Antenna scheduling method in multi-constellation navigation signal environment simulation

Abstract

The invention discloses an antenna scheduling method in multi-constellation navigation signal environment simulation. The antenna scheduling method comprises a planning software platform and an antenna scheduling method implemented through the platform. The scheduling method relates to signal simulation sources, antennas, navigation satellites and the like, the process comprises the steps of finding satellites, picking satellites, obtaining the space relation between the satellites and the antennas, and distributing and planning the antennas and the simulation satellites, and optimization logic under different priority conditions of a navigation system, precision, frequency points and the like is fully combined under the condition that the distributing and planning particularly relates to limited resources. According to the method, the contradiction between a limited number of antennas and continuous satellite motion is solved, an efficient and orderly utilization scheme of the antennas is optimized, navigation satellite signals of different coming directions and different types are realistically simulated to the maximum extent, a mapping distribution relation from the navigation satellite to the antennas is formed, and the navigation satellite distribution efficiency is improved. And multi-antenna navigation signal broadcasting constructed by multi-constellation navigation environment simulation in a test environment is supported, and the requirement for a space navigation signal environment in a navigation receiver test is met.

Description

Technical field:

[0001] The invention belongs to the technical field of simulation testing, and mainly relates to an antenna scheduling method in multi-constellation navigation signal environment simulation. Background technology:

[0002] Satellite navigation is a fundamental force that affects the national economy and people's livelihood. Currently, countries with global and regional satellite navigation systems are constantly supplementing and developing their own navigation satellite constellations, broadcasting navigation signals with denser airspace coverage, newer systems, and more comprehensive frequency bands. At the same time, as satellite navigation application scenarios continue to expand, receivers with various technologies such as multi-mode and beam enhancement are being developed to more efficiently receive and process various satellite navigation signals for positioning. To meet the environmental signal requirements for comprehensive and accurate testing of such navigation receivers, it is necessary to effectively simulate and construct a multi-constellation satellite navigation signal environment. Under test environment conditions, using a certain number of antennas and controlling their switching order to simulate satellite navigation signals with spatial direction characteristics is a commonly used method for constructing satellite navigation signal environments both domestically and internationally.

[0003] When simulating and constructing a satellite navigation signal environment under test conditions, the following three requirements must be met: First, the satellite constellation simulation must cover the entire operational cycle of the navigation satellite constellation; second, the satellite constellation simulation must simulate all visible satellite navigation signals at any location globally; and third, the satellite constellation simulation must simulate the dynamic spatial characteristics of the incoming wave direction of the real navigation signal. In this process, hardware resource limitations, such as signal simulation sources and the number of antennas, must be fully considered. Specifically, the conflicts between limited signal simulation source hardware resources and the need to simulate the multi-frequency signals of navigation satellites, as well as the limited number of antennas and the need to simulate the continuous motion of satellites, require an optimized solution to determine which satellites are broadcast by which antenna at which time.

[0004] Therefore, when conducting multi-antenna broadcasting for multi-constellation navigation environment simulation, it is necessary to optimize the efficient and orderly utilization of the antenna while ensuring that the resource demand does not exceed the simulation resources, simulate navigation satellite signals from different directions and types as realistically as possible, and form a mapping distribution relationship from navigation satellite to antenna. It becomes a difficult problem to support the multi-antenna navigation signal broadcasting constructed in the multi-constellation navigation environment simulation in the test environment. Summary of the invention:

[0005] In order to overcome the above-mentioned shortcomings, the present invention provides an antenna scheduling method in multi-constellation navigation signal environment simulation, which can provide support for the dynamic switching of antennas in the test environment and meet the requirements of the space navigation signal environment in the navigation receiver test.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0007] An antenna scheduling method in a multi-constellation navigation signal environment simulation comprises the following steps:

[0008] (1) Using constellation simulation tools, determine the set of visible satellites for a given navigation receiver location;

[0009] (2) Inputting the determined visible satellite information into the basic information entry module;

[0010] (3) Inputting the navigation receiver attitude angle and navigation receiver antenna pattern into the basic information input module;

[0011] (4) Input the antenna pattern in the test environment into the basic information entry module;

[0012] (5) Run the star removal calculation module to calculate and output a new set of visible satellites to be simulated;

[0013] (6) Run the spatial angle calculation module to calculate the spatial angle table of different navigation satellites, navigation receivers and antennas of different navigation systems;

[0014] (7) Run the antenna optimization scheduling module, set the corresponding optimization criteria according to the actual situation, and form an optimization plan for antenna scheduling.

