WO2022209149A1 - 測位方法、測位装置及び衛星システム - Google Patents
測位方法、測位装置及び衛星システム Download PDFInfo
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- WO2022209149A1 WO2022209149A1 PCT/JP2022/001200 JP2022001200W WO2022209149A1 WO 2022209149 A1 WO2022209149 A1 WO 2022209149A1 JP 2022001200 W JP2022001200 W JP 2022001200W WO 2022209149 A1 WO2022209149 A1 WO 2022209149A1
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- satellite
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- baseline vector
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- 238000005259 measurement Methods 0.000 title abstract 2
- 238000000691 measurement method Methods 0.000 title abstract 2
- 239000000969 carrier Substances 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Definitions
- the present invention relates to a positioning method, a positioning device and a satellite system, and more particularly to a positioning method, a positioning device and a satellite system for positioning relative positions between satellites.
- a satellite communication system that performs communication using satellites includes a satellite constellation system that constructs a communication network by cooperating multiple satellites.
- satellite constellations those using low-orbit satellites are called LEO (Low Earth Orbit) constellations.
- LEO Low Earth Orbit
- Patent Document 1 discloses an example of positioning technology for relative positions between satellites.
- Patent Literature 1 discloses a technology in which each satellite is equipped with a high-performance time synchronization mechanism and a transmission/reception mechanism for mutually transmitting and receiving time information, and by exchanging time information with each other, the positions of each other are determined with high accuracy.
- phases of a plurality of carrier waves transmitted from a plurality of transmitting stations are observed at a first satellite to generate first observation data, and at a second satellite the phases of the plurality of carrier waves are observed.
- generating second observation data by observing phases of the plurality of carriers observed by the first satellite and the second satellite using the first observation data and the second observation data
- Base line vector calculation for calculating a base line vector indicating the relative position of the first satellite and the second satellite based on the phase difference calculated by the phase difference calculation
- the phase difference calculation and the baseline vector calculation are performed by either the second satellite or the positioning device arranged on the ground.
- One aspect of the positioning apparatus of the present invention includes first observation data obtained by observing phases of a plurality of carrier waves transmitted from a plurality of transmitting stations at a first satellite, and phases of the plurality of carrier waves at a second satellite.
- phase difference calculation means for calculating the phase difference between the plurality of carriers observed by the first satellite and the second satellite using second observation data; and calculation by the phase difference calculation means.
- baseline vector calculation means for calculating a baseline vector indicating the relative position of the first satellite and the second satellite based on the obtained phase difference, wherein the phase difference calculation means and the baseline vector calculation means are: Located on either the second satellite or a system located on the ground.
- One aspect of the satellite system of the present invention includes a first satellite, a second satellite, and four or more transmission stations provided on the ground that transmit carrier waves to the first satellite and the second satellite.
- a receiving station provided on the ground for receiving data transmitted from the first satellite and the second satellite; generating first observation data by observing phases of said carrier waves of said second satellites, generating second observation data by observing phases of said plurality of said carrier waves at said second satellites, said first observation data and performing a phase difference calculation for calculating a phase difference between the plurality of carriers observed by the first satellite and the second satellite using the second observation data, and the phase difference calculated by the phase difference calculation performing a baseline vector calculation for calculating a baseline vector indicating the relative position of the first satellite and the second satellite based on the above, and performing the phase difference calculation and the baseline vector calculation on the second satellite and the ground; at any one of the receiving stations.
- the positioning method, positioning device, and satellite system it is possible to reduce the size and weight of the satellite.
- FIG. 1 is a schematic diagram of a satellite system according to Embodiment 1;
- FIG. 2 is a diagram for explaining carrier waves used in positioning of the satellite system according to the first embodiment;
- FIG. 1 is a block diagram of a positioning device according to Embodiment 1;
- FIG. 4 is a flowchart for explaining the flow of a positioning method according to the first embodiment;
- 1 is a schematic diagram of a satellite system according to a second embodiment;
- FIG. 2 is a block diagram of a positioning device according to a second embodiment;
- FIG. 9 is a flowchart for explaining the flow of a positioning method according to the second embodiment;
- FIG. 1 shows a schematic diagram of a satellite system 1 according to the first embodiment.
