Orientation method and device of satellite internet agile application system

Abstract

The invention relates to an orientation method and device for a satellite internet agile application system. The method comprises the following steps: acquiring observation data from a navigation satellite and received by double antennas of a receiver; acquiring navigation enhancement information and observation data which are received by double antennas of a receiver and are from a near-earth orbit LEO satellite; according to observation data from a navigation satellite and navigation enhancement information and observation data from an LEO satellite, position information of double antennas of a receiver is obtained by adopting a PPP-RTK technology; and determining the attitude information of the satellite tracking antenna on the satellite internet agile application system according to the position information of the double antennas of the receiver. According to the invention, the real-time high-precision positioning of the satellite internet agile application system and the real-time rapid orientation of the satellite tracking antenna can be realized, and the global rapid deployment, rapid satellite tracking and rapid link establishment of the satellite internet agile application system can be ensured, so that the service response speed of the internet agile application system can be greatly improved.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite communications, and in particular to a directional method and device for a satellite Internet agile application system. Background Art

[0002] The satellite Internet agile application system is based on the satellite Internet private network. It has the ability to provide satellite Internet basic services, as well as the ability to organize and manage private network communications. It is a new type of facility that can quickly realize full-time, full-area, and global hotspot private network services. It supports rapid deployment and service in application scenarios that do not have ground communication network coverage and have urgent communication needs.

[0003] Compared with traditional synchronous satellite communications, since low-orbit satellites and the ground are in a state of high-speed relative movement, the antenna tracking and tracking of the satellite Internet agile application system are dynamic, and the real-time calculation of satellite tracking information is required to be higher. That is, after being deployed at any location and powered on to start working, it is required to quickly confirm its own position and satellite tracking antenna attitude information, and calculate the satellite tracking information at the location based on the satellite transit ephemeris, so as to achieve efficient and accurate tracking of transit satellites and cross-satellite / cross-beam switching, etc., and support the establishment of stable business links in application scenarios such as emergency rescue.

[0004] However, there is currently a lack of effective means to orient satellite Internet agile application systems. Summary of the invention

[0005] The present invention provides a direction-directing method and device for a satellite Internet agile application system.

[0006] According to a first aspect of an embodiment of the present disclosure, a direction orientation method of a satellite Internet agile application system is provided, including:

[0007] Obtain observation data from navigation satellites received by dual antennas of the receiver;

[0008] Obtaining navigation enhancement information and observation data received by the dual antennas of the receiver, both from low earth orbit LEO satellites;

[0009] According to the observation data from the navigation satellite, the navigation enhancement information and the observation data from the LEO satellite, the position information of the dual antennas of the receiver is obtained by using the precise single point real-time dynamic positioning PPP-RTK technology;

[0010] According to the position information of the dual antennas of the receiver, the attitude information of the satellite tracking antenna on the satellite Internet agile application system is determined.

[0011] According to a second aspect of an embodiment of the present disclosure, a directional device of a satellite Internet agile application system is provided, including:

[0012] A receiver is configured to obtain observation data from navigation satellites received by dual antennas of the receiver, obtain navigation augmentation information and observation data from low earth orbit (LEO) satellites received by the dual antennas of the receiver, and obtain position information of the dual antennas of the receiver using precise single point real-time dynamic positioning (PPP-RTK) technology based on the observation data from the navigation satellites and the navigation augmentation information and observation data from the LEO satellites;

[0013] The directional solution module is configured to receive the position information of the dual antennas of the receiver sent by the receiver, and determine the attitude information of the satellite tracking antenna on the satellite Internet agile application system based on the position information of the dual antennas of the receiver.

[0014] According to a third aspect of an embodiment of the present disclosure, a satellite Internet agile application system is provided, comprising the directional device described in the aforementioned second aspect.

[0015] According to a fourth aspect of an embodiment of the present disclosure, another satellite Internet agile application system is provided, including:

[0016] at least one processor;

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect.

[0019] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0020] By combining low-orbit navigation enhancement and PPP-RTK positioning technology, real-time high-precision positioning of satellite Internet agile application systems and real-time rapid orientation of satellite tracking antennas can be achieved in any area, which can ensure the rapid deployment, rapid tracking and rapid link establishment of satellite Internet agile application systems across the entire region, thereby greatly improving the service response speed of Internet agile application systems.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0023] Figure 1A schematic diagram of the architecture of a satellite Internet agile application system provided in an embodiment of the present disclosure.

[0024] Figure 2 The present invention is a flow chart of a direction-directing method of a satellite Internet agile application system according to an exemplary embodiment.

[0025] Figure 3 The present invention is a flow chart of another orientation method of a satellite Internet agile application system according to an exemplary embodiment.

[0026] Figure 4 The present invention is a flow chart of yet another orientation method of a satellite Internet agile application system according to an exemplary embodiment.

[0027] Figure 5 The present invention is a block diagram of a directional device of a satellite Internet agile application system according to an exemplary embodiment.

[0028] Figure 6 The present invention is a block diagram of a satellite Internet agile application system according to an exemplary embodiment.

