A ground test system and method for high-orbit satellite navigation receiver

Abstract

The present invention relates to a ground test system and method for a high-orbit satellite navigation receiver, which belongs to a ground test system for integrated testing of spacecraft, and is particularly suitable for the implementation of a ground test system for navigation receivers of high-orbit satellites. It has the ability to simulate and generate high-orbit navigation signals for use in testing high-orbit navigation receivers, and fully considers the integration, automation and universal design of the system. The system of the present invention adopts a functional automation test case module and a data packet automatic interpretation module to solve the current problems of low efficiency and high dependence on people in systematic integrated testing. The design of an automated, integrated and universal test system realizes the production line and process of subsystem testing. Automatic generation of interpretation reports solves the problem of long-term interpretation of large amounts of data, shortens the test cycle and reduces costs.

Description

Technical Field

[0001] The present invention relates to a ground test system and method for a high-orbit satellite navigation receiver, which belongs to a ground test system for comprehensive testing of spacecraft, and is particularly suitable for the realization of a ground test system for a navigation receiver of a high-orbit satellite. The system has the ability to simulate and generate high-orbit navigation signals for use in testing high-orbit navigation receivers, and fully considers the integration, automation and universal design of the system. Background Art

[0002] In recent years, the demand for the use of high-orbit satellites in various fields such as marine communications, meteorological surveys, disaster warnings, educational applications, live TV broadcasts, and land applications has continued to increase. As the number of high-orbit satellites continues to increase, the requirements for precision measurement of their on-orbit processes for different tasks are becoming increasingly higher. Commonly used ground measurement and control methods can no longer meet the requirements for high-precision satellite positioning and are not autonomous. Therefore, in order to achieve autonomous orbit determination of high-orbit spacecraft and improve positioning and orbit determination accuracy, high-orbit navigation receivers are introduced on board.

[0003] High-orbit satellite navigation receivers are also called high-orbit GNSS receivers. With the continuous promotion of high-orbit GNSS receivers on spacecraft, in order to meet their testing needs, the ground test system required for comprehensive testing urgently needs to be further designed and updated. In the on-orbit scenario, the navigation signals received by high-orbit satellites are different from those in low-orbit. For ground or low-orbit satellite users, most of the signals transmitted by the navigation satellite antenna can be received, and safe and reliable real-time positioning and orbit determination can be achieved; but for high-orbit satellite users, their orbital altitude is often higher than the orbital altitude of the navigation satellite itself, and the direction of the navigation satellite transmitting antenna is pointing to the center of the earth. Due to the obstruction of the earth, the high-orbit GNSS receiver can only receive signals or directional pattern sidelobe signals transmitted from the opposite side of the earth. These signals are weak in strength and are affected by the attenuation of the earth's atmosphere and the delay of the ionosphere, which is not conducive to capture and tracking. Considering the actual on-orbit reception signal characteristics of the high-orbit receiver, the signal generation process of the ground simulation system should be close to the actual situation on orbit, and the simulation model and the introduced factors should also have adaptive changes. At present, the ground test system of high-orbit satellite navigation receivers to meet specific test needs is not perfect and inefficient, and some test items cannot be effectively verified. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art, propose a ground test system and method for a high-orbit satellite navigation receiver, solve the problem of low efficiency of current systematic comprehensive testing, and design an automated, integrated, and universal test system to realize production line and process-based subsystem testing.

[0005] The technical solution of the present invention is:

[0006] A ground test system for a high-orbit satellite navigation receiver, the ground test system includes an MTP module, an RTS module, a mathematical orbit simulation module, a remote control module, a hardware driver module, a baseband module, a frequency converter module, a function automation test case module and a data packet automatic interpretation module, see Figure 1 ;

[0007] The functional automation test case module is used to send on-board operation instructions and operation instructions of the mathematical orbit simulation module to the MTP module, and is also used to receive on-board telemetry data and status data of the mathematical orbit simulation module sent by the RTS module;

[0008] The MTP module is used to receive the on-board operation instructions sent by the functional automation test case module and the operation instructions of the mathematical orbit simulation module sent by the functional automation test case module, store the received on-board operation instructions and the operation instructions of the mathematical orbit simulation module, forward the received on-board operation instructions to the satellite, and forward the received operation instructions of the mathematical orbit simulation module to the remote control module;