- a satellite system 1 according to the first embodiment performs communication between ground stations located on the ground via satellites.
- the satellite system 1 according to the first embodiment has satellites 11 and 12, transmitting stations 21 to 24, a receiving station 31, and a positioning device 40.
- the satellite system 1 data is transmitted from the transmitting stations 21 to 24 to the satellites 11 and 12 on carrier waves.
- the satellites 11 and 12 perform attitude control and communication with a receiving station 31 provided on the ground based on data transmitted by carrier waves.
- phases of carrier waves transmitted from the transmitting stations 21 to 24 are counted by the satellites 11 and 12 to generate observation data, and the relative positions of the satellites 11 and 12 are measured using this observation data.
- Positioning is performed.
- the positioning device 40 that performs positioning calculation is installed in the receiving station 31 or on a system to which the receiving station 31 is connected.
- the satellite system 1 according to the first embodiment uses an interferometric positioning method that performs positioning based on the phase of a carrier wave when positioning relative positions between satellites.
- FIG. 2 shows a diagram for explaining carrier waves used in positioning of the satellite system 1 according to the first embodiment.
- the frequency band of the carrier wave that can be used differs depending on the satellite, so the frequency band of the carrier wave to be transmitted to the satellite is switched according to the satellite that transmits the carrier wave.
- An example using three frequency bands has been shown.
- two carrier waves having frequencies defined in the C-band, Ku-band, and Ka-band frequency bands are used for positioning.
- Positioning can be performed by transmitting carrier waves of one frequency from multiple transmitting stations, but it is also possible to transmit carrier waves with different frequencies belonging to one frequency band from multiple transmitting stations.
- FIG. 3 shows a block diagram of the positioning device 40 according to the first embodiment.
- the positioning device 40 has a phase difference calculator 41 and a baseline vector calculator 42 .
- the positioning device 40 also receives first observation data including count values of carrier waves observed by a first satellite (for example, satellite 11) and carrier wave count values observed by a second satellite (for example, satellite 12). and second observation data including count values from each satellite.
- the phase difference calculator 41 uses first observation data obtained by observing phases of a plurality of carriers having different frequencies from the satellite 11 and second observation data obtained by observing phases of a plurality of carriers from the satellite 12. to calculate the phase difference of multiple carriers observed by satellite 11 and satellite 12 .
- the phase difference calculator 41 calculates a double difference for calculating the phase difference between two carriers observed at two observation points (for example, satellites 11 and 12).
- the baseline vector calculation unit 42 performs baseline vector calculation for calculating a baseline vector indicating the relative positions of the satellites 11 and 12 based on the phase difference calculated by the phase difference calculation unit 41 . Then, the baseline vector calculator 42 transmits the calculated baseline vector value to the host system. In the satellite system 1, communication control using the satellites 11 and 12, attitude control of the satellites 11 and 12, and the like are performed using the baseline vector calculated by the baseline vector calculator 42. FIG.
- FIG. 4 shows a flowchart for explaining the flow of the positioning method according to the first embodiment.
- the positioning method of the satellite system 1 according to the first embodiment first, satellites 11 and 12 observe the phases of carrier waves transmitted from transmitting stations 21 to 24, and satellite 11 performs the first observation. Data is generated (step S1), and the satellite 12 generates second observation data (step S2).
- the satellite 11 transmits the first observation data to the positioning device 40 via the receiving station 31 (step S3), and the satellite 12 transmits the second observation data via the receiving station 31. is transmitted to the positioning device 40 (step S4).
- the phase difference calculator 41 uses the first observation data and the second observation data to calculate phase differences between the multiple carriers observed by the satellites 11 and 12 (step S5).
- the baseline vector calculation unit 42 performs baseline vector calculation for calculating a baseline vector indicating the relative positions of the satellites 11 and 12 based on the phase difference calculated by the phase difference calculation unit 41 (step S6).
- the satellites 11 and 12 generate observation data
- the positioning device 40 installed on the ground performs processing using the observation data.
