CN106507953B - The passive Orbit determination of satellite and system - Google Patents
The passive Orbit determination of satellite and systemInfo
- Publication number
- CN106507953B CN106507953B CN200610055908.8A CN200610055908A CN106507953B CN 106507953 B CN106507953 B CN 106507953B CN 200610055908 A CN200610055908 A CN 200610055908A CN 106507953 B CN106507953 B CN 106507953B
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Abstract
The present invention is a kind of passive Orbit determination of satellite and system, is related to satellite technology.The passive Orbit determination of satellite of the invention is the radio signal for passively receiving satellite broadcasting by earth station, realizes the extraterrestrial target such as satellite location and surveys rail.Specific practice is in each measuring station to arrange 2～4 surface antennas, related using carrier signal waveform, path difference D during the indirect receiving satellite signal of two antennas is tried to achieve, and the path difference measurement data of multistation is sent to central station, position and track of the satellite in space is tried to achieve by multi stations intersection measurement model.While completing above-mentioned bigness scale orbit determination, in the covering region of satellite-signal, set up 10-100 satellite position accuracy monitoring reference station, in monitoring reference station, base position is accurately determined, monitoring receiver is installed on basic point, the vector correction that satellite position can further be tried to achieve by the monitoring net, so that reach the secondary high-precision measuring rail to satellite.
Description
Technical field
It is a kind of passive Orbit determination of satellite and system the present invention relates to satellite technology field.
Background technology
With developing by leaps and bounds for space technology, the aircraft of spatial movement is more and more.To aircraft
Increase severely the need for orbit measurement, especially because the foundation of US Global global position system, it is to lead
Boat satellite is interspace position reference, using satellite atomic clock as time reference, so that all parts of the world
Conveniently realize high accuracy positioning, application value very big.In order to which the precision for ensureing navigator fix is just necessary
Accurate description aeronautical satellite locus, that is, it must realize that the high accuracy of aeronautical satellite is surveyed rail and determined
Rail.Classical method is the methods and techniques using Multiple Tones Range or pulse ranging direction finding.2003
Year Li Zhigang etc. is disclosed surveys the time difference, multi stations intersection measurement satellite orbital position using Pseudo Code Spread Spectrum signal
Survey orbit determination method patent of invention (number of patent application：200310102197.1).Its experimental system is passed through
It is 2~3 meters or so that orbit determination accuracy is checked and accepted in national level test.Above-mentioned various Orbit determinations are referred to as actively surveying
Amount type equipment.Active measurement type equipment is easily under attack with breaking in wartime due to needing transmission signal
Ruin.So, if the weakness of above-mentioned active measurement type equipment can be changed, satellite is improved from principle
The attack resistance of position survey rail system, anti-destruction performanceThis is an important problem.
The content of the invention
It is an object of the invention to provide a kind of passive Orbit determination of satellite and system, the inventive method and system
The weakness of the survey rail equipment of existing active measurement type satellite can be changed, satellite survey rail can be improved from principle
The anti-strike of system, the new satellite of anti-destruction performance passively survey rail technology.
In order to achieve the above object, technical solution of the invention is：Devise a kind of satellite quilt
Dynamic Orbit determination, it is adaptable to which rail is surveyed in the positioning of aeronautical satellite, and it comprises the following steps：
A. the measuring apparatus at many passive ground survey stations not transmission signal, only receives aeronautical satellite letter
Number；
B. each passive ground survey station, using the interference battle array of at least two face above antenna compositions, connects
Receive satellite-signal；
C. the satellite-signal received is related using carrier signal waveform, directly measures reflection satellite hair
Signal is penetrated to the time difference of transmission range between two surface antennas, so as to try to achieve path difference D；
D. the measurement data D at multiple passive ground survey stations is sent at data through communication link
Manage central station；
E. Data processing center station carries out pseudorange error amendment and multi stations intersection is calculated, and redundancy, which is tried to achieve, to be defended
The locus of star and track.
Described method, it is to be applied to aeronautical satellite to survey rail, orbit determination, or surveys rail applied to satellite
Positioning and the positioning of space junk.
The system that a kind of described method is used, including multiple ground survey stations, a data processing
Central station and multiple communication links；It is that a kind of completely passive satellite surveys rail system, and system contains many
Individual passive ground survey station, a data processing centre station and multiple communication links；Each passive ground
Interference battle array of the measuring station provided with least two face above antenna compositions, interference battle array receives the broadcast of aeronautical satellite
Information；Realized respectively with Data processing center station logical by communication link at each passive ground survey station
Letter.
