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CN113253312B - Combined satellite navigation method, system, electronic equipment and storage medium - Google Patents

Combined satellite navigation method, system, electronic equipment and storage medium Download PDF

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Publication number
CN113253312B
CN113253312B CN202110366432.4A CN202110366432A CN113253312B CN 113253312 B CN113253312 B CN 113253312B CN 202110366432 A CN202110366432 A CN 202110366432A CN 113253312 B CN113253312 B CN 113253312B
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satellite
orbit
low
inter
clock
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CN113253312A (en
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冯学斌
吴耀华
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Discovery Data Technology Shenzhen Co ltd
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Discovery Data Technology Shenzhen Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/246—Acquisition or tracking or demodulation of signals transmitted by the system involving long acquisition integration times, extended snapshots of signals or methods specifically directed towards weak signal acquisition
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a combined satellite navigation method, a system, electronic equipment and a storage medium, and relates to the technical field of satellite testing, wherein the combined satellite navigation method comprises the following steps: determining a high-precision time reference of a satellite navigation system by using a high-orbit satellite inter-satellite bidirectional link and a satellite-borne atomic clock; the whole network time synchronization of the high-orbit satellites is realized through time synchronization between the high-orbit satellites, and the high-precision determination of the high-orbit satellite orbits is realized; the low-orbit satellite receives the high-orbit satellite navigation signal and orbit information by using a satellite-borne GNSS receiver, and performs autonomous orbit determination and low-orbit satellite clock error estimation of the low-orbit satellite; the high orbit satellite orbit information, the low orbit satellite orbit and the clock error information are combined to form the whole navigation service flow of the whole satellite navigation system in the meter level or the decimeter level. The combined satellite navigation method can solve the problem of high coupling of satellite orbit errors and satellite clock error, does not need to process high orbit satellite clock error information, and remarkably improves the service precision of a satellite navigation system.

Description

Combined satellite navigation method, system, electronic equipment and storage medium
Technical Field
The present invention relates to the field of satellite testing technologies, and in particular, to a joint satellite navigation method, a system, an electronic device, and a storage medium.
Background
Time synchronization is the basis for navigation satellite system operation. In a conventional global satellite navigation system (Global Navigation Satellite System, GNSS), for navigation and positioning solution, a plurality of atomic clocks are integrated to establish a time reference inside the GNSS, namely, GNSS system time, which is denoted as GNSST (GNSS Time). In GNSS systems, time synchronization is required between all satellites, ground stations, and users. The satellite navigation system provides navigation positioning and time service, orbit information of navigation satellites and clock difference information of clocks and system time of each satellite must be provided for users, and the accuracy of the orbit and clock difference information determines the service accuracy of the satellite navigation system.
In the time synchronization technology of the traditional satellite navigation system, an ODTS (Orbit Determination and Time Synchronization) method is adopted, the obtained satellite clock error information contains an orbit error, no matter what clock error estimation model and clock error forecast model are adopted, model errors are introduced again, and finally, the errors influence the positioning and time service precision of the satellite navigation system.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the embodiment of the invention provides a combined satellite navigation method, which can solve the problem of high coupling of satellite orbit errors and satellite clock error, does not need to process high orbit satellite clock error information, can realize high-precision orbit determination and prediction, and remarkably improves the service precision of a satellite navigation system.
The embodiment of the invention also provides a joint satellite navigation system.
The embodiment of the invention also provides electronic equipment.
The embodiment of the invention also provides a computer readable storage medium.
An embodiment of a joint satellite navigation method according to a first aspect of the present invention includes:
acquiring first inter-satellite bidirectional link observation data between high-orbit satellites, and performing high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-orbit satellite clocks relative to the initial satellite-based time reference;
Establishing a satellite-to-ground link observation equation according to the first inter-satellite bidirectional link observation data after clock error elimination, and calculating precise orbit and forecast orbit information according to the satellite-to-ground link observation equation and the inter-satellite link observation equation;
acquiring low-orbit satellite downlink navigation signal observation data, and calculating low-orbit satellite real-time orbit parameters and low-orbit satellite real-time clock errors according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information;
carrying out low-orbit satellite orbit prediction according to the low-orbit satellite real-time orbit parameters to obtain low-orbit satellite autonomous orbit prediction data;
carrying out low-orbit satellite clock difference forecast according to the low-orbit satellite real-time clock difference to obtain low-orbit satellite clock difference forecast data;
and carrying out satellite navigation according to the forecast orbit information, the low-orbit satellite autonomous orbit forecast data and the low-orbit satellite clock error forecast data.
The combined satellite navigation method according to the embodiment of the first aspect of the invention has at least the following beneficial effects: determining a high-precision time reference of a satellite navigation system by using a high-orbit satellite inter-satellite bidirectional link and a satellite-borne atomic clock; meanwhile, the whole network time synchronization of the high-orbit satellites is realized through time synchronization between the high-orbit satellites, and under the condition, the high-precision determination of the high-orbit satellite orbit is realized; on the basis, the low-orbit satellite receives the navigation signals and orbit information of the high-orbit satellite by using a satellite-borne GNSS receiver, and performs autonomous orbit determination and low-orbit satellite clock error estimation of the low-orbit satellite; the combination of the high-orbit satellite orbit information, the low-orbit satellite orbit and the clock error information forms the whole navigation service flow of the whole satellite navigation system in the meter level or the decimeter level, can solve the problem of high coupling of satellite orbit errors and satellite clock error errors, does not need to process the high-orbit satellite clock error information, can realize high-precision orbit determination and prediction, and remarkably improves the service precision of the satellite navigation system.
According to some embodiments of the present invention, the obtaining the first inter-satellite bidirectional link observation data between the high orbit satellites, performing high orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data, to obtain an initial satellite-based time reference, includes: the first inter-satellite two-way distance measurement observation values are calculated to the same moment, and a first clock difference between the high orbit satellites is calculated; acquiring a main satellite base time reference, and calculating a second clock difference between a high-precision atomic clock of the high-orbit satellite and the main satellite base time reference; and carrying out comprehensive adjustment calculation on the high orbit satellite clock difference according to the first clock difference and the second clock difference to obtain the initial satellite-based time reference.
