navigation and positioning according to the L_N signal is as follows:
  • the terminal After receiving the L_N signal, the terminal analyzes the L_N signal to determine the pseudorange and the observed value of the carrier phase of each satellite. Specifically, the observed values of pseudorange and carrier phase obtained by the terminal are as follows:
  • Indicates pseudorange Represents the observed value of carrier phase; ⁇ represents the geometric distance from the satellite to the terminal; Indicates ionospheric delay; Indicates tropospheric delay; Represents the hardware delay of the code; Represents the hardware delay of the carrier phase; Is the carrier wavelength of the L_N signal; Represents other error terms of code pseudorange; Represents other error terms in the observed value of the carrier phase.
  • the L_N signal has a similar structure to the traditional GNSS signal.
  • the navigation messages annotated by the customs station include broadcast messages and precision messages.
  • the accuracy of the orbit and clock errors of the broadcast messages is relatively low, the error is above the meter level, and the update cycle is slow. It is used for pseudo-code-based positioning solutions.
  • the precision of the orbit and clock difference of the precision message is high, the error is in the centimeter level, the update cycle is fast, and it is used for precision positioning calculation.
  • it can perform fast and precise positioning solution based on the L-N signal. Since the frequency of the L-N signal is close to that of the traditional GNSS, the terminal can receive both the GNSS signal and the L-N signal at the same time, and speed up the convergence speed when performing smart positioning and solving.
  • Ka-band antenna is configured on the terminal
  • the terminal can receive at least one type of signal among Ka_N, Ka_S, Ka_P, and Ka_C, and can perform positioning, navigation, timing, and attitude measurement based on receiving Ka_N, Ka_S, Ka_P, or Ka_C.
  • Ka_P is a high-power pulse signal. For stationary or quasi-stationary terminals, it can only receive Ka_P signals and adopt the Doppler positioning system to realize positioning and timing.
  • Ka_N is a continuous broadband navigation signal with high signal power, large terminal antenna gain, and strong anti-interference ability, which can be used in interference environments.
  • the following takes the Ka_N signal received by the terminal as an example for description.
  • the pseudorange and carrier phase observation values obtained from the Ka_N signal are as follows.
  • the terminal When the terminal receives Ka_N signals from four or more satellites at the same time, the terminal can complete positioning and timing. Since Ka_N is a wideband signal, the bandwidth is more than 10 times that of GNSS signals, and the carrier-to-noise ratio is more than 30dB higher. High measurement accuracy and anti-interference ability. When there is a precise message, based on pseudo code positioning, it is expected to achieve real-time decimeter-level or even centimeter-level positioning accuracy, which is close to the performance of precise positioning based on GNSS signals.
  • the ionospheric delay from the terminal to the i-th satellite is calibrated through navigation messages or existing models, which are known. It means that the stratospheric delay from the terminal to the i-th satellite, corrected by navigation messages or existing models, is known.
  • the hardware delay representing the code of the i-th satellite, corrected by the navigation message, is known. (x r, y r, z r) of the terminal position, t r is the receiver clock error, the amount of which is to be solved amount of four, four simultaneous equations, solved end position and clock error, a navigation positioning and timing .
  • the terminal can perform precise positioning solution based on Ka_N signal carrier measurement. Since the frequency of the Ka_N signal is more than 12 times that of the GNSS frequency, and the wavelength is only about 1/12, the precision positioning accuracy can be improved to reach millimeter-level accuracy. When Ka_N and Ka_C signals are received at the same time, the power of the navigation signal can be equivalently improved, and the measurement accuracy of the pseudorange and carrier phase observations can be improved.
  • the terminal can not only perform positioning based on Ka_N, but also determine the attitude parameters of the terminal based on the Ka_N signal.
  • the methods for determining the attitude parameters of the terminal based on the Ka_N signal are as follows: There are many, the following is an example of ultra-short baseline attitude measurement.
  • the method further includes: determining the position information of each antenna in the ultra-short baseline antenna system set on the terminal, and establishing the body coordinate system of the terminal according to the position information, wherein
  • the ultra-short baseline antenna system includes at least two antennas; the carrier phase observation equation is determined according to the second navigation signals sent by any two satellites received by each antenna, and the carrier phase observation equation is determined according to the carrier phase observation equation.
  • the double-difference calculation determines the carrier phase double-difference value, the position vector of any two satellites, the baseline vector between the antennas in the ultra-short baseline antenna system, and the relationship between the double-difference carrier ambiguity;
  • the second navigation signals sent by at least four satellites and the relationship obtain a set of relational equations, and the double-difference carrier ambiguity in the relational equation is solved according to the preset integer ambiguity solving algorithm, and the ambiguity of the double-difference carrier in the relational equation is solved.
  • the double-difference carrier ambiguity is brought into the relational equation to solve the baseline vector between the antennas in the ultra-short baseline antenna system; the pose parameter of the terminal is calculated according to the baseline vector, wherein
  • the pose parameters include pitch angle, yaw angle and roll angle.
  • the Ka_N signal is also taken as an example for description.
  • the Ka_N signal wavelength is only about 1/12 of that of GNSS, and the carrier-to-noise ratio is high. Therefore, it can support ultra-short baseline attitude measurement with an ultra-short baseline attitude measurement accuracy of 0.1m, which is equivalent to 1m or even 10m accuracy based on GNSS signal attitude measurement.
  • any pair of ultra-short baseline antennas in the terminal are located at points O and P respectively, and are fixed along the direction of movement. With point O as the origin, the body coordinate system ENU is established. If point O and point P can receive Ka_N signals broadcast by two satellites S1 and S2, respectively, the carrier phase observation equations at point O and P can be obtained from the received Ka_N signal. Since double difference calculation is required, the error term can be ignored.
  • the carrier phase observation equation is expressed by the following formula:
  • ⁇ O, S1 and ⁇ P, S1 represent the carrier phase observations of the receiving S1 satellite at point O and P respectively;
  • ⁇ O, S2 and ⁇ P, S2 represent the reception at point O and P, respectively S2 satellite carrier phase observation;
  • r O, S1 represents the vector from point O to S1 satellite;
  • r P, S1 represents the vector from point P to S1 satellite;
  • r O, S2 represents the vector from point O to S2 satellite;
  • r P, S2 represents the vector from the point P to the S2 satellite;
  • NO, S1 , N P, S1 , NO, S2 and N P, S2 are the corresponding ambiguities of the whole circle.
  • s 1 and s 2 represent the position vectors of the satellites S1 and S2, respectively
  • OP represents the baseline vector of the ultra-short baseline antenna
  • the terminal can simultaneously receive the second navigation signals of N sat satellites in the constellation, where N sat ⁇ 4, the following N sat -1 equations can be obtained according to the above equation:
  • the ambiguity solution is similar to the precise single-point positioning of the GNSS signal. Considering that the baseline length
  • the pitch angle is calculated according to the solved baseline vector And the yaw angle. Specifically, the pitch angle and yaw angle are expressed by the following formula:
  • ⁇ P represents the pitch angle; Indicates the yaw angle.
  • another pair of ultra-short baseline antennas is used to solve the roll angle, and the roll angle, yaw angle, and pitch angle can be simultaneously solved by increasing the number of ultra-short baseline antennas.
  • the terminal may be a standard communication terminal, which is installed on a mobile object such as an airplane and a ship, and can receive Ka communication signaling signals, communication service signals, and Ka_S signals to realize movement.
  • the rapid and continuous establishment of the link between the terminal and the satellite meets the needs of "on the move" without the need for additional GNSS or inertial navigation assistance.
  • the process of establishing a link between the terminal and the satellite is as follows:
  • Step 1 The standard communication terminal receives the signaling beam and initially establishes a link with the satellite.
  • a standard communication terminal receives Ka_S signals, obtains low-orbit satellite ephemeris data, receives Ka_S signals from more than 4 satellites, performs positioning and timing, and obtains the position of the terminal antenna.
  • Step 3 On this basis, perform an ultra-short baseline attitude determination based on the Ka_S signal to obtain the attitude of the terminal antenna.
  • Step 4 With the movement of the terminal carrier, adjust the direction of the communication terminal according to the obtained satellite position, as well as the terminal position and attitude, receive and transmit antenna service signals, complete the service signal chain establishment, and maintain the "moving-in-the-move" service.
  • an embodiment of the present application provides a navigation system based on a low-orbit broadband Internet constellation.
  • the system includes: a constellation 1, a ground customs station 2 and at least one terminal 3;
  • the ground gateway station 2 is used to upload satellite navigation messages to the constellation 1;
  • the constellation 1 includes multiple satellites in different orbits, which are used to receive satellite navigation messages or GNSS signals annotated by the ground gateway station 2, and generate a first navigation signal according to the navigation messages or the GNSS signal;
  • the preset communication load generates a first communication signal, and generates a second navigation signal according to the first communication signal and the first navigation signal, wherein the second navigation signal and the first communication signal share spectrum resources at the same time And transmitting channel broadcast; sending the second navigation signal to at least one terminal 3 on a preset communication resource;
  • the at least one terminal 3 is configured to perform navigation and positioning based on the second navigation signal.
  • each of the at least one terminal is provided with a Ka-band signal communication antenna, or at the same time a Ka-band signal communication antenna and L The navigation antenna of the frequency band signal, wherein the communication antenna of the Ka frequency band signal is used to receive the second navigation signal.
  • an embodiment of the present application provides a navigation device based on a low-orbit broadband Internet constellation.
  • the device includes:
  • the receiving unit 501 is configured to receive satellite navigation messages or GNSS signals annotated by a ground customs station, and generate a first navigation signal according to the navigation messages or the GNSS signal;
  • the generating unit 502 is configured to generate a first communication signal according to a preset communication load, and generate a second navigation signal according to the first communication signal and the first navigation signal, wherein the second navigation signal is the same as the first navigation signal.
  • One communication signal shares spectrum resources and transmission channel broadcasting at the same time;
  • the sending unit 503 is configured to send the second navigation signal to the terminal on a preset communication resource, so that the terminal performs navigation and positioning based on the second navigation signal.
  • the first communication signal includes a service signal and a signaling signal, and the first communication signal includes a Ka-band communication signal or a Ku-band communication signal;
  • the first navigation signal includes a continuous Ka-band navigation signal and/or a continuous L-band navigation signal.
  • the generating unit 502 is specifically configured to:
  • the second navigation signal is obtained by fusing the baseband signal or the intermediate frequency signal with the first communication signal.
  • the generating unit 502 is further configured to:
  • the second navigation signal is generated according to the first communication signal and the clock difference information.
  • the second navigation signal includes at least one of the following signals:
  • the continuous navigation signal obtained by fusion of the baseband signal or the intermediate frequency signal and the service signal is defined as Ka_N; or
  • the continuous navigation signal obtained by fusing the baseband signal or the intermediate frequency signal and the signaling signal is defined as Ka_S; or
  • the continuous L-band navigation signal is defined as L_N; or
  • the baseband signal or the intermediate frequency signal is fused with the communication signal to obtain a pulse navigation signal, which is defined as Ka_P; or
  • the second communication signal is defined as Ka_C, where the Ka_C is a communication signal carrying the clock difference information.
  • the sending unit 503 is specifically configured to:
  • the Ka_N is coded and grouped by chip-level coding to obtain multiple groups of chip groups, and the different chip groups are sent to the terminal through different beams on the communication resource; or based on the communication narrow beam, to the terminal
  • the terminal broadcasts the second navigation signal with continuous wide coverage.
  • an embodiment of the present application provides a navigation device based on a low-orbit broadband Internet constellation.
  • the device includes:
  • the receiving unit 601 is configured to receive a second navigation signal sent by at least four satellites in the constellation, where the second navigation signal and the first communication signal generated by the satellite according to a preset communication load simultaneously share spectrum resources and transmit Channel broadcast
  • the positioning unit 602 is configured to determine the pseudorange between the satellite and the terminal and the observed value of the carrier phase of each satellite according to the second navigation signal, and compare the pseudorange according to the pseudorange and the observed value of the carrier phase.
  • the terminal performs positioning.
  • the device further includes: a determining unit 603; the determining unit 603 is specifically configured to:
  • the ultra-short baseline antenna system includes at least two antennas
  • the carrier phase observation equation is determined according to the second navigation signal sent by any two satellites received by each antenna, and the carrier phase double difference value is determined by double difference calculation according to the carrier phase observation equation, so The relationship between the position vector of any two satellites, the baseline vector between antennas in the ultra-short baseline antenna system, and the ambiguity of the double-difference carrier;
  • a set of relational equations is obtained according to the second navigation signals sent by the at least four satellites and the relation, and the double-difference carrier ambiguity in the relational equation is solved according to a preset integer ambiguity solving algorithm, and The solved double-difference carrier whole-cycle ambiguity is brought into the relational equation to solve the baseline vector between antennas in the ultra-short baseline antenna system;
  • the pose parameters include a pitch angle, a yaw angle, and a roll angle.
  • this application provides a satellite, which includes:
  • the memory 801 is configured to store instructions executed by at least one processor
  • the processor 802 is configured to execute instructions stored in the memory to execute the method described in FIG. 1.
  • the present application provides a terminal, which includes:
  • the memory 901 is configured to store instructions executed by at least one processor
  • the processor 902 is configured to execute instructions stored in the memory to execute the method described in FIG. 1.
  • the present application provides a computer-readable storage medium that stores computer instructions, and when the computer instructions run on a computer, the computer executes the method described in FIG. 1.
  • this application can be provided as a method, a system, or a computer program product. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radio Relay Systems (AREA)

