A low earth orbit satellite integrity identification determination method, system and electronic device

Abstract

The application discloses a low-orbit satellite integrity identification determination method and system and electronic equipment, and relates to the technical field of satellite information solution. The method comprises the following steps: acquiring ephemeris data of multiple ephemerides in a preset time period; the ephemeris data comprises observation data and error data of a ground station; the observation data comprises pseudo-range observation values of a target low-orbit satellite, clock errors of the target low-orbit satellite, receiver clock errors and coordinates of the ground station; the error data comprises ionospheric delay errors, tropospheric delay errors, relativistic effect errors and earth rotation errors; the instantaneous user range error of the target low-orbit satellite in each ephemeris is calculated according to the ephemeris data of the ephemeris; the user range error accuracy of the target low-orbit satellite in the preset time period is calculated according to the instantaneous user range errors of all ephemerides in the preset time period, so that the integrity identification of the target low-orbit satellite is determined. The application improves the accuracy and reliability of the integrity identification determination.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite information solving, in particular to a low-orbit satellite integrity identification determination method and system and electronic equipment. BACKGROUND

[0002] Currently, when calculating user ranging accuracy by using global navigation satellite system (GNSS) observation data, a multi-ground station observation multi-satellite based solution is adopted, while the observation mode of a low-orbit satellite is single-station observation of a satellite, and the existing calculation method cannot meet the actual demand. Therefore, how to realize the solution of single-satellite user ranging accuracy based on observation data of multiple epochs of a single station and generate satellite integrity identification is of great significance to ensure the reliability of integrity monitoring in the single-satellite mode of a low-orbit satellite. SUMMARY

[0003] The purpose of the present application is to provide a low-orbit satellite integrity identification determination method, system and electronic equipment, which improves the accuracy and reliability of integrity identification determination.

[0004] To achieve the above purpose, the present application provides the following solutions.

[0005] A low-orbit satellite integrity identification determination method, comprising:

[0006] Obtaining epoch data of multiple epochs in a preset time period; the epoch data comprises observation data and error data of a ground station; the observation data comprises pseudo-range observation values of a target low-orbit satellite, clock errors of the target low-orbit satellite, receiver clock errors and coordinates of the ground station; the error data comprises ionospheric delay errors, tropospheric delay errors, relativistic effect errors and earth rotation errors;

[0007] Calculating the instantaneous user distance error of the target low-orbit satellite corresponding to each epoch according to the epoch data of each epoch;

[0008] Calculating the user distance error accuracy of the target low-orbit satellite in the preset time period according to the instantaneous user distance error of all epochs in the preset time period;

[0009] Determining the integrity identification of the target low-orbit satellite based on the user distance error accuracy.

[0010] Optionally, calculating the instantaneous user distance error of the target low-orbit satellite corresponding to each epoch according to the epoch data of each epoch, specifically comprising:

[0011] Determining the clock error of the target low-orbit satellite according to the clock error of the target low-orbit satellite of all epochs in the preset time period;

[0012] for any epoch:

[0013] determine a geometric distance between the target LEO satellite and the ground station according to the coordinates of the ground station;

[0014] calculate the instantaneous user range error of the target LEO satellite according to the pseudo-range observation value of the target LEO satellite, the geometric distance, the clock error of the target LEO satellite, the receiver clock error, the coordinates of the ground station and the error data.

[0015] Optionally, the user range error precision of the target LEO satellite in the preset time period is calculated according to the instantaneous user range errors of all epochs in the preset time period, and specifically includes:

[0016] calculate the standard deviation of the instantaneous user range errors of all epochs in the preset time period, and determine the user range error as the standard deviation.