[0009] The RTS module is used to receive the telemetry data on the satellite and the status data of the mathematical orbit simulation module, store the received telemetry data on the satellite and the status data of the mathematical orbit simulation module, and send the received telemetry data on the satellite and the status data of the mathematical orbit simulation module to the functional automation test case module;

[0010] The remote control module is used to collect the status data of the mathematical track simulation module, and transmit the collected status data of the mathematical track simulation module to the RTS module. The remote control module is also used to receive the operation instructions of the mathematical track simulation module sent by the MTP module, and forward the received operation instructions of the mathematical track simulation module to the mathematical track simulation module;

[0011] The mathematical orbit simulation module is used to receive the operation instruction sent by the remote control module, and obtain the effective power of the available navigation satellite group according to the received operation instruction, and send it to the hardware driving module;

[0012] The hardware driver module is used to receive the effective power of the available navigation satellite group sent by the mathematical orbit simulation module, and the hardware driver module is also used to generate a navigation message according to the navigation satellite broadcasting system, and send the effective power of the available navigation satellite group and the generated navigation message to the baseband module;

[0013] The baseband module is used to receive the available navigation satellite group effective power and navigation message sent by the hardware driver module, and generate a real radio frequency intermediate frequency signal to the frequency converter module according to the received available navigation satellite group effective power and navigation message;

[0014] The frequency converter module is used to receive the real radio frequency intermediate frequency signal sent by the baseband module, and up-convert the received real radio frequency intermediate frequency signal to form a combined radio frequency signal and forward it to the high-orbit satellite navigation receiver on the satellite. The high-orbit satellite navigation receiver generates a data packet according to the received radio frequency signal;

[0015] The data packet automatic reading module is used to automatically generate a report based on the data packets generated by the high-orbit satellite navigation receiver. The generated report content is whether the high-orbit satellite navigation receiver is in a normal state, a sub-healthy state or a faulty state.

[0016] Preferably, the on-board operating instructions and the operating instructions of the mathematical orbit simulation module are test sequences designed according to set requirements.

[0017] Preferably, the method by which the mathematical orbit simulation module obtains the effective power of the available navigation satellite group according to the received operation instruction is:

[0018] The mathematical orbit simulation module calculates the orbits of high-orbit satellites and navigation satellites according to the received operating instructions, and further calculates the navigation satellite visibility of the high-orbit satellite based on the calculated high-orbit satellite orbit and navigation satellite orbit to obtain the visible navigation satellite group. In the obtained visible navigation satellite group, the ones with higher power are further screened out according to the power as the available navigation satellite group, and then the power of the navigation satellites in the available navigation satellite group received by the high-orbit satellite is corrected through the ionospheric delay calculation, the tropospheric delay layer calculation and the multipath effect calculation; finally, according to the available navigation satellite transmitting antenna pattern and the high-orbit satellite receiving antenna direction Figure 1 The power of the navigation satellites in the available navigation satellite group received by the high-orbit satellite is corrected to obtain the effective power of the available navigation satellite group.

[0019] Preferably, the data packet automatic interpretation module performs format conversion, disassembly, data analysis, and automatic interpretation on the content of the received data packet, and finally automatically generates a report.

[0020] Preferably, the status data of the mathematical orbit simulation module includes simulation start time, health information, orbit operation status, current operation UTC time, simulation end time, ionosphere opening status, scene setting, connection status, and point start time.

[0021] A ground test method for a high-orbit satellite navigation receiver, the method comprising the steps of:

[0022] The first step is to design a test case sequence consisting of on-board operation instructions and operation instructions of the mathematical orbit simulation module according to the set requirements;

[0023] In the second step, the functional automation test case module sends the test case sequence of the first step to the MTP module, and the MTP module forwards the received on-board operation instructions to the satellite, and forwards the received operation instructions of the mathematical orbit simulation module to the remote control module;

[0024] In the third step, the remote control module receives the operation instruction of the mathematical track simulation module sent by the MTP module, and forwards the received operation instruction of the mathematical track simulation module to the mathematical track simulation module;

