Satellite test system, method and device, communication equipment and storage medium

Abstract

The invention provides a satellite test system, method and device, communication equipment and a storage medium, and relates to the technical field of satellite communication. The method comprises the following steps: based on a conduction integrated signal, obtaining a pseudo-range observed quantity between a target satellite and a conduction integrated signal receiver; on the basis of the pseudo-range observed quantity and the GNSS signal, obtaining on-satellite launching time delay of the target satellite; and testing the target satellite based on the on-satellite launching time delay. Therefore, the GNSS signal receiver and the conduction integrated signal receiver are arranged side by side according to a zero base line and are homologous in clock, so that time synchronization can be realized between the two receivers, the ground time-frequency reference can be unified, the influence of ground clock drift in the test process is eliminated, and the accuracy of satellite test is improved. Besides, on-satellite launching time delay can be considered, the target satellite is tested, the influence of time-frequency deviation between a communication system and a navigation system on satellite testing is greatly eliminated, and the accuracy of satellite testing is further improved.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite communication technology, and in particular to a satellite test system, method, apparatus, communication equipment and storage medium. Background Art

[0002] Satellite on-orbit testing refers to a series of functional and performance verification activities carried out after a satellite is launched and successfully enters the predetermined orbit, to ensure that the satellite and its payload can work normally according to the design requirements and meet the mission requirements. However, in the relevant technology, satellite on-orbit testing has the problem of low accuracy. Summary of the invention

[0003] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0004] A first aspect embodiment of the present disclosure provides a satellite testing system, including: a target satellite, a global navigation satellite system GNSS satellite, a GNSS signal receiver and an integrated communication and navigation signal receiver; wherein the GNSS signal receiver and the integrated communication and navigation signal receiver are juxtaposed according to a zero baseline, the GNSS signal receiver and the integrated communication and navigation signal receiver have the same clock source, the GNSS signal receiver is used to receive the GNSS signal sent by the GNSS satellite, and the integrated communication and navigation signal receiver is used to receive the integrated communication and navigation signal sent by the target satellite.

[0005] The second aspect of the present disclosure provides a satellite testing method, which is applied to the system described in the first aspect of the present disclosure. The method includes: obtaining a pseudo-range observation value between a target satellite and a communication and navigation integrated signal receiver based on a communication and navigation integrated signal; obtaining an on-board transmission delay of the target satellite based on the pseudo-range observation value and the GNSS signal; and testing the target satellite based on the on-board transmission delay.

[0006] The third aspect of the present disclosure provides a satellite testing device, which is applied to the system described in the first aspect of the present disclosure, and the device includes: a first acquisition module, used to obtain a pseudo-range observation value between a target satellite and a communication and navigation integrated signal receiver based on a communication and navigation integrated signal; a second acquisition module, used to obtain an on-board transmission delay of the target satellite based on the pseudo-range observation value and the GNSS signal; and a testing module, used to test the target satellite based on the on-board transmission delay.

[0007] An embodiment of the fourth aspect of the present disclosure provides a communication device, comprising: at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the second aspect.

[0008] The fifth aspect of the present disclosure provides a chip, including one or more interface circuits and one or more processors; the interface circuit is used to receive a signal from a memory of a communication device and send the received signal to the processor, the received signal includes a computer instruction stored in the memory, and when the processor executes the computer instruction, the communication device implements the method described in the second aspect of the present disclosure.

[0009] The sixth aspect of the present disclosure provides a computer-readable storage medium, which stores computer-executable instructions. After the computer-executable instructions are executed by a processor, the method described in the second aspect of the present disclosure can be implemented.

[0010] The seventh aspect of the present disclosure provides a computer program product. When an instruction processor in the computer program product executes, the method described in the second aspect of the present disclosure is implemented.