Abstract

一种基于低轨宽带互联网星座的导航方法及系统,该方法包括:接收地面信关站上注的卫星导航广播电文或精密电文,根据导航广播电文或精密电文生成第一导航信号(S101);根据预设的通信载荷生成第一通信信号,根据第一通信信号以及第一导航信号生成第二导航信号,其中,第二导航信号与第一通信信号同时共用频谱资源以及发射通道播发(S102);在预设的通信资源上将第二导航信号发送给终端(S103),以使得终端基于第二导航信号进行定位导航与授时。解决了现有技术中导航信号抗干扰能力较差的技术问题。

Description

一种基于低轨宽带互联网星座的导航方法及系统
本申请要求于2020年6月19日提交中国专利局、申请号为202010566922.4、发明名称为“一种基于低轨宽带互联网星座的导航方法及系统”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
技术领域
本申请涉及卫星导航技术领域,尤其涉及一种基于低轨宽带互联网星座的导航方法及系统。
背景技术
目前,定位导航与授时(Positioning,navigation and timing,PNT)服务主要依赖于全球卫星导航系统(Global Navigation Satellite System,)。由于GNSS系统主要是针对开阔场景设计的,其GNSS信号落地功率低、信号带宽窄、以及在遮挡、衰减,尤其是干扰环境下,导致服务可用性差。因此,如何增强GNSS抗干扰能力对PNT服务的性能有着决定性的影响。低轨宽带互联网星座是由多个卫星通过互联网组网形成的,正处于蓬勃发展种,基于低轨宽带互联网星座提供PNT服务为增强抗干扰能力提供了可能。
目前,为了增强GNSS信号抗干扰能力,主要是通过将多套卫星多波束天线形成的所有波束指向导航信号功率增强目标区域,通过将功率集中指向小的区域,来提升信号落地功率,进而提高抗干扰能力。但是,现有技术通过将功率集中指向小的区域,来提升信号落地功率,减小了GNSS信号覆盖区域。因此,如何在保证基于低轨宽带互联网星座的导航系统覆盖范围的情况下,来提升信号落地功率,进而增强GNSS信号抗干扰能力成为亟待解决的问题。
发明内容
本申请解决的技术问题是:针对现有技术中导航信号的抗干扰能力较差的问题,本申请提供了一种基于低轨宽带互联网星座的导航方法及系统,通过所 述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发,即卫星可以通过通信频谱以及信道向终端发送导航信号,由于通信频谱带宽比传统导航GNSS信号频谱宽,提高了导航信号的带宽,相比于GNSS信号,信号的抗干扰能力提升。此外,宽带通信信号终端天线增益高,提高了信号接收功率,进一步提高了导航信号的抗干扰能力。
第一方面,本申请实施例提供了一种基于低轨宽带互联网星座的导航方法,该方法包括:
接收地面信关站上注的卫星导航广播电文或精密电文,根据所述导航广播电文或所述精密电文生成第一导航信号;
根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发;
在预设的通信资源上将所述第二导航信号发送给终端,以使得所述终端基于所述第二导航信号进行定位导航与授时。
本申请实施例所提供的方案中,通过接收地面信关站上注的卫星导航广播电文或精密电文,根据所述导航电文或所述GNSS信号生成第一导航信号,然后根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号共用频谱资源以及发射通道,再在预设的通信资源上将所述第二导航信号发送给终端,以使得所述终端基于所述第二导航信号进行定位导航与授时。通过所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发,即卫星可以通过通信频谱以及信道向终端发送导航信号,由于通信频谱带宽比传统导航GNSS信号频谱宽,提高了导航信号的带宽,进而提高了导航信号的抗干扰能力。
可选地,所述第一通信信号包括业务信号以及信令信号,所述第一通信信号包括Ka频段通信信号或Ku频段通信信号;
所述第一导航信号包括连续Ka频段导航信号和/或连续L频段导航信号。
可选地,若所述第一通信信号以及所述第一导航信号均包括Ka频段信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,包括:
根据所述第一导航信号得到基带信号或中频信号;
将所述基带信号或中频信号与所述第一通信信号融合得到所述第二导航信号。
可选地,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,还包括:
接收所述地面信关站发送的信号,确定所述信号的接收时间以及发送时间,根据所述接收时间以及所述发送时间确定第一信号传播时延;
向所述地面信关站发送所述第一通信信号,并接收所述地面信关站基于所述第一通信信号确定出的第二信号传播时延;
根据所述第一信号传播时延以及所述第二信号传播时延确定星座与所述地面信关站之间的钟差信息;
根据所述第一通信信号以及所述钟差信息生成所述第二导航信号。
可选地,所述第二导航信号包括如下至少一个信号:
所述基带信号或中频信号与所述业务信号融合得到的连续导航信号,其定义为Ka_N;或
所述基带信号或中频信号与所述信令信号融合得到的连续导航信号,其定义为Ka_S;或
所述连续L频段导航信号,其定义为L_N;或
所述基带信号或中频信号与所述通信信号融合得到脉冲导航信号,其定义为Ka_P;或
第二通信信号,其定义为Ka_C,其中,所述Ka_C为携带所述钟差信息的通信信号。
本申请实施例所提供的方案中,一方面利用Ka频段宽的优势,在Ka频段 播发宽带的连续导航信号Ka_N,提升抗干扰能力;另一方面利用Ka终端的天线高增益,提升信号载噪比;或同时播发导通融合高功率脉冲信号Ka_P,实现“脉冲+连续”提升信号功率;或播发高功率通信信号Ka_C,进一步等效提升导航信号功率。此外,在需要时可通过无线资源管理功能,无通信业务时,将功率分配给导航信号,直接提升导航信号的功率。
可选地,在预设的通信资源上将所述第二导航信号发送给终端,包括:
在所述通信资源上采用多轮播方式将所述Ka_P发送给所述终端;或
采用码片级编码方式将所述Ka_N进行编码分组,得到多组码片分组,在所述通信资源上将不同码片分组通过不同波束发送给所述终端;或
基于通信窄波束,向所述终端播发连续宽覆盖的所述第二导航信号。
第二方面,本申请实施例提供了一种基于低轨宽带互联网星座的导航方法,该方法包括:
接收星座中至少四颗卫星发送的第二导航信号,其中,所述第二导航信号与所述卫星根据预设的通信载荷生成的第一通信信号同时共用频谱资源以及发射通道播发;
根据所述第二导航信号确定所述卫星与终端之间的伪距以及每颗所述卫星的载波相位观测值,根据所述伪距以及所述载波相位观测值对所述终端进行定位导航与授时。
可选地,所述方法,还包括:
确定所述终端上设置的超短基线天线系统中每个天线的位置信息,根据所述位置信息建立终端的本体坐标系,其中,所述超短基线天线系统包括至少两根天线;
根据所述每根天线所接收的任意两颗所述卫星发送的所述第二导航信号确定出载波相位观测方程,根据所述载波相位观测方程进行双差计算确定出载波相位双差值,所述任意两颗卫星的位置矢量、所述超短基线天线系统中天线之间基线矢量以及双差载波整周模糊度之间的关系式;
根据所述至少四颗卫星发送的第二导航信号以及所述关系得到一组关系式方程,根据预设的整周模糊度求解算法求解所述关系式方程中双差载波整周模糊度,将求解出的所述双差载波整周模糊度带入所述关系式方程求解出所述超短基线天线系统中天线之间基线矢量;
根据所述基线矢量计算所述终端的位姿参数,其中,所述位姿参数包括俯仰角、偏航角以及滚动角。
第三方面,本申请实施例提供了一种基于低轨宽带互联网星座的导航系统,该系统包括:星座、地面信关站以及至少一个终端;其中,
所述地面信关站,用于向所述星座上注卫星导航电文;
所述星座,包括多颗位于不同轨面的卫星,用于接收地面信关站上注的卫星导航电文或GNSS信号,根据所述导航电文或所述GNSS信号生成第一导航信号;根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发;在预设的通信资源上将所述第二导航信号发送给所述至少一个终端;
所述至少一个终端,用于基于所述第二导航信号进行导航定位。
可选地,所述至少一个终端中每个所述终端上设置有Ka频段信号的通信天线,或同时设置有Ka频段信号的通信天线以及L频段信号的导航天线,其中,所述Ka频段信号的通信天线用于接收所述第二导航信号。
本申请实施例所提供的方案中,通过构建了一个基于宽带互联网星座的导航系统,是一个独立提供定位导航与授时服务的导航系统,而不仅仅是一个GNSS增强系统。同时,也能与GNSS互操作,联合使用提供PNT服务。
第四方面,本申请实施例提供了一种基于低轨宽带互联网星座的导航装置,该装置包括:
接收单元,用于接收地面信关站上注的卫星导航广播电文或精密电文,根据所述导航广播电文或所述精密电文生成第一导航信号;
生成单元,用于根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发;
发送单元,用于在预设的通信资源上将所述第二导航信号发送给终端,以使得所述终端基于所述第二导航信号进行导航定位。
可选地,所述第一通信信号包括业务信号以及信令信号,所述第一通信信号包括Ka频段通信信号或Ku频段通信信号;
所述第一导航信号包括连续Ka频段导航信号和/或连续L频段导航信号。