[0025] In the fourth step, the mathematical orbit simulation module receives the operation instructions sent by the remote control module, and calculates the orbits of the high-orbit satellite and the navigation satellite according to the received operation instructions, and further calculates the visibility of the navigation satellite for the high-orbit satellite according to the calculated high-orbit satellite orbit and navigation satellite orbit to obtain the visible navigation satellite group, and further selects the ones with higher power as the available navigation satellite group according to the power in the obtained visible navigation satellite group, and then corrects the power of the navigation satellite in the available navigation satellite group received by the high-orbit satellite through ionospheric delay calculation, tropospheric delay layer calculation and multipath effect calculation; finally, according to the available navigation satellite transmitting antenna pattern and the high-orbit satellite receiving antenna direction Figure 1 The power of the navigation satellites in the available navigation satellite group received by the high-orbit satellite is corrected to obtain the effective power of the available navigation satellite group and sent to the hardware driver module; the mathematical orbit simulation module sends the status data to the remote control module; the remote control module collects the status data of the mathematical orbit simulation module, and forwards the collected status data of the mathematical orbit simulation module to the functional automation test case module via the RTS module; the functional automation test case module receives the on-board telemetry data and the status data of the mathematical orbit simulation module sent by the RTS module, and automatically determines whether the sent test case sequence is consistent with the received telemetry data and status data. If not, the high-orbit satellite navigation receiver is in a sub-healthy state or a faulty state; if consistent, proceed to the next step;

[0026] Step 5: The hardware driver module receives the available navigation satellite group effective power sent by the mathematical orbit simulation module, generates a navigation message according to the navigation satellite broadcasting system, and sends the available navigation satellite group effective power and the generated navigation message to the baseband module;

[0027] In the sixth step, the baseband module receives the available navigation satellite group effective power and navigation message sent by the hardware driver module, and generates a real radio frequency intermediate frequency signal to the frequency converter module according to the received available navigation satellite group effective power and navigation message;

[0028] In the seventh step, the frequency converter module receives the real RF intermediate frequency signal sent by the baseband module, and up-converts the received real RF intermediate frequency signal to form a combined RF signal and forward it to the high-orbit satellite navigation receiver on the satellite. The high-orbit satellite navigation receiver generates a data packet according to the received RF signal;

[0029] In the eighth step, the data packet automatic interpretation module performs format conversion, disassembly, data analysis, and automatic interpretation on the data packet content, and finally automatically generates a report. The generated report content indicates whether the high-orbit satellite navigation receiver is in a normal state, a sub-healthy state, or a faulty state.

[0030] Preferably, the method for obtaining the visible navigation satellite group is:

[0031] A high-orbit earth tangent star selection model is established. When the altitude angle of the navigation satellite relative to the high-orbit satellite and the set shielding angle satisfy the following formula, the navigation satellite is a visible star.

[0032]

[0033] Where θ is the altitude angle of the navigation satellite relative to the high-orbit satellite, α is the shielding angle, which is a set value, and R e represents the radius of the earth, X geo , Y geo , Z geo Represents the three-dimensional coordinates of the high-orbit satellite in the J2000 coordinate system.

[0034] Beneficial Effects

[0035] (1) The system of the present invention fully considers the test requirements of high-orbit satellite GNSS receivers, establishes a ground test system, and generates navigation constellation RF signals that fit the actual on-orbit state for receiver testing. It can simulate a variety of navigation constellations, including the simulation of 63 stars in the BD3 constellation. It fully considers the test requirements and test pain points, realizes the integrated, automated and universal design of the test system, and can fully verify the high-orbit satellite GNSS receiver during the ground test phase.

[0036] (2) The system of the present invention adopts a functional automated test case module and a data packet automatic interpretation module to solve the current problems of low efficiency and high dependence on people in systematic comprehensive testing. The automated, integrated, and universal test system is designed to realize the production line and process of subsystem testing. Automatic generation of interpretation reports solves the problem of long-term interpretation of large amounts of data, shortens the test cycle, and reduces costs.

[0037] (3) The system of the present invention adopts a mathematical orbit simulation module to solve the ground verification problem of high-orbit navigation receivers for multiple navigation constellations. It has the ability to simulate multiple navigation constellation signals and continuously improves the message broadcasting and the number of navigation satellites.