[0029] Figure 7 The present invention is a block diagram of another satellite Internet agile application system according to an exemplary embodiment. DETAILED DESCRIPTION

[0030] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0031] It should be understood that although the terms first, second, third, etc. may be used to describe various information in the embodiments of the present disclosure, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the embodiments of the present disclosure, the first observation equation may also be referred to as the second observation equation, and similarly, the second observation equation may also be referred to as the first observation equation.

[0032] For ease of understanding, the terms involved in the present disclosure are first introduced.

[0033] 1. Satellite Internet Agile Application System

[0034] The satellite Internet agile application system refers to a system equipment that is mainly composed of a portable antenna system, uses satellite Internet private network communication as its application basis, and has the ability to be quickly deployed in any area and self-process user data.

[0035] In order to better understand the orientation method of a satellite Internet agile application system disclosed in an embodiment of the present invention, the satellite Internet agile application system of the embodiment of the present invention is first described below.

[0036] See also Figure 1 , Figure 1 The following is a schematic diagram of the architecture of a satellite Internet agile application system provided by an embodiment of the present disclosure. Figure 1 As shown, the satellite Internet agile application system 10 may include but is not limited to a receiver 100 and a directional solution module 200, and the satellite Internet agile application system 10 may also include an antenna servo control system 300. Figure 1 As shown, the receiver 100 may be a dual-antenna receiver, and the receiver 100 may include a main antenna 101 and an auxiliary antenna 102 . The main antenna 101 and the auxiliary antenna 102 may be referred to as dual antennas of the receiver 100 .

[0037] In one implementation, the receiver 100 may be a fusion receiver of a navigation satellite and a LEO (Low Earth Orbit) satellite, and the main antenna and the auxiliary antenna of the fusion receiver may communicate with both the navigation satellite and the LEO satellite.

[0038] It should be noted that the navigation satellite in the embodiments of the present disclosure may be at least one of the following: GPS (Global Positioning System), BDS (Beidou Navigation Satellite System), GNSS (Global Navigation Satellite System), Galileo satellite navigation system, GLONASS satellite navigation system, etc.

[0039] In a possible implementation, the navigation satellite in the embodiment of the present disclosure may be a GNSS satellite. The receiver 100 may be a fusion receiver of a GNSS satellite and a LEO satellite, the main antenna of the fusion receiver may be a fusion antenna of a GNSS satellite and a LEO satellite, and the auxiliary antenna of the fusion receiver may be a fusion antenna of a GNSS satellite and a LEO satellite.

[0040] Optionally, the receiver 100 in the disclosed embodiment may use PPP (Precise Point Position)-RTK (Real-Time Kinematic) technology to obtain the position information of the dual antennas of the receiver based on the observation data from the navigation satellite, the navigation enhancement information and the observation data from the LEO satellite received by the dual antennas. The directional solution module 200 in the disclosed embodiment determines the attitude information of the satellite tracking antenna on the satellite Internet agile application system based on the position information of the dual antennas of the receiver. The directional solution module 200 may send the attitude information of the satellite tracking antenna to the antenna servo control system 300. The antenna servo control system 300 may support the satellite Internet agile application system 10 to achieve efficient and accurate tracking of transit satellites and establish a stable service link based on the attitude information of the satellite tracking antenna.

[0041] In one implementation, the antenna servo control system 300 can convert the pointing data with reference to the antenna mount into pointing data with reference to the geodetic coordinates based on the attitude information of the satellite tracking antenna, thereby supporting the satellite Internet agile application system 10 to achieve efficient and accurate tracking of transit satellites and establish a stable business link.

[0042] It can be understood that the satellite Internet agile application system described in the embodiment of the present disclosure is to more clearly illustrate the technical solution of the embodiment of the present disclosure, and is not sufficient to constitute a limitation on the technical solution provided by the embodiment of the present disclosure. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by the embodiment of the present disclosure is also applicable to similar technical problems.

[0043] Figure 2 is a flow chart of a satellite Internet agile application system orientation method according to an exemplary embodiment. Figure 2 As shown, the method may include but is not limited to the following steps.

[0044] In step 201, observation data from navigation satellites received by dual antennas of a receiver are obtained.

[0045] In one implementation, a receiver is installed on the satellite Internet agile application system, and the receiver is a dual-antenna receiver. The navigation satellite can be observed in real time through the receiver and the dual antenna of the receiver to receive observation data from the navigation satellite.

[0046] In step 202, navigation enhancement information and observation data from LEO satellites received by dual antennas of the receiver are obtained.

[0047] Optionally, LEO satellites can be observed in real time through a receiver and a receiver dual antenna on the satellite Internet agile application system to receive observation data from the LEO satellite.

[0048] It should be noted that in the embodiment of the present disclosure, step 201 and step 202 are not distinguished in the order of execution, that is, step 201 can be executed first and then step 202, or step 202 can be executed first and then step 201, or step 201 and step 202 can be executed simultaneously.

[0049] In step 203, the position information of the dual antennas of the receiver is acquired by using the PPP-RTK technology based on the observation data from the navigation satellite, the navigation enhancement information and the observation data from the LEO satellite.