[0011] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects: the GNSS signal receiver and the integrated communication and navigation signal receiver are juxtaposed according to the zero baseline and have the same clock source, so that time synchronization can be achieved between the two receivers, the ground time and frequency reference can be unified, and the influence of ground clock drift during the test process is eliminated, thereby improving the accuracy of satellite testing. In addition, based on the integrated communication and navigation signal, the pseudo-range observation amount between the target satellite and the integrated communication and navigation signal receiver is obtained, and based on the pseudo-range observation amount and the GNSS signal, the on-board launch delay of the target satellite is obtained. Based on the on-board launch delay, the target satellite is tested, that is, the on-board launch delay is taken into account, and the target satellite is tested, which greatly eliminates the influence of the time and frequency deviation between the communication system and the navigation system on the satellite test, further improving the accuracy of satellite testing, and is particularly suitable for testing scenarios of pseudo-range observation accuracy and timing accuracy.

[0012] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the structure of a satellite test system provided by an embodiment of the present disclosure; Figure 2 A flowchart of a satellite testing method provided by an embodiment of the present disclosure; Figure 3 A flowchart of another satellite testing method provided by an embodiment of the present disclosure; Figure 4 A flowchart of another satellite testing method provided by an embodiment of the present disclosure; Figure 5 A flowchart of another satellite testing method provided by an embodiment of the present disclosure; Figure 6 A flowchart of another satellite testing method provided by an embodiment of the present disclosure; Figure 7 A flowchart of another satellite testing method provided by an embodiment of the present disclosure; Figure 8 A schematic diagram of the structure of a satellite testing device provided by an embodiment of the present disclosure; Fig. 9 is a block diagram of a communication device for implementing a satellite testing method according to an exemplary embodiment; Fig.10 The figure is a structural diagram of a chip according to an exemplary embodiment. DETAILED DESCRIPTION

[0014] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0015] After years of development, a relatively complete theoretical system and on-orbit test method have been formed for traditional GNSS (Global Navigation Satellite System) at home and abroad. The on-orbit test method of traditional GNSS can be summarized as using various standard instruments to complete the continuous monitoring of the power, spectrum, and modulation characteristics of the received signal, using high-speed data acquisition equipment to complete the offline acquisition of navigation signals, and using relevant analysis software to perform high-precision data offline analysis to evaluate the performance of the received signal power spectrum envelope, time domain waveform, modulation characteristics, and correlation characteristics. At the same time, multiple monitoring receivers are used to continuously monitor the navigation signal, and the output pseudorange and carrier phase and other observations are used to evaluate the signal stability, consistency and other performance.

[0016] The integrated communication and navigation signal mentioned in the present disclosure refers to the combination of communication and navigation functions in the same signal for transmission. The purpose of this signal design is to achieve efficient data transmission (such as voice, text or multimedia information) and accurate location services at the same time. The integrated communication and navigation signal has the following characteristics: 1. The integrated communication and navigation signal adopts frequency division plus time division multiplexing, and has a pilot (or continuous wave) and spread spectrum data signal that can be used for navigation and positioning in a specific sub-band of the frequency domain. It is in the form of burst discontinuity in the time domain, and a complete signal frame lasts only milliseconds; 2. The transit time of satellites in lower orbits is short and the coverage is limited. The receiver usually uses the instantaneous Doppler information of the continuous wave component of the integrated communication and navigation signal for single-star / multi-star multi-epoch positioning and uses a specially designed spread spectrum sequence for ranging and timing. During the test, the clock difference and clock drift on the ground will seriously affect the test results; 3. There are time and frequency deviations between the communication system and the navigation system, and between the satellite and the ground system, which affect the evaluation of pseudorange, Doppler measurement and positioning and timing results. The above deviations should be uniformly calibrated during the test.

[0017] The traditional GNSS on-orbit test method is mainly applicable to the test and evaluation of continuous navigation signals transmitted by medium and high orbit navigation satellites. The pseudo-range and carrier phase observations of spread spectrum signals are the main objects of their test and evaluation. The mathematical models of instantaneous Doppler and pseudo-range observations of burst and discontinuous integrated communication and navigation signals do not match. For example, the accuracy of pseudo-range and carrier phase observations of traditional GNSS can be evaluated by the high-order difference method between epochs of observations, but due to the dynamic changes of low-orbit satellites and the discontinuous broadcast of signals, the high-order difference method between epochs of observations is no longer applicable; in terms of positioning and timing accuracy evaluation, traditional GNSS performs positioning and timing based on the principle of three-sphere intersection. The clock difference and clock drift of the terminal and the satellite can be directly calculated during positioning and velocity measurement, and used for positioning accuracy evaluation; however, for low-orbit satellites, when the terminal adopts a single-satellite multi-epoch algorithm based on instantaneous Doppler, the terminal's own clock drift will affect the Doppler estimation accuracy and positioning effect, and during timing, the terminal's own clock difference and the hardware delay on the satellite (i.e., the satellite launch delay) will also affect the timing accuracy. In addition, there is a lack of a unified on-orbit calibration method for communication and navigation time and space references.

