Navigation positioning resolving method for high-orbit, medium-orbit and low-orbit mixed constellation fusion

Abstract

The invention relates to the field of satellite navigation and low-orbit satellite navigation enhancement service application, and provides a navigation positioning resolving method based on high, medium and low-orbit mixed constellation fusion. According to the method, the working characteristics and operation modes of low-orbit navigation satellite constellations are fully analyzed according to the requirements of low-orbit navigation satellite receiving and positioning processing engineering implementation, and the dynamic satellite selection method with the optimal geometric configuration is innovatively provided according to the bottlenecks that the low-orbit navigation constellations are large in constellation scale, high in operation speed, large in geometric configuration change and the like. According to the method, positioning participating satellites are selected by taking geometric accuracy factors as a criterion in a geometric accuracy factor pre-evaluation mode, so that the accuracy and robustness of geometric configurations of the positioning participating satellites are ensured, and original satellite parameter support is provided for high, medium and low orbit constellation fusion positioning; the method is of great significance to development of satellite navigation receivers compatible with low-orbit constellations and construction and application of more ubiquitous high, medium and low-orbit collaborative navigation systems in China.

Description

Technical Field

[0001] The present invention relates to the application field of satellite navigation and low-orbit satellite navigation enhancement services, and proposes a navigation positioning solution method that integrates high, medium and low-orbit hybrid constellations. The method is suitable for satellite navigation receivers to achieve high-precision and high-availability navigation positioning services by being compatible with low-orbit satellite navigation enhancement signals when receiving and processing traditional satellite navigation signals. Background Art

[0002] As an important space-based space-time infrastructure in my country, the BeiDou Satellite Navigation System can provide high-quality positioning, navigation and timing services to users around the world, and plays an important supporting role in the military, industry, science, finance, consumption and other fields. As a global continuous coverage satellite navigation system independently developed by my country, the BeiDou Satellite Navigation System is the world's only hybrid constellation that includes medium-orbit satellites, inclined-orbit satellites and geostationary-orbit satellites. It has unique technical and institutional advantages in global services and regional enhancements. In recent years, with the continuous expansion of satellite navigation application services and the continuous increase in user demand for satellite navigation services, high-performance navigation services with high precision and strong robustness as the goal are gradually becoming the standard for satellite navigation.

[0003] With the proposal and implementation of large-scale low-orbit Internet constellations such as Iridium, Starlink, OneWeb, and Telesat, low-orbit satellite constellations have ushered in explosive development. Low-orbit satellite constellations have fast movement speed and low cost. Using them as space-based platforms for satellite navigation enhancement and high-precision services can complete global coverage without relying on dense ground stations, and achieve real-time convergence of navigation signal enhancement and high-precision services. It is expected to solve the bottleneck of current high-performance navigation services and become an important direction for the development of next-generation satellite navigation. Navigation enhancement applications based on low-orbit constellations have become the most promising solution for future navigation enhancement and high-precision services. At present, my country is also building an independent low-orbit communication and navigation fusion satellite constellation, which makes full use of the advantages of low-orbit constellations in global coverage, strong signal landing power, and rapid convergence of high-precision positioning, and deploys satellite navigation application services such as satellite navigation signal enhancement and precision enhancement to improve the service performance and comprehensive service capabilities of satellite navigation.

[0004] The low-orbit navigation constellation is a space-based navigation signal source based on a low-orbit satellite constellation. The signal fully utilizes the low-Earth orbit characteristics of the low-Earth orbit constellation, with small signal spatial attenuation and strong ground transmission power to achieve satellite navigation enhancement. Through low-orbit satellite navigation, the user's positioning accuracy and anti-interference ability are enhanced, thereby improving the high-performance service capabilities of the entire satellite navigation system. However, while fully enjoying the advantages of low-orbit satellite signal spatial attenuation, the large constellation scale, fast running speed, large geometric configuration changes, and short visible time of low-orbit satellites will have a huge impact on the navigation and positioning solution based on the fusion of the Beidou satellite navigation system and the low-orbit satellite constellation. Therefore, when the Beidou satellite navigation system and the low-orbit satellite constellation are used for navigation and positioning solution processing of the high, medium and low-orbit constellations, there are certain limitations in processing according to the traditional navigation and positioning solution method.