[0050] Optionally, in an embodiment of the present disclosure, the PPP-RTK observation equations of the receiver's dual antennas can be constructed based on the observation data from the navigation satellite, the navigation enhancement information and observation data from the LEO satellite, and the precise spatial position of the receiver's dual antennas at each moment can be solved.

[0051] In a possible implementation, a first observation equation of the navigation satellite can be constructed based on the observation data from the navigation satellite, and a second observation equation of the LEO satellite can be constructed based on the observation data from the LEO satellite. Error correction is performed on the first observation equation and the second observation equation based on the navigation enhancement information. Based on the first observation equation and the second observation equation after error correction, Kalman filtering is used to perform PPP-RTK comprehensive processing to obtain the position information of the dual antennas of the receiver.

[0052] In some embodiments of the present disclosure, the navigation enhancement information may include the precise orbit and clock error of the LEO satellite, the precise orbit and clock error of the navigation satellite, ionospheric delay correction data, tropospheric delay correction data, phase decimal deviation and code deviation. In one implementation, the satellite orbit error term and satellite clock error term in the first observation equation can be eliminated based on the precise orbit and clock error of the navigation satellite; the satellite orbit error term and satellite clock error term in the second observation equation can be eliminated based on the precise orbit and clock error of the LEO satellite; the ionospheric delay term and tropospheric delay term in the first observation equation and the second observation equation can be eliminated based on the ionospheric delay correction data and the tropospheric delay correction data; the receiver uncalibrated hardware delay bias term and the satellite uncalibrated hardware delay bias term in the first observation equation and the second observation equation can be eliminated based on the phase decimal deviation and the code deviation. It can be seen that the observation equation is corrected through navigation enhancement information to eliminate the error term in the observation equation, so that the solution speed can be greatly accelerated, and the ambiguity fixation initialization time can be shortened to improve the positioning accuracy.

[0053] It can be understood that in filtering, it is necessary to provide a suitable random model of observations and a dynamic model of the state vector. The random model describes the statistical characteristics of the observations, which are usually expressed by the variance covariance matrix of the observations. From the observation equation, it can be seen that the de-ionospheric combination observations are a linear combination of the original observations. Assuming that the observations at different frequencies are uncorrelated, the initial variance of the de-ionospheric combination observations can be calculated by the error propagation law. The specific variance can be defined as a function of the initial variance and the satellite elevation angle. Assuming that the observations from different satellites and different systems are uncorrelated, and that different types of observations, namely pseudorange and phase observations, are uncorrelated, the variance covariance matrix of the observations can be obtained.

[0054] For the dynamic model of the state vector, the static receiver coordinates can be expressed as a constant, the dynamic receiver coordinates and the receiver clock error can be expressed as a random walk or a first-order Gaussian Markov process, the tropospheric zenith wet delay can be expressed as a random walk process, and the carrier phase ambiguity parameter can be expressed as a constant, so the state equation is as follows:

[0055] X k =Φ(t k ,t k-1 )X k-1 +w k-1 (1)

[0056] Where X is the receiver coordinate correction and receiver clock error parameters to be estimated, Φ is the state transfer matrix, and w k-1 is the state transfer noise. Combining the observation equation and the state equation, the standard Kalman filtering process can be applied for parameter estimation. Using the navigation enhancement information to correct the observation equation can restore the integer characteristics of the ambiguity, achieve ambiguity fixation, and obtain the carrier phase ambiguity fixation solution, further shortening the initialization time and improving the positioning, speed measurement and timing accuracy.

[0057] In step 204, the attitude information of the satellite tracking antenna on the satellite Internet agile application system is determined based on the position information of the dual antennas of the receiver.

[0058] In the embodiment of the present disclosure, the attitude information may include a heading angle and a pitch angle.

[0059] In one implementation, a baseline vector is determined based on position information of a dual antenna of a receiver; a baseline heading angle and a baseline pitch angle are determined based on the baseline vector; and the baseline heading angle and the baseline pitch angle are determined as attitude information of a satellite tracking antenna on a satellite Internet agile application system.

[0060] As an example of a possible implementation method, the location information of the dual antennas of the receiver includes the location coordinates and corresponding longitude and latitude of the dual antennas of the receiver in the world geodetic coordinate system. The baseline vector of the dual antennas of the receiver can be obtained according to the location information of the dual antennas of the receiver; the coordinate system of the satellite Internet agile application system can be constructed according to the longitude and latitude of the dual antennas of the receiver; the rotation matrix can be constructed based on the origin coordinates of the coordinate system of the satellite Internet agile application system; the baseline vector is converted to the coordinate system through the rotation matrix to obtain the baseline vector in the coordinate system. According to the baseline vector in the coordinate system, the baseline heading angle and the baseline pitch angle are determined, and then the baseline heading angle and the baseline pitch angle can be determined as the attitude information of the satellite tracking antenna on the satellite Internet agile application system, thereby realizing the orientation of the satellite Internet agile application system.