Described system, its described Data processing center station is provided with the short of 2~4 surface antennas composition
Battle array is interfered in base line measurement, also can directly measure locus and the track of satellite.
Described system, it also includes the second-order correction for surveying rail data, i.e., covered in navigation satellite signal
In the range of lid, multiple monitoring reference stations are set, and monitor reference station location Accurate Calibration, in demarcation
High-precision dual-frequency navigation location receiver is installed on point, the observation and mark that monitoring reference station is obtained
Difference between definite value is sent to Data processing center station, is defended by Data processing center station calculating processing
The correction value that championship is put, so that high-precision satellite position and orbital data are obtained, so as to further carry
High orbit measuring precision.
Described system, its multiple passive ground survey station, is 3~10, each passive
The short base line measurement interference battle array that ground survey station is constituted provided with 2~4 surface antennas.
Described system, multiple monitoring reference stations described in it, are 10~100.
The advantage of the passive Orbit determination of satellite of the present invention and system is：
1) good concealment
This method is passive measurement method, measurement not transmission signal in itself, so will not stick one's chin out,
Can exempt from strike with destroy, can under the situation that other side can not discover reliably working.
2) equipment is simple, small investment
This method is received only with passive, not transmission signal, so without emitter.Receiving device
Antenna aperture it is small, equipment is simpler.Monitoring station receiver is more simple, so small investment.
3) high precision
The inventive method determines rail using Second level amendment, makes last Satellite Orbit Determination high precision.(can be excellent
In 1 meter).
The inventive method is a kind of brand-new satellite Orbit determination, is formed by multiple technologies integrated use,
So that satellite surveys rail and strides into passive type survey rail from active survey rail.Relay type satellite is can apply to lead
Boat system, can also be applied to GPS-type satellite navigation system, or even slightly modified can be applied to other
The positioning of survey rail and the positioning of space junk of satellite.
Brief description of the drawings
Fig. 1 is that two-element antenna interferes battle array principle schematic；
Fig. 2 surveys rail principle and system structure diagram for the present invention is passive；
Fig. 3 (a), (b) are that quaternary antenna of the present invention interferes small battle array distribution schematic diagram.
Embodiment
Passive rail system of surveying is to constitute passive ground by 3-10 two-element antenna array or multielement array
What measuring station, 1 central processing station and 10-100 region or global monitoring reference station were constituted.Quilt
Dynamic measuring station is a kind of measuring station do not launched radio signal, only receive satellite-signal.Two faces with
Upper antenna receives satellite-signal, related using signal waveform, can directly measure reflection satellite launch
Signal to transmission range between two surface antennas the time difference, so as to try to achieve path difference D (see accompanying drawing 1).Central station
Itself can also be the same with passive measurement station, the short baseline being made up of two surface antennas or four sides antenna is set
Measurement interference battle array, such itself also can directly measure the locus of satellite.Passive monitoring reference station
Measurement data be sent to central station, central station can realize pseudorange error amendment and multi stations intersection meter
Calculate, redundancy tries to achieve the locus of satellite.When surveying rail to aeronautical satellite, defended to further improve
The measure rail precision of star, can build 10-100 satellite navigation essence in satellite navigation covering region
Base position is accurately determined in degree monitoring reference station, monitoring reference station, and high accuracy is installed on basic point and is led
Navigate monitoring receiver.The receiver of these monitoring reference stations receives the navigation signal of aeronautical satellite, can obtain
To observation data such as pseudoranges.These observation data etc. are equally sent to data processing centre, by data
The vector corrected value that satellite position is just can obtain with resolving is uniformly processed in processing center, so as to realize navigation
The secondary high accuracy amendment of Satellite Orbit Determination.
The present invention is described in further detail with reference to the accompanying drawings and examples.With relay type satellite
It is subject to the introduction of embodiment exemplified by the application of navigation.Such as Fig. 1 binary interference battle array principle signal
Shown in figure：Using two-element antenna (antenna 7 and antenna 8) composition antenna interference battle array, two surface antennas 7,
8 receive the signal of satellite 6 simultaneously, related using the waveform of carrier signal, can measure satellite to two
The time difference of surface antenna, so as to try to achieve path difference D.
