A simulation method and system for navigation satellite inter-satellite link observation data

Abstract

The application provides a simulation method and system for navigation satellite inter-satellite link observation data, and belongs to the field of navigation satellite inter-satellite link data simulation. The method first acquires constellation configuration parameters and dynamic parameter configurations, and performs orbit integration to generate position parameters and velocity parameters of all navigation satellites in the constellation; then, according to the position parameters and the velocity parameters, clock difference polynomial coefficients and corresponding reference time, the inter-satellite geometric distance between any two satellites and satellite clock difference parameters are calculated; zero value parameters of any two satellites are simulated, and error parameters changing with direction and combined values of random noise of any two satellites are simulated; finally, according to the inter-satellite geometric distance, the satellite clock difference parameters, the zero value parameters and the error parameters changing with direction and the combined values of random noise, an inter-satellite observation data simulation equation of any two satellites in the constellation is constructed. The simulation accuracy and precision of the satellite inter-satellite link are improved.

Description

Technical Field

[0001] This invention belongs to the field of navigation satellite inter-satellite link data simulation, specifically relating to a simulation method and system for navigation satellite inter-satellite link observation data. Background Technology

[0002] Inter-satellite link observation data is an important new type of observation resource for satellite navigation systems. The increased operational service capabilities of satellite navigation systems brought about by inter-satellite link observation data are reflected in two aspects: enhanced satellite spatial signal accuracy and the addition of autonomous orbit determination and time synchronization for the constellation. Regarding enhanced satellite spatial signal accuracy, inter-satellite link observation data can compensate for the insufficient distribution of ground monitoring stations, providing favorable observations of the satellite's outer arc segment, enhancing the accuracy of satellite orbit and clock error parameters, and improving satellite spatial signal accuracy. In terms of constellation autonomous orbit determination and time synchronization, navigation satellites can utilize inter-satellite link observations to perform autonomous orbit determination and time synchronization even in the absence of ground observation resources, significantly improving the service accuracy and resilience of the satellite navigation system in extreme situations. However, the theoretical methods for satellite navigation data processing based on inter-satellite link observation data are not yet fully mature. Mature inter-satellite link observation simulation data is a prerequisite for conducting theoretical research on satellite navigation data processing based on inter-satellite link observation data and for developing software systems for inter-satellite link observation data information processing.

[0003] The fidelity of inter-satellite link simulation observation data is a key factor affecting the advancement of satellite navigation data processing theory and the application effectiveness of inter-satellite link observation data information processing software systems. The fidelity of the observation equations and measurement models, as well as the fidelity of the adaptation to the on-orbit operation of satellite platforms and payloads, are crucial factors for the success of navigation satellite inter-satellite link data simulation.

[0004] However, existing simulation methods for observational data are mostly focused on link connectivity levels, such as constellation inter-satellite link communication simulation and satellite inter-satellite link feature modeling simulation, as well as application-level processing based on inter-satellite links, such as system autonomous operation parallel simulation systems. In terms of parameters, they are mostly focused on key parameters such as network topology, link characteristics, link delay, bandwidth, signal strength, and bit error rate, lacking comprehensive simulation of error terms in satellite constellation inter-satellite link observation data. Therefore, the simulation results are poor and the observational data obtained from the simulation are not accurate enough. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, the present invention aims to provide a simulation method and system for inter-satellite link observation data of navigation satellites. By fully considering the geometric configuration characteristics and on-orbit operation characteristics of the navigation constellation, and taking into account the zero-value parameters of the equipment, the zero-value fluctuation error caused by temperature changes, the systematic deviation parameters related to the link, the measurement error related to the inter-satellite wave velocity angle, etc., the present invention addresses the simulation requirements of inter-satellite link observation of navigation satellite constellations, establishes a set of observation error terms and simulations of various error terms, thereby enhancing the realism of the simulation data and improving the accuracy and precision of the simulation results.