[0061] For example, the baseline vector can be solved according to the position information of the dual antennas of the receiver, and the baseline vector is transformed to the coordinate system of the satellite Internet agile application system through the rotation matrix T to obtain the coordinate component (X L , Y L , Z L ). Among them, the coordinate component (X L , Y L , Z L ) and the formula of the transformation matrix T are expressed as follows:

[0062]

[0063]

[0064] Among them, X L , Y L , Z L is the coordinate component of the baseline vector in the coordinate system, is the longitude of the origin of the coordinate system, and λ is the latitude of the origin of the coordinate system. As an example, the longitude of the origin of the coordinate system may be the longitude of the main antenna in the dual antennas of the receiver, and the latitude of the origin of the coordinate system may be the latitude of the main antenna in the dual antennas of the receiver.

[0065] After obtaining the coordinate component (X L , Y L , Z L ) can be used to calculate the coordinate components (X L , Y L , Z L ), solve the baseline heading angle (such as the angle that the baseline vector deviates from the true north direction) and the pitch angle (such as the angle that the baseline vector deviates from the ground plane). As an example, the formulas for the baseline heading angle and the pitch angle are as follows:

[0066] α=tan -1 (X L / Y L ) (4)

[0067]

[0068] Among them, α is the baseline heading angle, and β is the baseline pitch angle.

[0069] In the embodiments of the present disclosure, by combining low-orbit navigation enhancement and PPP-RTK positioning technology, real-time high-precision positioning of the satellite Internet agile application system and real-time rapid orientation of the satellite tracking antenna can be achieved in any area, which can ensure the rapid deployment, rapid tracking and rapid link establishment of the satellite Internet agile application system across the entire region, thereby greatly improving the service response speed of the Internet agile application system.

[0070] In order to further improve the positioning and orientation accuracy, and further improve the positioning and orientation speed, the first observation equation and the second observation equation may be corrected respectively. Figure 3 FIG. 1 is a flow chart of another orientation method of a satellite Internet agile application system according to an exemplary embodiment. Figure 3 As shown, the method may include but is not limited to the following steps.

[0071] In step 301, observation data from navigation satellites received by dual antennas of a receiver are obtained.

[0072] In the embodiments of the present disclosure, step 301 may be implemented in any manner in the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and will not be described in detail.

[0073] In step 302, navigation enhancement information and observation data from LEO satellites received by dual antennas of the receiver are obtained.

[0074] In the embodiments of the present disclosure, step 302 may be implemented in any manner in the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and will not be described in detail.

[0075] It should be noted that, in the embodiment of the present disclosure, step 301 and step 302 are not distinguished in the order of execution, that is, step 301 can be executed first and then step 302, or step 302 can be executed first and then step 301, or step 301 and step 302 can be executed simultaneously.

[0076] In step 303, a first observation equation of the navigation satellite is constructed based on observation data from the navigation satellite.

[0077] In one implementation, the observation data of the navigation satellite may include pseudo-range observation values ​​of the navigation satellite and carrier phase observation values ​​of the navigation satellite, and the observation data of the navigation satellite may also include Doppler observation data of the navigation satellite. A first observation equation of the navigation satellite may be constructed according to the pseudo-range observation values ​​and carrier phase observation values ​​from the navigation satellite received by the dual antennas of the receiver, and the first observation equation of the navigation satellite includes the pseudo-range observation equation of the navigation satellite and the carrier phase observation equation of the navigation satellite.

[0078] It should be noted that, in the embodiments of the present disclosure, step 303 may be executed after step 301 is executed, or step 303 may be executed after step 301 and step 302 are executed, and the present disclosure does not limit this.

[0079] In step 304, a second observation equation of the LEO satellite is constructed based on the observation data from the LEO satellite.

[0080] In one implementation, the observation data of the LEO satellite may include pseudorange observation values ​​of the LEO satellite and carrier phase observation values ​​of the LEO satellite, and the observation data of the LEO satellite may also include Doppler observation data of the LEO satellite. A first observation equation of the LEO satellite may be constructed based on the pseudorange observation values ​​and carrier phase observation values ​​from the LEO satellite received by the dual antennas of the receiver, and the first observation equation of the LEO satellite includes the pseudorange observation equation of the LEO satellite and the carrier phase observation equation of the LEO satellite.

[0081] It should be noted that, in the embodiments of the present disclosure, step 304 may be executed after step 302 is executed, or step 304 may be executed after step 301 and step 302 are executed, and the present disclosure does not limit this.

[0082] It should also be noted that, in the embodiments of the present disclosure, step 303 and step 304 do not distinguish between the execution order, that is, step 303 may be executed first and then step 304, or step 304 may be executed first and then step 303, or step 303 and step 304 may be executed simultaneously, and the present disclosure does not limit this.

[0083] In step 305, the first observation equation and the second observation equation are corrected respectively based on the correction model.

[0084] Among them, in the embodiments of the present disclosure, the correction model may at least include but is not limited to the following models: phase winding model; solid tide model; relativistic effect model, etc. As an example, the correction model may include a phase winding model, a solid tide model, and a relativistic effect model.

[0085] In one implementation, the first observation equation and the second observation equation can be corrected using a phase winding model, a solid tide model, and a relativistic effect model, respectively. That is, the first observation equation can be corrected using a phase winding model, a solid tide model, and a relativistic effect model, and the second observation equation can be corrected using a phase winding model, a solid tide model, and a relativistic effect model.