According to some embodiments of the invention, the acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-orbit satellite clocks relative to the initial satellite-based time reference, includes: calculating the high orbit clock difference and the high orbit clock speed parameters of all the high orbit satellites according to the second inter-satellite bidirectional link observation data and the first clock difference; satellite Zhong Diaoxiang is performed based on the Gao Gui clock differential, the high orbit clock speed parameter, and the first clock differential, eliminating clock differential of all high orbit satellite clocks relative to the initial satellite based time reference.
According to some embodiments of the present invention, the establishing a satellite-to-earth and inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data after clock error elimination, and calculating precise orbit and forecast orbit information according to the satellite-to-earth and inter-satellite link observation equation, includes: the first inter-satellite bidirectional link observation data are calculated to the same moment, and inter-satellite geometric distance observation values among the high-orbit satellites are calculated; establishing the inter-satellite-to-earth link observation equation according to the inter-satellite geometric distance observation value; calculating the initial position, the speed information and the perturbation parameter state vector of the satellite according to the satellite-ground and inter-satellite link observation equation; and performing orbit integration according to the initial position of the satellite, the speed information and the perturbation parameter state vector to obtain the precise orbit and the forecast orbit information.
According to some embodiments of the invention, the obtaining low-orbit satellite downlink navigation signal observation data, and calculating low-orbit satellite real-time orbit parameters and low-orbit satellite real-time clock differences according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information, includes: extracting a pseudo-range observation value according to the forecast orbit information, and calculating the real-time orbit parameters of the low-orbit satellite according to the pseudo-range observation value; and iterating the initial state of the low-orbit satellite real-time orbit parameter according to the low-orbit satellite downlink navigation signal observation data, and calculating the low-orbit satellite real-time clock difference.
According to some embodiments of the invention, the low-orbit satellite real-time orbit parameters include: initial orbit root number, empirical acceleration parameters, and pseudo-random pulse parameters; the low-orbit satellite orbit prediction is carried out according to the low-orbit satellite real-time orbit parameters to obtain low-orbit satellite autonomous orbit prediction data, which comprises the following steps: and performing orbit integration according to the initial orbit number, the empirical acceleration parameter and the pseudo-random pulse parameter to obtain the autonomous orbit forecast data of the low-orbit satellite.
According to some embodiments of the invention, the low orbit satellite clock bias forecast data comprises: clock error and clock speed parameters of low orbit satellite clock error forecast; the low-orbit satellite clock difference forecasting is carried out according to the low-orbit satellite real-time clock difference to obtain low-orbit satellite clock difference forecasting data, which comprises the following steps: and calculating clock difference and clock speed parameters of the low-orbit satellite clock difference forecast according to the low-orbit satellite real-time clock difference and a preset linear model.
An integrated satellite navigation system according to an embodiment of the second aspect of the present invention comprises:
the first acquisition module is used for acquiring first inter-satellite bidirectional link observation data between high-orbit satellites, and carrying out high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
The second acquisition module is used for acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-orbit satellite clocks relative to the initial satellite-based time reference;
the calculation module is used for establishing a satellite-to-ground link observation equation and an inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data after clock error elimination, and calculating precise orbit and forecast orbit information according to the satellite-to-ground link observation equation and the inter-satellite link observation equation;
the third acquisition module is used for acquiring low-orbit satellite downlink navigation signal observation data and calculating low-orbit satellite real-time orbit parameters and low-orbit satellite real-time clock errors according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information;
the first forecasting module is used for forecasting the low-orbit satellite orbit according to the real-time orbit parameters of the low-orbit satellite to obtain autonomous orbit forecasting data of the low-orbit satellite;
the second forecasting module is used for forecasting the low-orbit satellite clock difference according to the low-orbit satellite real-time clock difference to obtain low-orbit satellite clock difference forecasting data;
and the navigation module is used for carrying out satellite navigation according to the forecast orbit information, the low-orbit satellite autonomous orbit forecast data and the low-orbit satellite clock error forecast data.
The integrated satellite navigation system according to the embodiment of the second aspect of the present invention has at least the following advantages: by executing the combined satellite navigation method of the embodiment of the first aspect of the invention, the problem of high coupling of satellite orbit errors and satellite clock error can be solved, the processing of high orbit satellite clock error information is not needed, high-precision orbit determination and prediction can be realized, and the service precision of a satellite navigation system is obviously improved.
An electronic device according to an embodiment of a third aspect of the present invention includes: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions that are executed by the at least one processor to cause the at least one processor to perform the joint satellite navigation method of the first aspect when the instructions are executed.
The electronic equipment according to the embodiment of the third aspect of the invention has at least the following beneficial effects: by executing the combined satellite navigation method of the embodiment of the first aspect of the invention, the problem of high coupling of satellite orbit errors and satellite clock error can be solved, the processing of high orbit satellite clock error information is not needed, high-precision orbit determination and prediction can be realized, and the service precision of a satellite navigation system is obviously improved.
A computer-readable storage medium according to an embodiment of the fourth aspect of the present invention stores computer-executable instructions for causing a computer to perform the joint satellite navigation method of the first aspect.
The computer-readable storage medium according to the embodiment of the fourth aspect of the present invention has at least the following advantageous effects: by executing the combined satellite navigation method of the embodiment of the first aspect of the invention, the problem of high coupling of satellite orbit errors and satellite clock error can be solved, the processing of high orbit satellite clock error information is not needed, high-precision orbit determination and prediction can be realized, and the service precision of a satellite navigation system is obviously improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a joint satellite navigation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a combined satellite navigation system according to an embodiment of the present invention;
Fig. 3 is a functional block diagram of an electronic device according to an embodiment of the present invention.