可选地,若所述第一通信信号以及所述第一导航信号均包括Ka频段信号,所述生成单元,具体用于:
根据所述第一导航信号得到基带信号或中频信号;
将所述基带信号或中频信号与所述第一通信信号融合得到所述第二导航信号。
可选地,所述生成单元,还用于:
接收所述地面信关站发送的信号,确定所述信号的接收时间以及发送时间,根据所述接收时间以及所述发送时间确定第一信号传播时延;
向所述地面信关站发送所述第一通信信号,并接收所述地面信关站基于所述第一通信信号确定出的第二信号传播时延;
根据所述第一信号传播时延以及所述第二信号传播时延确定星座与所述地面信关站之间的钟差信息;
根据所述第一通信信号以及所述钟差信息生成所述第二导航信号。
可选地,所述第二导航信号包括如下至少一个信号:
所述基带信号或中频信号与所述业务信号融合得到的连续导航信号,其定义为Ka_N;或
所述基带信号或中频信号与所述信令信号融合得到的连续导航信号,其定义为Ka_S;或
所述连续L频段导航信号,其定义为L_N;或
所述基带信号或中频信号与所述通信信号融合得到脉冲导航信号,其定义为Ka_P;或
第二通信信号,其定义为Ka_C,其中,所述Ka_C为携带所述钟差信息的通信信号。
可选地,所述发送单元,具体用于:
在所述通信资源上采用多轮播方式将所述Ka_P发送给所述终端;或
采用码片级编码方式将所述Ka_N进行编码分组,得到多组码片分组,在所述通信资源上将不同码片分组通过不同波束发送给所述终端;或
基于通信窄波束,向所述终端播发连续宽覆盖的所述第二导航信号。
第五方面,本申请实施例提供了一种基于低轨宽带互联网星座的导航装置,该装置包括:
接收单元,用于接收星座中至少四颗卫星发送的第二导航信号,其中,所述第二导航信号与所述卫星根据预设的通信载荷生成的第一通信信号同时共用频谱资源以及发射通道播发;
定位单元,用于根据所述第二导航信号确定所述卫星与终端之间的伪距以及每颗所述卫星的载波相位观测值,根据所述伪距以及所述载波相位观测值对所述终端进行定位。
可选地,所述装置,还包括:确定单元;所述确定单元,具体用于:
确定所述终端上设置的超短基线天线系统中每个天线的位置信息,根据所述位置信息建立终端的本体坐标系,其中,所述超短基线天线系统包括至少两根天线;
根据所述每根天线所接收的任意两颗所述卫星发送的所述第二导航信号确定出载波相位观测方程,根据所述载波相位观测方程进行双差计算确定出载波相位双差值,所述任意两颗卫星的位置矢量、所述超短基线天线系统中天线之间基线矢量以及双差载波整周模糊度之间的关系式;
根据所述至少四颗卫星发送的第二导航信号以及所述关系得到一组关系式方程,根据预设的整周模糊度求解算法求解所述关系式方程中双差载波整周模糊度,将求解出的所述双差载波整周模糊度带入所述关系式方程求解出所述超短基线天线系统中天线之间基线矢量;
根据所述基线矢量计算所述终端的位姿参数,其中,所述位姿参数包括俯仰角、偏航角以及滚动角。
第六方面,本申请实施例提供了一种卫星,该卫星,包括:
存储器,用于存储至少一个处理器所执行的指令;
处理器,用于执行存储器中存储的指令执行第一方面所述的方法。
第七方面,本申请实施例提供了一种终端,该终端,包括:
存储器,用于存储至少一个处理器所执行的指令;
处理器,用于执行存储器中存储的指令执行第二方面所述的方法。
第八方面,本申请提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机指令,当所述计算机指令在计算机上运行时,使得计算机执行第一方面以及第二方面所述的方法。
附图说明
图1为本申请实施例所提供的一种基于低轨宽带互联网星座的导航方法的流程示意图;
图2为本申请实施例所提供的一种Ka_P信号帧结构的示意图;
图3为本申请实施例所提供的一种基于Ka_N信号的超短基线测姿示意图;
图4为本申请实施例所提供的一种基于低轨宽带互联网星座的导航系统的结构示意图;
图5为本申请实施例所提供的一种基于低轨宽带互联网星座的导航装置的结构示意图;
图6为本申请实施例所提供的一种基于低轨宽带互联网星座的导航装置的结构示意图;
图7为本申请实施例所提供的一种基于低轨宽带互联网星座的导航装置的结构示意图。
图8为本申请实施例所提供的一种卫星的结构示意图;
图9为本申请实施例所提供的一种终端的结构示意图。
具体实施方式
为了更好的理解上述技术方案,下面通过附图以及具体实施例对本申请技术方案做详细的说明,应当理解本申请实施例以及实施例中的具体特征是对本申请技术方案的详细的说明,而不是对本申请技术方案的限定,在不冲突的情况下,本申请实施例以及实施例中的技术特征可以相互组合。
以下结合说明书附图对本申请实施例所提供的一种基于低轨宽带互联网星座的导航方法做进一步详细的说明,该方法具体实现方式可以包括以下步骤(方法流程如图1所示):
步骤101,接收地面信关站上注的卫星导航广播电文或精密电文,根据所述导航广播电文或所述精密电文生成第一导航信号。
在本申请实施例所提供的方案中,星座中的卫星与地面信关站之间可以通过馈电链路连接,并建立连接之后,星座可以接收地面信关站上注的导航电文,其中,导航电文包括卫星星历、历书、卫星时钟的修正参数、电离层延时模型参数等内容。应理解,在申请实施例所提供的方案中,星座是由多颗卫星组成。
进一步,在星座中设置有星载GNSS信号接收机,该接收机可以接收GNSS系统发送的GNSS信号,当地面信关站没有向卫星上注星座的星历数据时,星座根据GNSS信号以及预设的电文生成规则自主生成导航电文,然后,根据该导航电文生成第一导航信号。
步骤102,根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发。
在本申请实施例所提供的方案中,星座中的卫星上设置有通信载荷,该通 信载荷能够生成第一通信信号,其中,第一通信信号用于星座与地面信关站之间进行通信的信号。在星座中的卫星上设置有导航载荷,该导航载荷能够基于导航电文生成第一导航信号。具体的,第一通信信号以及第一导航信号可以包括多种类型的信号,下面以一种较佳的为例进行说明。
在一种可能实现的方式中,所述第一通信信号包括业务信号以及信令信号,所述第一通信信号包括Ka频段通信信号或Ku频段通信信号;
所述第一导航信号包括连续Ka频段导航信号和/或连续L频段导航信号。
具体的,在本申请实施例所提供的方案中,卫星在Ka或Ku频段发送通信信号,该通信信号采用频分+时分+多波束体制发送,波束分为信令波束与业务波束,其中,业务波束的个数为N beam,且N beam≥2,用户下行业务信号在业务波束播发。信令波束为覆球宽波束,用于终端为卫星的初步建链。用户下行频段带宽为BW Ka,BW Ka≥100MHz,等分为N BW个子频带,每个业务波束使用带宽为一个或多个子频带,每个业务波束支持的用户数为N user。时域上最小时隙为T F
进一步,在本申请实施例所提供的方案中,星座根据所述第一通信信号以及所述第一导航信号生成第二导航信号的方式有多种,下面以一种较佳的方式为例进行说明。
在一种可能的实现方式中,若所述第一通信信号以及所述第一导航信号均包括Ka频段信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,包括:根据所述第一导航信号得到基带信号或中频信号;将所述基带信号或中频信号与所述第一通信信号融合得到所述第二导航信号。
在一种可能的实现方式中,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,还包括:接收所述地面信关站发送的信号,确定所述信号的接收时间以及发送时间,根据所述接收时间以及所述发送时间确定第一信号传播时延;向所述地面信关站发送所述第一通信信号,并接收所述地面信关站基于所述第一通信信号确定出的第二信号传播时延;根据所述第一信号传播时 延以及所述第二信号传播时延确定星座与所述地面信关站之间的钟差信息;根据所述第一通信信号以及所述钟差信息生成所述第二导航信号。
具体的,在本申请实施例所提供的方案中,地面信关站向星座发送信号,星座在接收到该信号之后,确定所述信号的接收时间以及发送时间,其中,接收时间是指星座接收该信号的时间,发送时间是指地面信关站发送该信号的时间;然后,星座根据接收时间以及发送时间确定第一信号传播时延,具体的,根据如下公式确定第一信号传播时延:
Figure PCTCN2021075537-appb-000001
其中,T e→s表示第一信号传播时延;
Figure PCTCN2021075537-appb-000002
表示地面信关站发送信号时地面钟面时刻;T 1,e表示卫星接收信号时卫星钟面时刻;
Figure PCTCN2021075537-appb-000003
表示
Figure PCTCN2021075537-appb-000004
时刻卫星的坐标矢量;p e表示地面信关站在ECEF坐标矢量;Δt s表示预设的卫星钟差;Δt e表示预设的地面信关站的钟差;
Figure PCTCN2021075537-appb-000005
表示预设的卫星接收信号的硬件延迟;tg 1,e表示预设的地面信关站发送信号的硬件延迟;I 1表示预设的电离层与对流层延迟;
Figure PCTCN2021075537-appb-000006
表示预设的效应延迟。
进一步,星座向地面信关站发送通信信号,地面信关站在接收到通信信号后,确定卫星发送通信信号时卫星钟面时刻以及地面信关站接收通信信号时地面钟面时刻,并根据卫星发送通信信号时卫星钟面时刻以及地面信关站接收通信信号时地面钟面时刻计算第二信号传播时延。具体的,根据如下公式计算第二信号传播时延:
Figure PCTCN2021075537-appb-000007
其中,T s→e表示第二信号传播时延;T 2,e表示地面信关站接收到通信信号时地面信关站钟面时刻;
Figure PCTCN2021075537-appb-000008
表示卫星发送通信信号时卫星钟面时刻;
Figure PCTCN2021075537-appb-000009
表示
Figure PCTCN2021075537-appb-000010
时刻卫星的坐标矢量。
进一步,地面信关站计算出第二信号传播时延后,将第二信号传播时延发送给星座,星座根据第一信号传播时延以及第二信号传播时延得到星座与所述地面信关站之间的钟差信息。具体的,通过如下公式计算钟差信息:
Figure PCTCN2021075537-appb-000011
其中,(Δt s-Δt e)表示钟差信息。
进一步,在一种可能的实现方式中,所述第二导航信号包括如下至少一个信号:所述基带信号或中频信号与所述业务信号融合得到的连续导航信号,其定义为Ka_N;或所述基带信号或中频信号与所述信令信号融合得到的连续导航信号,其定义为Ka_S;或所述连续L频段导航信号,其定义为L_N;或所述基带信号或中频信号与所述通信信号融合得到脉冲导航信号,其定义为Ka_P;或第二通信信号,其定义为Ka_C,其中,所述Ka_C为携带所述钟差信息的通信信号,该通信信号为合作化通信信号。
具体的,在本申请实施例所提供的方案中,Ka_N、Ka_S以及Ka_C均可与通信信号共频谱以及通过通信信道播发,Ka_P占用通信信号部分时隙、频谱以及功率资源。
步骤103,在预设的通信资源上将所述第二导航信号发送给终端,以使得所述终端基于所述第二导航信号进行导航定位。
在本申请实施例所提供的方案中,星座生成第二导航信号之后,需要在预设的通信频段资源上将所述第二导航信号发送给终端。由于第二导航信号可能包括至少一种信号,因此,星座将第二导航信号发送给终端的方式有多种,下面以一种较佳的方式为例进行说明。
在一种可能实现的方案中,在预设的通信资源上将所述第二导航信号发送给终端,包括:在所述通信资源上采用多轮播方式将所述Ka_P发送给所述终端;或采用码片级编码方式将所述Ka_N进行编码分组,得到多组码片分组,在所述通信资源上将不同码片分组通过不同波束发送给所述终端;或基于通信窄波束,向所述终端播发连续宽覆盖的所述第二导航信号。
为了便于星座将第二导航信号发送给终端的过程,下面分别对上述第第一 连续导航信号Ka_N,第二连续导航信号Ka_S,第二通信信号Ka_C以及脉冲导航信号Ka_P的发送过程进行简要介绍。
一、第一连续导航信号Ka_N
在本申请实施例所提供的方案中,根据第一导航信号生成基波信号或中频信号,将基波信号或中频信号与Ka波段的业务信号进行融合,得到第一连续导航信号,其中,第一连续导航信号为Ka波段信号。
进一步,星座在得到第一连续导航信号之后,通过Ka波段射频发射通道发射。星座在发送第一连续导航信号时,可以采用多业务波束连续播发,其中,不同波束发射的第一连续信号所采用的测距码序列可以相同,也可以不同,在此不做限定。
具体的,在采用多业务波束连续播发,其中,多业务波束可以采用码片级跳波束,此时,只需要生成1路Ka_N基带信号,具体的,基带信号可以表示为:
s Ka-N,baseband(t)=d Ka-N(t)c Ka-N(t)
其中,s Ka-N,baseband(t)表示Ka_N基带信号;d Ka-N(t)为预设的卫星导航电文;c Ka-N(t)为预设的测距码。
在Ka_N信号播发时,以N chip个码片为一组对测距码进行分组,其中,N chip≥1,然后,将不同的码片分组在不同的波束进行播发。若第一连续导航信号在N Ka-N个波束内播发,n≤N Ka-N≤N beam,则第n个波束内的第一连续导航信号可以通过下式表示:
Figure PCTCN2021075537-appb-000012
其中,
Figure PCTCN2021075537-appb-000013
表示第n个波束内的第一连续导航信号;
Figure PCTCN2021075537-appb-000014
表示第一连续导航信号功率;
Figure PCTCN2021075537-appb-000015
表示预设的卫星导航电文;
Figure PCTCN2021075537-appb-000016
表示预设的测距码;
Figure PCTCN2021075537-appb-000017
表示预设的业务波速载波中心频率;
Figure PCTCN2021075537-appb-000018
表示预设的业务波束初始载波相位。
进一步,在本申请实施例所提供的方案中,不同波束的载波中心频率可以 相同或者不同,信号带宽可以为整个通信资源的带宽。但是,若信号带宽为整个通信资源的带宽,需要生成多路第一连续导航信号。
二、第二连续导航信号Ka_S
在本申请实施例所提供的方案中,根据第一导航信号生成基波信号或中频信号,将基波信号或中频信号与Ka波段的信令信号进行融合,得到第二连续导航信号,其中,第二连续导航信号也为Ka波段信号。
进一步,星座在生成第二连续导航信号之后,通过Ka波段射频发射通道发射。星座在发送第二连续导航信号时,可以采用覆球宽波束播发,其中,覆球宽波束为信令波束。具体的,第二连续导航信号可以通过如下公式表示:
Figure PCTCN2021075537-appb-000019
其中,s Ka-S(t)表示第二连续导航信号;P Ka-S表示第二连续导航信号功率;d Ka-S(t)表示预设的卫星导航电文;c Ka-S(t)表示预设的测距码;f Ka-S为预设的信令波束载波中心频率;θ 0,Ka-S为预设的信令波束初始载波相位。
在本申请实施例所提供的方案中,当有多个信令波束时,每个信令波束播发的第二连续导航信号,可采用不同的测距码,也可以采用相同的测距码,在此并不做限定。
三、第二通信信号Ka_C
在本申请实施例所提供的方案中,星座发送的通信信号是突发信号,即在任一波束中可以没有通信信号,也可以有多个通信信号,而且每个通信信号的带宽、时隙和功率都是可调的。具体的,通信信号的调制方式有多种,例如,调制方式包括高阶调制QAM或APSK调制。具体的,第n个波束内,播发的第j个第二通信信号可以表示为:
Figure PCTCN2021075537-appb-000020
其中,
Figure PCTCN2021075537-appb-000021
表示第二通信信号;
Figure PCTCN2021075537-appb-000022
表示第二通信信号的功率;
Figure PCTCN2021075537-appb-000023
表示第二通信信号的I支路基带信号;
Figure PCTCN2021075537-appb-000024
表示第二通信信号的Q支 路基带信号;
Figure PCTCN2021075537-appb-000025
表示为第二通信信号的中心频率;
Figure PCTCN2021075537-appb-000026
为第二通信信号的初始载波相位。
四、脉冲导航信号Ka_P
在本申请实施例所提供的方案中,星座可以占用通信信号的部分时隙与频率资源播发脉冲导航信号Ka_P。星座在播发脉冲导航信号Ka_P过程中,可以采用在多个波束间跳波束方式播发脉冲导航信号,而且在播发时可以采用BPSK或者QPSK调制方式对脉冲导航信号Ka_P进行调制,得到调制后的Ka_P,其中,调制后的Ka_P,其帧由连续波(CW),用于测距的PRN码以及调制后的卫星导航电文数据的PRN码三部分组成,具体的一个调制后的Ka_P帧长可以通过如下公式表示:
T Ka-P=T CW+T pilot+T data
其中,T Ka-P表示一个调制后的Ka_P帧长,为通信信号最小时隙T F的整数倍;T CW表示连续波的长度;T pilot表示用于测距的PRN码的长度;T data表示调制后的卫星导航电文数据的PRN码的长度。
进一步,Ka_P基带信号表示为:
s Ka-P,baseband(t)=d Ka-P(t)c Ka-P(t)
其中,s Ka-P,baseband(t)表示脉冲导航信号的基带信号;当0≤t<T CW时,d Ka-P(t)c Ka-P(t)≡1或者d Ka-P(t)c Ka-P(t)≡-1,为连续波帧头部CW,当T CW≤t<T CW+T pilot时,d Ka-P(t)≡1,c Ka-P(t)为测距PRN码的取值,当T CW+T pilot≤t<T Ka-P时,d Ka-P(t)为调制的低速电文取值,c Ka-P(t)为数据PRN码的取值。
参见图2,表示一种Ka_P信号帧结构的示意图,根据图2可知Ka_P信号帧由连续波帧头部CW、测距PRN码以及数据PRN码三部分组成。
进一步,星座在播发脉冲导航信号Ka_P过程中,Ka_P信号可以在多个波束间轮询播发,其中,Ka_P信号在单个波束停留的时间为T beam,T beam为最小时隙T F的整数倍,且有T beam≥T Ka-P。若播发Ka_P信号的波束有N beam个, 可以在所有的N beam个波束间轮询播发,其中,单个波束内的占空比为T Ka-P/(N beam·T beam);也可以在部分波束间进行轮询,同时播发多个Ka_P信号。
进一步,在本申请实施例所提供的方案中,第二导航信号还包括L波段导航信号;L波段导航信号为连续波,其结构与传统GNSS信号类似,可自定义表示为L_N。星座可以直接采用扩频方式对L_N信号进行调制,得到调整后信号,其中,调整后信号由卫星导航电文、预设的测距码以及载波组成,可与传统GNSS信号兼容,进而增加了导航信号个数,加快精密定位收敛时间,可与GNSS信号一体化接收处理。L_N信号可在一个频点、两个频点、三个频点播发,频率可选为传统GNSS的L频段,或者移动通信频段1518-1525MHz,具体的,在第j个频点,L_N信号可以表示为:
Figure PCTCN2021075537-appb-000027
其中,
Figure PCTCN2021075537-appb-000028
表示第j个频点的L_N信号;
Figure PCTCN2021075537-appb-000029
为L_N信号功率;
Figure PCTCN2021075537-appb-000030
为预设的卫星导航电文,其可以是广播电文、精密电文或者GNSS增强电文;
Figure PCTCN2021075537-appb-000031
为预设的测距码;
Figure PCTCN2021075537-appb-000032
为L_N信号频率;
Figure PCTCN2021075537-appb-000033
为L_N信号初始载波相位。
进一步,星座在生成第二导航信号时,还可将Ka_N、Ka_P、Ka_C信号合成,并将合成后的信号通过Ka频段射频发射通道播发,其中,信号合成可以在数字域进行,也可以在模拟中频采用合路器合成。具体的,若同一个波束内Ka_N信号与Ka_C信号兼容,在有通信业务时,为了避免对通信业务造成影响,需要设置Ka_N信号的功率谱比Ka_C信号功率谱低ΔpdB,其中,Δp≥15。在没有通信业务时,通过无线资源管理,将Ka_C信号的功率分配给Ka_N信号,以提升导航信号功率。
本申请实施例所提供的方案中,通过接收地面信关站上注的卫星导航广播电文或精密电文,根据所述导航电文或所述GNSS信号生成第一导航信号,然 后根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发,再在预设的通信资源上将所述第二导航信号发送给终端,以使得所述终端基于所述第二导航信号进行定位导航与授时。通过所述第二导航信号与所述第一通信信号共用频谱资源以及发射通道,即卫星可以通过通信频谱以及信道向终端发送导航信号,由于通信频谱带宽比传统导航GNSS信号频谱宽,提高了导航信号的带宽。为了实现对整个导航信号的干扰,干扰信号的功率需要分布到整个导航信号的带宽上,导航信号带宽越宽,同等干扰信号功率下的功率谱更低,要达到类似对GNSS信号的干扰效果,只能增加干扰信号的功率。也就是说,相比于GNSS信号,本专利的宽带导航信号的抗干扰能力提高了。此外,宽带通信信号终端天线增益高,提高了信号接收功率,进一步提高了导航信号的抗干扰能力。
参见图2,本申请实施例提供了一种基于低轨宽带互联网星座的导航方法,该方法包括如下步骤:
步骤201,接收星座中至少四颗卫星发送的第二导航信号,其中,所述第二导航信号与所述卫星根据预设的通信载荷生成的第一通信信号同时共用频谱资源以及发射通道播发。
步骤202,根据所述第二导航信号确定所述卫星与终端之间的伪距以及每颗所述卫星的载波相位观测值,根据所述伪距以及所述载波相位观测值对所述终端进行定位。
在本申请实施例所提供的方案中,星座在确定出第二导航信号之后,需要将第二导航信号发送给终端,终端可以根据接收第二导航信号实现定位、导航、授时、测姿、建链功能,其中,第二导航信号包括L_N、Ka_N、Ka_S、Ka_P、Ka_C以及GNSS信号中的一类或者几类信号。
具体的,在本申请实施例所提供的方案中,终端上配置有Ka频段的天线或同时配置有Ka频段的天线以及L频段的天线这两种情况。下面分别对这两 种情况下终端根据第二导航信号进行导航定位的过程进行说明。
一、终端上同时配置有Ka频段的天线以及L频段的天线
当终端同时配置有Ka频段的天线以及L频段的天线时,终端除了可以接收Ka_N、Ka_S、Ka_P、Ka_C中至少一类信号,还可以接收L_N信号。若终端接收到L_N信号,终端根据L_N信号进行导航定位的过程如下:
终端在接收到L_N信号后,对L_N信号进行解析确定出伪距以及每颗所述卫星的载波相位观测值。具体的,终端根据得到的伪距和载波相位观测值如下所示:
Figure PCTCN2021075537-appb-000034
其中,
Figure PCTCN2021075537-appb-000035
表示伪距;
Figure PCTCN2021075537-appb-000036
表示载波相位观测值;ρ表示卫星到终端的几何距离;
Figure PCTCN2021075537-appb-000037
表示电离层延迟;
Figure PCTCN2021075537-appb-000038
表示对流层延迟;
Figure PCTCN2021075537-appb-000039
表示码的硬件延迟;
Figure PCTCN2021075537-appb-000040
表示载波相位的硬件延迟;
Figure PCTCN2021075537-appb-000041
为L_N信号的载波波长;
Figure PCTCN2021075537-appb-000042
表示码伪距的其他误差项;
Figure PCTCN2021075537-appb-000043
表示载波相位观测值中的其他误差项。
在本申请实施例所提供的方案中,L_N信号与传统GNSS信号结构类似,当同时可接收到来自四颗及以上卫星的L-N信号时,终端即可完成定位与授时。信关站上注的导航电文包括广播电文与精密电文,广播电文的轨道和钟差精度相对低,误差在米级以上,更新周期慢,用于基于伪码的定位解算。精密电文的轨道和钟差精度高,误差在厘米级,更新周期快,用于精密定位解算。在有精密电文时,可进行基于L-N信号的快速精密定位解算。由于L-N信号频率与传统GNSS接近,所述终端可以同时接收GNSS信号与L-N信号,进行精明定位解算时,加快收敛速度。
二、终端上配置有Ka频段的天线
终端可以接收Ka_N、Ka_S、Ka_P、Ka_C中至少一类信号,可以根据接收Ka_N、Ka_S、Ka_P或Ka_C进行定位、导航、授时以及测姿。Ka_P是高功率脉冲信号,对于静止或者准静止的终端,可只接收Ka_P信号,采用 多普勒定位体制,实现定位与授时。
Ka_N是连续宽带导航信号,信号功率高,终端天线增益大,抗干扰能力强,可应用于干扰环境下。下面以终端接收Ka_N信号为例进行说明,具体的,根据Ka_N信号得到的伪距和载波相位观测值如下所示。
Figure PCTCN2021075537-appb-000044
其中,
Figure PCTCN2021075537-appb-000045
表示伪距;
Figure PCTCN2021075537-appb-000046
表示载波相位观测值。
所述终端同时接收到来自四颗及以上卫星的Ka_N信号时,终端即可完成定位与授时,由于Ka_N是宽带信号,带宽是GNSS信号的10倍以上,载噪比高30dB以上,可以实现更高的测量精度与抗干扰能力。在有精密电文时,基于伪码定位,有望实现实时分米级乃至厘米级定位精度,接近基于GNSS信号精密定位的性能。
以接收到四颗卫星的信号为例,基于伪码测量出终端到四颗卫星的伪距,得到下面的方程组:
Figure PCTCN2021075537-appb-000047
其中,
Figure PCTCN2021075537-appb-000048
测量得到的终端到第i颗卫星的伪距值,是已知的。
Figure PCTCN2021075537-appb-000049
为第i颗卫星的位置坐标,从导航电文获取,是已知的。t si,i=1,2,3,4是第i颗卫星的钟差,从导航电文获取,是已知的。
Figure PCTCN2021075537-appb-000050
为终端到第i颗卫星的电离层延迟,通过导航电文或者已有模型校正,是已知的。
Figure PCTCN2021075537-appb-000051
表示终端到第i颗卫星的流层延迟,通过导航电文或者已有模型校正,是已知的。
Figure PCTCN2021075537-appb-000052
表示第i颗卫星的码的硬件延迟,通过导航电文校正,是已知的。(x r,y r,z r)为终端位置,t r为接收机钟差,这四个量是待求解量,联立四个方程, 求解出终端位置和钟差,实现导航定位与授时。
所述终端可进行基于Ka_N信号载波测量的精密定位解算。由于Ka_N信号频率是GNSS频率的12倍以上,波长只有1/12左右,精密定位精度能够提升,达到毫米级精度。当同时接收Ka_N和Ka_C信号时,能够等效提升导航信号功率,提升伪距和载波相位观测值的测量精度。
进一步,终端在接收到Ka_N信号之后,不仅能根据Ka_N进行定位,还能根据Ka_N信号确定终端的姿态参数,在本申请实施例所提供的方案中,根据Ka_N信号确定终端的姿态参数的方式有多种,下面以超短基线测姿为例进行说明。
在一种可能实现方式中,所述方法,还包括:确定所述终端上设置的超短基线天线系统中每个天线的位置信息,根据所述位置信息建立终端的本体坐标系,其中,所述超短基线天线系统包括至少两根天线;根据所述每根天线所接收的任意两颗所述卫星发送的所述第二导航信号确定出载波相位观测方程,根据所述载波相位观测方程进行双差计算确定出载波相位双差值,所述任意两颗卫星的位置矢量、所述超短基线天线系统中天线之间基线矢量以及双差载波整周模糊度之间的关系式;根据所述至少四颗卫星发送的第二导航信号以及所述关系得到一组关系式方程,根据预设的整周模糊度求解算法求解所述关系式方程中双差载波整周模糊度,将求解出的所述双差载波整周模糊度带入所述关系式方程求解出所述超短基线天线系统中天线之间基线矢量;根据所述基线矢量计算所述终端的位姿参数,其中,所述位姿参数包括俯仰角、偏航角以及滚动角。
