CN118068380A - Satellite communication positioning method, satellite communication system and electronic equipment - Google Patents
Satellite communication positioning method, satellite communication system and electronic equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S19/072—Ionosphere corrections
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Signal Processing (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application provides a satellite communication positioning method, a satellite communication system and electronic equipment. Wherein the method comprises the following steps: the short message management platform determines ionosphere correction parameters and observation value noise according to ionosphere calculation parameters and observation data, wherein the observation value noise comprises: the weight of the altitude angle and the weight of the signal to noise ratio. And the short message management platform transmits the ionospheric correction parameters and the observed value noise to each satellite, and each satellite carries out differential coding processing according to the ionospheric correction parameters to obtain compressed data. Each satellite encrypts the compressed data and the observed value noise to obtain a short message, and sends the short message to the terminal equipment, so that the terminal equipment obtains a positioning result based on the compressed data and the observed value noise sent by each satellite. The utilization rate of the observed data is improved, and instantaneous decimeter level positioning under severe environment is realized.
Description
Technical Field
The application relates to the technical field of satellite navigation, in particular to a satellite communication positioning method, a satellite communication system and electronic equipment.
Background
After the Beidou No. three satellite navigation system is started and operated, a user can acquire real-time decimeter-centimeter level position information in real time by matching with a high-precision positioning terminal and CORS (Cross-Origin Resource Sharing) service, but some remote areas are not covered by CORS and communication network service at present, so that measurement users in the areas cannot acquire high-precision positioning information, and time consumption, labor consumption and financial consumption are huge and safety risks exist when 4G network communication facilities and Beidou reference stations are established in the areas.
At present, based on the unique star-based precise single-point positioning service and the Beidou No. three short message communication service of the Beidou navigation system, a user can receive high-precision orbit and clock correction information through a satellite without using a 4G network, and the positioning precision of decimeter level-centimeter level can be obtained after 30 minutes of initialization.
However, the positioning requirement of instantaneous decimeter level cannot be met when the method of ionosphere delay calculation in the prior art faces the complex ionosphere phenomenon. In a severe working environment, the data utilization rate of the observed data is low, and the low-quality observed data has great influence on positioning accuracy and positioning stability.
Disclosure of Invention
The application aims to overcome the defects in the prior art and provide a satellite communication positioning method, a satellite communication system and electronic equipment so as to solve the problems that the positioning accuracy and the positioning stability are affected by complex ionosphere phenomenon and observation data in severe environments in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows:
In a first aspect, the present application provides a satellite communication positioning method, applied to a satellite communication system, where the satellite communication system at least includes: the system comprises a ground station and a plurality of satellites, wherein a short message management platform is deployed on the ground station, and the method comprises the following steps:
The short message management platform determines ionosphere correction parameters and observation value noise according to ionosphere calculation parameters and observation data, wherein the observation value noise comprises the following components: the weight of the altitude angle and the weight of the signal to noise ratio;
The short message management platform transmits the ionospheric correction parameters and the observed value noise to each satellite, and each satellite carries out differential coding processing according to the ionospheric correction parameters to obtain compressed data;
And each satellite encrypts the compressed data and the observed value noise to obtain a short message, and sends the short message to a terminal device so that the terminal device obtains a positioning result based on the compressed data and the observed value noise sent by each satellite.
Optionally, the determining ionospheric correction parameters and observed value noise according to ionospheric resolution parameters and observed data includes:
Obtaining ionospheric delay according to ionospheric solution parameters and observation data;
obtaining observation value noise according to the observation data;
and obtaining the ionospheric correction parameters according to the ionospheric delay, wherein the ionospheric correction parameters are used for representing the local vertical electron content of the coverage area of the satellite.
Optionally, the obtaining ionospheric delay according to the ionospheric solution parameters and the observed data includes:
According to the ionosphere resolving parameter, resolving the observed data to obtain initial delay information;
Determining a distance function and a correction parameter corresponding to the observed data, and determining difference information of ionospheric delay of a satellite end and ionospheric delay of a receiver end based on a pre-constructed differential distance model according to the distance function and the correction parameter;
And separating the ionospheric delay from the initial delay information according to the difference information.
Optionally, the obtaining the observed value noise according to the altitude angle and the signal-to-noise ratio in the observed data includes:
performing positioning calculation on the observed data to obtain an initial positioning result, wherein the initial positioning result comprises: height angle, signal to noise ratio;
Performing post-test residual error processing on the initial positioning result to obtain a high-angle post-test residual error and a signal-to-noise ratio post-test residual error;
And carrying out fusion processing on the altitude angle post-test residual error and the signal-to-noise ratio post-test residual error based on a convolutional neural network obtained through pre-training to obtain the observed value noise.