[0018] In response to the above problems, Figure 1 As shown, the present disclosure proposes a satellite testing system, including a target satellite, a GNSS satellite, a GNSS signal receiver and an integrated communication and navigation signal receiver, the GNSS signal receiver and the integrated communication and navigation signal receiver are juxtaposed according to a zero baseline, the GNSS signal receiver and the integrated communication and navigation signal receiver have the same clock source, the GNSS signal receiver is used to receive the GNSS signal sent by the GNSS satellite, and the integrated communication and navigation signal receiver is used to receive the integrated communication and navigation signal sent by the target satellite.

[0019] It should be noted that the GNSS signal receiver and the integrated communication and navigation signal receiver are juxtaposed according to the zero baseline, which means that the positions of the two receivers are almost completely overlapped, or the distance between them is extremely small, and the two receivers can receive almost the same signal environment influence at the same time, so that their observation data are highly correlated and comparable. In addition, the clocks of the GNSS signal receiver and the integrated communication and navigation signal receiver are of the same source, so that time synchronization can be achieved between the two receivers, thereby unifying the ground time and frequency benchmark, and eliminating the influence of ground clock drift during the test, improving the accuracy of satellite testing.

[0020] There are not too many restrictions on the target satellites, for example, low-orbit satellites can be included.

[0021] Optionally, the GNSS signal receiver can output dual-frequency high-precision observation quantities.

[0022] Alternatively, if Figure 1 As shown, the satellite test system also includes a ground time and frequency reference system and a ground information processing system. For example, the ground time and frequency reference system can use an atomic clock group.

[0023] The ground information processing system is used to receive the observation quantity of the satellite-borne orbit determination receiver sent by the target satellite, and based on the observation quantity of the satellite-borne orbit determination receiver, orbit the target satellite to obtain the orbit information of the target satellite, and perform clock error solution based on the observation quantity of the satellite-borne orbit determination receiver to obtain the first clock error between the target satellite and the integrated communication and navigation signal receiver, and the clock drift between the target satellite and the integrated communication and navigation signal receiver. The ground information processing system can send the orbit determination and clock error solution results of the target satellite to the integrated communication and navigation signal receiver, wherein the orbit determination and clock error solution results include the orbit information of the target satellite, the first clock error and the clock drift between the target satellite and the integrated communication and navigation signal receiver.

[0024] It should be noted that orbit determination and clock error solution can both be achieved using relevant technologies, and no further limitations are given here.

[0025] The onboard orbit determination receiver is used to receive GNSS signals sent by GNSS satellites and obtain the observation quantity of the onboard orbit determination receiver based on the GNSS signals. There are no excessive restrictions on the observation quantity of the onboard orbit determination receiver, for example, it may include the pseudorange between the GNSS satellite and the onboard orbit determination receiver, the Doppler observation quantity of the GNSS signal, etc.

[0026] Optionally, the clocks of the GNSS signal receiver, the integrated communication and navigation signal receiver, and the ground information processing system are of the same source, and the clock source is the clock signal, second pulse signal, and UTC (Coordinated Universal Time) and other time information provided by the ground time and frequency reference system. The time information output by the ground time and frequency reference system is used to mark the observations of the GNSS signal receiver and the integrated communication and navigation signal receiver with high-precision timestamps.