[0006] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0007] In a first aspect, embodiments of the present invention provide a simulation method for inter-satellite link observation data of navigation satellites, the method comprising the following steps:

[0008] Obtain the constellation configuration parameters and dynamic parameter configurations of the navigation satellite to be simulated;

[0009] Based on the configuration parameters and dynamic parameters of the navigation satellite constellation, orbital integration is performed to generate the position and velocity parameters of all navigation satellites in the constellation.

[0010] Based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and corresponding reference times, calculate the inter-satellite geometric distance and satellite clock error parameters between any two satellites i and j.

[0011] For any two satellites i and j, simulate zero-value parameters. , Indicates the signal reception time; the zero-value parameter It is a combination of the satellite transmission zero constant, the satellite reception zero constant, the change of the satellite transmission zero constant with satellite temperature, and the change of the satellite reception zero constant with satellite temperature.

[0012] For any two satellites i and j, simulate the combined values ​​of the error parameters and random noise that vary with orientation. ;

[0013] Based on the inter-satellite geometric distance, satellite clock error parameters, zero-value parameters, and direction-varying error parameters and random noise combination values, a simulation equation for inter-satellite observation data of any two satellites i and j in the constellation is constructed.

[0014] In a preferred embodiment of the present invention, the constellation configuration parameters include the number of satellites, satellite orbital altitude, eccentricity, number of orbital planes, and phase difference; the dynamic parameter configuration includes the Earth's gravitational field model and order, N-body perturbation, tidal gravitational protocol, solar radiation pressure model parameters, Earth's albedo pressure parameters, and antenna thrust parameters.

[0015] In a preferred embodiment of the present invention, the satellite's position and velocity parameters are calculated by numerical integration of the satellite's initial orbit and acceleration parameters.

[0016] In a preferred embodiment of the present invention, when calculating the position and velocity parameters of the satellite, the satellite motion equations are first established, as follows:

[0017] (1)

[0018] (2)

[0019] In equations (1) and (2), X(t) represents the state variable. Represents a position vector. Represents the velocity vector. Represents dynamic parameters, Indicates satellite acceleration; and

[0020] (3)

[0021] In equation (3), For the forces acting on a two-body problem, For N-body gravity, It is the driving force of Earth's tidal forces (solid tides, ocean tides, etc.). As the perturbation force of Earth's rotation, For relativistic perturbation, As the perturbation force of solar radiation, As the Earth's radiation-induced pressure force, This is the force that drives the antenna.

[0022] As a preferred embodiment of the present invention, the process of calculating the inter-satellite geometric distance is as follows:

[0023] Satellite J in The inter-satellite geometric distance in the inter-satellite link observation data received from satellite i at any time The calculation is as follows:

[0024] (4)

[0025] In equation (4), Indicates the time of signal reception. This represents the time required for inter-satellite ranging signals to travel from satellite i to satellite j. For satellite j in The satellite position at any given time is obtained by interpolating the satellite position parameters; For satellite i in The satellite position at any given time is obtained by interpolation using satellite position parameters.

[0026] In a preferred embodiment of the present invention, when calculating the satellite clock bias parameters, satellite i is in Time difference The calculation formula is:

[0027] (5)

[0028] Satellite J in Time difference The calculation formula is:

[0029] (6)

[0030] In equations (5) and (6), , and These are the configurations for the satellite i-clock bias parameters. , and These are the configurations for the clock bias parameters of satellite j; This indicates the reference epoch, the starting time for calculating the clock difference parameter.

[0031] As a preferred embodiment of the present invention, the zero-value parameter The calculation formula is as follows:

[0032] (7)

[0033] In equation (7), For the launch zero-value constant part of satellite i, The zero-value constant part for satellite j can be customized according to the simulation scenario; This represents the variation of the launch null value of satellite i with temperature. This represents the change in the received zero value of satellite j with temperature.

