CN109520512A - A kind of precision orbit determination method and device - Google Patents
A kind of precision orbit determination method and device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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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
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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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
- G01S19/428—Determining position using multipath or indirect path propagation signals in position determination
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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
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The embodiment of the invention discloses a kind of precision orbit determination method and devices, which comprises the second observation data of the navigation satellite that the first observation data and low orbit satellite receiver for obtaining the navigation satellite that ground receiver determines determine；Determine the first observational equation of the ground receiver and the second observational equation of the low orbit satellite receiver；According to the first observation data and the second observation data, first observational equation and second observational equation are resolved, so that it is determined that the orbital position of the navigation satellite.
Description
Technical Field
The invention relates to a satellite navigation technology, in particular to a satellite precision orbit determination method and a satellite precision orbit determination device.
Background
Satellite navigation positioning systems (GNSS) are capable of providing real-time positioning services worldwide and are widely used in many industries throughout the world. The accuracy of current standard GNSS positioning techniques is about 5-10 meters. For more demanding precision applications, it is often desirable to use a fine positioning method. The user receives the navigation signal sent by the navigation satellite, takes the navigation satellite as a dynamic known point, and uses observation information such as pseudo range and the like to measure the underway position and speed of the moving carrier in real time, thereby completing navigation.
The method is a key technology for realizing precise satellite navigation positioning. Currently, to improve navigation accuracy, satellite navigation systems may also include satellite navigation augmentation systems, which are mainly classified into satellite-based augmentation systems (SBAS) and ground-based augmentation systems (GBAS). Satellite-based augmentation systems such as the Wide Area Augmentation System (WAAS) in the united states, the russian differential correction and monitoring System (SDCM), etc., and satellite-based augmentation systems such as the Local Area Augmentation System (LAAS) in the united states, etc. After the enhancement system is used, the static positioning precision of the satellite can reach centimeter level, and the dynamic precision can reach meter level (lane level).
Currently, the method for determining the satellite orbit mainly includes 3 types: the method comprises the following steps of orbit determination of a ground monitoring station, on-satellite autonomous orbit determination and post-accident precise orbit determination. Currently, GNSS systems, including GPS, GLONASS, BDS, etc., use a small number of ground tracking stations to realize full arc segment observation of orbits, and then calculate and predict satellite orbits and inject navigation satellites.
The foundation enhancement can achieve the aim of improving the satellite navigation precision by providing a differential correction signal; the optimized positioning precision can be different from millimeter level to sub-meter level. The corrected number calculated based on the continuous operation permanent reference station comprises an area signal (similar to a CORS signal) and a wide area differential signal (similar to an SBAS), and the broadcasting mode comprises a mobile network/UHF radio station/synchronous satellite and the like. The method corrects corresponding errors at the rover station based on the mode of broadcasting non-differential comprehensive correction information by the foundation enhancement system, thereby achieving the rapid separation of the ambiguity parameters and the position parameters, fixing the ambiguity parameters in a plurality of epochs, realizing real-time differential positioning, such as RTK (real-time kinematic) and the like, having the advantages of high precision, high real-time performance and the like. The differential positioning method comprises a local area differential method and a wide area differential method. The wide area difference method and the precise single-point positioning both need to calculate respective precise signal deviation, precise tracks and the like through data of a ground monitoring network, and then the precise tracks and clock error are used for fine correction at a user end to improve the positioning precision. The local area difference method mainly comprises the steps of directly playing observation data and coordinates of a reference station to a user, eliminating the influence of respective errors at a user side in an observation value difference mode, and realizing high-precision relative positioning. However, the wide-area difference method lacks the support of a precise ionosphere model, and a centimeter-level positioning result can be obtained only by convergence within 20-30 minutes; in the local area difference method, the distance between the user receiver and the reference station is required to be within a certain range, and the requirement on the station arrangement density of the ground monitoring network is high.
An SBAS (Satellite-Based Augmentation System) Satellite-Based Augmentation System can broadcast various correction information such as ephemeris error, Satellite clock error, ionospheric delay and the like to a user by carrying a Satellite navigation Augmentation signal transponder through geostationary orbit (GEO) satellites, thereby realizing the improvement of the positioning accuracy of the original Satellite navigation System and becoming a competitive development means of each aerospace country.
The on-satellite autonomous orbit determination is performed by means of an on-satellite GNSS receiver or an inertial measurement unit, wherein the on-satellite autonomous orbit determination method based on the GNSS observation value can provide real-time autonomous continuous satellite orbits, but the on-satellite autonomous orbit determination based on the GNSS observation value can only obtain orbit determination accuracy of several meters due to the influence of orbit errors and clock errors of GNSS navigation satellite broadcast ephemeris. In order to obtain high-precision orbit determination, the satellite-based enhanced satellites are mainly distributed in a GEO orbit, are divided into wide-area differential integrity enhancement for users such as civil aviation and wide-area precise positioning enhancement for high-precision users such as surveying and mapping, and have the characteristic of wide-area coverage.
Disclosure of Invention
The embodiment of the invention provides a satellite precision orbit determination method and a satellite precision orbit determination device, which are used for effectively improving the convergence time of precision orbit determination.
The embodiment of the invention provides a satellite precision orbit determination method, which comprises the following steps:
acquiring first observation data of a navigation satellite determined by a ground receiver and second observation data of the navigation satellite determined by a low earth orbit satellite receiver;
determining a first observation equation of the ground receiver and a second observation equation of the low earth orbit satellite receiver;
and resolving the first observation equation and the second observation equation according to the first observation data and the second observation data so as to determine the orbit position of the navigation satellite.
In one possible implementation, the second observation comprises carrier phase observation; the second observation is obtained by:
if the low-orbit satellite receiver determines that the tracking state of a carrier tracking loop of the low-orbit satellite receiver is a locking state, determining a filter combination of the carrier tracking loop according to the measurement precision;
and inputting the obtained signals of the navigation satellite into a filter combination of the carrier tracking loop, and using the output carrier phase data as carrier phase observation data in the second observation data.