As shown in Fig. 2 passive survey rail principle schematic：5-10 passive ground are set up on ground
4,1 data processing centre station 5 of measuring station, the path difference at each passive ground survey station 4 is uniformly sent
Toward Data processing center station 5, position and track that multi stations intersection just can be in the hope of satellite 6 in space.
1st, passive ground survey station 4,
Refer to not launch radio signal, only receive the measuring station of satellite broadcast signal.Can be
The interferometry antenna pair being made up of two surface antennas；The short base that can also be made up of 3-4 surface antennas
Line interferes small battle array.The satellite-signal received using each surface antenna, it is related using signal waveform, can be with
Satellite is measured to the time difference of two surface antennas, so as to try to achieve path difference D.Multi stations intersection just can be in the hope of satellite
Position and track in space.
Mainly there are two kinds of forms at passive ground survey station 4：
A) binary interference antenna pair：
Binary interferes battle array as shown in figure 1, being made up of two surface antennas 7,8.
When the transmission signal of satellite 6 is received by antenna 7,8.Wherein distance (baseline L) between antenna 7,8
Can accurately it determine.Vertical line is made from the sight of antenna 8 to satellite to antenna 7, intersection point is O, small by three
In angular O12, O1 is referred to as path difference D.Path difference D specific measurement process is as follows：
On the basis of the time for reaching antenna 8 by radiation source, ask and reach the relative time delay of antenna 7 for Δ t.
If signal is s (t), two antenna input noises are respectively e1And e (t)2(t), they are orthogonal, two days
Line is output as：
x1(t)=g1s(t)+e1(t) (1)
x2(t)=g2s(t)+e2(t) (2)
G in formula (1) and (2)1And g2Respectively radiation source to antenna transmission gain.Calculate two
The correlation function of antenna output signal, has
By obtaining for formula (1), (2) and (3)：
Wherein C is a constant, Rs(τ-Δ t) is the correlation function of signal, by the property of correlation function：
|R(τ)|≤|R(0)| (5)
Understand：As τ=Δ t, the mould of correlation function reaches maximum, therefore presses | Rs(τ-Δ t) | reach most
The estimation of τ values time difference Δ t, then the path difference D for reaching antenna 7 and 8 when big are
D=c. Δ t (6)
Wherein, c is the spread speed of signal.
Obtain after path difference D, just can in the hope of cosine from antenna 7 to the visual angle α of satellite 6, i.e.,
Cos α=D/L (7)
Here, it is important to path difference D measurement.We have invented high-precision path difference mensuration, directly
Synchronous satellite 4GC downstream signal is received, simulation accuracy is 0.2ns, and actual test precision is less than 2ns.
If along with carrier phase measurement, can reach 0.01~0.1ns.Another influence angle measurement accuracy
Factor is baseline L length.Base length, real time calculation difficult need to solve communication issue；Baseline is short,
To make angle measurement accuracy keep the constant measurement request it is necessary to improve to path difference.Advocate to use short baseline
(10Km~60Km) or ultra-short baseline (3Km~5Km), can so make the setting letter of transmission data
It is single, real-time computing enhancing.
B) quaternary interference battle array：
If constituting the small battle array of interference by four sides antenna, four surface antennas can be distributed by quadrangle, such as Fig. 3 a
It is shown or by Triangle-Profile, as shown in Figure 3 b.Other arrangement modes can certainly be used, or
Arbitrary arrangement.
Centered on antenna 0, the signal that antenna 1,2,3 is received should all reach antenna 0.At this moment can be with
Obtain 3 path difference Di0(i=1,2,3), measures 3 foundation line Li0(i=1,2,3), just can obtain 3 and defend
Star visual angle cosine
cosαi0=Di0/Li0(i=1,2,3) (8)
2nd, Data processing center station 5：
Data processing center station 5 itself can also be equally set by two surface antennas with passive ground survey station 4
Small battle array is interfered in the short base line measurement of antenna pair or four sides the antenna composition of composition, and such itself also can be straight
Connect the locus for measuring satellite.5-10 passive ground surveys are set at navigation overlay area edge
Stand 4, and the data at these passive ground survey stations 4 are sent to central station.Such Data processing
Center station 5 can be calculated through multi stations intersection, and redundancy tries to achieve the locus of satellite.
Satellite position calculation process is as follows：
Assuming that passive measurement station and data processing centre station 5 are all configured with the short base being made up of two surface antennas
Line measurement interference antenna pair.The position X of satellites, the position of two surface antennas of passive measurement station and main website
Putting is respectivelyWithThen exist
In formula, n is the quantity of measuring station and antenna in main website；Refer in ith measurement station or main website
Two surface antennas to satellite path difference measured value；It is the measurement error of above-mentioned path difference, its value very little,
It can ignore.