[0034] As a preferred embodiment of the present invention, the The calculation formula is as follows:

[0035] (8)

[0036] In equation (8), It is random noise; Let be the error parameter that varies with direction, and ,in, The error coefficient is obtained from the simulation scenario configuration; Let satellite j observe the beam angle of satellite i, and:

[0037] (9)

[0038] In equation (9), Satellite J at the receiving time position vector, For satellite i in Satellite position vector at time, This represents the time required for the inter-satellite ranging signal to travel from satellite i to satellite j.

[0039] In a preferred embodiment of the present invention, the simulation equation expression for the inter-satellite observation data is as follows:

[0040] (10)

[0041] In equation (10), For any two satellites i and j in Inter-satellite observation data at any given time Indicates that satellite j is in The inter-satellite geometric distance in the inter-satellite link observation data received from satellite i at any given time. Indicates that satellite i is in The time difference Indicates that satellite j is in The time difference.

[0042] Secondly, embodiments of the present invention also provide a simulation system for inter-satellite link observation data of navigation satellites. The system includes: a basic parameter acquisition module, a position and velocity integration module, an inter-satellite geometric distance calculation module, a satellite clock error parameter calculation module, a zero-value parameter simulation module, a combined value simulation module, and an observation equation integration module; wherein...

[0043] The basic parameter acquisition module is used to acquire the constellation configuration parameters and dynamic parameter configuration of the navigation satellite to be simulated;

[0044] The position and velocity integration module is used to perform orbit integration based on the configuration parameters and dynamic parameters of the navigation satellite constellation, and generate the position and velocity parameters of all navigation satellites in the constellation.

[0045] The inter-satellite geometric distance calculation module is used to calculate the inter-satellite geometric distance between any two satellites i and j based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and the corresponding reference time.

[0046] The satellite clock error parameter calculation module is used to calculate the satellite clock error parameters of any two satellites i and j based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and corresponding reference time.

[0047] The zero-value parameter simulation module is used to simulate zero-value parameters for any two satellites i and j. , Indicates the signal reception time; the zero-value parameter It is a combination of the satellite transmission zero constant, the satellite reception zero constant, the change of the satellite transmission zero constant with satellite temperature, and the change of the satellite reception zero constant with satellite temperature.

[0048] The combined value simulation module is used to simulate the combined values ​​of error parameters and random noise that vary with direction for any two satellites i and j. ;

[0049] The observation equation integration module is used to construct simulation equations for inter-satellite observation data of any two satellites i and j in the constellation based on the inter-satellite geometric distance, satellite clock error parameters, zero-value parameters, error parameters that vary with direction, and random noise combination values.

[0050] The technical solutions provided in the embodiments of the present invention have the following beneficial effects:

[0051] The simulation method and system for inter-satellite link observation data of navigation satellites provided in this invention first perform orbital integration based on the configuration parameters and dynamic parameters of the navigation satellite constellation to generate the position and velocity parameters of all navigation satellites in the constellation. Then, based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and corresponding reference times, the inter-satellite geometric distance and satellite clock error parameters between any two satellites i and j are calculated. Simultaneously, the zero-value parameters between any two satellites i and j are simulated. This invention constructs simulation equations for inter-satellite observation data of any two satellites i and j in the constellation, based on the combined values ​​of error parameters and random noise that vary with direction. This fully considers the geometric configuration and on-orbit operation characteristics of the navigation constellation, and establishes simulation equations for inter-satellite link observation data from the perspectives of observation information and mathematical models. The invention establishes a set of error terms included in the inter-satellite link observation data of the navigation satellite constellation, and develops error simulation methods and mathematical models for each error term. Simultaneously, combining the physical properties of the payload and the observation equations, it incorporates the zero values ​​of the navigation satellite inter-satellite link equipment and their variation with satellite on-orbit temperature, the deviation errors associated with the inter-satellite link, the error parameters of the inter-satellite link varying with the payload beam pointing, and measurement random errors as important components of the inter-satellite link observation data. This adapts to the on-orbit operation characteristics of the satellite inter-satellite link payload, improving the realism of the inter-satellite link observation data simulation.