[0086] In step 306, error correction is performed on the first observation equation and the second observation equation based on the navigation enhancement information.

[0087] Among them, in the embodiment of the present disclosure, the navigation enhancement information includes the precise orbit and clock error of the LEO satellite, the precise orbit and clock error of the navigation satellite, the ionospheric delay correction data, the tropospheric delay correction data, the phase decimal deviation and the code deviation.

[0088] In one implementation, the satellite orbit error term and satellite clock error term in the first observation equation can be eliminated based on the precise orbit and clock error of the navigation satellite; the satellite orbit error term and satellite clock error term in the second observation equation can be eliminated based on the precise orbit and clock error of the LEO satellite; the ionospheric delay term and tropospheric delay term in the first observation equation and the second observation equation can be eliminated based on the ionospheric delay correction data and the tropospheric delay correction data; the receiver uncalibrated hardware delay bias term and the satellite uncalibrated hardware delay bias term in the first observation equation and the second observation equation can be eliminated based on the phase fractional deviation and the code deviation. It can be seen that by correcting the observation equation through navigation enhancement information to eliminate the error term in the observation equation, the solution speed can be greatly accelerated, and the ambiguity fixation initialization time can be shortened to improve the positioning accuracy.

[0089] In step 307, Kalman filtering is used to perform PPP-RTK comprehensive processing based on the first observation equation and the second observation equation after error correction to obtain the position information of the dual antennas of the receiver.

[0090] In the embodiments of the present disclosure, step 307 may be implemented in any manner in the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and will not be described in detail.

[0091] In step 308, the attitude information of the satellite tracking antenna on the satellite Internet agile application system is determined based on the position information of the dual antennas of the receiver.

[0092] In the embodiments of the present disclosure, step 308 may be implemented in any manner in the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and will not be described in detail.

[0093] In an embodiment of the present disclosure, before respectively correcting the errors of the first observation equation and the second observation equation based on the navigation enhancement information, the first observation equation and the second observation equation can be corrected based on a correction model, which can further improve the positioning and orientation speed of the satellite Internet agile application system, and further improve the positioning and orientation accuracy of the satellite Internet agile application system.

[0094] In order to facilitate those skilled in the art to more clearly understand the disclosed solution, the following will take the navigation satellite as a GNSS satellite, the receiver as a LEO-GNSS fusion receiver, and the LEO-GNSS fusion dual antenna (including a LEO-GNSS fusion main antenna and a LEO-GNSS fusion auxiliary antenna) as an example to describe the orientation method of the present disclosure in detail. Figure 1 and Figure 4 As shown, the orientation method may include the following steps.

[0095] In step 401, the LEO-GNSS fusion receiver and the LEO-GNSS fusion dual antenna installed on the satellite Internet agile application system observe GNSS satellites and LEO satellites in real time, receive the carrier, pseudorange, and Doppler observation data of the GNSS satellite and the carrier, pseudorange, and Doppler observation data of the LEO satellite, and simultaneously receive satellite-based navigation enhancement data from the LEO satellite, such as navigation enhancement information, wherein the navigation enhancement information may include LEO / GNSS precise orbit and clock error, ionospheric and tropospheric delay correction data, fractional phase deviation, code deviation, etc.

[0096] In step 402, the LEO-GNSS fusion receiver constructs the PPP-RTK observation equations of the LEO-GNSS fusion main antenna and the LEO-GNSS fusion auxiliary antenna based on the observation data and navigation enhancement information from the LEO-GNSS fusion main antenna and the observation data and navigation enhancement information from the LEO-GNSS fusion auxiliary antenna, and solves the precise spatial positions of the LEO-GNSS fusion main antenna and the LEO-GNSS fusion auxiliary antenna at each moment. The specific implementation steps are as follows: step 402-1 to step 402-4:

[0097] In step 402-1, the pseudorange and carrier phase observation equations of the GNSS satellite and the pseudorange and carrier phase observation equations of the LEO satellite are constructed respectively based on the pseudorange and carrier phase observation values ​​corresponding to the LEO-GNSS fusion main antenna and the LEO-GNSS fusion auxiliary antenna.

[0098] Optionally, the formulas of pseudorange and carrier phase observation equations can be used to construct pseudorange and carrier phase observation equations for GNSS satellites and pseudorange and carrier phase observation equations for LEO satellites. It should be noted that the pseudorange and carrier phase observation equations for GNSS satellites are expressed in the same formula as those for LEO satellites, with only the difference in the meaning of the letters in the formula. As an example, the formulas of pseudorange and carrier phase observation equations are expressed as follows:

[0099]

[0100] Among them, P i sys Pseudorange observations; represents the actual satellite-to-ground distance between the satellite and the ground station; the subscript i represents the satellite signal frequency; the superscript sys represents the satellite system type; c represents the speed of light in a vacuum; They represent the receiver clock error and satellite clock error of the corresponding satellite system i-band respectively; They represent ionospheric delay and tropospheric delay respectively; represents the satellite orbit error; is the noise term of the pseudorange observation; Represents the carrier phase observation value; Indicates the true satellite-to-ground distance between the satellite and the ground station; is the wavelength of the corresponding frequency carrier, is the integer phase ambiguity parameter; The receiver clock error representing the carrier phase observation; represents the noise term of the carrier phase observation; represent the uncalibrated hardware delay bias at the receiver and the uncalibrated hardware delay bias at the satellite, respectively.