Reference numerals:
the system comprises a first acquisition module 200, a second acquisition module 210, a calculation module 220, a third acquisition module 230, a first forecasting module 240, a second forecasting module 250, a navigation module 260, a processor 300, a memory 310, a data transmission module 320, a camera 330 and a display screen 340.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
First, several nouns referred to in this application are parsed:
1. LEO: low Earth Orbit satellite, also called Low Orbit satellite, the Orbit that the spacecraft is very Low from ground, the Orbit height of Low Orbit satellite is 200 ~ 2000 km, the satellite in this altitude range is the Low Orbit satellite.
2. MEO: medium Earth Orbit, medium orbit satellites or medium orbit satellites, the medium orbit earth satellites mainly refer to earth satellites whose orbits are 2000-20000 km away from the earth surface. It belongs to geosynchronous satellites and can realize true global coverage and more effective frequency reuse.
3. IGSO: inclined GeoSynchronous Orbit an inclined geosynchronous orbit satellite or an inclined geosynchronous orbit satellite, wherein the inclined geosynchronous orbit satellite is an orbit satellite with an included angle between the orbit plane and the equatorial plane of the earth, the operation period of the inclined geosynchronous orbit satellite is 24 hours, the orbit period of the satellite is equal to the rotation period of the earth, the direction of the inclined geosynchronous orbit satellite is the same as the rotation period of the earth, and the satellite has the same satellite point track under the same satellite at the same time every day.
4. GEO: geostationary Earth Oribt geosynchronous orbit satellites or geosynchronous orbit satellites refer to satellites in circular orbit that orbit the earth about 36000km above the earth's equator. The period of the satellite orbiting is the same as the period of earth's rotation, so satellites are always above the same region of the earth every day, and such satellites are called geosynchronous satellites.
5. ODTS: orbit Determination and Time Synchronization satellite precise orbit determination and time synchronization or satellite precise orbit determination and time synchronization.
6. And (3) GNSS: global Navigation Satellite System, a global satellite navigation system or a global satellite navigation system, i.e. the latest application of GPS technology in the field of navigation communication.
In the time synchronization technology of the traditional satellite navigation system, an ODTS (Orbit Determination and Time Synchronization) method is adopted, the obtained satellite clock error information contains an orbit error, no matter what clock error estimation model and clock error forecast model are adopted, model errors are introduced again, and finally, the errors influence the positioning and time service precision of the satellite navigation system.
Based on the above, the embodiment of the invention provides a combined satellite navigation method, a system, electronic equipment and a storage medium, which can solve the problem of high coupling of satellite orbit errors and satellite clock error, do not need to process high orbit satellite clock error information, can realize high-precision orbit determination and prediction, and remarkably improve the service precision of a satellite navigation system.
The combined satellite navigation system for executing the combined satellite navigation method in the embodiment of the invention comprises a mixed constellation of GEO/IGSO/MEO high-orbit satellites and LEO low-orbit satellites, wherein inter-satellite laser bidirectional measuring links or inter-satellite Ka bidirectional measuring links are arranged between all the high-orbit satellites, inter-satellite laser bidirectional measuring links or Ka bidirectional measuring links can be arranged or not arranged between the high-orbit satellites and the low-orbit satellites, a part of GEO, IGSO, MEO high-orbit satellites are respectively selected from different orbit surfaces, high-precision atomic clocks are carried, high-precision atomic clocks are not carried on the other high-orbit satellites and the low-orbit satellites, and low-cost crystal vibration can be selected as the satellite clocks, and GNSS receivers are carried on the low-orbit satellites.
Referring to fig. 1, a joint satellite navigation method according to an embodiment of the first aspect of the present invention includes:
step S100, obtaining first inter-satellite bidirectional link observation data between high-orbit satellites, and carrying out high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference.
The first inter-satellite bidirectional link observation data may be an inter-satellite bidirectional link observation value between high-orbit satellites of a high-precision atomic clock; the initial satellite-based time reference may be an initial time reference of a joint satellite navigation system. Alternatively, the inter-satellite bidirectional link observation value (i.e., the first inter-satellite bidirectional link observation data) between the high-orbit satellites of the high-precision atomic clock in the hybrid constellation may be used to determine the high-precision time reference of the joint satellite navigation system, specifically, the first inter-satellite bidirectional link observation value may be used to calculate the relative clock difference between two satellites, and perform the comprehensive adjustment of the high-orbit satellite clock difference, so as to obtain the initial satellite-based time reference when the comprehensive atomic number of the high-precision system is obtained, and the time reference of the satellite navigation system is used as the time reference of the satellite navigation system.
Step S110, obtaining second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-orbit satellite clocks relative to an initial satellite-based time reference.
Wherein the second inter-satellite bi-directional link observations may be inter-satellite bi-directional link measurement observations between all high-orbit satellites. Alternatively, the inter-satellite bidirectional link measurement observation values (i.e., the second inter-satellite bidirectional link observation data) between all the high-orbit satellites may be utilized, and the clock difference and the clock speed parameters of all the high-orbit satellites are calculated by using the least square method by using the inter-satellite relative clock difference of the two satellites calculated in the step S100; and then, through an inter-satellite communication link, the clock difference of all high-orbit satellites obtained through calculation is utilized, and through satellite clock phase modulation, the clock difference of all high-orbit satellite clocks relative to a satellite base time reference is eliminated, and the synchronization of all high-orbit satellite clocks and the satellite navigation system time reference is completed in real time, so that the satellite clock difference is not generated in the high-orbit satellite ranging process.
And step S120, establishing a satellite-to-ground link observation equation and a satellite-to-satellite link observation equation according to the first satellite-to-satellite bidirectional link observation data with the clock error eliminated, and calculating precise orbit and forecast orbit information according to the satellite-to-satellite link observation equation and the satellite-to-satellite link observation equation.