[0052] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a flowchart of the simulation method for navigation satellite inter-satellite link observation data according to an embodiment of the present invention. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can also be combined with each other.

[0056] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this invention, the terms "first," "second," "third," "fourth," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0057] To address the simulation problem of inter-satellite link observation data for navigation satellites, this invention provides a simulation method and system for inter-satellite link observation data. Based on a thorough consideration of the geometric configuration and on-orbit operation characteristics of the navigation constellation, a simulation method and process for inter-satellite link observation data of the navigation satellite constellation are established to achieve a realistic simulation of the real-time operation services of the satellite navigation constellation. Addressing the simulation requirements of inter-satellite link observations, a set of observation error terms and simulation methods for various error terms are established. Simultaneously, the simulation fully considers the zero-value parameters of the equipment, zero-value fluctuation errors caused by temperature changes, systematic deviation parameters related to the link, and measurement errors related to inter-satellite wave velocity and angle, thereby enhancing the realism of the simulation data.

[0058] like Figure 1 As shown, the simulation method for the inter-satellite link observation data of the navigation satellite includes the following steps:

[0059] Step S1: Obtain the constellation configuration parameters and dynamic parameter configuration of the navigation satellite to be simulated.

[0060] In this step, constellation configuration parameters refer to parameters such as the number of satellites, satellite orbital altitude, eccentricity, number of orbital planes, and phase difference. Dynamic parameter configuration refers to the Earth's gravitational field model and order, N-body perturbation, tidal gravitational protocol, solar radiation pressure model parameters, Earth's albedo pressure parameters, and antenna thrust parameters.

[0061] Step S2: Based on the configuration parameters and dynamic parameters of the navigation satellite constellation, perform orbit integration to generate the position and velocity parameters of all navigation satellites in the constellation.

[0062] In this step, the satellite position and velocity parameters are calculated by numerical integration of the initial orbit and acceleration parameters. When calculating the satellite's position and velocity parameters, the satellite's equations of motion are first established. As shown in the navigation satellite dynamics model, the satellite acceleration is mainly related to the satellite's position, velocity, and dynamic parameters; therefore, the satellite equations of motion can be expressed as:

[0063] (1)

[0064] (2)

[0065] In equations (1) and (2), X(t) represents the state variable. Represents a position vector. Represents the velocity vector. Represents dynamic parameters, This represents the satellite's acceleration. Based on the above formula, given the initial state of the satellite, its position and velocity at any given time can be obtained through numerical integration.

[0066] The acceleration of the navigation satellite can be expressed as follows:

[0067] (3)

[0068] In equation (3), For the forces acting on a two-body problem, For N-body gravity, It is the driving force of Earth's tidal forces (solid tides, ocean tides, etc.). As the perturbation force of Earth's rotation, For relativistic perturbation, As the perturbation force of solar radiation, As the Earth's radiation-induced pressure force, This is the force that drives the antenna.

[0069] Step S3: Based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and corresponding reference times, calculate the inter-satellite geometric distance and satellite clock error parameters between any two satellites i and j.

[0070] In this step, the process of calculating the inter-satellite geometric distance is as follows:

[0071] Satellite J in The inter-satellite geometric distance in the inter-satellite link observation data received from satellite i at any time The calculation is as follows:

[0072] (4)

[0073] In equation (4), Indicates the time of signal reception; This represents the time required for inter-satellite ranging signals to travel from satellite i to satellite j. For satellite j in The satellite position at any given time is obtained by interpolating the satellite position parameters; For satellite i in The satellite position at any given time is obtained by interpolation using satellite position parameters.

[0074] The process for calculating satellite clock bias parameters is as follows:

[0075] Satellite clock bias is expressed as a quadratic polynomial, where satellite i in Time difference The calculation formula is:

[0076] (5)

[0077] Satellite J in Time difference The calculation formula is:

[0078] (6)

[0079] In equations (5) and (6), , and These are the configurations for the satellite i-clock bias parameters. , and These are the configurations of the satellite j-clock bias parameters; both can be obtained through simulation configuration. This indicates the reference epoch, the starting time for calculating the clock difference parameter.