[0005] 1. The scale of low-orbit satellite constellations is relatively large, with a large number of satellites. Compared with traditional satellite navigation constellations, the number of satellites has more than doubled. If the traditional navigation positioning solution method is used to include all visible satellites in the positioning solution process, the positioning solution based on least squares iteration or Kalman filtering will require a very large amount of computation, which will put tremendous pressure on the computing power and resource overhead of navigation positioning solution;

[0006] 2. The low-orbit satellite constellation operates at a high speed. During the navigation and positioning solution process, the increase and decrease speed of visible satellites is very fast, and the geometric configuration of the visible satellite composition changes greatly. If the navigation and positioning solution is performed according to the traditional navigation and positioning solution method, the geometric configuration of the participating satellites will change greatly during each positioning solution, resulting in a large change in the geometric precision factor, which ultimately leads to the random discreteness of the error of the positioning result, and it is impossible to achieve the stability and robustness improvement of the positioning accuracy brought by the addition of low-orbit satellites;

[0007] 3. As a large-scale constellation, the orbit determination mode of the low-orbit satellite constellation is different from the traditional orbit determination mode, and is completed based on the satellite navigation system. In addition, the low-orbit satellite runs at a relatively fast speed, and its orbit determination accuracy is higher than that of the traditional satellite navigation system, which ultimately leads to a large orbit determination accuracy error of the low-orbit satellite constellation. When performing navigation and positioning solutions based on the fusion of high, medium and low-orbit constellations, if the low-orbit satellite constellation and the high and medium-orbit satellite constellation are used for joint positioning solutions, the errors of the navigation and positioning results will be amplified due to the different error models of the constellations, which restricts the accuracy improvement of the navigation and positioning results brought by the low-orbit satellite constellation;

[0008] How to achieve the fusion of high, medium and low orbit constellations is the basis for satellite navigation receivers to achieve positioning based on low orbit satellite navigation enhancement signals, and is the key to realizing low orbit satellite navigation enhancement applications. Solving the engineering implementation difficulties of the fusion of high, medium and low orbit constellations is of great significance to promoting the systematic fusion and application of high, medium and low orbit satellite navigation. Carrying out research on the fusion of high, medium and low orbit constellations is of great significance to the development of my country's low orbit satellite constellations and the construction and application of high, medium and low orbit collaborative navigation constellations. At the same time, through the research on the fusion of high, medium and low orbit constellations, the accuracy, integrity, availability and anti-interference capabilities of my country's comprehensive navigation, positioning and timing (PNT) service system will be improved. Summary of the invention

[0009] The present invention mainly aims at the application bottlenecks of low-orbit satellite constellations, such as large constellation scale, fast operation speed, and large changes in geometric configuration. It innovatively proposes a navigation positioning solution method based on the optimal dynamic star selection of geometric configuration and the comprehensive weighting of the constellation error model for the fusion of high, medium and low orbit hybrid constellations. This method dynamically combines satellites in the high, medium and low orbit hybrid constellation based on the geometric precision factor as the criterion, and solves the problems of large positioning solution computing resource overhead caused by the large number of visible satellites in the positioning solution process of the satellite navigation receiver, and unstable positioning accuracy caused by the large changes in the constellation geometric configuration. At the same time, the impact of orbital errors is reduced by comprehensive weighting of the constellation error model, thereby improving the positioning solution accuracy.

[0010] The technical solution adopted by the present invention is:

[0011] A navigation positioning solution method for integrating high, medium and low orbit hybrid constellations comprises the following steps:

[0012] (1) Receive and process navigation signals from all visible high, medium and low orbit satellites in space, and capture, track and demodulate all visible high, medium and low orbit satellites; and parse the information type of all visible high, medium and low orbit satellites to obtain the type, position and status of the satellite as parameters for navigation and positioning solution;

[0013] (2) All visible high, medium and low-orbit satellites are sorted and reconstructed according to the altitude and azimuth angles of the satellite position parameters, and a dynamic satellite selection process based on the optimal geometric configuration is started for the visible high, medium and low-orbit satellites in space to determine the satellites involved in the positioning solution;

[0014] (3) Correcting the positioning parameters of the satellites involved in the positioning solution according to the positioning parameter correction mode, correcting the satellite's ephemeris, clock error and atmospheric error parameters, and obtaining all the positioning parameters of the satellites involved in the positioning solution;

[0015] (4) Using error models of different orbits to perform comprehensive weighting of satellite observations on all positioning solution parameters of satellites involved in positioning solution;

[0016] (5) Perform unified time-space conversion processing on the comprehensive weighted results of satellite observations, and complete the unified time-space benchmark conversion between high, medium and low orbit constellations;

[0017] (6) Using the least squares iteration method or Kalman filtering method to process the comprehensive weighted results of satellite observations after the unified time and space conversion, the positioning solution result under the fusion of high, medium and low orbits is obtained;

[0018] Finally, the capture and processing of high-dynamic low-orbit satellite navigation enhancement signals are completed.