In one possible implementation manner, the first observation equation is:
YGROUNDi＝FGB(XBDi,Xoi,ti)+ξBDi；
wherein, YGROUNDiIs at tiFirst observation data of a time; fGBIndicating terrestrial receiver at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xoiRepresenting parameters of an observation model in a first observation equation ξGROUNDiAn observation error for the first observation;
the second observation equation is:
YLEOi＝FLB(XBDi,XLEOi,XOi,ti)+ξLEOi；
wherein, YLEOiIs at tiSecond observed data of the moment; fLBFor low-earth satellite receivers at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xLEOiIs the orbital position of the low earth orbit satellite; xOiBeing parameters of the observation model in the second observation equation ξLEOiAnd the observation error of the second observation data is obtained.
In one possible implementation manner, the first observation data and the second observation data are both dual-frequency observation data;
the determining a first observation equation for the terrestrial receiver and a second observation equation for the low earth satellite receiver comprises:
and eliminating the ionospheric delay errors in the first observation equation and the second observation equation according to the double-frequency observation data to obtain the eliminated first observation equation and second observation equation.
In one possible implementation, the observation function in the first observation equation includes a pseudo-range observation function and a carrier phase observation function; the observation function in the second observation equation comprises a pseudo-range observation function and a carrier phase observation function;
the pseudo-range observation function of the first observation equation is:
the pseudo-range observation function of the second observation equation is:
the carrier phase observation function of the first observation equation is:
the carrier phase observation function of the second observation equation is:
wherein: lambda [ alpha ]lcThe combined phase wavelength without the ionosphere is p, which represents a navigation satellite;the geometric distance between the navigation satellite and the ground receiver;the geometric distance between the navigation satellite and the ground receiver;is the integer ambiguity sum in the first observation equationIs the integer ambiguity in the second observation equation; dtBD,iFor ground receiver clock difference, dtLEO,iClock error of a low-orbit satellite receiver; dti pIs the satellite clock error;for tropospheric delays between the ground and navigation satellites,tropospheric delay between the low earth orbit satellite receiver and the navigation satellite;for the multi-path effect,Is a multipath effect;the multipath effect of the ground and the navigation satellite;is the multipath effect of the low earth orbit satellite and the navigation satellite.
The embodiment of the invention provides a satellite precision orbit determination device, which comprises the following steps:
the receiving and transmitting unit is used for acquiring first observation data of a navigation satellite determined by the ground receiver and second observation data of the navigation satellite determined by the low-earth satellite receiver;
a processing unit for determining a first observation equation of the terrestrial receiver and a second observation equation of the low-earth satellite receiver; and resolving the first observation equation and the second observation equation according to the first observation data and the second observation data so as to determine the orbit position of the navigation satellite.
In a possible implementation manner, the processing unit is configured to determine, according to measurement accuracy, a filter combination of a carrier tracking loop of the low-earth-orbit satellite receiver if it is determined that a tracking state of the carrier tracking loop is a locked state; and inputting the obtained signals of the navigation satellite into a filter combination of the carrier tracking loop, and using the output carrier phase data as carrier phase observation data in the second observation data.
In one possible implementation manner, the first observation equation is:
YGROUNDi＝FGB(XBDi,Xoi,ti)+ξBDi；
wherein, YGROUNDiIs at tiFirst observation data of a time; fGBIndicating terrestrial receiver at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xoiRepresenting parameters of an observation model in a first observation equation ξGROUNDiAn observation error for the first observation;
the second observation equation is:
YLEOi＝FLB(XBDi,XLEOi,XOi,ti)+ξLEOi；
wherein, YLEOiIs at tiSecond observed data of the moment; fLBFor low-earth satellite receivers at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xLEOiIs the orbital position of the low earth orbit satellite; xOiBeing parameters of the observation model in the second observation equation ξLEOiAnd the observation error of the second observation data is obtained.
In one possible implementation manner, the first observation data and the second observation data are both dual-frequency observation data;
the processing unit is specifically configured to eliminate an ionospheric delay error in the first observation equation and the second observation equation according to the dual-frequency observation data, so as to obtain a first observation equation and a second observation equation after elimination.
In one possible implementation, the observation function in the first observation equation includes a pseudo-range observation function and a carrier phase observation function; the observation function in the second observation equation comprises a pseudo-range observation function and a carrier phase observation function;
the pseudo-range observation function of the first observation equation is:
the pseudo-range observation function of the second observation equation is:
the carrier phase observation function of the first observation equation is:
the carrier phase observation function of the second observation equation is:
wherein: lambda [ alpha ]lcThe combined phase wavelength without the ionosphere is p, which represents a navigation satellite;the geometric distance between the navigation satellite and the ground receiver;the geometric distance between the navigation satellite and the ground receiver;for full cycle ambiguities in the first observation equationDegree andis the integer ambiguity in the second observation equation; dtBD,iFor ground receiver clock difference, dtLEO,iClock error of a low-orbit satellite receiver; dti pIs the satellite clock error;for tropospheric delays between the ground and navigation satellites,tropospheric delay between the low earth orbit satellite receiver and the navigation satellite;for the multi-path effect,Is a multipath effect;the multipath effect of the ground and the navigation satellite;is the multipath effect of the low earth orbit satellite and the navigation satellite.
Embodiments of the present invention provide a computer storage medium storing computer-executable instructions for performing any one of the methods provided in the embodiments of the present invention.
An embodiment of the present invention provides an electronic device, including:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the methods provided by embodiments of the invention.
In the embodiment of the invention, the ground receiver and the low-orbit satellite receiver determine the first observation value and the second observation value of the navigation satellite at the current positioning moment, and respectively solve the precise orbit of the navigation satellite and the precise orbit of the low-orbit satellite. Therefore, by combining the observation data of the ground and the observation data of the low-orbit satellite, the accurate orbit determination of the navigation satellite is realized, and the convergence time is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic system architecture diagram illustrating a satellite positioning method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a satellite positioning method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a satellite positioning method according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a satellite positioning method according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a satellite positioning method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a satellite positioning apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
The technical background of the embodiments of the present invention is described below.