[0017] A low-orbit satellite integrity identification determination system, comprising:

[0018] an epoch data acquisition module configured to acquire epoch data of multiple epochs in a preset time period; the epoch data includes observation data and error data of a ground station; the observation data includes pseudo-range observation values of a target LEO satellite, clock errors of the target LEO satellite, receiver clock errors and coordinates of the ground station; and the error data includes ionospheric delay errors, tropospheric delay errors, relativistic effect errors and earth rotation errors;

[0019] an instantaneous user range error calculation module configured to calculate the instantaneous user range error of the target LEO satellite for each epoch according to the epoch data of the epoch;

[0020] a user range error calculation module configured to calculate the user range error precision of the target LEO satellite in the preset time period according to the instantaneous user range errors of all epochs in the preset time period;

[0021] an integrity identification determination module configured to determine the integrity identification of the target LEO satellite based on the user range error precision.

[0022] An electronic device, comprising a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the low-orbit satellite integrity identification determination method.

[0023] Optionally, the memory is a readable storage medium.

[0024] According to the embodiments of the present application, the following technical effects are provided:

[0025] This invention discloses a method, system, and electronic equipment for determining the integrity label of a low-Earth orbit (LEO) satellite. It acquires error data and ground station observation data for each epoch within a preset time period. The pseudorange observations for the corresponding epoch are corrected using the error data from each epoch. The instantaneous user distance error of the satellite is then calculated. The standard deviation of the instantaneous user distance error across all epochs is calculated to obtain the user ranging accuracy of the satellite. Finally, the integrity label of a single LEO satellite is generated according to the correspondence between user ranging accuracy and integrity label, thus improving the accuracy and reliability of integrity label determination. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0027] Figure 1 This is a schematic diagram of the low-orbit satellite integrity identification method provided in Embodiment 1 of the present invention;

[0028] Figure 2 A flowchart illustrating the technical process for calculating the integrity information of a single low-orbit satellite. Detailed Implementation

[0029] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] The purpose of this invention is to provide a method, system, and electronic device for determining the integrity of low-Earth orbit satellites, aiming to improve the accuracy and reliability of integrity identification.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Example 1

[0033] Figure 1 This is a schematic flowchart of the method for determining the integrity of low-Earth orbit satellites according to Embodiment 1 of the present invention. Figure 1 As shown, the method for determining the integrity of low-Earth orbit satellites in this embodiment includes:

[0034] Step 101: Obtain epoch data for multiple epochs within a preset time period.

[0035] The historical data includes observation data and error data from ground stations; the observation data includes: pseudorange observations of the target low-Earth orbit satellite, clock bias of the target low-Earth orbit satellite, receiver clock bias, and coordinates of the ground stations; the error data includes: ionospheric delay error, tropospheric delay error, relativistic effect error, and Earth rotation error.

[0036] Step 102: Calculate the instantaneous user distance error of the target low-Earth orbit satellite for the corresponding epoch based on the epoch data of each epoch.

[0037] Step 103: Calculate the user distance error accuracy of the target low-orbit satellite in the preset time period based on the instantaneous user distance error of all epochs in the preset time period.

[0038] Step 104: Determine the integrity marker of the target low-orbit satellite based on the user distance error accuracy.

[0039] Specifically, based on the user distance error accuracy, the integrity label URAI of the target low-orbit satellite is determined by referring to the correspondence table between user distance error accuracy and integrity label, i.e., Table 1.

[0040] Table 1. Correspondence between User Distance Error Accuracy and Integrity Marker

[0041]

[0042]

[0043] As an optional implementation, step 102 specifically includes:

[0044] The clock error of the target low-Earth orbit satellite is determined based on the clock errors of all epochs of the target low-Earth orbit satellite within the preset time period.

[0045] For any epoch:

[0046] The geometric distance between the target low-orbit satellite and the ground station is determined based on the coordinates of the ground station.

[0047] The instantaneous user distance error is calculated based on the pseudorange observations, geometric distance, clock error of the target low-Earth orbit satellite, receiver clock error, and coordinates and error data of the ground station.

[0048] Specifically, the formula for calculating the instantaneous user distance error at any epoch is:

[0049]

[0050] Where IURE represents the instantaneous user distance error, and P represents the pseudorange observation value. δ represents geometric distance, c represents the speed of light, and δ represents the speed of light. r δ represents the receiver clock bias. s The clock error of the target low-Earth orbit satellite is represented by I, the ionospheric delay error is represented by T, and the tropospheric delay error is represented by δ. rel δ represents the relativistic error. rot This indicates the error in Earth's rotation.