[0015] The basic information entry module is used to complete the entry of preliminary satellite information, antenna pattern, and navigation receiver attitude information;

[0016] The star removal calculation module is used to complete the coordinate conversion, remove satellites that cannot be received by the antenna from the preliminary selected satellites according to the attitude information of the navigation receiver and the antenna pattern, and output the satellite information to be simulated after the stars are removed;

[0017] The space angle calculation module is used to complete the coordinate conversion and calculate the space angle table of different navigation satellites, navigation receivers and antennas of different navigation systems;

[0018] The antenna optimization scheduling module completes information preprocessing before planning based on the spatial angle table, and forms an optimization plan for antenna optimization scheduling according to different priority principles, and outputs it for use in antenna switching.

[0019] The specific method of determining the visible satellite set of the specified navigation receiver position using the constellation simulation tool in step (1) is as follows:

[0020] Using STK commercial simulation software, the operation simulation of 4 global satellite navigation systems and 2 regional satellite navigation systems is carried out according to the real satellite parameters. In the geodetic coordinate system, according to the longitude L of the navigation receiver U u , Latitude B u 、Elevation Hu , obtain the star number and position of each single-system visible satellite in the 6 systems, and form the single-system visible star set S_m_v0, where m represents the satellite navigation system number, m = 1, ... 6; the set of all visible star numbers S_v0 = {S_1_v0, S_2_v0, ..., S_6_v0}; in the geodetic coordinate system, the coordinates corresponding to the visible star i of each system m are: i∈S_m_v0.

[0021] The specific method of calculating and outputting the new set of visible satellites to be simulated in step (5) is as follows: 1) converting the visible satellite coordinates into the navigation receiver antenna coordinate system;

[0022] ① Using the coordinate conversion formula (1), first convert the coordinates (L, B, H) of all satellites in the visible star set S_v0 to the Earth-centered Earth-fixed coordinate system (X, Y, Z);

[0023]

[0024] where R N represents the radius of the ellipsoid's truncated circle;

[0025] a represents the semi-major axis of the ellipsoid, and e represents the first eccentricity of the ellipsoid;

[0026] Similarly, the navigation receiver position is converted to the Earth-centered Earth-fixed coordinate system;

[0027] ②Through Rotation transformation and translation are used to transform the above-mentioned transformed coordinates into the northeast celestial coordinate system of the navigation receiver. The rotation matrix is ​​as shown in formula (2); thereby obtaining the positions of the navigation satellite and the navigation receiver in the northeast celestial coordinate system;

[0028]

[0029] ③Navigation receiver carrier attitude angle including orientation Pitch θ and roll γ, transform the coordinates of the navigation receiver in the northeast sky coordinate system to the carrier coordinate system, and convert the moment

[0030] Formation As shown in formula (3);

[0031]

[0032] ④ Assuming that the carrier coordinate system coincides with the antenna coordinate system, the positions of all visible satellites in the antenna coordinate system are obtained: i∈S_v0; 2) According to the antenna attitude, only the satellites within the navigation receiver antenna pattern are retained;

[0033] In the antenna coordinate system, for each satellite in the visible star set S_v, calculate its azimuth and elevation angle in the antenna coordinate system i∈S_v0, if the angle between the line connecting a satellite and the antenna and the z-axis of the antenna coordinate system is greater than θ th ,θ th Determined by the antenna array element pattern, the satellite number is deleted from the simultaneously visible star set S_v0, and finally a new simultaneously visible star set S_v is formed.

[0034] The specific method of calculating the spatial angle table of different navigation satellites, navigation receivers and antennas of different navigation systems in step (6) is as follows:

[0035] When the test environment is constructed, it is aligned with the Northeast Sky coordinate system. The azimuth and elevation angles of the navigation receiver in the Northeast Sky coordinate system are expressed as The coordinate value P of each antenna i i A_g Convert to the coordinate value P in the antenna coordinate system i A_a , the transformation matrix is ​​as follows (3)

[0036]

[0037] In the antenna coordinate system, for each satellite i in the visible satellite star set S_m_v corresponding to the satellite navigation system m, for all simulated satellite antennas in the test environment, calculate the angle between the satellite-navigation receiver-test environment antenna where i∈S_m_v, N a represents the number of antennas that can be used to simulate satellites, j represents the antenna number; for a single system m, an angle set is formed N m Represents the number of visible stars of navigation system m; for the satellites of 6 navigation systems, φ=[φ 1_s ,…φ 6_s ].