[0101] In step 402-2, the pseudorange and carrier phase observation equations of the GNSS satellite and the pseudorange and carrier phase observation equations of the LEO satellite are corrected using the phase winding model, the solid tide model, and the relativistic effect model.

[0102] In step 402-3, the navigation augmentation information broadcast by the LEO satellite is used to eliminate the influence of the satellite orbit, satellite clock error, ionospheric delay, tropospheric delay, etc. in the observation equation, and the above formula (6) can be written as:

[0103]

[0104] in, They represent the pseudorange observation value and carrier phase observation value after error correction. After linearization of equation (7), the unknown variables only include antenna position coordinates, receiver clock error, receiver channel delay, and carrier phase observation ambiguity parameters.

[0105] In step 402-4, according to the equations of LEO satellite after error elimination and GNSS satellite after error elimination, Kalman filtering is used to perform PPP-RTK comprehensive processing, and the LEO and GNSS satellite ambiguity parameters corresponding to the LEO-GNSS fusion main antenna and the LEO-GNSS fusion auxiliary antenna, as well as the precise position coordinates of the LEO-GNSS fusion main antenna in the world geodetic coordinate system are solved in real time. And the corresponding longitude and latitude, the precise position coordinates of the LEO-GNSS fusion auxiliary antenna in the world geodetic coordinate system and the corresponding longitude and latitude.

[0106] In step 403, the heading angle and the pitch angle of the baseline between the LEO-GNSS fusion main antenna and the LEO-GNSS fusion auxiliary antenna are calculated according to the precise position coordinates and the corresponding longitude and latitude of the LEO-GNSS fusion main antenna and the precise position coordinates and the corresponding longitude and latitude of the LEO-GNSS fusion auxiliary antenna. The calculation method is as follows:

[0107] (1) Solve the baseline vector and transform it into the coordinate system of the satellite Internet agile application system through the rotation matrix to obtain the coordinate components of the baseline vector in the coordinate system.

[0108] (2) According to the coordinate components (X L , Y L , Z L ) to solve the baseline heading angle (the angle at which the baseline deviates from the north direction) and the pitch angle (the angle at which the baseline vector deviates from the ground plane).

[0109] To sum up, the present invention realizes real-time high-precision positioning and orientation of the satellite Internet agile application system by combining low-orbit navigation enhancement and PPP-RTK positioning technology, which can ensure the rapid deployment, rapid tracking and rapid link establishment of the satellite Internet agile application system across the entire region, and greatly improve the service response capability of the satellite Internet agile application system.

[0110] The present disclosure also proposes a directional device for a satellite Internet agile application system. Figure 5 FIG. 1 is a block diagram of a directional device of a satellite Internet agile application system according to an exemplary embodiment. Figure 5 As shown, the orientation device may include: a receiver 100 and an orientation solution module 200 .

[0111] Among them, the receiver 100 is configured to obtain observation data from navigation satellites received by the receiver's dual antennas, and to obtain navigation enhancement information and observation data from low-Earth orbit LEO satellites received by the receiver's dual antennas, and to obtain the position information of the receiver's dual antennas using precise single-point real-time dynamic positioning PPP-RTK technology based on the observation data from navigation satellites and the navigation enhancement information and observation data from LEO satellites.

[0112] In one implementation, the receiver 100 is configured to: construct a first observation equation of the navigation satellite based on observation data from the navigation satellite; construct a second observation equation of the LEO satellite based on observation data from the LEO satellite; perform error correction on the first observation equation and the second observation equation based on navigation enhancement information; and perform PPP-RTK integrated processing using Kalman filtering based on the error-corrected first observation equation and the second observation equation to obtain the position information of the receiver's dual antennas.

[0113] Among them, in the embodiment of the present disclosure, the navigation enhancement information includes the precise orbit and clock error of the LEO satellite, the precise orbit and clock error of the navigation satellite, the ionospheric delay correction data, the tropospheric delay correction data, the phase decimal deviation and the code deviation. In a possible implementation, the receiver 100 is configured to: based on the precise orbit and clock error of the navigation satellite, eliminate the satellite orbit error term and the satellite clock error term in the first observation equation; based on the precise orbit and clock error of the LEO satellite, eliminate the satellite orbit error term and the satellite clock error term in the second observation equation; based on the ionospheric delay correction data and the tropospheric delay correction data, eliminate the ionospheric delay term and the tropospheric delay term in the first observation equation and the second observation equation respectively; based on the phase decimal deviation and the code deviation, eliminate the receiver uncalibrated hardware delay deviation term and the satellite uncalibrated hardware delay deviation term in the first observation equation and the second observation equation respectively.

[0114] In one implementation, the receiver 100 may also be configured to: respectively correct the first observation equation and the second observation equation based on a correction model; wherein the correction model includes at least the following models: a phase winding model; a solid tide model; and a relativistic effect model.