具体的,还以Ka_N信号为例进行说明。Ka_N信号波长只有GNSS的1/12左右,且载噪比高,因此,可支持超短基线测姿,0.1m的超短基线测姿精度,相当于基于GNSS信号测姿的1m甚至10m精度。下面以于基于Ka_N信号的超短基线测姿过程进行简要介绍。
例如,参见图3,若终端中任一对超短基线天线分别位于点O和点P,并 沿运动方向固定。以点O为原点,建立本体坐标系ENU。若点O和点P可分别接收两颗卫星S1和S2播发的Ka_N信号,根据接收的Ka_N信号得到O点和P点处的载波相位观测方程,由于要进行双差计算,可忽略误差项,载波相位观测方程通过如下公式表示:
Figure PCTCN2021075537-appb-000053
其中,
Figure PCTCN2021075537-appb-000054
表示Ka_N信号的波长;Ф O,S1和Ф P,S1分别表示O点和P点处接收S1卫星的载波相位观测值;Ф O,S2和Ф P,S2分别表示O点和P点处接收S2卫星的载波相位观测值;r O,S1表示点O到S1卫星的矢量;r P,S1表示点P到S1卫星的矢量;r O,S2表示点O到S2卫星的矢量;r P,S2表示点P到S2卫星的矢量;N O,S1、N P,S1、N O,S2以及N P,S2是对应的整周模糊度。
将任一载波相位观测方程作双差,消除卫星钟差、轨道误差、电离层误差、对流层误差、接收机钟差,硬件延迟等,得到如下方程:
Figure PCTCN2021075537-appb-000055
其中,
Figure PCTCN2021075537-appb-000056
表示载波相位双差值;s 1和s 2分别表示卫星S1和S2的位置矢量;OP表示超短基线天线的基线矢量;
Figure PCTCN2021075537-appb-000057
表示双差载波整周模糊度。
进一步,若终端可以同时接收星座中N sat颗卫星的第二导航信号,其中,N sat≥4,根据上式可得到如下N sat-1个方程:
Figure PCTCN2021075537-appb-000058
然后,根据该方程求解出载波郑州模糊度,就能解算出基线矢量OP=[x e x n x u] T。模糊度求解类似GNSS信号的精密单点定位,考虑到基线长度|OP|是固定已知的,模糊度固定满足基线长度约束,提升模糊度固定准确率,在根据求解出的基线矢量计算俯仰角和偏航角。具体的,俯仰角和偏航 角通过如下公式表示:
Figure PCTCN2021075537-appb-000059
其中,θ P表示俯仰角;
Figure PCTCN2021075537-appb-000060
表示偏航角。
进一步,在本申请实施例所提供的方案中,通过另一对超短基线天线求解滚动角,即可通过增加超短基线天线个数,可同时求解出滚动角、偏航角以及俯仰角。
进一步,在本申请实施例所提供的方案中,所述终端可以是标准的通信终端,安装在飞机、船等移动物体上,可以接收Ka通信信令信号、通信业务信号以及Ka_S信号,实现运动终端与卫星间的快速连续建链,满足“动中通”需求,而不需要另外增加GNSS或者惯导辅助。具体的,终端与卫星建链的过程如下:
步骤1、标准的通信终端接收信令波束,与卫星初步建链。
步骤2、同时,标准的通信终端接收Ka_S信号,获取低轨卫星星历数据,接收4颗以上卫星的Ka_S信号,进行定位与授时,获得终端天线的位置。
步骤3、在此基础上,进行基于Ka_S信号的超短基线定姿,获得终端天线的姿态。
步骤4、随着终端载体的运动,按照获得的卫星位置,以及终端位置和姿态,调整通信终端指向,接收与发射天线业务信号,完成业务信号建链,维持“动中通”业务。
参见图4,本申请实施例提供了一种基于低轨宽带互联网星座的导航系统,该系统包括:星座1、地面信关站2以及至少一个终端3;其中,
所述地面信关站2,用于向所述星座1上注卫星导航电文;
所述星座1,包括多颗位于不同轨面的卫星,用于接收地面信关站2上注的卫星导航电文或GNSS信号,根据所述导航电文或所述GNSS信号生成第 一导航信号;根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发;在预设的通信资源上将所述第二导航信号发送给至少一个终端3;
所述至少一个终端3,用于基于所述第二导航信号进行导航定位。
进一步,为了提高终端一体化,在一种可能实现的方式中,所述至少一个终端中每个所述终端上设置有Ka频段信号的通信天线,或同时设置有Ka频段信号的通信天线以及L频段信号的导航天线,其中,所述Ka频段信号的通信天线用于接收所述第二导航信号。
基于与图1所示的方法相同的发明构思,本申请实施例提供了一种基于低轨宽带互联网星座的导航装置,参见图5,该装置包括:
接收单元501,用于接收地面信关站上注的卫星导航电文或GNSS信号,根据所述导航电文或所述GNSS信号生成第一导航信号;
生成单元502,用于根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发;
发送单元503,用于在预设的通信资源上将所述第二导航信号发送给终端,以使得所述终端基于所述第二导航信号进行导航定位。
可选地,所述第一通信信号包括业务信号以及信令信号,所述第一通信信号包括Ka频段通信信号或Ku频段通信信号;
所述第一导航信号包括连续Ka频段导航信号和/或连续L频段导航信号。
可选地,若所述第一通信信号以及所述第一导航信号均包括Ka频段信号,所述生成单元502,具体用于:
根据所述第一导航信号得到基带信号或中频信号;
将所述基带信号或中频信号与所述第一通信信号融合得到所述第二导航信号。
可选地,所述生成单元502,还用于:
接收所述地面信关站发送的信号,确定所述信号的接收时间以及发送时间,根据所述接收时间以及所述发送时间确定第一信号传播时延;
向所述地面信关站发送所述第一通信信号,并接收所述地面信关站基于所述第一通信信号确定出的第二信号传播时延;
根据所述第一信号传播时延以及所述第二信号传播时延确定星座与所述地面信关站之间的钟差信息;
根据所述第一通信信号以及所述钟差信息生成所述第二导航信号。
可选地,所述第二导航信号包括如下至少一个信号:
所述基带信号或中频信号与所述业务信号融合得到的连续导航信号,其定义为Ka_N;或
所述基带信号或中频信号与所述信令信号融合得到的连续导航信号,其定义为Ka_S;或
所述连续L频段导航信号,其定义为L_N;或
所述基带信号或中频信号与所述通信信号融合得到脉冲导航信号,其定义为Ka_P;或
第二通信信号,其定义为Ka_C,其中,所述Ka_C为携带所述钟差信息的通信信号。
可选地,所述发送单元503,具体用于:
在所述通信资源上采用多轮播方式将所述Ka_P发送给所述终端;或
采用码片级编码方式将所述Ka_N进行编码分组,得到多组码片分组,在所述通信资源上将不同码片分组通过不同波束发送给所述终端;或基于通信窄波束,向所述终端播发连续宽覆盖的所述第二导航信号。
基于与图1所示的方法相同的发明构思,本申请实施例提供了一种基于低轨宽带互联网星座的导航装置,参见图6,该装置包括:
接收单元601,用于接收星座中至少四颗卫星发送的第二导航信号,其中, 所述第二导航信号与所述卫星根据预设的通信载荷生成的第一通信信号同时共用频谱资源以及发射通道播发;
定位单元602,用于根据所述第二导航信号确定所述卫星与终端之间的伪距以及每颗所述卫星的载波相位观测值,根据所述伪距以及所述载波相位观测值对所述终端进行定位。
可选地,参见图7,所述装置,还包括:确定单元603;所述确定单元603,具体用于:
确定所述终端上设置的超短基线天线系统中每个天线的位置信息,根据所述位置信息建立终端的本体坐标系,其中,所述超短基线天线系统包括至少两根天线;
根据所述每根天线所接收的任意两颗所述卫星发送的所述第二导航信号确定出载波相位观测方程,根据所述载波相位观测方程进行双差计算确定出载波相位双差值,所述任意两颗卫星的位置矢量、所述超短基线天线系统中天线之间基线矢量以及双差载波整周模糊度之间的关系式;
根据所述至少四颗卫星发送的第二导航信号以及所述关系得到一组关系式方程,根据预设的整周模糊度求解算法求解所述关系式方程中双差载波整周模糊度,将求解出的所述双差载波整周模糊度带入所述关系式方程求解出所述超短基线天线系统中天线之间基线矢量;
根据所述基线矢量计算所述终端的位姿参数,其中,所述位姿参数包括俯仰角、偏航角以及滚动角。
参见图8,本申请提供一种卫星,该卫星,包括:
存储器801,用于存储至少一个处理器所执行的指令;
处理器802,用于执行存储器中存储的指令执行图1所述的方法。
参见图9,本申请提供一种终端,该终端,包括:
存储器901,用于存储至少一个处理器所执行的指令;
处理器902,用于执行存储器中存储的指令执行图1所述的方法。
本申请提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机指令,当所述计算机指令在计算机上运行时,使得计算机执行图1所述的方法。
本领域内的技术人员应明白,本申请的实施例可提供为方法、系统、或计算机程序产品。因此,本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然,本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样,倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内,则本申请也意图包含这些改动和变型在内。