[0080] Step S4: Simulate zero-value parameters for any two satellites i and j. The zero-value parameter It is a combination of the satellite launch zero constant, the satellite reception zero constant, the change of the satellite launch zero constant with satellite temperature, and the change of the satellite reception zero constant with satellite temperature.

[0081] In this step, the The calculation formula is as follows:

[0082] (7)

[0083] In equation (7), For the launch zero-value constant part of satellite i, The zero-value constant part for satellite j can be customized according to the simulation scenario; This represents the variation of the launch null value of satellite i with temperature. The change in the zero value received by satellite j with temperature can be represented by a sine function with a period of 24 hours.

[0084] Step S5: For any two satellites i and j, simulate the combined values ​​of error parameters and random noise that vary with direction. .

[0085] In this step, the The calculation formula is as follows:

[0086] (8)

[0087] In equation (8), It is random noise; Let be the error parameter that varies with direction, and ,in, The error coefficient is obtained from the simulation scenario configuration; Let satellite j observe the beam angle of satellite i, and:

[0088] (9)

[0089] In equation (9), Satellite J at the receiving time position vector, For satellite i in Satellite position vector at time, This represents the time required for the inter-satellite ranging signal to travel from satellite i to satellite j.

[0090] Step S6: Based on the inter-satellite geometric distance, satellite clock error parameters, zero-value parameters, and direction-varying error parameters and random noise combination values, construct the inter-satellite observation data simulation equations for any two satellites i and j in the constellation.

[0091] In this step, the simulation equation expression is:

[0092] (10)

[0093] In equation (10), For any two satellites i and j in Inter-satellite observation data at any given time.

[0094] The inter-satellite link observation data of navigation satellites is simulated based on the constructed inter-satellite observation data simulation equations. It should be noted that steps S3 to S5 are only used to illustrate several parallel variables involved in the process of constructing the observation data simulation equations, and have no temporal relationship.

[0095] Based on the same approach, this invention also provides a simulation system for navigation satellite inter-satellite link observation data. The system includes: a basic parameter acquisition module, a position and velocity integration module, an inter-satellite geometric distance calculation module, a satellite clock error parameter calculation module, a zero-value parameter simulation module, a combined value simulation module, and an observation equation integration module; wherein...

[0096] The basic parameter acquisition module is used to acquire the constellation configuration parameters and dynamic parameter configuration of the navigation satellite to be simulated;

[0097] The position and velocity integration module is used to perform orbit integration based on the configuration parameters and dynamic parameters of the navigation satellite constellation, and generate the position and velocity parameters of all navigation satellites in the constellation.

[0098] The inter-satellite geometric distance calculation module is used to calculate the inter-satellite geometric distance between any two satellites i and j based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and the corresponding reference time.

[0099] The satellite clock error parameter calculation module is used to calculate the satellite clock error parameters of any two satellites i and j based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and corresponding reference time.

[0100] The zero-value parameter simulation module is used to simulate zero-value parameters for any two satellites i and j. The zero-value parameter It is a combination of the satellite transmission zero constant, the satellite reception zero constant, the change of the satellite transmission zero constant with satellite temperature, and the change of the satellite reception zero constant with satellite temperature.

[0101] The combined value simulation module is used to simulate the combined values ​​of error parameters and random noise that vary with direction for any two satellites i and j. ;

[0102] The observation equation integration module is used to construct simulation equations for inter-satellite observation data of any two satellites i and j in the constellation based on the inter-satellite geometric distance, satellite clock error parameters, zero-value parameters, error parameters that vary with direction, and random noise combination values.