Alternatively, a satellite-to-earth and inter-satellite link observation equation can be established by calculating a first inter-satellite two-way ranging observation value to the same moment and then calculating a geometric distance observation value between two satellites; further solving unknown parameters including satellite initial position, speed and perturbation parameter state vectors by using satellite-to-earth and inter-satellite link observation equations; and finally, obtaining the position and the speed of the satellite at any moment by utilizing the calculated initial position and speed information of the initial orbit of the precise satellite and the state vector of the perturbation parameter and adopting orbit integration, wherein an integration interval comprises a satellite orbit fitting arc section and a prediction arc section, and obtaining the precise orbit and prediction orbit information of the high orbit satellite.
Step S130, obtaining low-orbit satellite downlink navigation signal observation data, and calculating low-orbit satellite real-time orbit parameters and low-orbit satellite real-time clock errors according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information.
Alternatively, the initial orbit number, the empirical acceleration parameter and the pseudo-random pulse parameter can be solved by using the high-orbit satellite downlink navigation signal observation data received by the low-orbit satellite-borne GNSS receiver and the high-orbit satellite precise forecast orbit information and combining a dynamics method and a geometry method so as to determine the low-orbit satellite orbit and acquire the low-orbit satellite real-time orbit parameter and the low-orbit satellite real-time clock error.
And step S140, carrying out low-orbit satellite orbit prediction according to the low-orbit satellite real-time orbit parameters to obtain low-orbit satellite autonomous orbit prediction data.
Optionally, orbit integration is adopted to predict the low-orbit satellite orbit in real time according to the initial orbit number, the empirical acceleration parameter and the pseudo-random pulse parameter acquired in the step S130, so as to obtain the autonomous orbit prediction data of the low-orbit satellite.
And step S150, forecasting the low-orbit satellite clock difference according to the low-orbit satellite real-time clock difference to obtain low-orbit satellite clock difference forecast data.
Alternatively, according to the low-orbit satellite real-time clock difference obtained in step S130, since the low-orbit satellite clock difference prediction time is shorter, a linear model is adopted to calculate the clock difference and clock speed parameters of the low-orbit satellite clock difference prediction, so as to obtain the low-orbit satellite clock difference prediction data.
Step S160, satellite navigation is carried out according to the forecast orbit information, the low orbit satellite autonomous orbit forecast data and the low orbit satellite clock error forecast data.
Alternatively, the method can combine the orbit information of the high orbit satellite (including the forecast orbit information of the high orbit satellite), the orbit information of the low orbit satellite and the clock error information (namely the autonomous orbit forecast data of the low orbit satellite and the clock error forecast data of the low orbit satellite), and provide navigation positioning service through the high orbit satellite without clock error and the low orbit satellite with clock error, so that the whole process of the navigation service of the whole satellite navigation system in meter level or decimeter level is formed, the processing of the clock error information of the high orbit satellite is not needed, and the satellite navigation precision is improved.
The combined satellite navigation method utilizes the bidirectional links among the high-orbit satellites and the satellite-borne atomic clocks to determine the high-precision time reference of the satellite navigation system; meanwhile, the whole network time synchronization of the high-orbit satellites is realized through time synchronization between the high-orbit satellites, and under the condition, the high-precision determination of the high-orbit satellite orbit is realized; on the basis, the low-orbit satellite receives the navigation signals and orbit information of the high-orbit satellite by using a satellite-borne GNSS receiver, and performs autonomous orbit determination and low-orbit satellite clock error estimation of the low-orbit satellite; the combination of the high-orbit satellite orbit information, the low-orbit satellite orbit and the clock error information forms the whole navigation service flow of the whole satellite navigation system in the meter level or the decimeter level, can solve the problem of high coupling of satellite orbit errors and satellite clock error errors, does not need to process the high-orbit satellite clock error information, can realize high-precision orbit determination and prediction, and remarkably improves the service precision of the satellite navigation system.
In some embodiments of the present invention, obtaining first inter-satellite bidirectional link observation data between high-orbit satellites, performing high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data, and obtaining an initial satellite-based time reference, including:
and calculating a first clock difference between the high orbit satellites by calculating the first inter-satellite two-way distance measurement observation value to the same moment. Alternatively, the calculation of the relative clock difference between the planets may be advanced. For example, if the first inter-satellite bidirectional link observation data includes inter-satellite bidirectional ranging observation values between high-orbit satellites, the inter-satellite bidirectional ranging observation values between the high-orbit satellites can be calculated to the same time, and if the high-orbit satellites with high-precision atomic clocks mounted in pairs are divided into a satellite i and a satellite j, then the relative clock difference between the two satellites is calculated by the following formula (1), so as to obtain a first clock difference Δclk ij (t)：
In the formula, clk i (t) and clk j (t) is the clock difference of the satellite i and satellite j clock faces, respectively, relative to the navigation system time reference; ρ ji (t) is the satellite j transmission from the time point of being reduced to the time point tInter-satellite ranging observations to satellite i; ρ ij (t) is the inter-satellite ranging observation value calculated to the satellite j transmitted by the satellite i at the moment t,transmit-receive delay for inter-satellite link device of satellite i, < > >Receiving and transmitting time delay epsilon of inter-satellite link equipment of satellite j ij And c is the light speed, which is the combined value of the inter-satellite two-way ranging observation noise.
And acquiring a main star base time reference, and calculating a second clock difference between the high-precision atomic clock of the high-orbit satellite and the main star base time reference.