[0038] The specific method of setting the corresponding optimization criteria according to the actual situation in step (7) to form the optimization scheme for antenna scheduling is as follows:

[0039] 1) Planning preprocessing

[0040] First, for each satellite navigation system m, the angle set φ formed by the visible satellite star set S_m_v m_s , its elements are sorted from small to large, and the first φ is intercepted according to a certain beam width m_s half, forming φ m_p ;

[0041] Secondly, from φ m_pExtract the satellite number involved. If the satellite number cannot cover all S_m_v, it means that some visible stars of the navigation system m do not have a suitable antenna for simulation, and it is necessary to further widen φ m_p range, until all satellites in S_m_v have antennas to simulate;

[0042] Finally, for each system: 1_p ,φ 2_p …φ 6_p ;

[0043] For each single satellite navigation system m, m_p Extract the available antenna number A involved nn_m , for A nn_m Each antenna j in the antenna can simulate the satellite cluster of a single satellite system.

[0044] A: Single satellite and single antenna

[0045] If any satellite in S_m_v is only in one If it appears in , the broadcasting plan S_m_1 is formed;

[0046] B: Single satellite with multiple antennas

[0047] If a satellite i in S_m_v is in multiple There are two situations:

[0048] ① If pointing accuracy is the priority, search for Find the antenna number corresponding to the minimum value, and only in the set where the minimum value appears In the set, all are retained and those in other sets are deleted, forming the scheme S_m_2;

[0049] ② If computing resources are prioritized, only The set with the least number of elements is retained, and all elements in other sets are deleted, forming the solution S_m_2;

[0050] C: Single antenna multiple satellites

[0051] like There are multiple satellites in the system. Assuming that the signal simulation generation capability of a single signal source is N A_C , there are two cases:

[0052] ① If the plan The number of elements contained is less than N A_C , then the solution S_m_3 is formed;

[0053] ②If a The number of elements contained is greater than N A_C , Keep the first N A_C Satellite numbers are recorded, the extra satellite numbers are amplified, and the beam width is increased to form an increment Δφ m_p , until the extra satellite number is incremented by Δφ m_p appears in the, forming a new scheme S_m_3;

[0054] 2) Single navigation system simulation optimization

[0055] For the navigation system m to be simulated, merge S_m_1, S_m_2, and S_m_3 to form the antenna usage plan S_m for the system;

[0056] 3) Multi-navigation system simulation optimization

[0057] According to the requirements of the navigation system to be simulated, Perform merging processing; count the total number of satellites in the 6 systems that need to be simulated for a single antenna i φ 1_p ,φ 2_p …φ 6_p The elements in the φ are reordered from smallest to largest to form p ;

[0058] According to whether there is priority, there are two situations:

[0059] A: Navigation system has no priority

[0060] A1. If In the middle, both do not exceed the computing resource capacity N A_C , then plan S is formed;

[0061] A2. If the resource requirement of a certain antenna i_a exceeds N A_C ,

[0062] ①Frequency priority;

[0063] All frequencies of a single satellite are required, according to N A_C , according to φ p The order of the inner elements, Keep the first part of the satellites, and mark the remaining satellites as k; enlarge the beam width of the system m where the satellite k is located to form an increment Δφ m_p , until the satellite number k increases by an increment of Δφ m_p appears in the middle, forming scheme S;

[0064] ②Pointing accuracy is prioritized;

[0065] For the stars in antenna i_a, according to the frequency priority, delete the frequency points with low simulation priority to form plan S;

[0066] B: Navigation system has priority

[0067] B1. If Medium, not exceeding the computing resource capacity N A_C , then plan S is formed;

[0068] B2. If the resource requirement of a certain antenna i_a exceeds N A_C ,

[0069] ①Frequency priority;

[0070] According to N A_C , according to the simulation priority of the simulation navigation system accuracy, combined with φ m_p , The priority satellites of the priority system are retained, and the excess satellites are recorded as k; the beam width of the system m where the excess satellite k is located is enlarged to form an increment Δφ m_p , until the satellite number k increases by an increment of Δφ m_p appears in the middle, forming scheme S;

[0071] ②Precision first;

[0072] For the stars in antenna i_a, according to the frequency priority, delete the low-priority frequencies of the navigation system to be simulated to form scheme S.