Claims (10)

  1. 一种基于低轨宽带互联网星座的导航方法,其特征在于,包括:
    接收地面信关站上注的卫星导航广播电文或精密电文,根据所述导航电文或所述精密电文生成第一导航信号;
    根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发;
    在预设的通信资源上将所述第二导航信号发送给终端,以使得所述终端基于所述第二导航信号进行定位导航与授时。
  2. 如权利要求1所述的方法,其特征在于,所述第一通信信号包括业务信号以及信令信号,所述第一通信信号包括Ka频段通信信号或Ku频段通信信号;
    所述第一导航信号包括连续Ka频段导航信号和/或连续L频段导航信号。
  3. 如权利要求2所述的方法,其特征在于,若所述第一通信信号以及所述第一导航信号均包括Ka频段信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,包括:
    根据所述第一导航信号得到基带信号或中频信号;
    将所述基带信号或中频信号与所述第一通信信号融合得到所述第二导航信号。
  4. 如权利要求1~3任一项所述的方法,其特征在于,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,还包括:
    接收所述地面信关站发送的信号,确定所述信号的接收时间以及发送时间,根据所述接收时间以及所述发送时间确定第一信号传播时延;
    向所述地面信关站发送所述第一通信信号,并接收所述地面信关站基于所述第一通信信号确定出的第二信号传播时延;
    根据所述第一信号传播时延以及所述第二信号传播时延确定星座与所述地 面信关站之间的钟差信息;
    根据所述第一通信信号以及所述钟差信息生成所述第二导航信号。
  5. 如权利要求4所述的方法,其特征在于,所述第二导航信号包括如下至少一个信号:
    所述基带信号或中频信号与所述业务信号融合得到的连续导航信号,其定义为Ka_N;或
    所述基带信号或中频信号与所述信令信号融合得到的连续导航信号,其定义为Ka_S;或
    所述连续L频段导航信号,其定义为L_N;或
    所述基带信号或中频信号与所述通信信号融合得到脉冲导航信号,其定义为Ka_P;或
    第二通信信号,其定义为Ka_C,其中,所述Ka_C为携带所述钟差信息的通信信号。
  6. 如权利要求5所述的方法,其特征在于,在预设的通信资源上将所述第二导航信号发送给终端,包括:
    在所述通信资源上采用多轮播方式将所述Ka_P发送给所述终端;或
    采用码片级编码方式将所述Ka_N进行编码分组,得到多组码片分组,在所述通信资源上将不同码片分组通过不同波束发送给所述终端;或
    基于通信窄波束,向所述终端播发连续宽覆盖的所述第二导航信号。
  7. 一种基于低轨宽带互联网星座的导航方法,其特征在于,包括:
    接收星座中至少四颗卫星发送的第二导航信号,其中,所述第二导航信号与所述卫星根据预设的通信载荷生成的第一通信信号同时共用频谱资源以及发射通道播发。
    根据所述第二导航信号确定所述卫星与终端之间的伪距以及每颗所述卫星的载波相位观测值,根据所述伪距以及所述载波相位观测值对所述终端进行定位导航与授时。
  8. 如权利要求7所述的方法,其特征在于,所述方法,还包括:
    确定所述终端上设置的超短基线天线系统中每个天线的位置信息,根据所述位置信息建立终端的本体坐标系,其中,所述超短基线天线系统包括至少两根天线;
    根据所述每根天线所接收的任意两颗所述卫星发送的所述第二导航信号确定出载波相位观测方程,根据所述载波相位观测方程进行双差计算确定出载波相位双差值,所述任意两颗卫星的位置矢量、所述超短基线天线系统中天线之间基线矢量以及双差载波整周模糊度之间的关系式;
    根据所述至少四颗卫星发送的第二导航信号以及所述关系得到一组关系式方程,根据预设的整周模糊度求解算法求解所述关系式方程中双差载波整周模糊度,将求解出的所述双差载波整周模糊度带入所述关系式方程求解出所述超短基线天线系统中天线之间基线矢量;
    根据所述基线矢量计算所述终端的位姿参数,其中,所述位姿参数包括俯仰角、偏航角以及滚动角。
  9. 一种基于低轨宽带互联网星座的导航系统,其特征在于,包括:星座、地面信关站以及至少一个终端;其中,
    所述地面信关站,用于向所述星座上注卫星导航广播电文或精密电文;
    所述星座,包括多颗位于不同轨面的卫星,用于接收地面信关站上注的卫星导航广播电文或精密电文,根据所述导航电文或所述精密电文生成第一导航信号;根据预设的通信载荷生成第一通信信号,根据所述第一通信信号以及所述第一导航信号生成第二导航信号,其中,所述第二导航信号与所述第一通信信号同时共用频谱资源以及发射通道播发;在预设的通信资源上将所述第二导航信号发送给所述至少一个终端;
    所述至少一个终端,用于基于所述第二导航信号进行定位导航与授时。
  10. 如权利要求9所述的系统,其特征在于,所述至少一个终端中每个所述终端上设置有Ka频段信号的通信天线,或同时设置有Ka频段信号的通信天 线以及L频段信号的导航天线,其中,所述Ka频段信号的通信天线用于接收所述第二导航信号。
PCT/CN2021/075537 2020-06-19 2021-02-05 一种基于低轨宽带互联网星座的导航方法及系统 WO2021253844A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21826237.6A EP4170390A4 (en) 2020-06-19 2021-02-05 NAVIGATION METHOD AND SYSTEM USING BROADBAND INTERNET CONSTELLATION WITH LOW ORBITRATE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010566922.4 2020-06-19
CN202010566922.4A CN111781621B (zh) 2020-06-19 2020-06-19 一种基于低轨宽带互联网星座的导航方法及系统