[0115] The directional solution module 200 is configured to receive the position information of the dual antennas of the receiver sent by the receiver 100, and determine the attitude information of the satellite tracking antenna on the satellite Internet agile application system based on the position information of the dual antennas of the receiver.

[0116] In one implementation, the orientation solution module 200 is configured to: determine a baseline vector based on the position information of the receiver's dual antennas; determine a baseline heading angle and a baseline pitch angle based on the baseline vector; and determine the baseline heading angle and the baseline pitch angle as the attitude information of the satellite tracking antenna on the satellite Internet agile application system.

[0117] In one possible implementation, the directional solution module 200 is configured to: obtain the baseline vector of the receiver's dual antennas based on the position information of the receiver's dual antennas; construct a coordinate system for the satellite Internet agile application system based on the longitude and latitude of the receiver's dual antennas; construct a rotation matrix based on the origin coordinates of the coordinate system of the satellite Internet agile application system; convert the baseline vector to the coordinate system through the rotation matrix to obtain the baseline vector in the coordinate system.

[0118] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0119] In the embodiments of the present disclosure, by combining low-orbit navigation enhancement and PPP-RTK positioning technology, real-time high-precision positioning of the satellite Internet agile application system and real-time rapid orientation of the satellite tracking antenna can be achieved in any area, which can ensure the rapid deployment, rapid tracking and rapid link establishment of the satellite Internet agile application system across the entire region, thereby greatly improving the service response speed of the Internet agile application system.

[0120] The present disclosure also provides a satellite Internet agile application system. Figure 6 FIG. 1 is a block diagram of a satellite Internet agile application system according to an exemplary embodiment. Figure 6 As shown, the satellite Internet agile application system may include: a directional device 60. The directional device 60 and Figure 5 The directional device in has the same function and structure, which will not be repeated here.

[0121] The present disclosure also provides another satellite Internet agile application system. Figure 7 FIG. 1 is a block diagram of another satellite Internet agile application system according to an exemplary embodiment. Figure 7As shown, the satellite Internet agile application system may include: a receiver 100 and a directional solution module 200. Among them, the receiver 100 may include one or more processors, memories, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The directional solution module 200 may include one or more processors, memories, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and can be installed on a common motherboard or in other ways as needed. The processor can process instructions executed in the satellite Internet agile application system, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Figure 7 In the example, the receiver 100 and the directional solution module 200 each include a processor.

[0122] The memory is a non-transitory computer-readable storage medium provided by the present disclosure. The memory stores instructions executable by at least one processor to enable the at least one processor to perform the orientation method of the satellite Internet agile application system provided by the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions, which are used to enable a computer to perform the orientation method of the satellite Internet agile application system provided by the present disclosure.

[0123] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the orientation method of the satellite Internet agile application system in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the non-transient software programs, instructions and modules stored in the memory, that is, implementing the orientation method of the satellite Internet agile application system in the above method embodiment.

[0124] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the satellite Internet agile application system, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the satellite Internet agile application system via a network. Examples of the above-mentioned network include, but are not limited to, satellite Internet, etc.

[0125] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present disclosure belong.

[0126] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0127] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0128] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0129] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0130] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0131] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A satellite internet agile application system orientation method, characterized in that: include: Obtain observation data from navigation satellites received by dual antennas of the receiver; Obtaining navigation enhancement information and observation data received by the dual antennas of the receiver, both from low earth orbit LEO satellites; According to the observation data from the navigation satellite, the navigation enhancement information and the observation data from the LEO satellite, the position information of the dual antennas of the receiver is obtained by using the precise single point real-time dynamic positioning PPP-RTK technology; According to the position information of the dual antennas of the receiver, the attitude information of the satellite tracking antenna on the satellite Internet agile application system is determined.

2. The method according to claim 1, characterized in that The method of obtaining the position information of the dual antennas of the receiver by using the precise single point real-time dynamic positioning (PPP-RTK) technology according to the observation data from the navigation satellite, the navigation enhancement information and the observation data from the LEO satellite includes: Constructing a first observation equation of the navigation satellite according to the observation data from the navigation satellite; Constructing a second observation equation of the LEO satellite based on the observation data from the LEO satellite; Based on the navigation enhancement information, respectively, error correction is performed on the first observation equation and the second observation equation; According to the first observation equation and the second observation equation that have been corrected for errors, Kalman filtering is used to perform PPP-RTK comprehensive processing to obtain the position information of the dual antennas of the receiver.

3. The method according to claim 2, characterized in that The navigation enhancement information includes the precise orbit and clock error of the LEO satellite, the precise orbit and clock error of the navigation satellite, ionospheric delay correction data, tropospheric delay correction data, phase decimal deviation and code deviation; wherein, performing error correction on the first observation equation and the second observation equation respectively based on the navigation enhancement information includes: Eliminating the satellite orbit error term and the satellite clock error term in the first observation equation based on the precise orbit and clock error of the navigation satellite; Eliminate the satellite orbit error term and the satellite clock error term in the second observation equation based on the precise orbit and clock error of the LEO satellite; Eliminating the ionospheric delay term and the tropospheric delay term in the first observation equation and the second observation equation respectively based on the ionospheric delay correction data and the tropospheric delay correction data; Based on the phase fractional deviation and the code deviation, the receiver uncalibrated hardware delay deviation term and the satellite uncalibrated hardware delay deviation term in the first observation equation and the second observation equation are eliminated respectively.