[0073] Due to the adoption of the above technical solution, the present invention has the following advantages:

[0074] The present invention provides an antenna scheduling method for multi-constellation navigation signal environment simulation, which resolves the contradiction between a limited number of antennas and continuous satellite motion, optimizes an efficient and orderly antenna utilization plan, simulates navigation satellite signals of different directions and types to the greatest extent possible, forms a mapping distribution relationship between navigation satellites and antennas, supports the broadcast of multi-antenna navigation signals constructed by multi-constellation navigation environment simulation in a test environment, and meets the requirements for the space navigation signal environment in navigation receiver testing. Description of the drawings:

[0075] Figure 1 It is a schematic diagram of the application of the present invention;

[0076] Figure 2 This is the overall flow chart of antenna optimization scheduling;

[0077] Figure 3 It is a diagram of the composition of the planning software platform framework;

[0078] Figure 4 It is a logical flow chart of antenna usage planning. Specific implementation method:

[0079] The multi-antenna optimization scheduling method constructed for multi-constellation navigation environment simulation is implemented in a test environment with a certain number of navigation satellite antennas deployed.

[0080] Under test conditions, navigation satellite signals generated by a signal simulation source are broadcasted across a certain number of antennas, simulating the signal transmission during real satellite motion. The realism of the simulation is determined by the timing and antenna used to simulate which satellite signal is being broadcast.

[0081] The present invention proposes an antenna scheduling method in a multi-constellation navigation signal environment simulation, including a planning software platform and an antenna scheduling method implemented by running the platform. The designed scheduling method involves signal simulation sources, antennas, navigation satellites, etc. The process includes finding stars, removing stars, obtaining the spatial relationship between satellites and antennas, and allocation planning of antennas and simulated satellites. In the allocation planning, especially under limited resources, it fully combines the optimization logic under different priority conditions such as navigation systems, accuracy, and frequency points. Corresponding functional modules are designed for the antenna scheduling implementation process, as well as interactive information interfaces between functional modules, and a set of planning and implementation planning software platform architecture is built. This platform assists the test main control software in completing the simulation construction of the navigation signal environment, such as Figure 1 shown.

[0082] The present invention first performs a preliminary selection of the required simulated satellites according to the position of the navigation receiver, and then eliminates the satellites that cannot be received by the antenna from the preliminary selection according to the navigation receiver's attitude and antenna radiation pattern. Through coordinate conversion, the coordinates of the satellite to be simulated and the antenna are converted into a test environment coordinate system centered on the receiver, and a navigation system satellite-navigation receiver-antenna space angle table is established. The table is used as a prerequisite input for the antenna optimization scheduling scheme. In the design of the antenna optimization scheduling scheme, the capabilities of the existing software and hardware simulation resources are used as a prerequisite constraint, and the principles of priority of the navigation system to be simulated, priority of the satellite's direction accuracy to be simulated, and priority of the satellite's frequency to be simulated are followed.

[0083] like Figure 3 As shown in FIG, the planning software platform includes a basic information entry module, a star removal calculation module, a space angle calculation module, and an antenna optimization scheduling module.

[0084] The basic information entry module is used to complete the entry of preliminary satellite information, antenna pattern, and navigation receiver attitude information;

[0085] The star removal calculation module is used to complete the coordinate conversion, remove satellites that cannot be received by the antenna from the preliminary selected satellites according to the attitude information of the navigation receiver and the antenna pattern, and output the satellite information to be simulated after the stars are removed;

[0086] The space angle calculation module is used to complete the coordinate conversion and calculate the space angle table of different navigation satellites, navigation receivers and antennas of different navigation systems;

[0087] The antenna optimization scheduling module completes information preprocessing before planning based on the spatial angle table, and forms an optimization plan for antenna optimization scheduling according to different priority principles, and outputs it for use in antenna switching.

[0088] like Figure 2 As shown, an antenna scheduling method in a multi-constellation navigation signal environment simulation includes the following steps:

[0089] (1) Using constellation simulation tools, determine the set of visible satellites for a given navigation receiver location;

[0090] (2) Inputting the determined visible satellite information into the basic information entry module;

[0091] (3) Inputting the navigation receiver attitude angle and navigation receiver antenna pattern into the basic information input module;

[0092] (4) Input the antenna pattern in the test environment into the basic information entry module;

[0093] (5) Run the star removal calculation module to calculate and output a new set of visible satellites to be simulated;

[0094] (6) Run the spatial angle calculation module to calculate the spatial angle table of different navigation satellites, navigation receivers and antennas of different navigation systems;

[0095] (7) Run the antenna optimization scheduling module, set the corresponding optimization criteria according to the actual situation, and form an optimization plan for antenna scheduling.