Alternatively, a high-orbit satellite with a high-precision atomic clock can be selected as the main satellite, the first clock difference calculation method shown in the formula (1) is utilized to calculate the clock difference between other satellites with high-precision atomic clocks relative to the main satellite, the original satellite-based time reference TA1 (t) is established in an equal weight mode, and the clock difference between the satellite-borne clocks of the other satellites relative to the original satellite-based time reference is calculated by the following formula (2), namely, the second clock difference clk is calculated j_TA1 (t)：
Where n1 is the number of clocks involved in establishing the time scale, each clock can be derived from the following equation (3) with respect to the initial clock difference:
and carrying out comprehensive adjustment calculation on the high orbit satellite clock difference according to the first clock difference and the second clock difference to obtain an initial satellite-based time reference. Alternatively, the clock difference relative to the initial time scale still contains three deterministic components, namely time difference, frequency difference and frequency drift. To determine an initial satellite-based time reference, a high-precision atomic clock for high-orbit satellites is calculated The second clock difference clk can be compared with the clock difference of the original star base time reference j_TA1 (t) performing second order polynomial fitting on the time sequence, and subtracting the quadratic polynomial clock difference to obtain a residual Zhong Chazhi xx j (t) as shown in the following formula (4):
wherein the method comprises the steps ofThe zero-order, first-order and second-order term coefficients, t, of the clock difference respectively 0 To fit the reference time. Using xx j (t) time-series calculation of the Allen variance of the clock differences +.>The stability of each clock is evaluated so as to weight each clock, and the weight determining method comprises the following steps:
wherein w is j (t) normalized weights of the clocks, setting an upper limit on the weights in order to reduce the influence of the high-performance clocks on the final result, wherein the maximum weight formula is as follows:where A is an empirical constant, taking 2.5 specified by BIPM. The final autonomous time scale TA2 (t) is obtained by the following formula (7):
the satellite-borne clock of each high-orbit satellite is relative to the initial satellite-based timeClock difference clk of reference j_TA2 (t) can be obtained by the following formula (8):
the time reference of the satellite navigation system can be obtained by using the formula (8) to obtain the comprehensive atomic time of the high-precision system. The initial satellite-based time reference is obtained through the first inter-satellite bidirectional link observation data, the satellite-borne high-precision atomic clock realized on the high-orbit satellite is adopted, and the high-precision navigation system time can be established and maintained by utilizing the atomic clock and the inter-satellite link equipped on part of the high-orbit satellites, so that the determination of the inter-satellite-based time reference of the high-orbit satellites is realized, the established time reference is not influenced by the precision of ground observation data, and the precision is high.
In some embodiments of the present invention, obtaining second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-orbit satellite clocks relative to an initial satellite-based time reference, including:
and calculating the high orbit clock rate and the high orbit clock speed parameters of all the high orbit satellites according to the second inter-satellite bidirectional link observation data and the first clock rate. Alternatively, the link inter-satellite relative clock error observations of all high orbit satellites within a certain period of time can be utilized to perform centralized estimation of the full constellation satellite clock error parameters. Specifically, the clock difference and clock speed parameters of all the high-orbit satellites can be calculated according to the second inter-satellite bidirectional link observation data among all the high-orbit satellites and the calculated relative clock difference (i.e. the first clock difference) between two high-orbit satellites, and the clock difference and clock speed parameters are specifically as follows:
since the link establishment of all inter-satellite links can be completed in 1 minute in a round-robin manner, the influence of the satellite Zhong Piao in 1 minute is negligible, and therefore each satellite only estimates the clock difference A 0 And clock speed A 1 Parameter, fix a satellite clock difference clk that has been synchronized to an on-board time reference j_TA2 (t) simultaneously estimating n-1 stars relative to each other in a constellation of n starsAnd the time synchronization among all satellites is realized on the clock difference and clock speed parameters of the same reference.
Irrespective of the satellite Zhong Zaosheng, the clock difference is expressed as a function of its deterministic component by the following equation (9).
Wherein t is clock difference observation time, t 0 For the reference time of day of the clock error parameter,and->Is the ith satellite clock difference and clock speed parameter. Furthermore, the first clock difference can be utilized, a least square method is adopted to calculate the high-orbit clock difference and the high-orbit clock speed parameters of all high-orbit satellites, and the specific calculation mode is shown in the following formula (10):
from the above equation (10), the high orbit clock difference and the high orbit clock speed parameters of all the high orbit satellites can be calculated.
Satellite Zhong Diaoxiang is operated according to the high orbit clock, the high orbit clock speed parameter and the first clock difference, and the clock difference of all high orbit satellite clocks relative to the initial satellite based time reference is eliminated. Alternatively, the clock difference of all high-orbit satellite clocks relative to the initial satellite-based time reference can be eliminated through the satellite clock modulation by using the high-orbit clock difference and the high-orbit clock speed parameters of all high-orbit satellites calculated by the formula (10) through an inter-satellite communication link, and the whole network time synchronization of the high-orbit satellites is realized through time synchronization, so that the high-orbit satellite ranging does not have satellite clock differences any more.
In some embodiments of the present invention, establishing an inter-satellite and inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data after clock correction is eliminated, and calculating precise orbit and forecast orbit information according to the inter-satellite and inter-satellite link observation equation, including:
and the first inter-satellite bidirectional link observation data are calculated to the same moment, and inter-satellite geometric distance observation values between high-orbit satellites are calculated. Alternatively, satellite precise orbit determination can be performed by using inter-satellite link and satellite-ground link observations without satellite clock error, and satellite orbit high-precision prediction can be performed based on a precise dynamics model. Therefore, first, the first inter-satellite bi-directional link observation data (i.e., inter-satellite bi-directional ranging observations) without satellite clock errors can be reduced to the same time, and then the inter-satellite geometric distance observations of two high-orbit satellites can be calculated by the following formula (11):
and establishing an inter-satellite-to-earth link observation equation according to the inter-satellite geometric distance observation value. Alternatively, an inter-satellite link observation equation may be established according to the inter-satellite geometric distance observations of two high-orbit satellites, as shown in the following formulas (12) and (13):
wherein ρ is L_ss And ρ L Inter-satellite geometrical distance observables and satellite-ground pseudo-range observables in the inter-satellite geometrical distance observables, And->Indicating the high orbit satellite i, the high orbit satellite j and the receiver position, δt, respectively r Epsilon is the observed random noise for the receiver clock difference.
And calculating the initial position, the speed information and the perturbation parameter state vector of the satellite according to the satellite-ground and inter-satellite link observation equation. Alternatively, the unknown parameters including satellite initial position, velocity and perturbation parameter state vectors may be solved using satellite-to-earth, inter-satellite link observation equations. The processing strategy of the satellite precise orbit determination is shown in the following table 1:
TABLE 1
The satellite initial position, velocity and perturbation parameter state vectors can be calculated according to table 1 above.