[0038] (4) In the mathematical orbit simulation module of the system of the present invention, parameters such as simulation start time, measured satellite orbit, navigation star type, ionosphere selection, troposphere selection, multipath effect selection, navigation star message, number of navigation stars, visibility model, etc. can all be configured. The system can be applied to the testing of different high-orbit satellite GNSS receivers, and has good system versatility.

[0039] (5) The system of the present invention can meet the ground test and verification requirements of high-orbit GNSS navigation receivers facing different navigation constellations. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the system composition of the present invention;

[0041] Figure 2 This is a schematic diagram of the high-orbit earth tangent star selection model;

[0042] Figure 3 Schematic diagram of functional automation test cases DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical method implemented in the present invention will be clearly and completely described below in conjunction with the drawings in the implementation of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0044] It should be noted that the mathematical orbit simulation module is an automated ground test system for high-orbit satellite navigation receivers, which includes simulation time setting, navigation constellation type configuration, navigation constellation visibility mode, antenna pattern, satellite selection mode configuration, navigation satellite message configuration, ionosphere setting, troposphere setting, multipath effect setting, measured satellite antenna pattern setting, measured satellite position configuration and other functions. (1) The simulation time setting can set the simulation start time and end time, and calculate the orbital positions of the measured high-orbit satellite and navigation satellite according to the simulation start and end time; (2) The navigation constellation type configuration can configure multiple combined constellation outputs in navigation constellations such as GPS, BD, GLONASS and Galileo, which needs to be selected according to the type of on-board receiver; (3) The navigation constellation visibility mode selects the earth tangent star selection; (4) The antenna pattern loads the navigation constellation transmitting antenna pattern and introduces the antenna directional gain in the link calculation; (5) The high-orbit navigation signal simulation star selection mode selects the power star selection mode. Since the number of navigation satellites received in orbit is small, the satellite with higher power is selected to enter the channel for use during simulation; (6) The navigation satellite message configuration is based on The message types and message broadcasting order of different navigation constellations, and the message contents are loaded into the corresponding constellation signal for broadcasting; (7) Ionosphere setting: During the signal link simulation process, the influence of the ionosphere on the pseudorange value is considered. The high-orbit satellite selects the ionosphere model as a combination of no ionosphere crossing and two ionosphere crossing modes, and the model is selected according to the actual position; (8) Troposphere setting: Consider the influence of the troposphere on the pseudorange value, which is the same as the ionosphere setting combination method; (9) Multipath effect setting: Consider the influence of the multipath effect of the received signal on the pseudorange. High-orbit satellites are generally not applicable, and the multipath effect in the space environment is less; (10) Configuration of the measured high-orbit satellite point position: The measured satellite orbital position is loaded by loading the measured satellite point position or inputting six-digit simulation.

[0045] Example

[0046] A ground test method for a high-orbit satellite navigation receiver, the method comprising the steps of:

[0047] The first step is to design a test case sequence consisting of on-board operation instructions and operation instructions of the mathematical orbit simulation module according to the set requirements. The test case sequence currently established and solidified for high-orbit satellite testing includes a high-orbit satellite navigation receiver power-on case, a high-orbit satellite navigation receiver power-off case, a high-orbit satellite orbit entry simulation flight case, a high-orbit satellite active segment simulation case, and a high-orbit satellite mission time jump case. Take a part of the high-orbit satellite navigation receiver power-on case as an example, see Figure 3 ;

[0048] In the second step, the functional automation test case module executes the case content. First, it receives the satellite time telemetry sent by the RTS module. When the satellite time meets the lower limit, it sends the start simulation scenario instruction to the MTP module. The MTP module forwards the received operation instruction to the remote control module.