Optionally, the obtaining the ionospheric correction parameter according to the ionospheric delay includes:
acquiring a plurality of data points for the coverage area;
obtaining local electron content according to the distance from each data point to the ionosphere puncture point;
And performing spatial interpolation processing on the local electron content based on a porous function to obtain the ionosphere correction parameter.
Optionally, the satellite performs differential encoding processing according to the ionospheric correction parameters to obtain compressed data, including:
Acquiring associated correction parameters related to the ionospheric correction parameters;
Determining the change information of the ionospheric correction parameters and the associated correction parameters;
performing differential coding processing on the change information to obtain processed data;
And compressing the processed data based on a preset coding strategy to obtain the compressed data.
Optionally, the compressing the processed data based on a preset encoding policy to obtain the compressed data includes:
Determining the window length of a sliding window according to the data length of the ionosphere correction parameters and the data length of the associated correction parameters;
performing matching search based on the sliding window and a pre-constructed balanced binary tree, and determining a matching character string of the change information;
And encoding the change information into the compressed data according to the length of each matching character string and a preset length threshold value.
Optionally, the encoding the change information into the compressed data according to the length of each matching string and a preset length threshold includes:
if the matching character string is larger than the length threshold value, the relative offset and the matching length are used as data to be coded corresponding to the matching character string;
If the matching character string is smaller than or equal to the length threshold value, the matching character string is used as data to be coded corresponding to the matching character string;
And obtaining the compressed data according to the data to be encoded corresponding to each matching character string.
In a second aspect, the present application provides a satellite communication system for performing the steps of the satellite communication positioning method according to the first aspect, the system at least comprising: the system comprises a ground station and a plurality of satellites, wherein a short message management platform is deployed on the ground station.
In a third aspect, the present application provides an electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the satellite communication positioning method as described in the first aspect above.
The beneficial effects of the application are as follows: the height angle and the weight of the signal to noise ratio can be adjusted in a self-adaptive mode through the noise of the observed value, the observed data, especially the observed data with higher quality, are utilized more effectively, the utilization rate of the data is improved, the dependence on low-quality observed data in positioning is reduced, and the positioning precision and stability are improved. The compressed data is obtained by carrying out differential coding processing on the ionosphere correction parameters, so that the communication capacity of short messages can be improved, the real-time broadcasting of the ionosphere correction parameters is ensured, and the instant decimeter level positioning of a network-free communication area is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic architecture diagram of a beidou satellite navigation system provided by an embodiment of the present application;
fig. 2 is a schematic flow chart of a satellite communication method according to an embodiment of the present application;
FIG. 3 is a flow chart of determining ionospheric correction parameters and observed noise in accordance with an embodiment of the present application;
FIG. 4 is a schematic flow chart of determining ionospheric delay according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of obtaining observed value noise according to observed data according to an embodiment of the present application;
FIG. 6 is a flow chart of determining ionospheric correction parameters in accordance with an embodiment of the present application;
FIG. 7 is a schematic diagram of a flow chart for data processing and compression according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a flow chart for data compression according to an embodiment of the present application;
FIG. 9 is an overall flowchart of a satellite communication positioning method according to an embodiment of the present application;
Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.
When the method for ionosphere delay calculation in the prior art faces a complex ionosphere phenomenon, the ionosphere disturbance and other complex phenomena influence the ionosphere calculation precision, so that the obtained calculation result is inaccurate, and the positioning requirement of the instantaneous decimeter level cannot be met.
On the other hand, in a severe working environment, the data quality of GNSS observation data is often irregular, and there may be a situation that the low-quality observation data is too dependent in positioning, so that the data utilization rate of the observation data is low, and the low-quality observation data has a great influence on positioning accuracy and positioning stability.
Based on the method, the satellite communication positioning method provided by the application can more effectively utilize the observed data and improve the utilization rate of the data by adaptively adjusting the weight of the altitude angle and the signal-to-noise ratio. By carrying out data compression on the transmission data, the communication capacity of the short message is increased, and then the real-time instant decimeter-level positioning of the network-free communication area is realized. The application improves the ionosphere resolving step, and can cope with more complex ionosphere phenomenon after improvement, thereby obtaining ionosphere delay correction parameters with higher precision.