4. The method according to claim 2 or 3, characterized in that Before respectively correcting the first observation equation and the second observation equation based on the navigation enhancement information, the method further includes: Correcting the first observation equation and the second observation equation respectively based on the correction model; Wherein, the calibration model at least includes the following models: Phase winding model; Solid tide model; Model of relativistic effects.

5. The method according to claim 1, characterized in that Determining the attitude information of the satellite tracking antenna on the satellite Internet agile application system according to the position information of the dual antennas of the receiver includes: Determining a baseline vector according to the position information of the dual antennas of the receiver; Determining a baseline heading angle and a baseline pitch angle according to the baseline vector; The baseline heading angle and the baseline pitch angle are determined as the attitude information of the satellite tracking antenna on the satellite Internet agile application system.

6. The method according to claim 5, characterized in that The position information of the dual antennas of the receiver includes the position coordinates and corresponding longitude and latitude of the dual antennas of the receiver in the world geodetic coordinate system; wherein, determining the baseline vector according to the position information of the dual antennas of the receiver includes: Acquire a baseline vector of the dual antennas of the receiver according to the position information of the dual antennas of the receiver; Constructing a coordinate system of the satellite Internet agile application system according to the latitude and longitude of the dual antennas of the receiver; Constructing a rotation matrix based on the origin coordinates of the coordinate system of the satellite internet agile application system; The baseline vector is transformed into the coordinate system through the rotation matrix to obtain the baseline vector in the coordinate system.

7. A directional device for a satellite Internet agile application system, characterized in that: include: A receiver is configured to obtain observation data from navigation satellites received by dual antennas of the receiver, obtain navigation augmentation information and observation data from low earth orbit (LEO) satellites received by the dual antennas of the receiver, and obtain position information of the dual antennas of the receiver using precise single point real-time dynamic positioning (PPP-RTK) technology based on the observation data from the navigation satellites and the navigation augmentation information and observation data from the LEO satellites; The directional solution module is configured to receive the position information of the dual antennas of the receiver sent by the receiver, and determine the attitude information of the satellite tracking antenna on the satellite Internet agile application system based on the position information of the dual antennas of the receiver.

8. The device according to claim 7, characterized in that The receiver is configured to: Constructing a first observation equation of the navigation satellite according to the observation data from the navigation satellite; Constructing a second observation equation of the LEO satellite based on the observation data from the LEO satellite; Based on the navigation enhancement information, respectively, error correction is performed on the first observation equation and the second observation equation; According to the first observation equation and the second observation equation that have been corrected for errors, Kalman filtering is used to perform PPP-RTK comprehensive processing to obtain the position information of the dual antennas of the receiver.

9. The device according to claim 8, characterized in that The navigation enhancement information includes the precise orbit and clock error of the LEO satellite, the precise orbit and clock error of the navigation satellite, ionospheric delay correction data, tropospheric delay correction data, phase fractional deviation and code deviation; wherein the receiver is configured as follows: Eliminating the satellite orbit error term and the satellite clock error term in the first observation equation based on the precise orbit and clock error of the navigation satellite; Eliminate the satellite orbit error term and the satellite clock error term in the second observation equation based on the precise orbit and clock error of the LEO satellite; Eliminating the ionospheric delay term and the tropospheric delay term in the first observation equation and the second observation equation respectively based on the ionospheric delay correction data and the tropospheric delay correction data; Based on the phase fractional deviation and the code deviation, the receiver uncalibrated hardware delay deviation term and the satellite uncalibrated hardware delay deviation term in the first observation equation and the second observation equation are eliminated respectively.

10. The device according to claim 8 or 9, characterized in that The receiver is also configured to: Correcting the first observation equation and the second observation equation respectively based on the correction model; Wherein, the calibration model at least includes the following models: Phase winding model; Solid tide model; Model of relativistic effects.

11. The device according to claim 7, characterized in that The orientation solving module is configured as follows: Determining a baseline vector according to the position information of the dual antennas of the receiver; Determining a baseline heading angle and a baseline pitch angle according to the baseline vector; The baseline heading angle and the baseline pitch angle are determined as the attitude information of the satellite tracking antenna on the satellite Internet agile application system.

12. The device according to claim 11, characterized in that The orientation solving module is configured as follows: Acquire a baseline vector of the dual antennas of the receiver according to the position information of the dual antennas of the receiver; Constructing a coordinate system of the satellite Internet agile application system according to the latitude and longitude of the dual antennas of the receiver; Constructing a rotation matrix based on the origin coordinates of the coordinate system of the satellite internet agile application system; The baseline vector is transformed into the coordinate system through the rotation matrix to obtain the baseline vector in the coordinate system.

13. A satellite Internet agile application system, characterized in that: Comprising an orientation device as claimed in any one of claims 7 to 12.

14. A satellite Internet agile application system, characterized in that: include: at least one processor; a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 6.

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