[0049] In the third step, the remote control module receives the start simulation scenario instruction sent by the MTP module, and forwards the received instruction to the mathematical track simulation module;

[0050] In the fourth step, the mathematical orbit simulation module receives the start simulation scenario instruction sent by the remote control module, starts the scenario simulation, and performs real-time calculation of the orbits of the high-orbit satellite and the navigation satellite. According to the calculated high-orbit satellite orbit and navigation satellite orbit, the navigation satellite visibility of the high-orbit satellite is further calculated, and 18 visible navigation satellites are obtained as the visible navigation satellite group. From the 18 visible navigation satellite groups, 12 satellites with higher power are further selected according to the power as the available navigation satellite group. The 12 satellites are corrected by the ionosphere delay model, the tropospheric delay layer model and the multipath effect model to obtain the power correction results and the phase delay results. Finally, according to the available navigation satellite transmitting antenna pattern and the high-orbit satellite receiving antenna direction Figure 1 The power of the 12 navigation satellites in the available navigation satellite group received by the high-orbit satellite is corrected, and finally the effective power of the 12 navigation satellites in the available navigation satellite group is obtained and sent to the hardware driver module; the mathematical orbit simulation module sends the status data of the mathematical orbit simulation module such as simulation start time, health information, orbit operation status, current operation UTC time, simulation end time, ionosphere opening status, scene setting, connection status, point start time, etc. to the remote control module; the remote control module forwards the collected status data of the mathematical orbit simulation module to the functional automation test case module via the RTS module; the functional automation test case module receives the real-time status data such as health information, orbit operation status, ionosphere opening status, scene setting, connection status, etc. sent by the RTS module, and automatically judges whether it is consistent with the status data designed by the use case, and then executes the operation content in the next test case sequence;

[0051] The method for obtaining the visible navigation satellite group is:

[0052] Establish a high-orbit earth tangent star selection model, see Figure 2 , when the altitude angle of the navigation satellite relative to the high-orbit satellite and the set shielding angle satisfy the following formula, the navigation satellite is a visible star;

[0053]

[0054] Where θ is the altitude angle of the navigation satellite relative to the high-orbit satellite, α is the shielding angle, which is a set value, and R erepresents the radius of the earth, X geo , Y geo , Z geo Represents the three-dimensional coordinates of the high-orbit satellite in the J2000 coordinate system.

[0055] Step 5: The hardware driver module receives the effective power of the 12 available navigation satellite groups sent by the mathematical orbit simulation module, generates a navigation message according to the broadcasting system of the GPS / BD / GLONASS / Galileo navigation satellite constellation, and sends the effective power of the available navigation satellite group and the generated navigation message to the baseband module;

[0056] Step 6: The baseband module receives the available navigation satellite group effective power and navigation message sent by the hardware driver module, and generates a real radio frequency intermediate frequency 70MHz signal to the frequency converter module according to the received available navigation satellite group effective power and navigation message;

[0057] In the seventh step, the frequency converter module receives the real 70MHz RF intermediate frequency signal sent by the baseband module, and up-converts the received real 70MHz RF intermediate frequency signal according to the frequency requirements of the GPS / BD / GLONASS / Galileo navigation satellite constellation design, and forms a combined RF signal to be forwarded to the high-orbit satellite navigation receiver on the satellite. The high-orbit satellite navigation receiver generates multiple types of high-orbit GNSS receiver output data packets such as positioning and orbit determination data packets, original observation data packets, time calibration data packets, and whole-star time packets according to the received RF signals;

[0058] In the eighth step, the data packet automatic interpretation module converts the format, disassembles, analyzes the data, and automatically interprets the data packet content according to the data packet type, and finally automatically generates a report. The generated report content is whether the high-orbit satellite navigation receiver is in normal state, sub-healthy state or faulty state. The normal state report contains various parameters during normal operation, and the sub-healthy state and fault state reports contain fault parameter information and other related information for testers to check the error type and locate the error.

[0059] The ground simulation system can simulate GPS, BD, GLONASS and Galileo constellations. For the simulation of different constellations, the navigation message broadcasting system, signal modulation system, transmission signal frequency and the position of each navigation star are all different. The matching navigation message broadcasting system, signal modulation system, transmission signal frequency and the position of each navigation star can be automatically configured according to the simulated constellation type.

[0060] Parts not described in detail in the specification of the present invention are common knowledge to those skilled in the art.