The satellite communication positioning method of the application can be applied to a Beidou satellite navigation system, and fig. 1 is a schematic diagram of the architecture of the Beidou satellite navigation system. Referring to fig. 1, a system includes a space station 10, a ground station 20, and a subscriber station 30. Wherein the space station 10 includes a plurality of satellites, the ground station 20 includes a data processing center and a ground monitoring station, and the subscriber station 30 includes at least one subscriber terminal.
The short message management platform can be deployed in a data processing center and is used for processing satellite data monitored by the ground monitoring station to obtain information such as satellite positions, delay parameters and the like, the information is sent to the satellite through the intermediate forwarding station, and the satellite sends the received processed data to the user terminal again so that the user terminal can determine the position of the user terminal based on the data sent by the satellite.
Fig. 2 is a schematic flow chart of a satellite communication method according to the present application. The method can be applied to the Beidou satellite navigation system shown in fig. 1 or other satellite communication systems, and referring to fig. 2, the satellite communication method comprises the following steps:
step 201, the short message management platform determines ionospheric correction parameters and observation value noise according to ionospheric resolution parameters and observation data, wherein the observation value noise comprises: the weight of the altitude angle and the weight of the signal to noise ratio.
The short message management platform can acquire ionosphere resolving parameters and GNSS (Global Navigation SATELLITE SYSTEM, global satellite navigation system) observation data through a ground monitoring station, a third party service and a global ionosphere map. The ground monitoring station may be, for example, a CORS station, and the third party service may be an International IGS (International GNSS SERVICE ) implementation service.
The ionospheric resolution parameter may describe parameter information of an ionosphere through which satellite communication passes, including: the electron density, ion density, electron temperature, ion composition of the ionosphere, and the like. The observed data includes: orbit, clock, hardware delay, etc., and may describe the satellite's position information. As one example, satellite observations may be obtained by a ground monitoring station as shown in fig. 1.
It should be noted that, when a signal transmitted by a satellite passes through an ionosphere, the signal is affected by the ionosphere, the propagation speed of the signal changes, and the propagation path is slightly curved, so that an error exists between the actual propagation distance of the signal and the geometric distance from the signal source to the receiver. The ionospheric correction parameters can be used to correct for errors between the actual propagation distance of the signal and the geometrical distance of the signal source to the receiver.
The observed value noise includes the weight of the altitude angle and the weight of the signal to noise ratio. The terminal may adjust the received satellite data based on the observed noise and perform positioning calculations based on the adjusted satellite data.
Taking Beidou short messages as an example, the maximum length of a single short message is 3883 bits, and the service frequency is transmitted 1 time in an average of 30 seconds. Based on the short time space stability characteristic of the ionosphere, the short message management platform carries out ionosphere modeling by using data with the span of 5 minutes each time, the valid period of the calculated ionosphere correction parameters is more than 1 minute, and the terminal can be ensured to always use the valid ionosphere correction parameters.
Step 202, the short message management platform transmits ionospheric correction parameters and observed value noise to each satellite, and each satellite performs differential coding processing according to the ionospheric correction parameters to obtain compressed data.
The short message management platform can transmit the ionospheric correction parameters and the observed value noise to each satellite of the space station through the intermediate forwarding station, and each satellite carries out differential coding processing according to the ionospheric correction parameters.
In a first implementation, the satellite may perform differential encoding processing on the ionospheric correction parameters, and compress the encoded ionospheric correction parameters and the observed noise to obtain compressed data.
In a second implementation, the satellite may perform differential encoding on both the ionospheric correction parameters and the observation noise, and compress the encoded ionospheric correction parameters and the encoded observation noise to obtain compressed data.
It is noted that the ionospheric resolution parameters and observation data may be data having time information over a period of time, and that the ionospheric correction parameters and observation noise obtained based on the ionospheric resolution parameters and observation data contain continuous time-series data.
Based on the feature that the ionospheric correction parameters have continuous time information, differential encoding processing can be performed on the ionospheric correction parameters. Specifically, the difference between the data of each time point of the ionosphere correction parameters and the data of the previous time point can be encoded into compressed data, so that the dynamic range of the data is reduced, the data quantity required to be compressed is reduced, and the method is beneficial to capturing the variation trend of the data.
Step 203, each satellite encrypts the compressed data and the observed value noise to obtain a short message, and sends the short message to the terminal device, so that the terminal device obtains a positioning result based on the compressed data and the observed value noise sent by each satellite.
Taking the Beidou navigation system as an example, the satellite encrypts the compressed data and the observed value noise, and the compressed data sent by the satellite can be encrypted based on the intelligent information source encryption technology of the Beidou short message communication machine to obtain the short message.