And performing orbit integration according to the initial position, the speed information and the perturbation parameter state vector of the satellite to obtain precise orbit and forecast orbit information. Alternatively, it is assumed that the precise satellite initial orbit initial position and velocity information calculated according to the above table 1 isAnd perturbation parameter state vector->Then the position and velocity of the satellite at any time t can be obtained by means of orbit integration>The integration interval comprises a satellite orbit fitting arc section and a forecasting arc section, and precise orbit and forecasting orbit information is obtained, as shown in the following formula (14):
therefore, the precise orbit and the forecast orbit information of the high orbit satellite can be calculated, and the high-precision determination of the high orbit satellite orbit is realized.
In some embodiments of the present invention, obtaining low-orbit satellite downlink navigation signal observation data, and calculating low-orbit satellite real-time orbit parameters and low-orbit satellite real-time clock differences according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information, including:
and extracting a pseudo-range observation value according to the forecast orbit information, and calculating the real-time orbit parameters of the low-orbit satellite according to the pseudo-range observation value. Alternatively, the GNSS receiver mounted on the low-orbit satellite may receive the signal sent by the high-orbit satellite and the precise predicted orbit, i.e. the predicted orbit information, of the high-orbit satellite. When the number of high orbit satellites received at a certain moment reaches more than 4 (including 4), a pseudo-range observation value can be extracted from the received forecast orbit information, the pseudo-range observation value is utilized to carry out air rear intersection, and the position of the low orbit satellite can be determined by utilizing a geometric method, or a simplified dynamics orbit determination method, namely a combined dynamics method and a geometric method can be adopted to determine the low orbit satellite orbit, so that the real-time orbit parameters of the low orbit satellite are obtained, including the initial number of the orbit, the power parameters, the satellite clock error parameters and other data.
And iterating the initial state of the real-time orbit parameters of the low-orbit satellite according to the downlink navigation signal observation data of the low-orbit satellite, and calculating the real-time clock difference of the low-orbit satellite. Optionally, the state transition matrix can be obtained by integrating the established motion equation according to the downlink navigation signal observation data of the low-orbit satellite while considering the dynamic state information of the low-orbit satellite, and the satellite dynamic model comprises two-body motion, non-spherical attraction of the earth, N-body perturbation of sun, moon and the like, tidal perturbation and solar radiation pressure perturbation, and the initial state of the low-orbit satellite in the real-time orbit parameters of the low-orbit satellite is iteratively improved by using the satellite-borne GNSS observation data of the low-orbit satellite. The method can properly adjust the weights of two types of information, namely dynamics and geometry, absorb the influence of model errors and non-precisely modeled perturbation force by utilizing the pseudo-random pulse parameters, and solve the initial number of satellite orbits, the dynamic parameters and the satellite clock error parameters in the low-orbit satellite real-time orbit parameters. The unknown parameters include six initial orbit numbers, nine empirical acceleration parameters, three pseudo random pulse parameters set every 6-15 minutes and a satellite-borne GNSS receiver clock error parameter of the low-orbit satellite of each observation epoch, thereby calculating the low-orbit satellite real-time clock error. The satellite-borne GNSS receiver of the low-orbit satellite receives the navigation signals and orbit information of the high-orbit satellite, performs autonomous orbit determination of the low-orbit satellite and clock error estimation of the low-orbit satellite, utilizes high signal intensity and high transit speed of the low-orbit constellation, improves the anti-interference and fuzzy degree of users, atmosphere, position and other parameters to rapidly estimate, adopts the autonomous processing scheme on the low-orbit constellation orbit and clock error completely satellite, and reduces the operation and maintenance complexity of the system without occupying a large number of communication links for the inter-satellite measurement data to return to the ground and injecting the clock error information of the whole-network orbit on the ground.
In some embodiments of the invention, the low-orbit satellite real-time orbit parameters include: initial orbit root number, empirical acceleration parameters, and pseudo-random pulse parameters.
Carrying out low-orbit satellite orbit prediction according to the low-orbit satellite real-time orbit parameters to obtain low-orbit satellite autonomous orbit prediction data, wherein the method comprises the following steps:
and performing orbit integration according to the initial orbit number, the empirical acceleration parameter and the pseudo-random pulse parameter to obtain autonomous orbit forecast data of the low-orbit satellite. Alternatively, the orbit integral is adopted to predict the orbit of the low-orbit satellite in real time by the initial orbit number, the empirical acceleration parameter and the pseudo-random pulse parameter in the real-time orbit parameters of the low-orbit satellite, so as to obtain the autonomous orbit prediction data of the low-orbit satellite. The orbit integral is carried out through the initial orbit number, the empirical acceleration and the pseudo-random pulse parameters to obtain the autonomous orbit forecast data of the low orbit satellite, so that the autonomous processing on the complete satellite of the low orbit constellation orbit is realized, the orbit forecast of the low orbit satellite is realized, the accuracy is high, the autonomous operation requirement of the constellation can be met, and the operation and maintenance complexity of the system is reduced.
In some embodiments of the invention, the low orbit satellite clock bias forecast data comprises: clock error and clock speed parameters of low orbit satellite clock error forecast.
The method for forecasting the low-orbit satellite clock difference according to the low-orbit satellite real-time clock difference to obtain low-orbit satellite clock difference forecast data comprises the following steps:
and calculating the clock error and clock speed parameters of the low-orbit satellite clock error forecast according to the low-orbit satellite real-time clock error and a preset linear model. Optionally, because the low-orbit satellite clock error forecasting time is shorter, the obtained low-orbit satellite real-time clock error can be utilized, a linear model is adopted to calculate the clock error and clock speed parameters of the low-orbit satellite clock error forecasting, the low-orbit satellite clock error forecasting is realized, the autonomous processing of the low-orbit constellation clock error on the whole satellite is realized, and the operation and maintenance complexity of the system is reduced.