Claims

1. A ground test system for a high-orbit satellite navigation receiver, characterized in that: The ground test system includes MTP module, RTS module, mathematical track simulation module, remote control module, hardware driver module, baseband module, inverter module, functional automation test case module and data packet automatic interpretation module; The functional automation test case module is used to send on-board operation instructions and operation instructions of the mathematical orbit simulation module to the MTP module, and is also used to receive on-board telemetry data and status data of the mathematical orbit simulation module sent by the RTS module; The MTP module is used to receive the on-board operation instructions sent by the functional automation test case module and the operation instructions of the mathematical orbit simulation module sent by the functional automation test case module, store the received on-board operation instructions and the operation instructions of the mathematical orbit simulation module, forward the received on-board operation instructions to the satellite, and forward the received operation instructions of the mathematical orbit simulation module to the remote control module; The RTS module is used to receive the telemetry data on the satellite and the status data of the mathematical orbit simulation module, store the received telemetry data on the satellite and the status data of the mathematical orbit simulation module, and send the received telemetry data on the satellite and the status data of the mathematical orbit simulation module to the functional automation test case module; The remote control module is used to collect the status data of the mathematical track simulation module, and transmit the collected status data of the mathematical track simulation module to the RTS module. The remote control module is also used to receive the operation instructions of the mathematical track simulation module sent by the MTP module, and forward the received operation instructions of the mathematical track simulation module to the mathematical track simulation module; The mathematical orbit simulation module is used to receive the operation instruction sent by the remote control module, and obtain the effective power of the available navigation satellite group according to the received operation instruction, and send it to the hardware driving module; The hardware driver module is used to receive the effective power of the available navigation satellite group sent by the mathematical orbit simulation module, and the hardware driver module is also used to generate a navigation message according to the navigation satellite broadcasting system, and send the effective power of the available navigation satellite group and the generated navigation message to the baseband module; The baseband module is used to receive the available navigation satellite group effective power and navigation message sent by the hardware driver module, and generate a real radio frequency intermediate frequency signal to the frequency converter module according to the received available navigation satellite group effective power and navigation message; The frequency converter module is used to receive the real radio frequency intermediate frequency signal sent by the baseband module, and up-convert the received real radio frequency intermediate frequency signal to form a combined radio frequency signal and forward it to the high-orbit satellite navigation receiver on the satellite. The high-orbit satellite navigation receiver generates a data packet according to the received radio frequency signal; The data packet automatic reading module is used to automatically generate a report based on the data packets generated by the high-orbit satellite navigation receiver. The generated report content is whether the high-orbit satellite navigation receiver is in a normal state, a sub-healthy state or a faulty state.

2. The ground test system for a high-orbit satellite navigation receiver according to claim 1, characterized in that: The on-board operating instructions and the operating instructions of the mathematical orbit simulation module are test sequences designed according to set requirements.

3. A ground test system for a high-orbit satellite navigation receiver according to claim 1 or 2, characterized in that: The method for the mathematical orbit simulation module to obtain the effective power of the available navigation satellite group according to the received operation instruction is: The mathematical orbit simulation module calculates the orbits of the high-orbit satellite and the navigation satellite according to the received operation instructions, further calculates the navigation satellite visibility of the high-orbit satellite according to the calculated high-orbit satellite orbit and navigation satellite orbit, obtains the visible navigation satellite group, further selects the ones with higher power as the available navigation satellite group according to the power in the obtained visible navigation satellite group, and then corrects the power of the navigation satellite in the available navigation satellite group received by the high-orbit satellite through ionospheric delay calculation, tropospheric delay layer calculation and multipath effect calculation; Finally, the power of the navigation satellites in the available navigation satellite group received by the high-orbit satellite is corrected according to the available navigation satellite transmitting antenna pattern and the high-orbit satellite receiving antenna pattern to obtain the effective power of the available navigation satellite group.

4. A ground test system for a high-orbit satellite navigation receiver according to claim 1 or 2, characterized in that: The data packet automatic interpretation module performs format conversion, disassembly, data analysis, and automatic interpretation on the content of the received data packet, and finally automatically generates a report.

5. A ground test system for a high-orbit satellite navigation receiver according to claim 1 or 2, characterized in that: The status data of the mathematical orbit simulation module includes simulation start time, health information, orbit operation status, current operation UTC time, simulation end time, ionosphere opening status, scene setting, connection status, and point start time.