After receiving the short message, the terminal can perform positioning calculation according to the ionosphere correction parameters, satellite observation values and observation value noise obtained by analyzing the short message, so as to obtain the position information of the terminal.
When the terminal receives a short message and needs to perform positioning communication, the terminal can transmit the signal to a receiving end of a radio frequency chip DT-A6 of the terminal through filtering and signal amplification of an LNA; the radio frequency chip DT-A6 outputs 2/4bits digital intermediate frequency through internal frequency mixing, intermediate frequency filtering, intermediate frequency variable gain amplification, ADC analog-to-digital and other processing, and the radio frequency chip supports optional output of complementary codes and SIGN/MAG codes; meanwhile, the radio frequency chip outputs a 50MHz sampling clock to the RDSS baseband processing chip. The TD1100A baseband chip performs baseband processing, such as digital demodulation and data analysis, on the received digital intermediate frequency, and outputs the digital intermediate frequency through a parallel-serial port (3.3V LVTTL level).
The baseband chip receives commands or data from an upper computer through a serial port, packages the commands or data into frame data and carries out digital modulation to form a baseband data stream, and the baseband data stream is shaped, filtered and modulated (BPSK) on a transmitting carrier wave through a radio frequency chip; and finally, the satellite is transmitted to a satellite through a transmitting antenna after being filtered and amplified by a transmitting link, so that positioning and short message communication are realized.
It is worth noting that the data length limit and the sending frequency limit exist in the Beidou short message, and specifically, the data length of the card with high sending frequency of the Beidou third area short message is 86.5 bytes. When the information is distributed, an unpacking and packing mechanism can be adopted, and the limitation of the data length of the Beidou short message is broken through. And the measures of terminal registration, login, offline judgment, transmission failure judgment, power consumption information caching, reissue, retransmission and the like are added, so that the reliability of data transmission is enhanced.
In the embodiment of the application, the short message management platform determines ionospheric correction parameters and observed value noise according to ionospheric resolution parameters and observed data, wherein the observed value noise comprises: the weight of the altitude angle and the weight of the signal to noise ratio. And the short message management platform transmits the ionospheric correction parameters and the observed value noise to each satellite, and each satellite carries out differential coding processing according to the ionospheric correction parameters to obtain compressed data. Each satellite encrypts the compressed data and the observed value noise to obtain a short message, and sends the short message to the terminal equipment, so that the terminal equipment obtains a positioning result based on the compressed data and the observed value noise sent by each satellite.
The height angle and the weight of the signal to noise ratio can be adjusted in a self-adaptive mode through the noise of the observed value, the observed data, especially the observed data with higher quality, are utilized more effectively, the utilization rate of the data is improved, the dependence on low-quality observed data in positioning is reduced, and the positioning precision and stability are improved. The compressed data is obtained by carrying out differential coding processing on the ionosphere correction parameters, so that the communication capacity of short messages can be improved, the real-time broadcasting of the ionosphere correction parameters is ensured, and the instant decimeter level positioning of a network-free communication area is realized. In addition, the method of the application can be suitable for different data distribution, thus providing accurate resolving results for complex ionosphere phenomenon.
The following is a further description of the above determination of ionospheric correction parameters and observed value noise from ionospheric resolution parameters and observed data. FIG. 3 is a schematic flow chart of the method for determining ionospheric correction parameters and observed noise. As shown in fig. 3, the step 201 includes:
Step 301, obtaining ionospheric delay according to ionospheric resolution parameters and observed data.
The magnitude of the DCB (DIFFERENTIAL CODE BIAS ) is related to the distance that the signal travels, and when the signal passes through the ionosphere, the path length of the signal propagation increases due to the ionosphere, thus increasing the DCB value, and thus the ionosphere delay is positively correlated with the DCB. The separation of the DCB from the ionospheric delay results in a higher accuracy ionospheric delay.
Alternatively, the ionospheric delay may include a satellite-side DCB and a receiver-side DCB. As a possible implementation, the ionospheric delay may be obtained based on a differential distance model based on a separation of ionospheric solution parameters and observed data. The receiver may be the user terminal in fig. 1.
And 302, obtaining the observation value noise according to the observation data.
As a possible implementation manner, the weight adjustment can be performed on the observed data based on a PPP (precise point positioning, precise single point positioning) random model with adaptive altitude and snr after fusion, so as to obtain altitude weight and snr weight, and the altitude weight and snr weight are used as the observed value noise.