[0096] Specifically, the specific method of determining the visible satellite set of a specified navigation receiver position using a constellation simulation tool in step (1) is as follows:

[0097] Using STK commercial simulation software, the operation simulation of 4 global satellite navigation systems and 2 regional satellite navigation systems is carried out according to the real satellite parameters. In the geodetic coordinate system, according to the longitude L of the navigation receiver U u , Latitude B u 、Elevation H u , obtain the star number and position of each single-system visible satellite in the 6 systems, and form the single-system visible star set S_m_v0, where m represents the satellite navigation system number, m = 1, ... 6; the set of all visible star numbers S_v0 = {S_1_v0, S_2_v0, ..., S_6_v0}; in the geodetic coordinate system, the coordinates corresponding to the visible star i of each system m are: i∈S_m_v0.

[0098] Specifically, the specific method of calculating and outputting the new set of visible satellites to be simulated in step (5) is as follows:

[0099] 1) Convert the visible satellite coordinates to the navigation receiver antenna coordinate system;

[0100] ① Using the coordinate conversion formula (1), first convert the coordinates (L, B, H) of all satellites in the visible star set S_v0 to the Earth-centered Earth-fixed coordinate system (X, Y, Z);

[0101]

[0102] where R N represents the radius of the ellipsoid's truncated circle;

[0103] a represents the semi-major axis of the ellipsoid, and e represents the first eccentricity of the ellipsoid;

[0104] Similarly, the navigation receiver position is converted to the Earth-centered Earth-fixed coordinate system;

[0105] ②Through Rotation transformation and translation are used to transform the above-mentioned transformed coordinates into the northeast celestial coordinate system of the navigation receiver. The rotation matrix is ​​as shown in formula (2); thereby obtaining the positions of the navigation satellite and the navigation receiver in the northeast celestial coordinate system;

[0106]

[0107] ③Navigation receiver carrier attitude angle including orientation Pitch θ and roll γ, transform the coordinates of the navigation receiver in the northeast sky coordinate system to the carrier coordinate system, and convert the moment

[0108] Formation As shown in formula (3);

[0109]

[0110] ④ Assuming that the carrier coordinate system coincides with the antenna coordinate system, the positions of all visible satellites in the antenna coordinate system are obtained: i∈S_v0; 2) According to the antenna attitude, only the satellites within the navigation receiver antenna pattern are retained;

[0111] In the antenna coordinate system, for each satellite in the visible star set S_v, calculate its azimuth and elevation angle in the antenna coordinate system i∈S_v0, if the angle between the line connecting a satellite and the antenna and the z-axis of the antenna coordinate system is greater than θ th ,θ th Determined by the antenna array element pattern, the satellite number is deleted from the simultaneously visible star set S_v0, and finally a new simultaneously visible star set S_v is formed.

[0112] Specifically, the specific method for calculating the spatial angle table of different navigation satellites, navigation receivers, and antennas of different navigation systems in step (6) is as follows:

[0113] When the test environment is constructed, it is aligned with the Northeast Sky coordinate system. The azimuth and elevation angles of the navigation receiver in the Northeast Sky coordinate system are expressed as The coordinate value P of each antenna i i A_g Convert to the coordinate value P in the antenna coordinate system i A_a , the transformation matrix is ​​as follows (3)

[0114]

[0115] In the antenna coordinate system, for each satellite i in the visible satellite star set S_m_v corresponding to the satellite navigation system m, for all simulated satellite antennas in the test environment, calculate the angle between the satellite-navigation receiver-test environment antenna where i∈S_m_v, N a represents the number of antennas that can be used to simulate satellites, j represents the antenna number; for a single system m, an angle set is formed N m Represents the number of visible stars of navigation system m; for the satellites of 6 navigation systems, φ=[φ 1_s ,…φ 6_s ].