[0019] Furthermore, the specific process of step (2) is as follows:

[0020] (201) sorting and reconstructing all visible high, medium and low orbit satellites according to the altitude angle and azimuth angle of satellite position parameters, and determining the satellite with the highest altitude angle and the satellite with the lowest altitude angle above the cut-off angle as the baseline;

[0021] (202) Taking the azimuth of the satellite with the lowest elevation angle as a reference, a satellite is selected according to a strategy of uniform azimuth distribution; after determining the satellites to participate in the positioning solution, the geometric precision factor after the selection is evaluated through least squares iterative processing. If the geometric precision factor meets the positioning threshold, step (3) is executed; if the geometric precision factor does not meet the threshold, the satellite with the lowest elevation angle is eliminated and the process returns to step (201).

[0022] (4) Using error models of different orbits to perform comprehensive weighting of satellite observations on all positioning solution parameters of satellites involved in positioning solution;

[0023] Furthermore, step (4) is specifically as follows:

[0024] Using the error models corresponding to different orbit categories such as medium orbit, high orbit and low orbit, the satellite observation quantities of all positioning solution parameters of the satellites involved in positioning solution are comprehensively weighted according to the weighted geometric precision factor.

[0025] Compared with the conventional guidance and positioning solution processing method in the background art for processing high, medium and low orbit constellation fusion navigation and positioning solution, the present invention has the following advantages:

[0026] 1. Aiming at the application demand of high, medium and low orbit constellation fusion positioning in low orbit satellite navigation enhancement mode, the present invention innovatively proposes a method for dynamic satellite selection with optimal geometric configuration in the face of bottlenecks such as large constellation scale, fast operation speed and large geometric configuration changes of low orbit constellations. Satellite selection is carried out based on the geometric precision factor, which ensures the effectiveness of satellites involved in navigation and positioning solution and the optimal geometric configuration, and reduces the number of satellites involved in positioning solution, thereby reducing the computational scale and resource overhead of navigation and positioning solution, and provides an engineering implementation method for high, medium and low orbit constellation fusion positioning;

[0027] 2. In view of the different error influencing parameters of satellites in different constellations in the process of integrated positioning of high, medium and low orbits, the present invention innovatively proposes a comprehensive weighting method for the constellation error model. In view of the error influence of satellites in different orbits, the constellation observation quantity is weighted for the orbit determination error accuracy of different orbits according to the orbit category. By weighting different orbit types, the positioning accuracy impact caused by the difference in constellation orbits is reduced, laying a foundation for improving the accuracy of integrated positioning of high and low orbit constellations;

[0028] 3. Aiming at the scenario requirements of future large-scale low-orbit satellite navigation enhancement constellations, the present invention improves positioning accuracy and reduces the scale of satellite operations by means of dynamic satellite selection and constellation weighting on the basis of traditional navigation positioning solution processing, occupies less resources and has high computing efficiency, and provides an engineering solution for the low-orbit satellite compatible design of satellite receivers and the application of low-orbit satellite navigation enhancement services;

[0029] 4. The present invention is applicable to the processing and application of all low-orbit satellite navigation signals, such as low-orbit navigation enhancement, low-orbit precise single-point positioning and low-orbit communication and navigation fusion applications. It has a wide range of applications and has good engineering realization and industrial promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The present invention provides a flowchart of a navigation positioning solution method for integrating a high, medium and low orbit hybrid constellation. DETAILED DESCRIPTION

[0031] Reference Figure 1 The present invention mainly aims at the navigation and positioning solution of the hybrid high, medium and low orbit constellation. When receiving low orbit satellite navigation signals and performing navigation and positioning solution, facing the bottlenecks of the large constellation scale, fast running speed and large geometric configuration changes of the low orbit constellation, on the basis of traditional navigation and positioning solution processing, a navigation and positioning solution method of the hybrid high, medium and low orbit constellation based on the optimal dynamic star selection of geometric configuration and comprehensive weighting of the constellation error model is proposed.