Referring to fig. 2, an integrated satellite navigation system according to an embodiment of the second aspect of the present invention includes:
the first obtaining module 200 is configured to obtain first inter-satellite bidirectional link observation data between high-orbit satellites, and perform high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
the second obtaining module 210 is configured to obtain second inter-satellite bidirectional link observation data, synchronize all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminate clock differences of all high-orbit satellite clocks relative to an initial satellite-based time reference;
The calculation module 220 is configured to establish a satellite-to-earth link observation equation according to the first inter-satellite bidirectional link observation data after the clock error is eliminated, and calculate precise orbit and forecast orbit information according to the satellite-to-earth link observation equation and the inter-satellite link observation equation;
the third obtaining module 230 is configured to obtain low-orbit satellite downlink navigation signal observation data, and calculate a low-orbit satellite real-time orbit parameter and a low-orbit satellite real-time clock difference according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information;
the first forecasting module 240 is configured to forecast the low-orbit satellite according to the real-time orbit parameters of the low-orbit satellite, so as to obtain autonomous orbit forecast data of the low-orbit satellite;
the second forecasting module 250 is configured to forecast the low-orbit satellite clock difference according to the low-orbit satellite real-time clock difference, so as to obtain low-orbit satellite clock difference forecast data;
the navigation module 260 is configured to perform satellite navigation according to the forecast orbit information, the low orbit satellite autonomous orbit forecast data and the low orbit satellite clock error forecast data.
According to the combined satellite navigation system, by executing the combined satellite navigation method of the first aspect of the embodiment of the invention, the problem of high coupling of satellite orbit errors and satellite clock error can be solved, the processing of high orbit satellite clock error information is not needed, high-precision orbit determination and prediction can be realized, and the service precision of the satellite navigation system is obviously improved.
Referring to fig. 3, an embodiment of the third aspect of the present invention further provides a functional block diagram of an electronic device, including: at least one processor 300, and a memory 310 communicatively coupled to the at least one processor 300; a data transmission module 320, a camera 330, a display screen 340 may also be included.
Wherein the processor 300 is adapted to perform the joint satellite navigation method of the first aspect embodiment by invoking a computer program stored in the memory 310.
The data transmission module 320 is connected to the processor 300, so as to implement data interaction between the data transmission module 320 and the processor 300.
The cameras 330 may include front cameras and rear cameras. Typically, the front camera is disposed on the front panel of the terminal and the rear camera is disposed on the rear surface of the terminal. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, camera 330 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.
The display screen 340 may be used to display information entered by a user or information provided to a user. The display screen 340 may include a display panel, which may optionally be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD) or an Organic Light-Emitting Diode (OLED) or the like. Further, the touch panel may cover the display panel, and when the touch panel detects a touch operation thereon or thereabout, the touch panel is transferred to the processor 300 to determine the type of touch event, and then the processor 300 provides a corresponding visual output on the display panel according to the type of touch event. In some embodiments, the touch panel may be integrated with the display panel to implement input and output functions.
The memory is used as a non-transitory storage medium for storing a non-transitory software program and a non-transitory computer executable program, such as the joint satellite navigation method in the embodiment of the first aspect of the present invention. The processor implements the joint satellite navigation method in the embodiment of the first aspect described above by running a non-transitory software program and instructions stored in a memory.
The memory may include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; the storage data area may store information for performing the joint satellite navigation method in the embodiments of the first aspect described above. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the terminal through 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 non-transitory software programs and instructions required to implement the joint satellite navigation method in the embodiments of the first aspect described above are stored in memory and when executed by one or more processors, perform the joint satellite navigation method in the embodiments of the first aspect described above.
The fourth aspect embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions for: the joint satellite navigation method in the embodiment of the first aspect is performed.
In some embodiments, the storage medium stores computer-executable instructions that are executed by one or more control processors, for example, by one processor in an electronic device according to an embodiment of the third aspect, which may cause the one or more processors to perform the joint satellite navigation method according to an embodiment of the first aspect.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (8)

1. The combined satellite navigation method is characterized by comprising the following steps of:
acquiring first inter-satellite bidirectional link observation data between high-orbit satellites, and performing high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
Acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-orbit satellite clocks relative to the initial satellite-based time reference;
establishing a satellite-to-ground link observation equation according to the first inter-satellite bidirectional link observation data after clock error elimination, and calculating precise orbit and forecast orbit information according to the satellite-to-ground link observation equation and the inter-satellite link observation equation;
acquiring low-orbit satellite downlink navigation signal observation data, and calculating low-orbit satellite real-time orbit parameters and low-orbit satellite real-time clock errors according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information;
carrying out low-orbit satellite orbit prediction according to the low-orbit satellite real-time orbit parameters to obtain low-orbit satellite autonomous orbit prediction data;
carrying out low-orbit satellite clock difference forecast according to the low-orbit satellite real-time clock difference to obtain low-orbit satellite clock difference forecast data;
satellite navigation is carried out according to the forecast orbit information, the low orbit satellite autonomous orbit forecast data and the low orbit satellite clock error forecast data;
the method for calculating precise orbit and forecast orbit information according to the inter-satellite and inter-satellite link observation equation, which is established according to the first inter-satellite bidirectional link observation data after clock error elimination, comprises the following steps:
The first inter-satellite bidirectional link observation data are calculated to the same moment, and inter-satellite geometric distance observation values among the high-orbit satellites are calculated;
establishing the inter-satellite-to-earth link observation equation according to the inter-satellite geometric distance observation value;
calculating the initial position, the speed information and the perturbation parameter state vector of the satellite according to the satellite-ground and inter-satellite link observation equation;
performing orbit integration according to the satellite initial position, the speed information and the perturbation parameter state vector to obtain the precise orbit and the forecast orbit information;
the obtaining the low-orbit satellite downlink navigation signal observation data, and calculating the low-orbit satellite real-time orbit parameters and the low-orbit satellite real-time clock difference according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information comprises the following steps:
extracting a pseudo-range observation value according to the forecast orbit information, and calculating the real-time orbit parameters of the low-orbit satellite according to the pseudo-range observation value;
and iterating the initial state of the low-orbit satellite real-time orbit parameter according to the low-orbit satellite downlink navigation signal observation data, and calculating the low-orbit satellite real-time clock difference.