In 2015, U.S. Boeing company obtained U.S. military's contract of about $ 1.6 billion, and further developed research and application experiments of Iridium-based GPS navigation enhancement technology. A new research team was created for this purpose, the main participants becoming more Satelles corporation. The new low-orbit enhancement technology is based on a GPS navigation enhancement special STL (satellite Time and location) service business newly set by an iridium system, and further strengthens the enhancement function on the basis of the iGPS; domestic low-orbit navigation enhancement becomes a research hotspot, a plurality of constellation plans or universities have already performed a large amount of system demonstration work around low-orbit navigation enhancement, and single high real-time high-precision service is still blank; the construction of a low-orbit navigation enhancement system is started by the foreign next generation iridium satellite, so that the low-orbit navigation enhancement is expected to be realized by one step ahead, and the application of military and civil commerce is formed; in China, low-orbit navigation enhancement becomes a research hotspot, a plurality of constellation plans or universities have already carried out a large amount of system demonstration work around low-orbit navigation enhancement, but the low-orbit navigation enhancement is just started, and high real-time high-precision services are still blank.
As shown in fig. 1, the low-orbit satellite has a fast movement speed relative to the ground, a large angular speed, and a fast geometric change of observation data, which can accelerate the convergence speed of the carrier phase integer ambiguity estimation, greatly improve the positioning accuracy and shorten the high-accuracy positioning convergence time. The embodiment of the invention adopts the satellite-borne receiver on the LEO satellite to obtain the observation data of the navigation satellite so as to reduce the convergence time required by orbit determination of the navigation satellite.
Compared with the traditional satellite navigation equipment, the receiver in the embodiment of the invention is arranged on a low-orbit satellite, so that the speed and the dynamic state are far higher than those of vehicle-mounted and airborne satellite navigation equipment, and the acquisition sensitivity and the tracking precision of a carrier tracking loop are ensured by correspondingly adjusting the acquisition and tracking algorithm of satellite signals.
In order to realize high real-time high-precision service, the hardware of the multi-frequency satellite-borne receiver serving as a core load is mainly limited in that the complexity of manufacturing the satellite load is high, and a software algorithm needs to verify key technologies such as high-precision orbital clock error correction number calculation, satellite phase delay calculation, regional high-precision ionosphere modeling, combined orbit determination of regional observation data and LEO observation data, real-time regional station observation data real-time precise clock error calculation model, and LEO precise clock error determination.
The technical scheme provided by the embodiment of the invention is described below by combining the accompanying drawings.
As shown in fig. 2, an embodiment of the present invention provides a method for precisely positioning a satellite, including:
step 201: acquiring first observation data of a navigation satellite determined by a ground receiver and second observation data of the navigation satellite determined by a low earth orbit satellite receiver;
step 202: determining a first observation equation of the ground receiver and a second observation equation of the low earth orbit satellite receiver;
step 203: and resolving the first observation equation and the second observation equation according to the first observation data and the second observation data so as to determine the orbit position of the navigation satellite.
In general, most satellite-borne receivers are used for satellite orbit determination, time service, attitude determination, and the like. The orbit determination precision is generally 1-2 meters, and according to different frequency points and constellation plans, a single-constellation single-frequency and multi-constellation multi-frequency receiver is generally divided. Specifically, the receiver can simultaneously receive signals of frequency points of L1 and L2 of GPS and/or B1 and B2 of Beidou satellite so as to provide double-frequency high-precision observation data.
In the embodiment of the invention, the ground receiver and the low-orbit satellite receiver determine the first observation value and the second observation value of the navigation satellite at the current positioning moment, and respectively solve the precise orbit of the navigation satellite and the precise orbit of the low-orbit satellite. Therefore, by combining the observation data of the ground and the observation data of the low-orbit satellite, the accurate orbit determination of the navigation satellite is realized, and the convergence time is reduced.
The technical solution of the invention is that firstly, the generation problem of observation data is that the LEO satellite observation arc section is short, the operation speed is fast, and the atmospheric resistance influence is large, so that the LEO satellite observation data received by a ground station has more cycle slips and large gross errors; the satellite-borne receiver loop in the embodiment of the invention considers that the angular velocity is large, the speed is high, the carrier loop mechanism needs to ensure the tracking accuracy, the common carrier phase observation data of the receiver is generally only used for smoothing the calculation of pseudo range and Doppler, and the calculation only needs to subtract the intermediate frequency accumulation part from the incremental data of the time before and after the carrier phase.
If the method is used for non-differential PPP precision positioning, continuous carrier phase accumulated value output is needed, and the influence caused by clock error adjustment needs to be considered.
In one possible implementation, the second observation comprises carrier phase observation; the second observation is obtained by:
if the low-orbit satellite receiver determines that the tracking state of a carrier tracking loop of the low-orbit satellite receiver is a locking state, determining a filter combination of the carrier tracking loop according to the measurement precision;
and inputting the obtained signals of the navigation satellite into a filter combination of the carrier tracking loop, and using the output carrier phase data as carrier phase observation data in the second observation data.
In the embodiment of the present invention, the carrier loop control mainly includes switching under the mechanism of a frequency locking loop FLL, a second-order phase locking loop PLL2, and a 2-order frequency locking auxiliary 3-order phase locking loop.
The acquisition method of the spread spectrum signal mainly comprises serial acquisition, parallel acquisition and fast acquisition based on FFT. The serial capture method is a sequential two-dimensional search process of a frequency domain and a time domain, and the capture time is longer; the parallel acquisition method adopts a plurality of acquisition channels, each channel respectively completes the correlation calculation of the received signal and the local regeneration signals with different code phases and different Doppler frequencies in parallel, and the acquisition speed is high compared with the serial acquisition.
The acquisition process of the direct spread signal is to perform two-dimensional search in the time domain and the frequency domain to detect whether the modulo square of y exceeds a threshold value determined by noise statistics, and the fast acquisition method based on the FFT can search all phases of the pseudo code in the same time period under the given omega, so that the acquisition speed is very high.