[0116] like Figure 4 As shown, step (7) sets the corresponding optimization criteria according to the actual situation, and the specific method of forming the optimization scheme for antenna scheduling is as follows:

[0117] 1) Planning preprocessing

[0118] First, for each satellite navigation system m, the angle set φ formed by the visible satellite star set S_m_v m_s , its elements are sorted from small to large, and the first φ is intercepted according to a certain beam width m_s half, forming φ m_p ;

[0119] Secondly, from φ m_p Extract the satellite number involved. If the satellite number cannot cover all S_m_v, it means that some visible stars of the navigation system m do not have a suitable antenna for simulation, and it is necessary to further widen φ m_p range, until all satellites in S_m_v have antennas to simulate;

[0120] Finally, for each system: 1_p ,φ 2_p …φ 6_p ;

[0121] For each single satellite navigation system m, m_p Extract the available antenna number A involved nn_m , for A nn_m Each antenna j in the antenna can simulate the satellite cluster of a single satellite system.

[0122] A: Single satellite and single antenna

[0123] If any satellite in S_m_v is only in one If it appears in , the broadcasting plan S_m_1 is formed;

[0124] B: Single satellite with multiple antennas

[0125] If a satellite i in S_m_v is in multiple There are two situations:

[0126] ① If pointing accuracy is the priority, search for Find the antenna number corresponding to the minimum value, and only in the set where the minimum value appears In the set, all are retained and those in other sets are deleted, forming the scheme S_m_2;

[0127] ② If computing resources are prioritized, only The set with the least number of elements is retained, and all elements in other sets are deleted, forming the solution S_m_2;

[0128] C: Single antenna multiple satellites

[0129] like There are multiple satellites in the system. Assuming that the signal simulation generation capability of a single signal source is N A_C , there are two cases:

[0130] ① If the plan The number of elements contained is less than N A_C , then the solution S_m_3 is formed;

[0131] ②If a The number of elements contained is greater than N A_C , Keep the first N A_C Satellite numbers are recorded, the extra satellite numbers are amplified, and the beam width is increased to form an increment Δφ m_p , until the extra satellite number is incremented by Δφ m_p appears in the, forming a new scheme S_m_3;

[0132] 2) Single navigation system simulation optimization

[0133] For the navigation system m to be simulated, merge S_m_1, S_m_2, and S_m_3 to form the antenna usage plan S_m for the system;

[0134] 3) Multi-navigation system simulation optimization

[0135] According to the requirements of the navigation system to be simulated, Perform merging processing; count the total number of satellites in the 6 systems that need to be simulated for a single antenna i φ 1_p ,φ 2_p …φ 6_p The elements in the φ are reordered from smallest to largest to form p ;

[0136] According to whether there is priority, there are two situations:

[0137] A: Navigation system has no priority

[0138] A1. If In the middle, both do not exceed the computing resource capacity N A_C , then plan S is formed;

[0139] A2. If the resource requirement of a certain antenna i_a exceeds N A_C ,

[0140] ①Frequency priority;

[0141] All frequencies of a single satellite are required, according to N A_C , according to φ p The order of the inner elements, Keep the first part of the satellites, and mark the remaining satellites as k; enlarge the beam width of the system m where the satellite k is located to form an increment Δφ m_p , until the satellite number k increases by an increment of Δφ m_p appears in the middle, forming scheme S;

[0142] ②Pointing accuracy is prioritized;

[0143] For the stars in antenna i_a, according to the frequency priority, delete the frequency points with low simulation priority to form plan S;

[0144] B: Navigation system has priority

[0145] B1. If Medium, not exceeding the computing resource capacity N A_C , then plan S is formed;

[0146] B2. If the resource requirement of a certain antenna i_a exceeds N A_C ,

[0147] ①Frequency priority;

[0148] According to N A_C , according to the simulation priority of the simulation navigation system accuracy, combined with φ m_p , The priority satellites of the priority system are retained, and the excess satellites are recorded as k; the beam width of the system m where the excess satellite k is located is enlarged to form an increment Δφ m_p , until the satellite number k increases by an increment of Δφ m_p appears in the middle, forming scheme S;

[0149] ②Precision first;

[0150] For the stars in antenna i_a, according to the frequency priority, delete the low-priority frequencies of the navigation system to be simulated to form scheme S.

[0151] The parts not described in detail in the above content are prior art and are therefore not described in detail.

Claims

1. An antenna scheduling method for multi-constellation navigation signal environment simulation, characterized by: The steps include: (1) Using constellation simulation tools, determine the set of visible satellites for a given navigation receiver location; (2) Inputting the determined visible satellite information into the basic information entry module; (3) Inputting the navigation receiver attitude angle and navigation receiver antenna pattern into the basic information input module; (4) Input the antenna pattern in the test environment into the basic information entry module; (5) Run the star removal calculation module to calculate and output a new set of visible satellites to be simulated; (6) Run the spatial angle calculation module to calculate the spatial angle table of different navigation satellites, navigation receivers and antennas of different navigation systems; (7) Run the antenna optimization scheduling module, set the corresponding optimization criteria according to the actual situation, and form an optimization plan for antenna scheduling.