[0103] In this embodiment, each module is implemented using a processor, with additional memory added as needed for storage. The processor can be, but is not limited to, a microprocessor (MPU), a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), other programmable logic devices, discrete gates, transistor logic devices, discrete hardware components, etc. The memory can include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory can also be at least one storage device located remotely from the aforementioned processor.

[0104] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0105] It should also be noted that the simulation system for navigation satellite inter-satellite link observation data described in this embodiment corresponds to the simulation method for navigation satellite inter-satellite link observation data. The description and limitations of the method also apply to the system, and will not be repeated here.

[0106] As can be seen from the above technical solutions, the simulation method and system for navigation satellite inter-satellite link observation data provided in this invention constructs a systematic set of error terms and corresponding simulation schemes for navigation satellite constellation inter-satellite link observation data. It establishes an error simulation scheme that fully considers the on-orbit operation characteristics of navigation satellite inter-satellite link payloads, including the method, processing flow, and set of error terms for simulating navigation satellite constellation inter-satellite link observation data. This greatly enhances the realism of the inter-satellite link observation data and provides an effective data source for the integrated testing of research on inter-satellite link-based satellite navigation data processing methods and software development. Furthermore, it constructs a simulation method that fully considers the on-orbit operation characteristics of satellites and the characteristics of inter-satellite link payloads, which can be used to generate realistic navigation satellite constellation inter-satellite link observation data, maintaining consistency with actual engineering conditions.

[0107] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed, and is not intended to limit the scope of the claimed invention, but merely to illustrate preferred embodiments of the invention. Those skilled in the art should understand that the scope of the invention is not limited to the specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. A simulation method for inter-satellite link observation data of navigation satellites, characterized in that, The method includes the following steps: Obtain the constellation configuration parameters and dynamic parameter configurations of the navigation satellite to be simulated; Based on the configuration parameters and dynamic parameters of the navigation satellite constellation, orbital integration is performed to generate the position and velocity parameters of all navigation satellites in the constellation. Based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and corresponding reference times, calculate the inter-satellite geometric distance and satellite clock error parameters between any two satellites i and j. For any two satellites i and j, simulate zero-value parameters. , Indicates the signal reception time; the zero-value parameter It is a combination of the satellite transmission zero constant, the satellite reception zero constant, the change of the satellite transmission zero constant with satellite temperature, and the change of the satellite reception zero constant with satellite temperature. For any two satellites i and j, simulate the combined values ​​of the error parameters and random noise that vary with orientation. The The calculation formula is as follows: (8) In equation (8), It is random noise; Let be the error parameter that varies with direction, and ,in, The error coefficient is obtained from the simulation scenario configuration; Let satellite j observe the beam angle of satellite i, and: (9) In equation (9), Satellite J at the receiving time position vector, For satellite i in Satellite position vector at time, This is the time required for the inter-satellite ranging signal to travel from satellite i to satellite j. Based on the inter-satellite geometric distance, satellite clock error parameters, zero-value parameters, and direction-varying error parameters and random noise combination values, a simulation equation for inter-satellite observation data of any two satellites i and j in the constellation is constructed.

2. The method according to claim 1, characterized in that, The constellation configuration parameters include the number of satellites, satellite orbital altitude, eccentricity, number of orbital planes, and phase difference; the dynamic parameter configuration includes the Earth's gravitational field model and order, N-body perturbation, tidal gravitational protocol, solar radiation pressure model parameters, Earth's albedo pressure parameters, and antenna thrust parameters.

3. The method according to claim 1, characterized in that, The satellite's position and velocity parameters are calculated by numerical integration of the satellite's initial orbit and acceleration parameters.

4. The method according to claim 3, characterized in that, When calculating the satellite's position and velocity parameters, the satellite's equations of motion are first established, as follows: (1) (2) In equations (1) and (2), X(t) represents the state variable. Represents a position vector. Represents the velocity vector. Represents dynamic parameters, Indicates satellite acceleration; and (3) In equation (3), For the forces acting on a two-body problem, For N-body gravity, As a force perturbed by Earth's tides, As the perturbation force of Earth's rotation, For relativistic perturbation, As the perturbation force of solar radiation, As the Earth's radiation-induced pressure force, This is the force that drives the antenna.