The position of satellite is tried to achieve by equation above.With these data through Dynamic orbit determination software, try to achieve
The extrapolation track of satellite.If in satellite navigation system, orbit determination data write navigation message by connecting station
Satellite is sent to, user is given by satellite broadcasting is descending, it is possible to navigation, the positioning of user's carrier is realized
And time service.
3rd, positioning precision monitoring station
In satellite navigation covering region, 10-100 satellite navigation accuracy monitoring reference station is set up,
Base position is accurately determined in monitoring reference station, and high-precision navigation observation receiver is installed on basic point.
Dual-frequency receiver measured value is obtained using above-mentioned monitoring reference station, these measured values include：From being
The pseudorange and carrier wave phase for the double frequency that system master station is arrived after being forwarded through satellite between monitoring reference station receiver
Position measured value, monitoring reference station troposphere time delay and other information.These measured values are in monitoring reference station
Handled by double frequency carrier smoothing, the pseudorange after processing deducts master station and estimated to satellite ionospheric delay
Value, the geometric distance of master station to satellite, satellite to monitoring reference station ionospheric delay estimate,
Satellite to monitoring reference station troposphere time delay estimate, monitoring reference station to satellite geometric distance and
Master station signal uplink chain-circuit time delay error (being provided by navigation message), obtains master station and passes through satellite
To the pseudorange residuals of monitoring reference station.Wherein, system master station is to use double to the ionospheric delay of satellite
The code of frequency receiver, carrier wave measured value are calculated and obtained.During the pseudorange residuals of all monitoring reference stations are sent to
The data processing centre of center station is handled.Calculation processes are as follows：
The observed quantity for the relay type satellite that monitoring reference station is obtained can be expressed as follows (receiver is double frequency)：
Wherein, following table M represents main website, and following table m represents to monitor reference station. WithIt is the C that master station M is forwarded to m-th of monitoring reference station through satellite j respectively1Frequency
Pseudorange and C1Frequency carrier phase value；It is master station and master station respectively to the several of satellite j
What distance；It is due to time delay (code) or shift to an earlier date (carrier wave) that ionosphere is caused；From master
Signal uplink link error of the satellite in addition to ionospheric error is arrived at control station；bmAnd bMIt is monitoring respectively
Reference station receiver clocking error and master station transmitter clock error, can be compared with passage time and eliminated
Fall；WithIt is pseudo range measurement noise and carrier phase measurement noise respectively；Nm1And Nm2It is respectivelyWithComplete cycle phase ambiguity；λ is the wavelength of light.
Here is the calculating process of pseudorange residuals：
1) ionospheric delay is calculated：The measured value of dual-frequency receiver is ionospheric delay and other errors
Source is separated.Ionospheric error is separated below by double frequency pseudorange and combination carrier phase observation.
In both the above equationObtained by master station internal loopback.Noise is big, and
Although being influenceed have deviation by fuzziness, high precision.(used by smoothing processing) can obtain
ArriveA preferably smooth ionosphere estimation be expressed as
2) troposphere time-delay calculation：Monitoring reference station data is also comprising the temperature obtained by weather station measurement
Degree, pressure and relative humidity information.Meteorology can be used by monitoring the troposphere time delay estimation of reference station to satellite
Station obtains data and Tropospheric Models are calculated and obtained, and its estimated value table is shown as
3) geometric distance is calculated：Broadcast ephemeris calculates satellite position Rj.Obtained by accurate measurement
Monitor reference station aerial position Rm, then reference station is monitored to the distance of satelliteWith master station to satellite
DistanceIt can calculate.
4) pseudorange residuals are calculated：Carrier smoothing pseudo range deducts geometric distanceSatellite to monitoring
The ionospheric delay of reference stationTroposphere time delay of the satellite to monitoring reference stationWith master station signal
Up-link time delay error(being provided by navigation message) etc. just obtains master station and joined through satellite to monitoring
The pseudorange residuals at station are examined, are expressed as follows：
CauseWherein Δ Rj,It is ephemeris error and master station letter respectively
The residual error of number up-link time delay error, above equation can be reduced to
Containing 4 unknown numbers in equation (18), when a certain satellite in the range of the angle of sight at a time
Interior energy sees the monitoring reference station of more than 4, with regard to that can solve this 4 unknown numbers.So to each
For satellite, equation group is all independent, as long as can see the monitoring ginseng of 4 or more than 4 simultaneously
This 4 unknown numbers can just be solved by examining station.