2. The antenna scheduling method in multi-constellation navigation signal environment simulation according to claim 1, characterized in that: The basic information entry module is used to complete the entry of preliminary satellite information, antenna pattern, and navigation receiver attitude information; The star removal calculation module is used to complete the coordinate conversion, remove satellites that cannot be received by the antenna from the preliminary selected satellites according to the attitude information of the navigation receiver and the antenna pattern, and output the satellite information to be simulated after the stars are removed; The space angle calculation module is used to complete the coordinate conversion and calculate the space angle table of different navigation satellites, navigation receivers and antennas of different navigation systems; The antenna optimization scheduling module completes information preprocessing before planning based on the spatial angle table, and forms an optimization plan for antenna optimization scheduling according to different priority principles, and outputs it for use in antenna switching.

3. The antenna scheduling method for multi-constellation navigation signal environment simulation according to claim 1, characterized in that: The specific method of determining the visible satellite set of the specified navigation receiver position using the constellation simulation tool in step (1) is as follows: Using STK commercial simulation software, the operation simulation of 4 global satellite navigation systems and 2 regional satellite navigation systems is carried out according to the real satellite parameters. In the geodetic coordinate system, according to the longitude L of the navigation receiver U u , Latitude B u 、Elevation H u , obtain the star number and position of each single-system visible satellite in the 6 systems, and form the single-system visible star set S_m_v0, where m represents the satellite navigation system number, m = 1, ... 6; the set of all visible star numbers S_v0 = {S_1_v0, S_2_v0, ..., S_6_v0}; in the geodetic coordinate system, the coordinates corresponding to the visible star i of each system m are:

4. The antenna scheduling method in multi-constellation navigation signal environment simulation according to claim 3, characterized in that: The specific method of calculating and outputting the new set of visible satellites to be simulated in step (5) is as follows: 1) Convert the visible satellite coordinates to the navigation receiver antenna coordinate system; ① Using the coordinate conversion formula (1), first convert the coordinates (L, B, H) of all satellites in the visible star set S_v0 to the Earth-centered Earth-fixed coordinate system (X, Y, Z); where R N represents the radius of the ellipsoid's truncated circle; a represents the semi-major axis of the ellipsoid, and e represents the first eccentricity of the ellipsoid; Similarly, the navigation receiver position is converted to the Earth-centered Earth-fixed coordinate system; ②Through Rotation transformation and translation are used to transform the above-mentioned transformed coordinates into the northeast celestial coordinate system of the navigation receiver. The rotation matrix is ​​as shown in formula (2); thereby obtaining the positions of the navigation satellite and the navigation receiver in the northeast celestial coordinate system; ③Navigation receiver carrier attitude angle including orientation Pitch θ and roll γ, transform the coordinates of the navigation receiver in the northeast sky coordinate system to the carrier coordinate system, and the transformation matrix is As shown in formula (3); ④ Assuming that the carrier coordinate system coincides with the antenna coordinate system, the positions of all visible satellites in the antenna coordinate system are obtained: 2) Based on the antenna attitude, only satellites within the navigation receiver antenna pattern are retained; In the antenna coordinate system, for each satellite in the visible star set S_v, calculate its azimuth and elevation angle in the antenna coordinate system If the angle between the line connecting a satellite and the antenna and the z-axis of the antenna coordinate system is greater than θ th ,θ th Determined by the antenna array element pattern, the satellite number is deleted from the simultaneously visible star set S_v0, and finally a new simultaneously visible star set S_v is formed.

5. The antenna scheduling method in multi-constellation navigation signal environment simulation according to claim 4, characterized in that: The specific method of calculating the spatial angle table of different navigation satellites, navigation receivers and antennas of different navigation systems in step (6) is as follows: When the test environment is constructed, it is aligned with the Northeast Sky coordinate system. The azimuth and elevation angles of the navigation receiver in the Northeast Sky coordinate system are expressed as The coordinate value of each antenna i Convert to the coordinate value in the antenna coordinate system The conversion matrix is ​​as follows (3) In the antenna coordinate system, for each satellite i in the visible satellite star set S_m_v corresponding to the satellite navigation system m, for all simulated satellite antennas in the test environment, calculate the angle between the satellite-navigation receiver-test environment antenna where i∈S_m_v, N a represents the number of antennas that can be used to simulate satellites, j represents the antenna number; for a single system m, an angle set is formed N m Represents the number of visible stars of navigation system m; for the satellites of 6 navigation systems, φ=[φ 1_s ,…φ 6_s ].