Step 303, obtaining an ionospheric correction parameter according to the ionospheric delay, wherein the ionospheric correction parameter is used for representing the local vertical electron content of the coverage area of the satellite.
The local vertical electron content may be VTEC (Vertical Total Electron Conten, ionosphere vertical electron content) of the coverage area, among others. For describing the density of free electrons in the ionosphere of the satellite coverage area.
The local vertical electron content of the satellite coverage area obtained based on ionospheric delay may be used to seat ionospheric correction parameters for the satellite coverage area. For areas not covered by satellites, the global vertical electron content may be used as ionospheric correction parameters.
It should be noted that, when the server responsible for providing the navigation service is in maintenance, the global vertical electronic content may also be used as the ionospheric correction parameter. At this point, the global vertical electron content may be obtained based on real-time global ionospheric correction products from spatial research centers.
Further, fig. 4 is a schematic flow chart of determining ionospheric delay according to the present application. As shown in fig. 4, the step 301 includes:
And step 401, calculating the observed data according to the ionosphere calculation parameters to obtain initial delay information.
The initial delay information includes delay information of the satellite end and delay information of the receiver end. The observed data comprises delay information of a satellite end and a receiver end, and initial delay information can be obtained by calculating the observed data through ionosphere calculation parameters.
Step 402, determining a distance function and a correction parameter corresponding to the observed data, and determining difference information of ionospheric delay at a satellite end and ionospheric delay at a receiver end based on a pre-constructed differential distance model according to the distance function and the correction parameter.
Step 403, separating the ionospheric delay from the initial delay information according to the difference information.
From the observations, a distance function between the receiver and the satellite and correction parameters of the differential distance model can be established. After the distance function and the correction parameters are obtained, calculation can be performed through a differential distance model, so that the difference information of the DCB at the satellite end and the DCB at the receiver end is obtained.
As an example, a model equation of the differential distance model may be shown in the following formula (1). Wherein,Is the receiver side DCB. /(I)Is satellite-side DCB,/>Is a function of the distance difference between the receiver and the satellite,/>Is the geometrical distance between the receiver and the satellite,/>Is a correction parameter in the model for taking into account the influence of other factors than distance.
（1）
After the difference information is obtained, the receiver-side DCB and the satellite-side DCB can be separated from the ionospheric delay based on the difference information, and the ionospheric delay is obtained by estimating through a U-PPP model after separation.
It should be noted that, the above steps 401 to 403 are only one way to separate DCBs according to the present application, and DCB correction files or other ways may be used to separate DCBs, and the present application is not limited herein.
Fig. 5 is a schematic flow chart of obtaining observed value noise according to observed data according to the present application. As shown in fig. 5, the step 302 includes:
Step 501, performing positioning calculation on the observed data to obtain an initial positioning result, where the initial positioning result includes: height angle, signal to noise ratio.
And 502, performing post-test residual error processing on the initial positioning result to obtain a high-angle post-test residual error and a signal-to-noise ratio post-test residual error.
And 503, carrying out fusion processing on the altitude angle post-test residual error and the signal-to-noise ratio post-test residual error based on a convolutional neural network obtained through pre-training to obtain observed value noise.
The initial positioning result may describe the position information of the terminal calculated based on the initial observation value, and it should be understood that the initial positioning result calculated by the short message management platform according to the altitude angle and the signal-to-noise ratio is inaccurate and has deviation.
As a first possible implementation manner, the initial positioning result may only include the location description information of the terminal, and by further predicting the initial positioning result, the altitude angle of the satellite and the signal-to-noise ratio of the satellite may be obtained.
As a second possible implementation manner, the short message management platform can calculate the observed data through the precise single-point positioning service to obtain an initial positioning result, namely the altitude angle and the signal-to-noise ratio of the satellite. And then, calculating post-verification residual errors of the initial positioning result, wherein the calculation mode can be shown in the following formula (2) and formula (3).
（2）
（3）
Wherein,Post-test residual error, respectively representing altitude angle and signal-to-noise ratio,/>And/>Representing the actual observed satellite altitude and signal-to-noise ratio,/>And/>Representing the calculated satellite altitude and signal-to-noise ratio.
And fusing the post-test residual error of the altitude angle and the post-test residual error of the signal to noise ratio based on a depth feature learning method of the convolutional neural network, and calculating and outputting the weight of the altitude angle and the weight of the signal to noise ratio by the convolutional neural network.