Claims (1)
1. a kind of passive survey rail system, it includes 3-10 passive ground survey station, 1 center
Reason station and 10-100 satellite navigation accuracy monitoring reference station, it is characterised in that：Passive ground survey
Interferometry antenna pair or done by the short baseline that 3-4 surface antennas are constituted that station is made up of two surface antennas
Small battle array is related to, the passive ground survey station is arranged on navigation overlay area edge, is not launch aerogram
Number, only receive the measuring station of satellite-signal；The passive ground survey station is received using each surface antenna to be defended
Star signal, it is related using signal waveform, satellite is measured to the time difference of antenna, so as to try to achieve path difference D；
It is short that the antenna pair or four sides antenna that the central processing station setting is made up of two surface antennas are constituted
Small battle array is interfered in base line measurement, and it receives the measurement data at the passive ground survey station by communication link
Path difference D, is calculated by multi stations intersection, and redundancy tries to achieve the locus of satellite；
The satellite navigation accuracy monitoring reference station is arranged in satellite navigation covering region, and described
Base position is accurately determined in satellite navigation accuracy monitoring reference station, and installs high on the basic point
Precision navigation observation receiver；Dual-frequency receiver measured value is obtained using the monitoring reference station, these
Measured value includes：From system centre treating stations forwarded through satellite after to monitoring reference station receiver
The pseudorange and carrier-phase measurement or monitoring reference station troposphere time delay of double frequency；These measured values are in prison
Reference station is surveyed to handle by double frequency carrier smoothing, pseudorange after processing deduction satellite through during ionosphere when
Prolong estimate, satellite to ionospheric delay estimate, the satellite to monitoring reference station for monitoring reference station
The geometric distance of troposphere time delay estimate, monitoring reference station to satellite, obtains satellite and is referred to monitoring
The pseudorange residuals stood；Wherein, satellite is to use the code of dual-frequency receiver, carrier wave through time delay during ionosphere
Measured value is calculated and obtained；The pseudorange residuals of all monitoring reference stations are sent to the data processing of central processing station
Center is handled；
Obtained satellite to navigation accuracy is monitored by reference station by satellite navigation accuracy monitoring reference station
Pseudorange residuals be sent to the data processing centre of central processing station and handled, by data processing centre
The vector corrected value that satellite position is just can obtain with resolving is uniformly processed, so as to realize aeronautical satellite orbit determination
It is secondary high accuracy amendment.
Priority Applications (1)
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| CN200610055908.8A CN106507953B (en) | 2006-05-12 | 2006-05-12 | The passive Orbit determination of satellite and system |
Applications Claiming Priority (1)
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| CN200610055908.8A CN106507953B (en) | 2006-05-12 | 2006-05-12 | The passive Orbit determination of satellite and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031198A (en) * | 2018-07-30 | 2018-12-18 | 中国科学院国家授时中心 | A method of it is realized and is positioned using non-cooperation satellite-signal |
| CN113124919A (en) * | 2021-04-09 | 2021-07-16 | 中移(上海)信息通信科技有限公司 | Abnormity monitoring method and device for reference station and related equipment |
| CN113204019A (en) * | 2021-03-18 | 2021-08-03 | 北京理工大学 | Passive high-speed intersection target direct orbit determination method and system |
-
2006
- 2006-05-12 CN CN200610055908.8A patent/CN106507953B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031198A (en) * | 2018-07-30 | 2018-12-18 | 中国科学院国家授时中心 | A method of it is realized and is positioned using non-cooperation satellite-signal |
| CN109031198B (en) * | 2018-07-30 | 2022-06-21 | 中国科学院国家授时中心 | Method for realizing positioning by using non-cooperative satellite signal |
| CN113204019A (en) * | 2021-03-18 | 2021-08-03 | 北京理工大学 | Passive high-speed intersection target direct orbit determination method and system |
| CN113204019B (en) * | 2021-03-18 | 2024-02-27 | 北京理工大学 | Passive high-speed intersection target direct orbit determination method and system |
| CN113124919A (en) * | 2021-04-09 | 2021-07-16 | 中移(上海)信息通信科技有限公司 | Abnormity monitoring method and device for reference station and related equipment |
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