[0027] Optionally, the method also includes calibrating the position of the GNSS signal receiver or the position of the integrated communication and navigation signal receiver, the receiving channel delay of the integrated communication and navigation signal receiver, and the antenna phase center of the integrated communication and navigation signal receiver. It can be understood that the positions of the GNSS signal receiver and the integrated communication and navigation signal receiver are almost completely overlapped. It is only necessary to calibrate the position of one of the two receivers, and the calibrated position is used as the position of the GNSS signal receiver and the integrated communication and navigation signal receiver at the same time. The receiving channel delay refers to the delay from the time the signal is received by the antenna to the time it is sampled and processed into usable data. The antenna phase center refers to the phase reference point of the electromagnetic wave signal received by the antenna.

[0028] Furthermore, the present disclosure also proposes a satellite testing method, which is applied to a satellite testing system. The GNSS signal receiver and the integrated communication and navigation signal receiver are juxtaposed according to a zero baseline and have the same clock source, so that time synchronization can be achieved between the two receivers, the ground time and frequency reference can be unified, and the influence of ground clock drift during the test process can be eliminated, thereby improving the accuracy of satellite testing. In addition, based on the integrated communication and navigation signal, a pseudo-range observation between the target satellite and the integrated communication and navigation signal receiver is obtained, and based on the pseudo-range observation and the GNSS signal, the on-board launch delay of the target satellite is obtained. Based on the on-board launch delay, the target satellite is tested, that is, the on-board launch delay is taken into account, and the influence of the time and frequency deviation between the communication system and the navigation system on the satellite test is greatly eliminated, further improving the accuracy of satellite testing, and is particularly suitable for testing scenarios of the accuracy of pseudo-range observations and timing accuracy.

[0029] In addition, the present disclosure can calibrate the on-board launch delay of the target satellite, and proposes an on-orbit unified calibration method for the communication and navigation time and space reference.

[0030] In addition, the present disclosure can eliminate the influence of ground clock drift during the test process. When receiving discontinuous signals, when the signal is interrupted, the ground receiver observation quantity will not be affected by the ground clock drift, which is suitable for the test scenario of short-term discontinuous integrated conduction signal. Since the continuous signal persists, the receiver can continuously receive the signal and continuously output the observation quantity.

[0031] The satellite testing method, apparatus, and communication device of the embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0032] Figure 2 The flowchart of a satellite testing method provided by the embodiment of the present disclosure is applied to a satellite testing system. Figure 2 As shown, the satellite testing method may include the following steps: S201, based on the communication and navigation integrated signal, obtain a pseudo-range observation value between the target satellite and the communication and navigation integrated signal receiver.

[0033] It should be noted that the execution subject of the satellite test method of the embodiment of the present disclosure may be a hardware device with data information processing capabilities and / or the necessary software required to drive the hardware device to work. Optionally, the execution subject includes a ground information processing system, a server, a GNSS signal receiver, a communication and navigation integrated signal receiver, etc.

[0034] It should be noted that the content related to obtaining the pseudo-range observation quantity based on the communication and guidance integrated signal can be implemented by using any pseudo-range observation quantity acquisition method in the relevant technology, and no excessive restrictions are made here.

[0035] Optionally, based on the communication and navigation integrated signal, a pseudo-range observation amount between the target satellite and the communication and navigation integrated signal receiver is obtained, including processing the spread spectrum component of the communication and navigation integrated signal to obtain the pseudo-range observation amount.

[0036] Optionally, based on the communication and navigation integrated signal, a pseudo-range observation amount between the target satellite and the communication and navigation integrated signal receiver is obtained, including obtaining the pseudo-range observation amount based on the transmission time of the communication and navigation integrated signal. It should be noted that the transmission time of the communication and navigation integrated signal refers to the transmission time of the communication and navigation integrated signal from the target satellite to the communication and navigation integrated signal receiver.

[0037] For example, the spread spectrum component of the communication and conducting integrated signal is despread to obtain a pseudo-random noise code, the time difference between the pseudo-random noise code and the communication and conducting integrated signal (also called the code phase difference) is obtained, the transmission duration of the communication and conducting integrated signal is obtained, the product of the transmission duration of the communication and conducting integrated signal and the speed of light is obtained, and the pseudo-range observation value is obtained.

[0038] S202, obtaining the on-board transmission delay of the target satellite based on the pseudo-range observation and the GNSS signal.