In a high dynamic environment, due to the uncertainty of Doppler frequency shift, the direct capture of the carrier phase has great difficulty; in addition, in order to improve the dynamic tracking capability, the loop bandwidth is increased, and the increase of the loop bandwidth introduces a large tracking error. In the initial acquisition, the FFT is adopted to quickly acquire signals, and in order to solve the contradiction between high dynamic acquisition capability and tracking accuracy improvement, the carrier loop can also adopt an FLL + PLL mixed carrier tracking algorithm when the accuracy needs to be improved. The FLL loop directly tracks the carrier frequency, outputs Doppler frequency estimation error through the carrier frequency discriminator, has better dynamic performance, but has lower tracking precision than a PLL loop.
A simple PLL consists of a frequency reference, a phase detector, a charge pump, a loop filter and a Voltage Controlled Oscillator (VCO). A frequency synthesizer based on PLL technology will add two frequency dividers: one for lowering the reference frequency and the other for dividing the VCO. The PLL operates as a closed loop control system for comparing the phase of the reference signal with the VCO. The frequency synthesizer with the additional reference and feedback frequency dividers is responsible for comparing the two phase adjusted by the setting of the frequency dividers. The phase comparison is done in a phase detector which generates an error voltage which is approximately linear within a phase error range of + -2 pi and remains constant if the error is larger than + -2 pi. This dual mode operation employed by the phase-frequency comparator may generate a faster PLL lock time for large frequency errors (e.g., when the PLL starts during power up) and avoid being locked on harmonics.
The phase discriminator has two inputs, which are input signal and output signal of voltage controlled oscillator, when the phase difference and frequency difference between them are not big, the output of phase discriminator is in direct proportion to the difference between two input signals, the output of phase discriminator is analog signal, it filters out high frequency noise through low pass filter, then enters voltage controlled oscillator, the output frequency of voltage controlled oscillator changes with the change of its input voltage. From a schematic view, the PLL is actually a negative feedback system, and the output signal can follow "in time" as long as the input signal is within the normal range. After the input signal changes, the process of tracking the input signal by the output signal is called capturing; when the output signal tracking is finished, locking is called; when the input signal changes too fast and the output signal cannot track, it is called out-of-lock. The N-fold frequency can be conveniently realized by the PLL.
To further improve the accuracy, a second-order PLL2 and a 2-order frequency-locked auxiliary 3-order PLL may be used.
Specifically, the time and frequency domain equations in PLL2 and FLL2+ PLL3 are as follows:
the time domain core formula of the 2 nd order PLL loop filter is as follows:
wherein xnRepresenting the input signal, ynRepresenting the output signal unRepresenting the signal in the frequency domain, T representing time, omega0Representing an initial angular velocity;
transformation to the Z domain can result in:
then there are:
transforming to the time domain with a Z-transform, an output signal can be obtained:
the core formula of the loop filter of the 2-order frequency-locked loop auxiliary 3-order phase-locked loop is as follows:
conversion to the Z domain may result in:
in the embodiment of the invention, the adjustment of the carrier loop and the generation mechanism of the carrier phase observation data are different from those of a common receiver; when the carrier phase observation data is obtained, a tracking loop is determined according to the out-of-lock capture and the tracking precision, so that the precision of the carrier phase data is improved.
In the specific implementation process, the quality of the observed data is related to the loop state, the loop precision evaluation mechanism and whether bit reversal exists or not, so that before the carrier phase observed data is output, the judgment of parameters such as the loop state, the loop precision evaluation and the bit reversal can be further included, and the precision of the observed data is improved.
As shown in fig. 3, an embodiment of the present invention provides a method for acquiring carrier phase observation data, including:
step 301: receiving a direct signal of a navigation satellite, and taking the received direct signal as an input signal of a carrier loop in a receiver;
step 302: judging whether the locking indication of the current carrier loop is higher than a tracking threshold or not; if so, resetting is executed, and the direct signal is retraced; if not, go to step 303;
step 303: determining the type of a filter according to the current loop filtering requirement; if the current tracking state is determined to be the initial state or the current tracking precision is low, executing step 304; if the current tracking state is determined to be stable tracking or the current tracking precision is high, step 305 or step 306 may be executed, and the selected loop may be determined according to the tracking precision;
step 304: sequentially inputting an input signal to a frequency discriminator and an FLL loop filter to obtain an output signal;
step 305: sequentially inputting an input signal into a phase discriminator and a PLL2 loop filter to obtain an output signal;
step 306: sequentially inputting input signals to a phase discriminator and an FLL2+ PLL3 loop filter to obtain output signals;
step 307: inputting an output signal of the loop filter into a digital control oscillator NCO of a carrier loop, and outputting a carrier phase accumulated value;
step 308: judging the state of the carrier loop, and if the carrier loop state is determined to be unlocked, executing the step 302; if the carrier loop state is determined to be stable tracking, step 309 is executed;
step 309: judging whether the Bt frame synchronization is effective or not; if yes, go to step 310; if not, go to step 313;
step 310: judging whether the loop tracking precision meets the requirement or not; if yes, go to step 311; if not, go to step 313;
step 311: judging whether the carrier Bit needs to be reversed or not; if not, go to step 312; if yes, go to step 313;
step 312: determining a carrier phase accumulated value at the current moment, and taking the carrier phase accumulated value as output carrier phase observation data;
step 313: and determining that the carrier phase observation data is invalid.
By the method, a complete loop control and switching mechanism can be realized to obtain carrier phase observation data meeting the precision requirement.
In order to realize non-differential precision positioning, in the embodiment of the invention, because the initial phase delay of the satellite and the receiver which are not calibrated is retained, the ambiguity information contained in the carrier phase is retained, so that the processing of the integer part and the decimal part must be separated to retain any part of the carrier phase observed value, and the precision of orbit determination is improved.
As shown in fig. 4, all carrier phase calculations in the carrier phase observation data calculation flow are separated into an integer part and a fractional part, and include:
step 401, inputting the carrier phase accumulated value at the previous moment, the carrier phase accumulated value at the current moment, the intermediate frequency accumulated value and the local clock adjustment amount to a carrier phase calculation unit, and determining an integer part and a decimal part of carrier phase observation data;
specifically, the integer part and the decimal part of the carrier phase observation data are determined to be the integer part and the decimal part of the carrier phase accumulated value at the current moment, the integer part and the decimal part of the carrier phase accumulated value at the previous moment are subtracted, and then the digital intermediate frequency and the measurement time interval are subtracted.