[0032] This method completes the signal reception, capture, tracking and message demodulation of all visible navigation satellites in high, medium and low orbits in space according to the traditional navigation signal processing mode, and then enters the navigation positioning solution processing flow. Before the navigation positioning solution processing, the number of satellites involved in the navigation positioning solution is determined, and the navigation positioning solution process is started after the basic requirements of the navigation positioning solution theory for visible satellites are met. First, the information type of all visible satellites is parsed to obtain the type, position and status of the visible satellites; secondly, dynamic star selection based on the optimal geometric configuration is completed for all high, medium and low visible satellites in space; thirdly, the observation correction calculation is performed on the satellites determined to participate in the positioning solution according to the traditional navigation and positioning parameter correction mode, and the satellite's ephemeris, clock error, atmospheric error and other parameters are unified with the observation correction; then, the comprehensive weighting of the constellation error model is enabled, and the observation weighting of the orbit determination error accuracy of different orbits is performed according to the orbit category, and the positioning error caused by the constellation error is reduced by weighting different orbit types; in order to reduce the impact of system errors between different constellations, the time standard is unified, high-precision positioning processing is achieved, and error correction and conversion are achieved through space-time unification; finally, the high, medium and low orbit constellation fusion navigation and positioning solution is enabled according to the traditional positioning solution mode, and the position solution under the fusion of high, medium and low orbit constellations is completed based on the least squares iteration method or the Kalman filter method, and finally the navigation and positioning solution work of the fusion of high, medium and low orbit constellations is completed.

[0033] Attached Figure 1 The figure shows a flow chart of a navigation positioning solution method for the fusion of high, medium and low orbit hybrid constellations. In the specific embodiment, it is assumed that there are 2 GEO navigation satellites, 2 IGSO navigation satellites, 6 MEO navigation satellites and 8 LEO navigation enhancement satellites in the field of view of the satellite navigation receiver, and this is used as an example to analyze the navigation positioning solution method for the fusion of high, medium and low orbit constellations. The steps of the navigation positioning solution method for the fusion of high, medium and low orbit constellations are as follows:

[0034] In the first step, the satellite navigation receiver receives and processes the space satellite navigation signal according to the traditional navigation signal processing mode, and simultaneously captures, tracks and demodulates the 18 visible navigation satellites in the space, high, medium and low orbits. After completing the tracking process of all 18 satellites, the information type of the 18 visible high, medium and low orbit satellites is parsed to obtain the type, position and status of the satellite as the parameter input for navigation and positioning solution. The type, position and status of the 18 visible satellites are shown in Table 1.

[0035] Table 1. Information types of visible high, medium and low orbit satellites

[0036] Serial number Satellite number Satellite Type Altitude angle (°) Azimuth (°) Satellite status 1 GEO-1 GEO 49 116 Available 2 GEO-2 GEO 38 186 Available 3 IGSO-1 IGSO 76 216 Available 4 IGSO-2 IGSO 35 17 Available 5 MEO-1 MEO 8 97 Available 6 MEO-2 MEO 57 129 Available 7 MEO-3 MEO 68 176 Available 8 MEO-4 MEO 41 247 Available 9 MEO-5 MEO 81 332 Available 10 MEO-6 MEO 32 19 Available 11 LEO-1 LEO 15 189 Available 12 LEO-2 LEO 27 243 Available 13 LEO-3 LEO 61 306 Available 14 LEO-4 LEO 45 6 Available 15 LEO-5 LEO 39 61 Available 16 LEO-6 LEO 55 124 Available 17 LEO-7 LEO 36 181 Available 18 LEO-8 LEO 69 246 Available

[0037] Step 2: After completing the information type analysis of the visible satellites, the dynamic satellite selection process based on the optimal geometric configuration is started for the space high, medium and low constellations. All visible high, medium and low orbit satellites are sorted and reconstructed according to the altitude and azimuth of the satellite position. With a cutoff angle of 10° as the threshold, the satellite MEO-5 with the highest altitude and the satellite LEO-1 with the lowest altitude are determined as the baseline. The azimuth of the satellite LEO-1 with the lowest altitude is 189 as the benchmark. The remaining satellites are selected according to the strategy of uniform azimuth distribution. When the azimuth between the two satellites is similar, one with the most discrete azimuth is selected. After dynamic satellite selection, GEO-1, IGSO-1, MEO-3, MEO-5, LEO-4, and LEO-8 are satellites participating in positioning and solving. After determining the satellites participating in the positioning and solving, the geometric precision factor after the selection is evaluated through the least squares processing iteration. After calculation, the geometric precision factor is 1.97, which meets the requirement of less than the geometric precision factor threshold of 4 for navigation positioning and solving, and the subsequent positioning and solving process is started.