Publications (1)

Publication Number Publication Date
WO2021253844A1 true WO2021253844A1 (zh) 2021-12-23

Family

ID=72757628

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/075537 WO2021253844A1 (zh) 2020-06-19 2021-02-05 一种基于低轨宽带互联网星座的导航方法及系统

Country Status (3)

Country Link
EP (1) EP4170390A4 (zh)
CN (1) CN111781621B (zh)
WO (1) WO2021253844A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114513243A (zh) * 2021-12-24 2022-05-17 北京遥测技术研究所 一种低轨星座相控阵通信导航融合应用终端
CN114598382A (zh) * 2022-03-11 2022-06-07 中国科学院国家授时中心 一种导通一体化星基收发地面站基带系统
CN114614882A (zh) * 2022-03-11 2022-06-10 中国科学院国家授时中心 一种Cn频段导通一体化星基收发终端系统
CN115173921A (zh) * 2022-06-29 2022-10-11 中国人民解放军军事科学院系统工程研究院 一种用于多星多站多网环境的组网调度系统及方法
CN115941413A (zh) * 2022-10-19 2023-04-07 西安空间无线电技术研究所 一种高功率通导融合导航信号生成与接收方法
CN115955269B (zh) * 2023-03-10 2023-06-20 北京中天星控科技开发有限公司 基于多轨道结合的飞行器通信链路无线传输系统及方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111781621B (zh) * 2020-06-19 2023-06-06 西安空间无线电技术研究所 一种基于低轨宽带互联网星座的导航方法及系统
CN112910541B (zh) * 2021-01-20 2023-04-07 华力智芯(成都)集成电路有限公司 一种应用于卫星移动通信系统的卫星用户侧波束设计方法
CN113484881B (zh) * 2021-06-30 2024-04-26 中国科学院微小卫星创新研究院 一种导航电文正确性的自主判断系统及方法
CN115051743B (zh) * 2022-04-13 2023-03-24 北京空灵网科技术有限公司 跳波束生成方法、装置和电子设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030067409A1 (en) * 2001-10-05 2003-04-10 Murphy Timothy A. Method and apparatus for providing an integrated communications, navigation and surveillance satellite system
CN109001763A (zh) * 2018-06-04 2018-12-14 北京未来导航科技有限公司 一种基于低轨星座的导航增强方法及系统
CN109061675A (zh) * 2018-07-24 2018-12-21 西安空间无线电技术研究所 一种基于卫星通信信号的导航方法
CN109283554A (zh) * 2018-09-13 2019-01-29 垣纬多媒体卫星通信(上海)有限公司 一种基于Ka频段多波束天线的低轨卫星导航信号功率增强方法
CN110794425A (zh) * 2019-09-26 2020-02-14 西安空间无线电技术研究所 一种基于低轨星座监测gnss信号与播发gnss频段导航增强信号的导航增强系统
CN111781621A (zh) * 2020-06-19 2020-10-16 西安空间无线电技术研究所 一种基于低轨宽带互联网星座的导航方法及系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7660374B2 (en) * 2004-05-21 2010-02-09 Honeywell International Inc. Method and apparatus for excision of narrowband interference signals in navigation or communication bands
US8515335B2 (en) * 2009-11-30 2013-08-20 The Aerospace Corporation Cognitive anti-jam receiver systems and associated methods
CN109560861B (zh) * 2018-12-24 2020-07-21 南京六九零二科技有限公司 基于卫星的导航与通信融合数据传输系统
CN110208822B (zh) * 2019-05-28 2021-06-11 西安空间无线电技术研究所 一种基于低轨移动通信卫星的通信方法
CN110557169B (zh) * 2019-07-24 2022-01-04 西安空间无线电技术研究所 一种基于跳频跳时定位授时功能的低轨移动通信卫星系统
CN110703279B (zh) * 2019-09-16 2021-12-07 西安空间无线电技术研究所 一种基于码片级脉冲跳时的卫星导航信号生成方法
CN110737010B (zh) * 2019-09-19 2021-11-16 西安空间无线电技术研究所 一种基于低轨通信卫星的安全定位授时信号生成系统
CN111257911B (zh) * 2020-03-05 2022-08-12 西安空间无线电技术研究所 一种基于数字波束成形的码片级脉冲跳时导航信号生成与播发实现方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030067409A1 (en) * 2001-10-05 2003-04-10 Murphy Timothy A. Method and apparatus for providing an integrated communications, navigation and surveillance satellite system
CN109001763A (zh) * 2018-06-04 2018-12-14 北京未来导航科技有限公司 一种基于低轨星座的导航增强方法及系统
CN109061675A (zh) * 2018-07-24 2018-12-21 西安空间无线电技术研究所 一种基于卫星通信信号的导航方法
CN109283554A (zh) * 2018-09-13 2019-01-29 垣纬多媒体卫星通信(上海)有限公司 一种基于Ka频段多波束天线的低轨卫星导航信号功率增强方法
CN110794425A (zh) * 2019-09-26 2020-02-14 西安空间无线电技术研究所 一种基于低轨星座监测gnss信号与播发gnss频段导航增强信号的导航增强系统
CN111781621A (zh) * 2020-06-19 2020-10-16 西安空间无线电技术研究所 一种基于低轨宽带互联网星座的导航方法及系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4170390A4

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114513243A (zh) * 2021-12-24 2022-05-17 北京遥测技术研究所 一种低轨星座相控阵通信导航融合应用终端
CN114513243B (zh) * 2021-12-24 2023-08-29 北京遥测技术研究所 一种低轨星座相控阵通信导航融合应用终端
CN114598382A (zh) * 2022-03-11 2022-06-07 中国科学院国家授时中心 一种导通一体化星基收发地面站基带系统
CN114614882A (zh) * 2022-03-11 2022-06-10 中国科学院国家授时中心 一种Cn频段导通一体化星基收发终端系统
CN114598382B (zh) * 2022-03-11 2023-10-20 中国科学院国家授时中心 一种导通一体化星基收发地面站基带系统
CN114614882B (zh) * 2022-03-11 2024-03-29 中国科学院国家授时中心 一种Cn频段导通一体化星基收发终端系统
CN115173921A (zh) * 2022-06-29 2022-10-11 中国人民解放军军事科学院系统工程研究院 一种用于多星多站多网环境的组网调度系统及方法
CN115173921B (zh) * 2022-06-29 2023-03-07 中国人民解放军军事科学院系统工程研究院 一种用于多星多站多网环境的组网调度系统及方法
CN115941413A (zh) * 2022-10-19 2023-04-07 西安空间无线电技术研究所 一种高功率通导融合导航信号生成与接收方法
CN115941413B (zh) * 2022-10-19 2024-03-26 西安空间无线电技术研究所 一种高功率通导融合导航信号生成与接收方法
CN115955269B (zh) * 2023-03-10 2023-06-20 北京中天星控科技开发有限公司 基于多轨道结合的飞行器通信链路无线传输系统及方法

Also Published As

Publication number Publication date
EP4170390A1 (en) 2023-04-26
CN111781621B (zh) 2023-06-06
CN111781621A (zh) 2020-10-16
EP4170390A4 (en) 2023-12-13

Similar Documents

Publication Publication Date Title
WO2021253844A1 (zh) 一种基于低轨宽带互联网星座的导航方法及系统
WO2021174482A1 (zh) 从空间域差分信息转换为观测域差分信息的方法和设备
CN107408979B (zh) 用于避免超过非地球静止卫星系统的干扰限制的方法和装置
Iannucci et al. Economical fused leo gnss
CN112698373B (zh) 一种实现地面产生导航信号精密测距的装置和方法
JPWO2019233039A5 (zh)
EA005559B1 (ru) Система измерения расстояния для определения информации о расстоянии до космического аппарата
CN105490730B (zh) 一种地面产生卫星转发导航信号的控制方法
Xu et al. On new measurement and communication techniques of GNSS inter-satellite links
KR102082550B1 (ko) V2x 기반 차량 위성항법신호에 대한 오차보정데이터 생성을 위한 방법 및 노변장치
CN111448480A (zh) 具有全球导航卫星系统信号生成装置和辐射电缆的定位系统
Xie et al. Engineering innovation and the development of the BDS-3 navigation constellation
CN115580338A (zh) 一种功率控制方法、装置、设备及存储介质
CN114002939B (zh) 一种实现透明转发卫星授时的方法和系统
CN105425262B (zh) 一种实现卫星转发导航系统载波相位精密测量的方法
CN116299603B (zh) 应用于地面站的导航上行伪距修正量的获取方法和装置
CN114286286A (zh) 时间同步方法、设备、介质及程序产品
CN110391838B (zh) 采用gbbf技术的geo系统星地频差校准方法及系统
CN114994723B (zh) 基于星基增强系统的高精度定位方法及存储介质
CN114624753B (zh) 利用bds3-ppp服务与短报文实现ppp-ar的方法及系统
CN112996093B (zh) 一种低轨卫星地面终端射频功率控制方法及系统
Xie et al. Satellite navigation inter-satellite link technology
CN114513243A (zh) 一种低轨星座相控阵通信导航融合应用终端
CN118566945A (zh) 一种低轨卫星导航增强系统
WO2022156519A1 (zh) 一种无线通信的方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21826237

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021826237

Country of ref document: EP

Effective date: 20230119

NENP Non-entry into the national phase

Ref country code: DE