And 402, performing half-cycle compensation on the carrier phase observation data, and outputting final carrier phase observation data.
It should be noted that, in the calculation process of carrier phase observation data, an unadjusted part of the carrier phase observation value at the previous time needs to be subtracted at the same time, so as to ensure that the change of the carrier phase accumulation value and the pseudorange observation value are consistent.
The precise orbit determination method for the satellite provided by the embodiment of the invention comprises the following specific processing procedures:
the method comprises the following steps that firstly, a ground receiver and an LEO satellite-borne receiver receive a navigation direct signal broadcast by a navigation satellite, and capture and track the direct signal;
step two, in each epoch, the ground receiver measures the navigation direct signal to generate pseudo range and first observation data of a carrier phase; the LEO satellite-borne receiver measures the navigation direct-emitting signal to generate second observation data of pseudo range and carrier phase;
establishing a first observation equation and a second observation equation by using the first observation data and the second observation data;
the first observation equation of the ground receiver and the second observation equation of the satellite-borne Beidou receiver can respectively express that:
YGROUNDi＝FGB(XBDi,Xoi,ti)+ξBDi
YLEOi＝FLB(XBDi,XLEOi,XOi,ti)+ξLEOi
in the formula, YGROUNDiAnd YLEOiRespectively indicating that the ground and satellite-borne Beidou receivers are at tiAn observed value of a time; fGBAnd FLBRespectively indicating that the ground and satellite-borne Beidou receivers are at tiAn observation function of a time of day; xoiAnd XOiRespectively represent other than XBDiAnd XLEOiOther parameters to be estimated, such as clock error, ambiguity, atmospheric parameters, etc.; ξGROUNDiAnd ξLEOiIs the observation error of the corresponding observed value.
If the satellite navigation system is determined to exist in multiple types, normalization processing is carried out on other satellite navigation systems and low-orbit satellite observation data by taking one type of satellite navigation system as a reference, and a unified time reference observation equation is obtained;
and step four, preprocessing the cycle slip gross error of the first observation data and the second observation data.
Step five, resolving an observation equation by using the first observation data, the second observation data, the satellite precision clock error and the precision orbit model to obtain the precision positioning and receiver clock error of the navigation satellite and the leo satellite;
step six, receiving non-differential comprehensive correction information broadcast by a foundation monitoring network through a communication link, or broadcasting the non-differential comprehensive correction information by an leo satellite;
step seven, calculating error correction parameters of the user approximate position relative to each navigation satellite and the low orbit satellite according to the received non-error comprehensive correction information;
and step eight, positioning processing, time service and speed measurement results, carrier phase ambiguity parameters and the like are carried out by adopting a precise single-point positioning mode.
By the satellite precision orbit determination method, near-real-time precision positioning, speed measurement and time service results can be obtained globally. The double-frequency observation data provided by the satellite-borne receiver can realize rapid and real-time LEO/GNSS combined PPP orbit determination by combining GNSS satellite precise orbit, clock error, hardware delay modeling information and ground station observation data.
The technical problem of the invention is to solve the problem of processing observed data, in particular to the problem of processing the phase of a dual-frequency carrier, and the PPP is mainly researched based on the dual-frequency observed data, so that the positioning precision of static mm-cm and dynamic cm-dm levels is realized.
The method is characterized in that a dual-frequency precise single-point positioning is combined with a dual-frequency pseudo range and a phase observation value to eliminate the influence of a first-order item of an ionized layer, the dual-frequency precise single-point positioning generally forms a Melbourne-W ü bbena and Geometry-Free combination, and cycle slip detection is carried out by adopting a Turbo-Edit method.
As shown in fig. 5, the main processes of the non-poor PPP tracking may include:
step 501, preprocessing cycle slip gross error detection data of the first observation data and the second observation data.
Step 502, establishing a first observation equation and a second observation equation by using the first observation data and the second observation data;
in one possible implementation manner, the first observation equation is:
YGROUNDi＝FGB(XBDi,Xoi,ti)+ξBDi；
wherein, YGROUNDiIs at tiFirst observation data of a time; fGBIndicating terrestrial receiver at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xoiRepresenting parameters of an observation model in a first observation equation ξGROUNDiAn observation error for the first observation;
the second observation equation is:
YLEOi＝FLB(XBDi,XLEOi,XOi,ti)+ξLEOi；
wherein, YLEOiIs at tiSecond observed data of the moment; fLBFor low-earth satellite receivers at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xLEOiIs the orbital position of the low earth orbit satellite; xOiBeing parameters of the observation model in the second observation equation ξLEOiAnd the observation error of the second observation data is obtained.
The first observation data generated by the ground receiver receiving the navigation signals of the navigation satellite comprise multi-constellation multi-frequency-point pseudo range, carrier phase and Doppler observation data; the LEO satellite-borne receiver receives second observation data generated by the navigation signals of the navigation satellites.
The first observation equation may include a carrier phase observation equation and a pseudorange equation; the second observation equations may also include carrier phase observation equations and pseudorange equations.
In one possible implementation manner, the first observation data and the second observation data are both dual-frequency observation data; the determining a first observation equation for the terrestrial receiver and a second observation equation for the low earth satellite receiver comprises:
and eliminating the ionospheric delay errors in the first observation equation and the second observation equation according to the double-frequency observation data to obtain the eliminated first observation equation and second observation equation.
In a specific implementation process, according to the dual-frequency first observation data and the dual-frequency second observation data, the first observation data without an ionosphere combination and the second observation data without an ionosphere combination can be constructed, the first-order ionosphere delay influence is eliminated, and unknown parameters are reduced, specifically, the carrier phase observation equation and the pseudorange equation are modeled as follows:
wherein: lambda [ alpha ]lcThe phase wavelengths are combined for the ionosphere-free phase,as an ionospheric-free carrier-phase observation (in distance); p represents a satellite, k represents an observation station;obtaining a pseudo-range observed value without an ionized layer;is the standing star geometric distance;is the degree of ambiguity; dtkIs the receiver clock error; dtpIs the satellite clock error;tropospheric delay;is a plurality ofA path effect;phase and pseudorange observed noise.