6. A ground test method for a high-orbit satellite navigation receiver using the system described in any one of claims 1 to 5, characterized in that The steps of the method include: The first step is to design a test case sequence consisting of on-board operation instructions and operation instructions of the mathematical orbit simulation module according to the set requirements; In the second step, the functional automation test case module sends the test case sequence of the first step to the MTP module, and the MTP module forwards the received on-board operation instructions to the satellite, and forwards the received operation instructions of the mathematical orbit simulation module to the remote control module; In the third step, the remote control module receives the operation instruction of the mathematical track simulation module sent by the MTP module, and forwards the received operation instruction of the mathematical track simulation module to the mathematical track simulation module; In the fourth step, the mathematical orbit simulation module receives the operation instruction sent by the remote control module, obtains the effective power of the available navigation satellite group according to the received operation instruction, and sends it to the hardware driver module; the mathematical orbit simulation module sends the status data to the remote control module; Step 5: The remote control module collects the status data of the mathematical track simulation module, and forwards the collected status data of the mathematical track simulation module to the functional automation test case module via the RTS module; Step 6: The function automation test case module receives the telemetry data on the satellite sent by the RTS module and the status data of the mathematical orbit simulation module, and automatically determines whether the sent test case sequence is consistent with the received telemetry data and status data. If not, the high-orbit satellite navigation receiver is in a sub-healthy state or a faulty state; if consistent, proceed to the next step; Step 7: The hardware driver module receives the available navigation satellite group effective power sent by the mathematical orbit simulation module, generates a navigation message according to the navigation satellite broadcasting system, and sends the available navigation satellite group effective power and the generated navigation message to the baseband module; In the eighth step, the baseband module receives the available navigation satellite group effective power and navigation message sent by the hardware driver module, and generates a real radio frequency intermediate frequency signal to the frequency converter module according to the received available navigation satellite group effective power and navigation message; In the ninth step, the frequency converter module receives the real RF intermediate frequency signal sent by the baseband module, and up-converts the received real RF intermediate frequency signal to form a combined RF signal and forward it to the high-orbit satellite navigation receiver on the satellite. The high-orbit satellite navigation receiver generates a data packet according to the received RF signal; In the tenth step, the data packet automatic interpretation module performs format conversion, disassembly, data analysis, and automatic interpretation on the data packet content, and finally automatically generates a report. The generated report content indicates whether the high-orbit satellite navigation receiver is in a normal state, a sub-healthy state, or a faulty state.

7. The ground test method of a high-orbit satellite navigation receiver according to claim 6, characterized in that: In the fourth step, the method for the mathematical orbit simulation module to obtain the effective power of the available navigation satellite group is: The mathematical orbit simulation module receives the operation instructions sent by the remote control module, and performs orbit calculations of the high-orbit satellite and the navigation satellite according to the received operation instructions, further calculates the navigation satellite visibility of the high-orbit satellite according to the calculated high-orbit satellite orbit and navigation satellite orbit, obtains the visible navigation satellite group, further selects the ones with higher power as the available navigation satellite group according to the power in the obtained visible navigation satellite group, and then corrects the power of the navigation satellite in the available navigation satellite group received by the high-orbit satellite through ionospheric delay calculation, tropospheric delay layer calculation and multipath effect calculation; Finally, the power of the navigation satellites in the available navigation satellite group received by the high-orbit satellite is corrected according to the available navigation satellite transmitting antenna pattern and the high-orbit satellite receiving antenna pattern to obtain the effective power of the available navigation satellite group.

8. The ground test method of a high-orbit satellite navigation receiver according to claim 7, characterized in that: The method for obtaining the visible navigation satellite group is: A high-orbit earth tangent star selection model is established. When the altitude angle of the navigation satellite relative to the high-orbit satellite and the set shielding angle satisfy the following formula, the navigation satellite is a visible star. In the formula, is the altitude angle of the navigation satellite relative to the high-orbit satellite, is the shielding angle, is a set value, represents the radius of the Earth, , , Represents the three-dimensional coordinates of the high-orbit satellite in the J2000 coordinate system.

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