5. The method according to claim 1, characterized in that, The process of calculating the inter-satellite geometric distance is as follows: Satellite J in The inter-satellite geometric distance in the inter-satellite link observation data received from satellite i at any time The calculation is as follows: (4) In equation (4), Indicates the time of signal reception. This represents the time required for inter-satellite ranging signals to travel from satellite i to satellite j. For satellite j in The satellite position at any given time is obtained by interpolating the satellite position parameters; For satellite i in The satellite position at any given time is obtained by interpolation using satellite position parameters.

6. The method according to claim 1, characterized in that, When calculating satellite clock bias parameters, satellite i is in Time difference The calculation formula is: ； (5) Satellite J in Time difference The calculation formula is: (6) In equations (5) and (6), , and These are the configurations for the satellite i-clock bias parameters. , and These are the configurations for the clock bias parameters of satellite j; This indicates the reference epoch, the starting time for calculating the clock difference parameter.

7. The method according to claim 1, characterized in that, The zero-value parameter The calculation formula is as follows: (7) In equation (7), For the launch zero-value constant part of satellite i, The zero-value constant part for satellite j can be customized according to the simulation scenario; This represents the variation of the launch null value of satellite i with temperature. This represents the change in the received zero value of satellite j with temperature.

8. The method according to claim 1, characterized in that, The simulation equation for the inter-satellite observation data is expressed as follows: (10) In equation (10), For any two satellites i and j in Inter-satellite observation data at any given time Indicates that satellite j is in The inter-satellite geometric distance in the inter-satellite link observation data received from satellite i at any given time. Indicates that satellite i is in The time difference Indicates that satellite j is in The time difference.

9. A simulation system for inter-satellite link observation data of navigation satellites, characterized in that, The system includes: a basic parameter acquisition module, a position and velocity integration module, an inter-satellite geometric distance calculation module, a satellite clock error parameter calculation module, a zero-value parameter simulation module, a combined value simulation module, and an observation equation integration module; wherein... The basic parameter acquisition module is used to acquire the constellation configuration parameters and dynamic parameter configuration of the navigation satellite to be simulated; The position and velocity integration module is used to perform orbit integration based on the configuration parameters and dynamic parameters of the navigation satellite constellation, and generate the position and velocity parameters of all navigation satellites in the constellation. The inter-satellite geometric distance calculation module is used to calculate the inter-satellite geometric distance between any two satellites i and j based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and the corresponding reference time. The satellite clock error parameter calculation module is used to calculate the satellite clock error parameters of any two satellites i and j based on the position and velocity parameters of all navigation satellites, as well as the clock error polynomial coefficients and corresponding reference time. The zero-value parameter simulation module is used to simulate zero-value parameters for any two satellites i and j. , Indicates the signal reception time; the zero-value parameter It is a combination of the satellite transmission zero constant, the satellite reception zero constant, the change of the satellite transmission zero constant with satellite temperature, and the change of the satellite reception zero constant with satellite temperature. The combined value simulation module is used to simulate the combined values ​​of error parameters and random noise that vary with direction for any two satellites i and j. The The calculation formula is as follows: (8) In equation (8), It is random noise; Let be the error parameter that varies with direction, and ,in, The error coefficient is obtained from the simulation scenario configuration; Let satellite j observe the beam angle of satellite i, and: (9) In equation (9), Satellite J at the receiving time position vector, For satellite i in Satellite position vector at time, This is the time required for the inter-satellite ranging signal to travel from satellite i to satellite j. The observation equation integration module is used to construct simulation equations for inter-satellite observation data of any two satellites i and j in the constellation based on the inter-satellite geometric distance, satellite clock error parameters, zero-value parameters, error parameters that vary with direction, and random noise combination values.

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