In a specific implementation process, the observation function in the first observation equation comprises a pseudo-range observation function and a carrier phase observation function; the observation function in the second observation equation comprises a pseudo-range observation function and a carrier phase observation function;
the pseudo-range observation function of the first observation equation is:
the pseudo-range observation function of the second observation equation is:
the carrier phase observation function of the first observation equation is:
the carrier phase observation function of the second observation equation is:
wherein: lambda [ alpha ]lcThe combined phase wavelength without the ionosphere is p, which represents a navigation satellite;the geometric distance between the navigation satellite and the ground receiver;the geometric distance between the navigation satellite and the ground receiver;is the integer ambiguity sum in the first observation equationIs the integer ambiguity in the second observation equation; dtBD,iFor ground receiver clock difference, dtLEO,iClock error of a low-orbit satellite receiver; dti pIs the satellite clock error;for tropospheric delays between the ground and navigation satellites,tropospheric delay between the low earth orbit satellite receiver and the navigation satellite;for the multi-path effect,Is a multipath effect;the multipath effect of the ground and the navigation satellite;is the multipath effect of the low earth orbit satellite and the navigation satellite.
Among other things, tropospheric delay can be generally divided into a dry component and a wet component. The dry component can be corrected by a model, and the wet component can be used as a parameter to be estimated for estimation. To reduce the number of parameters to be estimated, a mapping function may be used to project the skew delay into the zenith direction, with only one zenith wet delay being estimated.
And correcting the observation equation by using models such as relativistic effect, earth rotation, antenna phase center and the like, eliminating partial parameters, and neglecting residual satellite orbit and clock error.
According to the motion equation and variational equation integrals of the navigation satellite and the low-orbit satellite, the initial reference orbit and the state transition matrix of the navigation satellite and the low-orbit satellite can be respectively obtained;
according to the general description of the satellite precise orbit determination problem, the motion equation and the variational equation of the navigation satellite and the low-orbit satellite are integrated to respectively obtain the initial reference orbit and the state transition matrix of the navigation satellite and the low-orbit satelliteφLEO(ti,t0) Wherein the state transition matrix should satisfy the equation:
in the formula,andrespectively indicating the Beidou satellite and the low-orbit satellite at the moment tiThe state of (a) is modified by a vector of numbers,andrespectively indicate that they are at the initial time t0The state correction vector of (reference epoch). The above equation is used to map state modifiers at other time instants to the initial time instant in order to participate in the final optimal parameter estimation.
The observation equation is linearized with respect to the initial reference trajectory.
Specifically, taylor expansion is performed at the receiver approximate position of the initial reference orbit, and the second-order term is discarded to obtain:
wherein, (x, y, z) is the precise orbital coordinates of a low-orbit satellite or a navigation satellite, and (xr,0, yr,0, zr,0) is the approximate position of the receiver.
The observation equation can then be simplified to be written as:
V＝AΔX+L (23)
wherein V is an observation residual error, A is a coefficient matrix, Delta X is an unknown vector including receiver coordinate correction, receiver clock error, troposphere top wet delay and carrier phase ambiguity, and L is a calculation vector.
And 503, resolving the linearized observation equation by combining a parameter optimal estimation method to obtain the precise orbit determination positions of the navigation satellite and the low-orbit satellite.
Specifically, in the specific implementation process of performing parameter estimation and ambiguity fixing processing, a least square method or Kalman filtering may be adopted to perform comprehensive PPP processing.
The satellite-ground joint orbit determination has the problems of large observed data quantity and more estimated parameters, so that the invalid parameters (including epoch parameters and time period parameters) in the normal equation are eliminated by using a real-time parameter pre-elimination method in data processing, the size of the normal equation is effectively reduced, and the processing time of the normal equation is shortened. Furthermore, if the parameters are eliminated and the relation equations of the eliminated parameters and other parameters are stored at the same time, the parameters can be restored by means of back substitution after solving the equations.
For the elimination of frequent epoch parameters, the item adopts an extremely effective index strategy to accelerate the updating of a normal equation, thereby greatly shortening the time consumption for eliminating the parameters; for the ambiguity parameter, the patent defines a valid period of ambiguity, and the ambiguity parameter is eliminated from the normal equation just after it disappears. The data structure of the software is optimized on the whole, the time for transferring and inheriting the large array among the functions is reduced, and the running efficiency of the software is improved.
The basic flow of parameter pre-elimination and restoration will be described by mathematical description.
An error equation is set:
vector of parametersIs decomposed intoIts normal equation and corresponding quadratic form are:
now suppose thatFor the 'failure' parameter vector in the current epoch, and for reducing the dimension of the normal equation, the pairPre-cancellation is performed.
Multiplying both ends of a second expression in the formula simultaneouslyObtaining:
adding the two formulas to obtain:
order toThen the parameter vector is eliminatedThe latter normal equation is:
the solution of the normal equation is:
the pre-cancellation parameter vector may be recoveredThe solution of (a):
in combination with:
it follows that in eliminating the parameter vectorThen, corresponding quadratic formNeeds to add correction on the original quadratic form
In Kalman filtering, it is necessary to provide a suitable random model of the observed values and a dynamic model of the state vector. Stochastic models describe the statistical properties of observations, usually represented by a covariance matrix of the variances of the observations. As known from the observation equation, the combined observed value of the deionization layers is a linear combination of original observed values, and the initial variance of the combined observed value of the deionization layers can be calculated by an error propagation law under the assumption that the observed values at different frequencies are not related. The specific variance may be defined as a function of the initial variance and the satellite elevation angle. Assuming that the observed values of different satellites and different systems are not correlated and the observed values of different types, namely the pseudo range and the phase observed value are not correlated, the variance covariance matrix of the observed values can be obtained.