[0038] Step 3: For the dynamic star selection results, the satellites determined to participate in the positioning solution are corrected according to the parameter correction mode in the traditional navigation positioning processing. The ephemeris, clock error, atmospheric error and other parameters of the satellites GEO-1, IGSO-1, MEO-3, MEO-5, LEO-4 and LEO-8 are corrected and calculated to obtain all the positioning solution parameters of the visible satellites in high, medium and low orbits participating in the positioning.

[0039] Step 4: After completing the observation correction of GEO-1, IGSO-1, MEO-3, MEO-5, LEO-4, and LEO-8 satellites, start the comprehensive weighted processing flow for the constellation error model, and weight the constellation observations for the orbit determination error accuracy of different orbits according to the orbit type. Set the weight of the high-orbit satellites of GEO-1 and IGSO-1 to 0.3, the weight of the medium-orbit satellites of MEO-3 and MEO-5 to 0.5, and the weight of the low-orbit satellites of LEO-4 and LEO-8 to 0.2. By weighting different orbit types, the positioning accuracy impact caused by differences in constellation orbits can be reduced;

[0040] Step 5: LEO-4 and LEO-8 are satellite navigation augmentation satellites. They independently maintain the time and space reference system during the operation of the constellation. In order to unify the time and space standards and achieve high-precision positioning processing, the system time of LEO-4 and LEO-8 is converted to the Beidou time through time and space unified conversion processing, and the system coordinates are converted to the Beidou coordinate system to achieve error correction between constellations and complete the unified conversion of time and space references between high, medium and low orbit constellations;

[0041] Step 6. After completing the unified conversion of the time and space benchmarks of high, medium and low orbits, carry out the integrated navigation and positioning solution of high, medium and low orbit satellites. According to the Kalman filtering method, complete the iterative processing of the observation quantities of GEO-1, IGSO-1, MEO-3, MEO-5, LEO-4 and LEO-8 satellites to obtain the solution results under the integrated positioning of high, medium and low orbits, and finally complete the navigation and positioning solution of the integrated high, medium and low orbit constellations.

[0042] The working principle of the present invention is as follows:

[0043] The present invention proposes a navigation positioning solution method for the fusion of high, medium and low orbit hybrid constellations. The method is oriented to the engineering realization requirements of low-orbit navigation satellite reception and positioning processing, fully analyzes the working characteristics and operation mode of low-orbit navigation satellite constellations, and innovatively proposes a dynamic star selection method with the best geometric configuration on the basis of the current traditional satellite navigation positioning solution processing, facing the bottlenecks of large constellation scale, fast operation speed and large geometric configuration changes of low-orbit navigation constellations. The method selects satellites participating in positioning based on the geometric precision factor as a criterion by pre-assessing the geometric precision factor, ensures the accuracy and robustness of the geometric configuration of the satellites participating in navigation positioning solution, and provides original satellite parameter support for the fusion positioning of high, medium and low orbit constellations; in view of the different error influencing parameters of satellites of different constellations in the process of fusion positioning solution of high, medium and low orbits, an innovative method for comprehensive weighting of constellation error models is proposed, and the observation amount of orbit error is comprehensively weighted according to the orbit category in view of the error influence of different constellation orbits. By comprehensively weighting different orbit types, the positioning accuracy influence caused by the difference in constellation orbits is reduced, laying a foundation for the accuracy improvement in the fusion positioning of high and low orbit constellations. The dynamic satellite selection and constellation weighted joint processing method realizes the integrated navigation and positioning solution of high, medium and low orbit constellations, while reducing the resource scale and computing amount in the positioning solution processing process. It occupies less resources and has high computing efficiency. It provides an engineering solution for the compatible reception and processing of low-orbit navigation satellites and the application of low-orbit satellite navigation enhancement services.

[0044] This method is applicable to the positioning and solving of all low-orbit satellite signals, such as low-orbit satellite navigation enhancement, low-orbit precise single-point positioning and low-orbit communication and navigation fusion. It has a wide range of applications, a high level of engineering, and good engineering realization and industrial promotion value. It is of great significance to the development of satellite navigation receivers compatible with low-orbit constellations and the construction and application of more ubiquitous high, medium and low-orbit collaborative navigation systems in my country.