[0051] As an optional implementation, step 103 specifically includes:

[0052] Calculate the standard deviation of the instantaneous user distance error for all epochs within the preset time period, and determine the standard deviation as the user distance error accuracy.

[0053] Specifically, the formula for calculating user distance error accuracy is as follows:

[0054] URA=σ(IURE j ).

[0055] Where URE represents the user distance error accuracy, σ() represents the standard deviation, and IURE j This represents the instantaneous user distance error in the j-th epoch.

[0056] To implement the method for determining the integrity of low-Earth orbit satellites in Example 1, a method for calculating the integrity information of a single low-Earth orbit satellite is also provided, such as... Figure 2 As shown, the solution methods include:

[0057] The first step is single-satellite data acquisition. This involves acquiring pseudorange observation data, real-time orbit and clock bias data of a single low-Earth orbit satellite at certain time intervals from the monitoring station, as well as data from the external atomic clock at the ground station.

[0058] The second step is data preprocessing. The pseudorange observations obtained in the first step are subjected to quality checks, and pseudorange observations for epochs without corresponding external atomic clock data are discarded.

[0059] The third step is to construct the observation equations. Based on the observation data from the first step, a single-epoch code pseudorange observation equation is constructed.

[0060] The pseudorange observation equation is:

[0061] The fourth step is single-station, single-satellite error correction. Corrections are added to the observation equations for receiver clock bias, satellite clock bias, tropospheric delay error, relativistic delay error, and Earth rotation error.

[0062] The fifth step is to calculate the user ranging accuracy. The IURE of the satellite in a single epoch is calculated using the error-corrected observations. This process is repeated over the observation period to obtain the IURE of the satellite for all epochs. The standard deviation of the IURE for all epochs is then calculated to obtain the user ranging accuracy of the satellite during that period.

[0063] Step 6: Generation of single-satellite integrity tags. Based on the satellite user distance accuracy calculated in Step 5, and according to its correspondence with integrity tags, integrity tags for individual low-Earth orbit satellites are generated.

[0064] Example 2

[0065] The low-Earth orbit satellite integrity identification system in this embodiment includes:

[0066] The epoch data acquisition module is used to acquire epoch data for multiple epochs within a preset time period. The epoch data includes observation data and error data from ground stations. The observation data includes: pseudorange observations of the target low-Earth orbit satellite, clock bias of the target low-Earth orbit satellite, receiver clock bias, and coordinates of the ground stations. The error data includes: ionospheric delay error, tropospheric delay error, relativistic effect error, and Earth rotation error.

[0067] The instantaneous user distance error calculation module is used to calculate the instantaneous user distance error of the target low-Earth orbit satellite for the corresponding epoch based on the epoch data of each epoch.

[0068] The user distance error calculation module is used to calculate the user distance error accuracy of the target low-orbit satellite within a preset time period based on the instantaneous user distance error of all epochs within the preset time period.

[0069] The integrity identification module is used to determine the integrity identification of the target low-orbit satellite based on the user distance error accuracy.

[0070] Example 3

[0071] An electronic device includes a memory and a processor. The memory stores a computer program, and the processor runs the computer program to enable the electronic device to perform the aforementioned method for determining the integrity of low-Earth orbit satellites.

[0072] As an optional implementation, the memory is a readable storage medium.