For a dynamic model of the state vector, the static receiver coordinates may be represented as a constant, the dynamic receiver coordinates and the receiver clock error may be represented as a random walk or a first order gaussian markov process, the troposphere zenith wet delay may be represented as a random walk process, and the carrier phase ambiguity parameter may be represented as a constant, thus obtaining a state equation.
Xk＝Φ(tk,tk-1)Xk-1+wk-1
In the formula, X is the parameters of receiver coordinate correction, receiver clock error and the like to be estimated, phi is a state transition matrix, and wk-1Is state transition noise. By combining the observation equation and the state equation, a standard Kalman filtering process can be applied for parameter estimation. Since satellite phase fractional offset correction is not performed, only the carrier phase ambiguity float solution result is obtained. If the satellite phase decimal deviation correction contained in the low-orbit satellite enhancement information is further utilized to correct the observation equation, the integer characteristic of the ambiguity can be restored, the ambiguity fixation is realized, the carrier phase ambiguity fixation solution result is obtained, the initialization time is further shortened, and the positioning, speed measurement and time service precision are improved.
Due to the fact that observation data of the low-orbit satellite are added, the fast moving characteristic of the low-orbit satellite greatly improves the calculation efficiency, and therefore the PPP convergence time is greatly shortened.
And step 504, correcting errors by using the enhanced information and the model of the navigation satellite broadcasted by the low-earth orbit satellite.
As shown in fig. 6, an embodiment of the present invention provides a satellite precision orbit determination apparatus, including:
a transceiver 601, configured to obtain first observation data of a navigation satellite determined by a ground receiver and second observation data of the navigation satellite determined by a low earth orbit satellite receiver;
a processing unit 602 configured to determine a first observation equation of the terrestrial receiver and a second observation equation of the low-earth satellite receiver; and resolving the first observation equation and the second observation equation according to the first observation data and the second observation data so as to determine the orbit position of the navigation satellite.
In a possible implementation manner, the processing unit 602 is configured to determine, according to measurement accuracy, a filter combination of a carrier tracking loop of the low-earth-orbit satellite receiver if it is determined that a tracking state of the carrier tracking loop is a locked state; and inputting the obtained signals of the navigation satellite into a filter combination of the carrier tracking loop, and using the output carrier phase data as carrier phase observation data in the second observation data.
In one possible implementation manner, the first observation equation is:
YGROUNDi＝FGB(XBDi,Xoi,ti)+ξBDi；
wherein, YGROUNDiIs at tiFirst observation data of a time; fGBIndicating terrestrial receiver at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xoiRepresenting parameters of an observation model in a first observation equation ξGROUNDiAn observation error for the first observation;
the second observation equation is:
YLEOi＝FLB(XBDi,XLEOi,XOi,ti)+ξLEOi；
wherein, YLEOiIs at tiSecond observed data of the moment; fLBFor low-earth satellite receivers at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xLEOiIs the orbital position of the low earth orbit satellite; xOiBeing parameters of the observation model in the second observation equation ξLEOiAnd the observation error of the second observation data is obtained.
In one possible implementation manner, the first observation data and the second observation data are both dual-frequency observation data;
the processing unit is specifically configured to eliminate an ionospheric delay error in the first observation equation and the second observation equation according to the dual-frequency observation data, so as to obtain a first observation equation and a second observation equation after elimination.
In one possible implementation, the observation function in the first observation equation includes a pseudo-range observation function and a carrier phase observation function; the observation function in the second observation equation comprises a pseudo-range observation function and a carrier phase observation function;
the pseudo-range observation function of the first observation equation is:
the pseudo-range observation function of the second observation equation is:
the carrier phase observation function of the first observation equation is:
the carrier phase observation function of the second observation equation is:
wherein: lambda [ alpha ]lcThe combined phase wavelength without the ionosphere is p, which represents a navigation satellite;the geometric distance between the navigation satellite and the ground receiver;the geometric distance between the navigation satellite and the ground receiver;is the integer ambiguity sum in the first observation equationIs the integer ambiguity in the second observation equation; dtBD,iFor ground receiver clock difference, dtLEO,iClock error of a low-orbit satellite receiver; dti pIs the satellite clock error;for tropospheric delays between the ground and navigation satellites,tropospheric delay between the low earth orbit satellite receiver and the navigation satellite;for the multi-path effect,Is a multipath effect;the multipath effect of the ground and the navigation satellite;is the multipath effect of the low earth orbit satellite and the navigation satellite.
The electronic equipment for implementing and the method provided by the embodiment of the invention comprises the following components:
one or more processors and memory, such as one processor.
The electronic device performing the data synchronization method may further include: an input device and an output device.
The processor, memory, input devices, and output devices may be connected by a bus or other means, such as by a bus connection.
The memory, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules/units corresponding to the method for determining the database synchronization delay in the embodiments of the present application. The processor executes various functional applications and data processing of the server or the intelligent terminal by running the nonvolatile software program, instructions and modules/units stored in the memory, namely, the method for determining the database synchronization delay of the embodiment of the method is realized.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the data synchronization apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory optionally includes memory remotely located from the processor, and these remote memories may be connected to the database synchronization delay determining means via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means may receive input numeric or character information and generate key signal inputs related to user settings and function control of the determination means of the database synchronization delay. The output device may include a display device such as a display screen.
The one or more modules are stored in the memory and, when executed by the one or more processors, perform the method for determining database synchronization delay in any of the method embodiments described above.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
The present application provides a computer program product, wherein the computer program product comprises a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, wherein the program instructions, when executed by a computer, cause the computer to perform the method for determining a database synchronization delay according to any one of the above method embodiments of the present application.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. A satellite precision orbit determination method is characterized by comprising the following steps:
acquiring first observation data of a navigation satellite determined by a ground receiver and second observation data of the navigation satellite determined by a low earth orbit satellite receiver;
determining a first observation equation of the ground receiver and a second observation equation of the low earth orbit satellite receiver;
and resolving the first observation equation and the second observation equation according to the first observation data and the second observation data so as to determine the orbit position of the navigation satellite.