6. The antenna scheduling method in multi-constellation navigation signal environment simulation according to claim 5, characterized in that: The specific method of setting the corresponding optimization criteria according to the actual situation in step (7) to form the optimization scheme for antenna scheduling is as follows: 1) Planning preprocessing First, for each satellite navigation system m, the angle set φ formed by the visible satellite star set S_m_v m_s , its elements are sorted from small to large, and the first φ is intercepted according to a certain beam width m_s half, forming φ m_p ; Secondly, from φ m_p Extract the satellite number involved. If the satellite number cannot cover all S_m_v, it means that some visible stars of the navigation system m do not have a suitable antenna for simulation, and it is necessary to further widen φ m_p range, until all satellites in S_m_v have antennas to simulate; Finally, for each system: 1_p ,φ 2_p …φ 6_p ; For each single satellite navigation system m, m_p Extract the available antenna number A involved nn_m , for A nn_m Each antenna j in the antenna can simulate the satellite cluster of a single satellite system. A: Single satellite and single antenna If any satellite in S_m_v is only in one If it appears in , the broadcasting plan S_m_1 is formed; B: Single satellite with multiple antennas If a satellite i in S_m_v is in multiple There are two situations: ① If pointing accuracy is the priority, search for Find the antenna number corresponding to the minimum value, and only in the set where the minimum value appears In the set, all are retained and those in other sets are deleted, forming the scheme S_m_2; ② If computing resources are prioritized, only The set with the least number of elements is retained, and all elements in other sets are deleted, forming the solution S_m_2; C: Single antenna multiple satellites like There are multiple satellites in the system. Assuming that the signal simulation generation capability of a single signal source is N A_C , there are two cases: ① If the plan The number of elements contained is less than N A_C , then the solution S_m_3 is formed; ②If a The number of elements contained is greater than N A_C , Keep the first N A_C Satellite numbers are recorded, the extra satellite numbers are recorded, the beam width is enlarged, and the increment Δφ is formed. m_p , until the extra satellite number is incremented by Δφ m_p appears in the, forming a new scheme S_m_3; 2) Single navigation system simulation optimization For the navigation system m to be simulated, merge S_m_1, S_m_2, and S_m_3 to form the antenna usage plan S_m for the system; 3) Multi-navigation system simulation optimization According to the requirements of the navigation system to be simulated, Carry out merger processing; Count the total number of satellites in the 6 systems that need to be simulated for a single antenna i φ 1_p ,φ 2_p …φ 6_p The elements in the φ are reordered from smallest to largest to form p ; According to whether there is priority, there are two situations: A: Navigation system has no priority A1. If In the middle, both do not exceed the computing resource capacity N A_C , then plan S is formed; A2. If the resource requirement of a certain antenna i_a exceeds N A_C , ①Frequency priority; All frequencies of a single satellite are required, according to N A_C , according to φ p The order of the inner elements, Keep the first part of the satellites, and mark the remaining satellites as k; enlarge the beam width of the system m where the satellite k is located to form an increment Δφ m_p , until the satellite number k increases by an increment of Δφ m_p appears in the middle, forming scheme S; ②Pointing accuracy is prioritized; For the stars in antenna i_a, according to the frequency priority, delete the frequency points with low simulation priority to form plan S; B: Navigation system has priority B1. If Medium, not exceeding the computing resource capacity N A_C , then plan S is formed; B2. If the resource requirement of a certain antenna i_a exceeds N A_C , ①Frequency priority; According to N A_C , according to the simulation priority of the simulation navigation system accuracy, combined with φ m_p , The priority satellites of the priority system are retained, and the excess satellites are recorded as k; the beam width of the system m where the excess satellite k is located is enlarged to form an increment Δφ m_p , until the satellite number k increases by an increment of Δφ m_p appears in the middle, forming scheme S; ②Precision first; For the stars in antenna i_a, according to the frequency priority, delete the low-priority frequencies of the navigation system to be simulated to form scheme S.

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