This service may be trained prior to use of the precision single point location service. Specifically, after the altitude angle post-test residual error and the signal to noise ratio post-test residual error are input, the convolution neural network can adaptively adjust the altitude angle weight and the signal to noise ratio weight according to the size of the post-test residual error after fusion, so as to obtain a PPP random model to provide precise single-point positioning service. The expression of the PPP stochastic model can be shown in the following formula (4).
（4）
Wherein,、/>、/>、/>Representing empirical parameters to be fitted,/>Is observed noise.
The steps for obtaining ionospheric correction parameters from ionospheric delays are described below, it being understood that there are differences in the manner in which ionospheric correction parameters are determined for the satellite footprint and for the satellite footprint. In particular, ionospheric correction parameters outside the satellite footprint may be obtained directly based on global ionospheric correction products provided by third party institutions. The following description is presented in terms of the determination of ionospheric correction parameters within the satellite footprint. FIG. 6 is a flow chart of the method for determining ionospheric correction parameters. As shown in fig. 6, the step 303 includes:
step 601, acquiring a plurality of data points of a coverage area.
As one possible implementation, points within the coverage area may be obtained as data points and the electronic content of each data point determined to obtain ionospheric correction parameters for the coverage area.
As another possible implementation, it is also possible to take a point in the subarea a within the coverage area as a data point and determine the electron content of each data point to obtain the ionospheric correction parameters of the subarea a.
Wherein the determination of the data points may be a random determination or an algorithm-based determination, the application is not limited in this regard.
Step 602, obtaining the local electron content according to the distance from each data point to the ionosphere puncture point.
And 603, performing spatial interpolation processing on the local electron content based on the porous function to obtain ionosphere correction parameters.
The local electron content can be calculated by combining the electron content of each current data point with the distance of the data point from the ionosphere puncture point. And finally, integrating the local electron content after interpolation to obtain the local vertical electron content, and taking the local vertical electron content as an ionosphere correction parameter of the satellite coverage area. Wherein the upper and lower limits of the integral are the height ranges of the coverage area.
Alternatively, the interpolation of the data points may be performed based on a porous function. The following equation (5) is a mathematical expression for spatial interpolation based on a porous function.
（5）
Wherein,Is the interpolated electron content field,/>Representing the distance between the interpolation point x and the known data point,/>Is a porous function,/>Is a weight coefficient. After the interpolated electron content field is obtained, the interpolated electron content field is integrated to calculate the local vertical electron content. The upper and lower limits of the integration are the height ranges within the selected region. The following formula (6) is an integral formula given in the present application. Wherein VTEC represents the local vertical electron content,/>Representing the height maximum of the selected region,/>Representing the height minimum of the selected region.
（6）
The porous function has good approximation and smoothness, can be suitable for different data distribution, can improve timeliness and reliability of single-frequency precise single-point positioning, and can provide accurate resolving results during ionosphere activity.
The following is a further description of the differential encoding process performed by the satellite based on ionospheric correction parameters to obtain compressed data. Fig. 7 is a schematic flow chart of data processing and compression according to the present application. As shown in fig. 7, the step 202 includes:
step 701, acquiring associated correction parameters related to ionospheric correction parameters.
Step 702, determining the ionospheric correction parameters and the change information associated with the correction parameters.
Step 703, performing differential encoding processing on the change information to obtain processed data.
Step 704, compressing the processed data based on a preset encoding strategy to obtain compressed data.
The associated correction parameter may be an ionospheric correction parameter at a time immediately preceding the current time, or an ionospheric correction parameter at a time immediately following the current time.
The change information may be the difference between the value of the ionospheric correction parameter and the value of the associated correction parameter. In order to reduce the amount of data to be compressed, based on the feature that the ionospheric correction parameters comprise a continuous time series, all the change information may be differentially encoded to obtain processed data.
As another possible implementation manner, the method can also be combined with a change rate detection compression algorithm, only the data at the time point with larger change can be encoded, the original value can be directly output at the time point with smaller change, and the processed data can be obtained according to the time sequence, so that the data quantity required to be compressed is further reduced.
Alternatively, the preset encoding strategy may include a dictionary compression algorithm and a huffman compression algorithm. Further, fig. 8 is a schematic flow chart of data compression according to the present application. Referring to fig. 8, the step 704 includes:
Step 801, determining the window length of the sliding window according to the data length of the ionosphere correction parameter and the data length of the associated correction parameter.
In a first implementation, the data length of the ionospheric correction parameters and the data length of the associated correction parameters may be determined, and the size of the sliding window may be determined by a preset calculation strategy.