2. The satellite tracking method of claim 1, wherein the second observation comprises a carrier phase observation; the second observation is obtained by:
if the low-orbit satellite receiver determines that the tracking state of a carrier tracking loop of the low-orbit satellite receiver is a locking state, determining a filter combination of the carrier tracking loop according to the measurement precision;
and inputting the obtained signals of the navigation satellite into a filter combination of the carrier tracking loop, and using the output carrier phase data as carrier phase observation data in the second observation data.
3. The satellite tracking method according to claim 1,
the first observation equation is:
YGROUNDi＝FGB(XBDi,Xoi,ti)+ξBDi；
wherein, YGROUNDiIs at tiFirst observation data of a time; fGBIndicating terrestrial receiver at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xoiRepresenting parameters of an observation model in a first observation equation ξGROUNDiAn observation error for the first observation;
the second observation equation is:
YLEOi＝FLB(XBDi,XLEOi,XOi,ti)+ξLEOi；
wherein, YLEOiIs at tiSecond observed data of the moment; fLBFor low-earth satellite receivers at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xLEOiIs the orbital position of the low earth orbit satellite; xOiBeing parameters of the observation model in the second observation equation ξLEOiAnd the observation error of the second observation data is obtained.
4. The satellite tracking method of claim 3, wherein the first observation and the second observation are both dual-frequency observations;
the determining a first observation equation for the terrestrial receiver and a second observation equation for the low earth satellite receiver comprises:
and eliminating the ionospheric delay errors in the first observation equation and the second observation equation according to the double-frequency observation data to obtain the eliminated first observation equation and second observation equation.
5. The satellite tracking method according to claim 3,
the observation function in the first observation equation comprises a pseudo-range observation function and a carrier phase observation function; the observation function in the second observation equation comprises a pseudo-range observation function and a carrier phase observation function;
the pseudo-range observation function of the first observation equation is:
the pseudo-range observation function of the second observation equation is:
the carrier phase observation function of the first observation equation is:
the carrier phase observation function of the second observation equation is:
wherein: lambda [ alpha ]lcThe combined phase wavelength without the ionosphere is p, which represents a navigation satellite;the geometric distance between the navigation satellite and the ground receiver;the geometric distance between the navigation satellite and the ground receiver;is the integer ambiguity sum in the first observation equationIs the integer ambiguity in the second observation equation; dtBD,iFor ground receiver clock difference, dtLEO,iClock error of a low-orbit satellite receiver; dti pIs the satellite clock error;for tropospheric delays between the ground and navigation satellites,tropospheric delay between the low earth orbit satellite receiver and the navigation satellite;for the multi-path effect,Is a multipath effect;the multipath effect of the ground and the navigation satellite;the multipath effect of the low-orbit satellite and the navigation satellite; c is the speed of light in vacuum.
6. A satellite precision orbit determination device is characterized in that the method comprises the following steps:
the receiving and transmitting unit is used for acquiring first observation data of a navigation satellite determined by the ground receiver and second observation data of the navigation satellite determined by the low-earth satellite receiver;
a processing unit for determining a first observation equation of the terrestrial receiver and a second observation equation of the low-earth satellite receiver; and resolving the first observation equation and the second observation equation according to the first observation data and the second observation data so as to determine the orbit position of the navigation satellite.
7. The satellite tracking device according to claim 6, wherein the processing unit is configured to determine a filter combination of a carrier tracking loop of the low-earth satellite receiver according to measurement accuracy if it is determined that the tracking state of the carrier tracking loop is a locked state; and inputting the obtained signals of the navigation satellite into a filter combination of the carrier tracking loop, and using the output carrier phase data as carrier phase observation data in the second observation data.
8. The satellite tracking device of claim 6,
the first observation equation is:
YGROUNDi＝FGB(XBDi,Xoi,ti)+ξBDi；
wherein, YGROUNDiIs at tiFirst observation data of a time; fGBIndicating terrestrial receiver at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xoiRepresenting parameters of an observation model in a first observation equation ξGROUNDiAn observation error for the first observation;
the second observation equation is:
YLEOi＝FLB(XBDi,XLEOi,XOi,ti)+ξLEOi；
wherein, YLEOiIs at tiSecond observed data of the moment; fLBFor low-earth satellite receivers at tiAn observation function of a time of day; xBDiIs the orbital position of the navigation satellite; xLEOiIs the orbital position of the low earth orbit satellite; xOiBeing parameters of the observation model in the second observation equation ξLEOiAnd the observation error of the second observation data is obtained.
9. The satellite tracking device of claim 8, wherein said first observation and said second observation are dual-frequency observations;
the processing unit is specifically configured to eliminate an ionospheric delay error in the first observation equation and the second observation equation according to the dual-frequency observation data, so as to obtain a first observation equation and a second observation equation after elimination.
10. The satellite tracking device of claim 8 wherein the observation functions in the first observation equation comprise a pseudorange observation function and a carrier phase observation function; the observation function in the second observation equation comprises a pseudo-range observation function and a carrier phase observation function;
the pseudo-range observation function of the first observation equation is:
the pseudo-range observation function of the second observation equation is:
the carrier phase observation function of the first observation equation is:
the carrier phase observation function of the second observation equation is:
wherein: lambda [ alpha ]lcThe combined phase wavelength without the ionosphere is p, which represents a navigation satellite;the geometric distance between the navigation satellite and the ground receiver;the geometric distance between the navigation satellite and the ground receiver;is the integer ambiguity sum in the first observation equationIs the integer ambiguity in the second observation equation; dtBD,iFor ground receiver clock difference, dtLEO,iClock error of a low-orbit satellite receiver; dti pIs the satellite clock error;for tropospheric delays between the ground and navigation satellites,tropospheric delay between the low earth orbit satellite receiver and the navigation satellite;for the multi-path effect,Is a multipath effect;the multipath effect of the ground and the navigation satellite;is the multipath effect of the low earth orbit satellite and the navigation satellite.
11. A computer storage medium storing computer-executable instructions for performing the method of any one of claims 1 to 5.
12. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 5.
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