[0045] This method is mainly aimed at the bottlenecks of introducing low-orbit navigation satellites for navigation and positioning in traditional navigation and positioning processing, such as the large number of low-orbit satellites and the rapid change of geometric configuration. This method uses a star selection strategy based on geometric precision factor evaluation to ensure the stability of the constellation configuration in navigation and positioning, as well as the accuracy and robustness of the navigation and positioning solution results; by comprehensively weighting the constellation error model with different orbital characteristics of high, medium and low orbit constellations, the influence of the constellation error model on the accuracy of navigation and positioning solution is reduced. The system error is eliminated by unifying the time and space coordinates of high, medium and low orbit constellations. Finally, the positioning solution under the fusion of high, medium and low orbit constellations is completed by the least squares iteration method or Kalman filtering method.

[0046] This method compensates for the large scale of positioning calculation and discrete positioning results after the low-orbit satellite navigation constellation is included in the navigation and positioning calculation process, and provides an engineering solution for the low-orbit satellite reception of satellite navigation receivers. The navigation and positioning solution method of high, medium and low-orbit constellations based on the optimal dynamic star selection of geometric configuration and the comprehensive weighting of the constellation error model is a navigation and positioning solution engineering implementation method of high, medium and low-orbit hybrid constellations based on a full analysis of the characteristics and operation modes of high, medium and low-orbit navigation constellations and combined with traditional navigation and positioning solution methods.

Claims

1. A navigation positioning solution method for the fusion of high, medium and low orbit hybrid constellations, characterized in that: The steps include: (1) Receive and process navigation signals from all visible high, medium and low orbit satellites in space, and capture, track and demodulate all visible high, medium and low orbit satellites; And analyze the information type of all visible high, medium and low orbit satellites to obtain the satellite type, position and status as parameters for navigation and positioning solution; (2) All visible high, medium and low-orbit satellites are sorted and reconstructed according to the altitude and azimuth angles of the satellite position parameters, and a dynamic satellite selection process based on the optimal geometric configuration is started for the visible high, medium and low-orbit satellites in space to determine the satellites involved in the positioning solution; (3) Correcting the positioning parameters of the satellites involved in the positioning solution according to the positioning parameter correction mode, correcting the satellite's ephemeris, clock error and atmospheric error parameters, and obtaining all the positioning parameters of the satellites involved in the positioning solution; (4) Using error models of different orbits to perform comprehensive weighting of satellite observations on all positioning solution parameters of satellites involved in positioning solution; (5) Perform unified time-space conversion processing on the comprehensive weighted results of satellite observations, and complete the unified time-space benchmark conversion between high, medium and low orbit constellations; (6) Using the least squares iteration method or Kalman filtering method to process the comprehensive weighted results of satellite observations after the unified time and space conversion, the positioning solution result under the fusion of high, medium and low orbits is obtained; Finally, the capture and processing of high-dynamic low-orbit satellite navigation enhancement signals are completed.

2. The method for capturing and processing high-dynamic low-orbit satellite navigation enhancement signals according to claim 1, characterized in that: The specific process of step (2) is as follows: (201) sorting and reconstructing all visible high, medium and low orbit satellites according to the altitude angle and azimuth angle of satellite position parameters, and determining the satellite with the highest altitude angle and the satellite with the lowest altitude angle above the cut-off angle as the baseline; (202) taking the azimuth of the satellite with the lowest elevation angle as a reference, selecting satellites according to a strategy of uniform azimuth distribution; After determining the satellites to be involved in the positioning solution, the geometric precision factor after the satellite selection is evaluated through the least squares iterative process. If the geometric precision factor meets the positioning threshold, step (3) is executed. If the geometric precision factor does not meet the threshold, the satellite with the lowest elevation angle is eliminated and the process returns to step (201). (4) The satellite observations are comprehensively weighted using the error models of different orbits for all positioning solution parameters of the satellites involved in the positioning solution.

3. The method for capturing and processing high-dynamic low-orbit satellite navigation enhancement signals according to claim 1, characterized in that: Step (4) is specifically as follows: Using the error models corresponding to different orbit categories such as medium orbit, high orbit and low orbit, the satellite observation quantities of all positioning solution parameters of the satellites involved in positioning solution are comprehensively weighted according to the weighted geometric precision factor.

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