In a second implementation, the total length of data for all ionospheric correction parameters may be determined, and the size of the sliding window may be determined based on a preset calculation strategy.
Taking the second implementation manner as an example, the preset calculation policy may be to take the total length of data as a variable, substituting the total length of data into a pre-constructed expression, and calculating to obtain the length of the sliding window. The calculation strategy can also be to search in a mapping relation table of the preset data length and the window length, and determine the window length corresponding to the data length.
Step 802, performing matching search based on the sliding window and a pre-constructed balanced binary tree, and determining a matching character string of the change information.
As an example, the sliding window can sequentially slide on the sequence of the change information, and the matching search is performed on the current frame selection content of the sliding window in a pre-constructed balanced binary tree, so as to obtain a character string matched with the current frame selection content in the balanced binary tree.
Step 803, according to the length of each matching character string and the preset length threshold, the change information is encoded into compressed data.
Further, step 803 specifically includes:
If the matching character string is greater than the length threshold, the relative offset and the matching length are used as data to be coded corresponding to the matching character string.
And if the matching character string is smaller than or equal to the length threshold value, taking the matching character string as data to be coded corresponding to the matching character string.
And obtaining compressed data according to the data to be encoded corresponding to each matching character string.
Alternatively, if the length of the matching string is greater than a preset length threshold, a pointer pointing to the matching position and the matching length may be used as a data to be encoded, where the pointer may be an offset relative to the current position.
If the length of the matching string is less than or equal to the preset length threshold, the matching string itself may be used as a piece of data to be encoded.
After all the matching character strings are compared with the length threshold, all the data to be encoded can be arranged according to the time sequence of the change information corresponding to the matching character strings, and compressed data are obtained.
Fig. 9 is an overall flowchart of a satellite communication positioning method according to the present application. Referring to fig. 9, the short message management platform may obtain ionospheric delay containing differential code bias based on ionospheric resolution parameters and observation data, estimate with differential distance model and U-PPP model to obtain pure ionospheric delay, and then obtain local vertical electron content by porous function interpolation operation, and obtain ionospheric correction parameters in combination with global vertical electron content.
The post-test residual error can be calculated for the observed data, the observed value noise is obtained through a PPP random model, after the ionosphere correction parameters and the observed value noise are transmitted to the satellite through the intermediate transfer station, the satellite can conduct differential coding processing and compression processing on the ionosphere correction parameters to obtain compressed data, the compressed data and the observed value noise are encrypted, and then the encrypted data are sent to the terminal.
Referring to fig. 9, a satellite may transmit ionospheric correction parameters to a terminal by transmitting signals in an S-band. The terminal can also realize short message transmission to the satellite through the L-band signal. Specifically, after receiving the Beidou satellite signals, the terminal amplifies the signals and transmits the amplified signals to a receiving end of a radio frequency chip DT-A6; the radio frequency chip outputs a 2/4bits digital intermediate frequency and a 50MHz sampling clock to the baseband chip. And the baseband chip carries out baseband processing on the received digital intermediate frequency and outputs the digital intermediate frequency. The baseband chip forms a baseband data stream, and the baseband data stream is shaped, filtered and modulated on a transmitting carrier wave by the radio frequency chip; and finally, the short message is sent to a satellite through a transmitting link to realize positioning and short message communication.
Based on the same inventive concept, the embodiment of the present application further provides a satellite communication system corresponding to the satellite communication positioning method, and since the principle of solving the problem by the system in the embodiment of the present application is similar to that of the satellite communication positioning method in the embodiment of the present application, the implementation of the system can refer to the implementation of the method, and the repetition is omitted.
Referring to the architecture diagram of the satellite communication system shown in fig. 1, the system includes: a plurality of satellites and a ground station, wherein the ground station comprises: the system comprises a data processing center and a ground monitoring station, wherein a short message management platform is deployed on the data processing center.
The process flow of each part in the system and the interaction flow between each part can be described with reference to the related description in the above method embodiment, which is not described in detail here.
The embodiment of the application also provides electronic equipment, which can be a server or computer equipment with a short message management platform deployed in a data processing center. Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application, including: a processor 1001, a memory 1002, and a bus. The memory 1002 stores machine-readable instructions executable by the processor 1001, which when executed by the processor 1001 performs the processing of the satellite communication positioning method described above, when the computer device is running, the processor 1001 communicates with the memory 1002 via a bus.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program which is executed by a processor to execute the steps of the satellite communication positioning method.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the method embodiments, and are not repeated in the present disclosure. In the several embodiments provided by the present application, it should be understood that the disclosed systems and methods may be implemented in other ways.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily appreciate variations or alternatives within the scope of the present application.