- the satellites 11 and 12 observe the phase of the carrier wave and generate observation data indicating the observation results, and calculate the baseline vector using the observation data on the ground. It is performed by the positioned positioning device 40 .
- transmission of observation data from the satellites 11 and 12 to the positioning device 40 is performed using a data transmission function to the receiving station 31 which the satellite has as a normal function.
- the satellites 11 and 12 only need to be equipped with the function of observing the phase of the carrier wave, and the function of performing inter-satellite communication leading to an increase in weight and volume and the baseline There is no need to install equipment that realizes vector calculation functions.
- the satellite system 1 according to the first embodiment can reduce the weight and volume of the satellite.
- Embodiment 2 describes an example in which a positioning device is mounted on one of a plurality of satellites.
- FIG. 5 shows a schematic diagram of the satellite system 2 according to the second embodiment.
- the same reference numerals as in Embodiment 1 are given to the same components as those in Embodiment 1, and description thereof is omitted.
- the satellite system 2 according to the second embodiment does not use the receiving station 31 for baseline vector calculation.
- the base line vector calculation is completed only by the transmitting stations 21 to 24 and the satellites.
- the satellite system 2 according to the second embodiment has satellites 11 a and 12 a instead of the satellites 11 and 12 .
- the satellite 11a has the function of communicating with the satellite 12a in addition to the function of the satellite 11a.
- the satellite 12a has a communication function with the satellite 11a in addition to the function of the satellite 12, and is equipped with a positioning device 40a.
- the positioning device 40a has substantially the same functions as the positioning device 40, but the values used for calculation are slightly different.
- FIG. 6 shows a block diagram of a positioning device 40a according to the second embodiment.
- the positioning device 40a has a phase difference calculator 41a instead of the phase difference calculator 41.
- the satellite 12a has a highly accurate time source, and using this time source, the self-coordinate calculator 43 calculates the coordinates indicating the position of the self-aircraft from the second observation data. Therefore, the phase difference calculator 41a calculates the phases of the four carriers obtained by the two satellites using the self-coordinate information calculated by the self-coordinate calculator 43 and the first observation data obtained from the satellite 11a. Calculate the included phase difference information.
- the baseline vector calculator 42 then calculates a baseline vector indicating the relative position between the satellites 11 and 12 based on the phase difference calculated by the phase difference calculator 41, and transmits this baseline vector to the satellite 11a.
- FIG. 7 shows a flowchart for explaining the flow of the positioning method according to the second embodiment.
- the positioning method of the satellite system 2 according to the second embodiment first, satellites 11a and 12a observe the phases of carrier waves transmitted from the transmitting stations 21 to 24, and the satellite 11a performs the first observation. Data is generated (step S1), and the satellite 12a generates second observation data (step S2).
- the satellite 11a transmits the first observation data to the positioning device 40a of the satellite 12a (step S13), and the satellite 12a uses the second observation data to calculate The precise coordinates of the own machine are calculated (step S14).
- the phase difference calculator 41a uses the first observation data and the self-coordinate information calculated in step S14 to calculate the phase differences of the multiple carriers observed by the satellites 11a and 12a.
- the baseline vector calculation unit 42 performs baseline vector calculation for calculating a baseline vector indicating the relative position between the satellites 11a and 12a based on the phase difference calculated by the phase difference calculation unit 41a (step S16).
- the satellite 12a calculates the baseline vector and transmits this baseline vector to the satellite 11a (step S17).
- the satellite 12a cannot be reduced in volume and weight, it is advantageous in that existing facilities that are currently launched can be used. Moreover, since the satellite system 2 according to the second embodiment does not require communication with a receiving station located on the ground, it is possible to reduce the computational delay caused by the time required for computation. Furthermore, in the satellite system 2 according to the second embodiment, the weight and volume of the satellite 11a can be reduced as in the first embodiment.