2. The method of claim 1, wherein the first inter-satellite bidirectional link observation data is a first inter-satellite bidirectional ranging observation value between high-orbit satellites of a high-precision atomic clock, the acquiring the first inter-satellite bidirectional link observation data between the high-orbit satellites, and performing high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data, to obtain an initial satellite-based time reference, comprising:
The first inter-satellite two-way distance measurement observation values are calculated to the same moment, and a first clock difference between the high orbit satellites is calculated;
acquiring a main satellite base time reference, and calculating a second clock difference between a high-precision atomic clock of the high-orbit satellite and the main satellite base time reference;
and carrying out comprehensive adjustment calculation on the high orbit satellite clock difference according to the first clock difference and the second clock difference to obtain the initial satellite-based time reference.
3. The method of claim 2, wherein the obtaining the second inter-satellite bi-directional link observations, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference based on the second inter-satellite bi-directional link observations, and eliminating clock skew of all high-orbit satellite clocks with respect to the initial satellite-based time reference comprises:
calculating the high orbit clock difference and the high orbit clock speed parameters of all the high orbit satellites according to the second inter-satellite bidirectional link observation data and the first clock difference;
satellite Zhong Diaoxiang is performed based on the Gao Gui clock differential, the high orbit clock speed parameter, and the first clock differential, eliminating clock differential of all high orbit satellite clocks relative to the initial satellite based time reference.
4. The method of claim 1, wherein the low-orbit satellite real-time orbit parameters comprise: initial orbit root number, empirical acceleration parameters, and pseudo-random pulse parameters;
The low-orbit satellite orbit prediction is carried out according to the low-orbit satellite real-time orbit parameters to obtain low-orbit satellite autonomous orbit prediction data, which comprises the following steps:
and performing orbit integration according to the initial orbit number, the empirical acceleration parameter and the pseudo-random pulse parameter to obtain the autonomous orbit forecast data of the low-orbit satellite.
5. The method of claim 1, wherein the low-orbit satellite clock bias forecast data comprises: clock error and clock speed parameters of low orbit satellite clock error forecast;
the low-orbit satellite clock difference forecasting is carried out according to the low-orbit satellite real-time clock difference to obtain low-orbit satellite clock difference forecasting data, which comprises the following steps:
and calculating clock difference and clock speed parameters of the low-orbit satellite clock difference forecast according to the low-orbit satellite real-time clock difference and a preset linear model.
6. An integrated satellite navigation system, comprising:
the first acquisition module is used for acquiring first inter-satellite bidirectional link observation data between high-orbit satellites, and carrying out high-orbit satellite clock difference comprehensive adjustment calculation according to the first inter-satellite bidirectional link observation data to obtain an initial satellite-based time reference;
the second acquisition module is used for acquiring second inter-satellite bidirectional link observation data, synchronizing all high-orbit satellite clocks with a satellite navigation system time reference according to the second inter-satellite bidirectional link observation data, and eliminating clock differences of all high-orbit satellite clocks relative to the initial satellite-based time reference;
The calculation module is configured to establish a satellite-to-ground and inter-satellite link observation equation according to the first inter-satellite bidirectional link observation data after the clock error is eliminated, calculate precise orbit and forecast orbit information according to the satellite-to-ground and inter-satellite link observation equation, and calculate precise orbit and forecast orbit information according to the satellite-to-ground and inter-satellite link observation equation, where the calculation module includes: the first inter-satellite bidirectional link observation data are calculated to the same moment, and inter-satellite geometric distance observation values among the high-orbit satellites are calculated; establishing the inter-satellite-to-earth link observation equation according to the inter-satellite geometric distance observation value; calculating the initial position, the speed information and the perturbation parameter state vector of the satellite according to the satellite-ground and inter-satellite link observation equation; performing orbit integration according to the satellite initial position, the speed information and the perturbation parameter state vector to obtain the precise orbit and the forecast orbit information;
the third obtaining module is configured to obtain low-orbit satellite downlink navigation signal observation data, calculate a low-orbit satellite real-time orbit parameter and a low-orbit satellite real-time clock difference according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information, obtain the low-orbit satellite downlink navigation signal observation data, and calculate the low-orbit satellite real-time orbit parameter and the low-orbit satellite real-time clock difference according to the low-orbit satellite downlink navigation signal observation data and the forecast orbit information, and include: extracting a pseudo-range observation value according to the forecast orbit information, and calculating the real-time orbit parameters of the low-orbit satellite according to the pseudo-range observation value; iterating the initial state of the low-orbit satellite real-time orbit parameter according to the low-orbit satellite downlink navigation signal observation data, and calculating the low-orbit satellite real-time clock difference;
The first forecasting module is used for forecasting the low-orbit satellite orbit according to the real-time orbit parameters of the low-orbit satellite to obtain autonomous orbit forecasting data of the low-orbit satellite;
the second forecasting module is used for forecasting the low-orbit satellite clock difference according to the low-orbit satellite real-time clock difference to obtain low-orbit satellite clock difference forecasting data;
and the navigation module is used for carrying out satellite navigation according to the forecast orbit information, the low-orbit satellite autonomous orbit forecast data and the low-orbit satellite clock error forecast data.
7. An electronic device, comprising:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions that are executed by the at least one processor to cause the at least one processor to implement the joint satellite navigation method of any one of claims 1-5 when the instructions are executed.
8. Computer readable storage medium, characterized in that the storage medium stores computer executable instructions for causing a computer to perform the joint satellite navigation method according to any one of claims 1 to 5.
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