Claims (10)
1. A satellite communication positioning method, which is applied to a satellite communication system, wherein the satellite communication system at least comprises: the system comprises a ground station and a plurality of satellites, wherein a short message management platform is deployed on the ground station, and the method comprises the following steps:
The short message management platform determines ionosphere correction parameters and observation value noise according to ionosphere calculation parameters and observation data, wherein the observation value noise comprises the following components: the weight of the altitude angle and the weight of the signal to noise ratio;
The short message management platform transmits the ionospheric correction parameters and the observed value noise to each satellite, and each satellite carries out differential coding processing according to the ionospheric correction parameters to obtain compressed data;
And each satellite encrypts the compressed data and the observed value noise to obtain a short message, and sends the short message to a terminal device so that the terminal device obtains a positioning result based on the compressed data and the observed value noise sent by each satellite.
2. The satellite communication positioning method of claim 1, wherein the determining ionospheric correction parameters and observed value noise from the ionospheric resolution parameters and observed data comprises:
Obtaining ionospheric delay according to ionospheric solution parameters and observation data;
obtaining observation value noise according to the observation data;
and obtaining the ionospheric correction parameters according to the ionospheric delay, wherein the ionospheric correction parameters are used for representing the local vertical electron content of the coverage area of the satellite.
3. The satellite communication positioning method according to claim 2, wherein the obtaining ionospheric delay from the ionospheric resolution parameters and the observed data comprises:
According to the ionosphere resolving parameter, resolving the observed data to obtain initial delay information;
Determining a distance function and a correction parameter corresponding to the observed data, and determining difference information of ionospheric delay of a satellite end and ionospheric delay of a receiver end based on a pre-constructed differential distance model according to the distance function and the correction parameter;
And separating the ionospheric delay from the initial delay information according to the difference information.
4. The satellite communication positioning method according to claim 2, wherein the obtaining the observation noise from the observation data includes:
performing positioning calculation on the observed data to obtain an initial positioning result, wherein the initial positioning result comprises: height angle, signal to noise ratio;
Performing post-test residual error processing on the initial positioning result to obtain a high-angle post-test residual error and a signal-to-noise ratio post-test residual error;
And carrying out fusion processing on the altitude angle post-test residual error and the signal-to-noise ratio post-test residual error based on a convolutional neural network obtained through pre-training to obtain the observed value noise.
5. The satellite communication positioning method according to claim 2, wherein the obtaining the ionospheric correction parameters from the ionospheric delay comprises:
acquiring a plurality of data points for the coverage area;
obtaining local electron content according to the distance from each data point to the ionosphere puncture point;
And performing spatial interpolation processing on the local electron content based on a porous function to obtain the ionosphere correction parameter.
6. The method according to claim 1, wherein the performing differential encoding processing by each satellite according to the ionospheric correction parameters to obtain compressed data comprises:
Acquiring associated correction parameters related to the ionospheric correction parameters;
Determining the change information of the ionospheric correction parameters and the associated correction parameters;
performing differential coding processing on the change information to obtain processed data;
And compressing the processed data based on a preset coding strategy to obtain the compressed data.
7. The satellite communication positioning method according to claim 6, wherein the compressing the processed data based on a preset encoding strategy to obtain the compressed data includes:
Determining the window length of a sliding window according to the data length of the ionosphere correction parameters and the data length of the associated correction parameters;
performing matching search based on the sliding window and a pre-constructed balanced binary tree, and determining a matching character string of the change information;
And encoding the change information into the compressed data according to the length of each matching character string and a preset length threshold value.
8. The satellite communication positioning method according to claim 7, wherein the encoding the change information into the compressed data according to the length of each matching string and a preset length threshold value includes:
if the matching character string is larger than the length threshold value, the relative offset and the matching length are used as data to be coded corresponding to the matching character string;
If the matching character string is smaller than or equal to the length threshold value, the matching character string is used as data to be coded corresponding to the matching character string;
And obtaining the compressed data according to the data to be encoded corresponding to each matching character string.
9. A satellite communication system for performing the steps of the satellite communication positioning method according to any of claims 1-8, said system comprising at least: the system comprises a ground station and a plurality of satellites, wherein a short message management platform is deployed on the ground station.
10. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing program instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is running, the processor executing the program instructions to perform the steps of the satellite communication positioning method according to any one of claims 1 to 8 when executed.
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