[0073] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0074] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for determining the integrity of a low-orbit satellite, characterized in that, The method includes: Acquire epoch data for multiple epochs within a preset time period; the epoch data includes observation data and error data from ground stations; the observation data includes: pseudorange observations of the target low-Earth orbit satellite, clock bias of the target low-Earth orbit satellite, receiver clock bias, and coordinates of the ground stations; the error data includes: ionospheric delay error, tropospheric delay error, relativistic effect error, and Earth rotation error; The instantaneous user distance error of the target low-Earth orbit satellite at each epoch is calculated based on the epoch data of each epoch. The user distance error accuracy of the target low-orbit satellite in the preset time period is calculated based on the instantaneous user distance error of all epochs in the preset time period. The integrity marker of the target low-Earth orbit satellite is determined based on the accuracy of the user distance error. The instantaneous user distance error of the target low-Earth orbit satellite at each epoch is calculated based on the epochal data of each epoch, specifically including: The clock error of the target low-Earth orbit satellite is determined based on the clock errors of the target low-Earth orbit satellites in all epochs within the preset time period. For any epoch: The geometric distance between the target low-orbit satellite and the ground station is determined based on the coordinates of the ground station. The instantaneous user distance error is calculated based on the pseudorange observations of the target low-Earth orbit satellite, the geometric distance, the clock error of the target low-Earth orbit satellite, the receiver clock error, the coordinates of the ground station, and the error data. The formula for calculating the instantaneous user distance error at any epoch is: ； in, Indicates the instantaneous user distance error. Represents pseudorange observations. Represents geometric distance, Represents the speed of light. Indicates receiver clock bias. This indicates the clock error of the target low-Earth orbit satellite. Indicates ionospheric delay error. Indicates tropospheric delay error. Indicates the error due to relativistic effects. This indicates the error in Earth's rotation; The accuracy of the user distance error of the target low-Earth orbit satellite within the preset time period is calculated based on the instantaneous user distance error of all epochs within the preset time period, specifically including: Calculate the standard deviation of the instantaneous user distance error for all epochs within the preset time period, and determine the standard deviation as the user distance error.

2. A system for determining the integrity of low-orbit satellites, characterized in that, The system includes: The epoch data acquisition module is used to acquire epoch data for multiple epochs within a preset time period. The epoch data includes observation data and error data from ground stations. The observation data includes: pseudorange observations of the target low-Earth orbit satellite, clock errors of the target low-Earth orbit satellite, receiver clock errors, and coordinates of the ground stations. The error data includes: ionospheric delay error, tropospheric delay error, relativistic effect error, and Earth rotation error. The instantaneous user distance error calculation module is used to calculate the instantaneous user distance error of the target low-orbit satellite in the corresponding epoch based on the epoch data of each epoch. The user distance error calculation module is used to calculate the user distance error accuracy of the target low-orbit satellite in the preset time period based on the instantaneous user distance error of all epochs in the preset time period. The integrity identification module is used to determine the integrity identification of the target low-orbit satellite based on the user distance error accuracy. The instantaneous user distance error of the target low-Earth orbit satellite at each epoch is calculated based on the epochal data of each epoch, specifically including: The clock error of the target low-Earth orbit satellite is determined based on the clock errors of the target low-Earth orbit satellites in all epochs within the preset time period. For any epoch: The geometric distance between the target low-orbit satellite and the ground station is determined based on the coordinates of the ground station. The instantaneous user distance error is calculated based on the pseudorange observations of the target low-Earth orbit satellite, the geometric distance, the clock error of the target low-Earth orbit satellite, the receiver clock error, the coordinates of the ground station, and the error data. The formula for calculating the instantaneous user distance error at any epoch is: ； in, Indicates the instantaneous user distance error. Represents pseudorange observations. Represents geometric distance, Represents the speed of light. Indicates receiver clock bias. This indicates the clock error of the target low-Earth orbit satellite. Indicates ionospheric delay error. Indicates tropospheric delay error. Indicates the error due to relativistic effects. This indicates the error in Earth's rotation; The accuracy of the user distance error of the target low-Earth orbit satellite within the preset time period is calculated based on the instantaneous user distance error of all epochs within the preset time period, specifically including: Calculate the standard deviation of the instantaneous user distance error for all epochs within the preset time period, and determine the standard deviation as the user distance error.

3. An electronic device, characterized in that, The device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the low-orbit satellite integrity identification method as described in claim 1.

4. A readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method for determining the integrity of low-orbit satellites as described in claim 1.

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