- Reference Signs List 1 2 satellite system 11, 11a, 12, 12a satellite 21 to 24 transmitting station 31 receiving station 40, 40a positioning device 41, 41a phase difference calculator 42 baseline vector calculator 43 own coordinate calculator
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- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
以下、図面を参照して本発明の実施の形態について説明する。図1に実施の形態1にかかる衛星システム1の概略図を示す。実施の形態1にかかる衛星システム1は、衛星を介して地上に配置される地上局間の通信を行う。図1に示すように、実施の形態1にかかる衛星システム1は、衛星11、12、送信局21~24、受信局31、測位装置40を有する。なお、図1で示した衛星、送信局、受信局の数は一例であり、これより多数の衛星、送信局及び受信局が衛星システムには組み込まれる。
実施の形態2では、測位装置が複数の衛星の1つに搭載されている実施例について説明する。そこで、図5に実施の形態2にかかる衛星システム2の概略図を示す。なお、実施の形態1と同じ構成要素については実施の形態1と同じ符号を付して説明を省略する。
11、11a、12、12a 衛星
21~24 送信局
31 受信局
40、40a 測位装置
41、41a 位相差計算部
42 基線ベクトル計算部
43 自座標計算部
Claims (8)
- 第1の衛星において複数の送信局から送信される複数の搬送波の位相を観測して第1の観測データを生成し、
第2の衛星において前記複数の搬送波の位相を観測して第2の観測データを生成し、
前記第1の観測データと前記第2の観測データを用いて前記第1の衛星及び前記第2の衛星で観測された前記複数の搬送波の位相差を計算する位相差計算を行い、
前記位相差計算で計算された位相差に基づき前記第1の衛星と前記第2の衛星との相対位置を示す基線ベクトルを計算する基線ベクトル計算を行い、
前記位相差計算と前記基線ベクトル計算を前記第2の衛星と地上に配置される測位装置のいずれか一方で行う測位方法。 - 前記搬送波は、異なる周波数の搬送波を含む請求項1に記載の測位方法。
- 前記複数の搬送波は、異なる位置にある4つ以上の地上局から送出される請求項1又は2に記載の測位方法。
- 前記位相差計算と前記基線ベクトル計算は、前記第1の観測データと前記第2の観測データを受信する地上局システムで行う請求項1乃至3のいずれか1項に記載の測位方法。
- 前記位相差計算と前記基線ベクトル計算を、前記第2の衛星で行い、
前記位相差計算は、前記第1の衛星から送信される前記第1の観測データと、自機で取得される前記第2の観測データから計算される自機の座標情報と、を用いて前記位相差を計算する請求項1乃至3のいずれか1項に記載の測位方法。 - 前記第2の衛星は、前記測位装置で計算された基線ベクトルの情報を地上局に送信する請求項5に記載の測位方法。
- 第1の衛星において複数の送信局から送信される複数の搬送波の位相を観測した第1の観測データと、第2の衛星において前記複数の搬送波の位相を観測した第2の観測データと、を用いて前記第1の衛星及び前記第2の衛星で観測された前記複数の搬送波の位相差を計算する位相差計算手段と、
前記位相差計算手段で計算された位相差に基づき前記第1の衛星と前記第2の衛星との相対位置を示す基線ベクトルを計算する基線ベクトル計算手段と、を有し、
前記位相差計算手段と基線ベクトル計算手段は、前記第2の衛星と地上に配置されるシステムのいずれか一方に配置される測位装置。 - 第1の衛星と、
第2の衛星と、
地上に設けられ、前記第1の衛星と前記第2の衛星に搬送波を送信する4つ以上の送信局と、を有し、
前記第1の衛星において複数の前記搬送波の位相を観測して第1の観測データを生成し、
前記第2の衛星において複数の前記搬送波の位相を観測して第2の観測データを生成し、
前記第1の観測データと前記第2の観測データを用いて前記第1の衛星及び前記第2の衛星で観測された複数の前記搬送波の位相差を計算する位相差計算を行い、
前記位相差計算で計算された位相差に基づき前記第1の衛星と前記第2の衛星との相対位置を示す基線ベクトルを計算する基線ベクトル計算を行い、
前記位相差計算と前記基線ベクトル計算を前記第2の衛星と地上に配置される受信局のいずれか一方で行う衛星システム。
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US20210048542A1 (en) * | 2019-08-16 | 2021-02-18 | California Institute Of Technology | Systems and Methods for Robust and Accurate Relative Navigation |
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