[0039] It should be noted that the on-board transmission delay refers to the transmission delay of the integrated communication and navigation signal. Optionally, the on-board transmission delay refers to the transmission delay of the communication signal compared with the navigation signal in the integrated communication and navigation signal, that is, the transmission delay of the communication channel of the target satellite, which is also the main factor causing the time-frequency deviation between the communication system and the navigation system.

[0040] In the embodiments of the present disclosure, based on the pseudorange observation and the GNSS signal, the onboard launch delay of the target satellite is obtained, including the following possible implementations: Method 1: Based on the GNSS signal, the target error of the pseudorange observation caused by the satellite transmission delay is obtained, and based on the target error, the satellite transmission delay is obtained.

[0041] It is understandable that the onboard transmission delay will cause errors in the transmission duration of the integrated communication and navigation signal, which will in turn cause target errors in the pseudo-range observation.

[0042] Optionally, based on the GNSS signal, obtaining the target error of the pseudorange observation caused by the satellite transmission delay includes obtaining the total error of the pseudorange observation, obtaining the error of the pseudorange observation caused by other factors other than the satellite transmission delay based on the GNSS signal, and removing the error of the pseudorange observation caused by other factors other than the satellite transmission delay from the total error to obtain the target error. It should be noted that the relevant content of obtaining the total error of the pseudorange observation can be referred to the following embodiment, which will not be repeated here.

[0043] It is understandable that in addition to the onboard transmission delay, there are other factors that will cause errors in pseudo-range observations. Without making too many restrictions on other factors, such as atmospheric propagation, satellite-ground clock error, relativistic effects, and equipment errors of integrated communication and navigation signal receivers.

[0044] It should be noted that the Earth's atmosphere (such as the ionosphere and troposphere) will cause a delay effect in the integrated communication and guidance signal (such as a change in the signal propagation speed), which will in turn cause the first atmospheric propagation error in the pseudo-range observation.

[0045] The first clock difference between the target satellite and the integrated communication and navigation signal receiver will cause an error in the transmission duration of the integrated communication and navigation signal, and then cause a first error in the pseudo-range observation.

[0046] Due to the influence of the earth's gravitational field and the high-speed movement of the satellite, a relativistic effect will be produced on the received time signal. This effect will cause the satellite clock to deviate from the ground clock, thereby causing a second error in the pseudo-range observation.

[0047] The receiving channel delay of the integrated communication and navigation signal receiver will cause an error in the transmission time of the integrated communication and navigation signal, which will further cause the first and third errors in the pseudo-range observation.

[0048] Ideally, the antenna phase center should be located at the geometric center of the antenna. However, in practical applications, due to antenna design and environmental influences, the antenna phase center may be offset, that is, the integrated signal receiver will have an antenna phase center error, which will cause the second and third errors in the pseudorange observation.

[0049] Exemplarily, the first atmospheric propagation error includes a first ionospheric propagation error, a first tropospheric propagation error, and the like.

[0050] Exemplarily, the device error includes a receiving channel delay of the integrated signal receiver for communication and conduction, and / or an antenna phase center error of the integrated signal receiver for communication and conduction.

[0051] Optionally, obtaining the on-board transmission delay based on the target error includes obtaining a ratio of the target error to the speed of light, and obtaining the on-board transmission delay based on the ratio. For example, the ratio is used as the on-board transmission delay. For example, the ratio is corrected to obtain the on-board transmission delay. In some examples, the product of the ratio and the correction coefficient is obtained as the on-board transmission delay, or the sum of the ratio and the correction parameter is obtained as the on-board transmission delay.

[0052] Method 2: Input the pseudorange observation and GNSS signal into the first model, and the first model outputs the on-board transmission delay.

[0053] It should be noted that there are not too many restrictions on the first model, such as including mechanism models, data-driven models, etc.

[0054] It is understandable that the on-board transmission delay under different environmental parameters (such as temperature) may be different. The environmental parameters of the satellite environment sent by the satellite telemetry equipment can be obtained to obtain the on-board transmission delay under different environmental parameters.

[0055] S203, testing the target satellite based on the on-board launch delay.

[0056] It should be noted that the onboard launch delay will cause time and frequency deviations between the communication system and the navigation system, which will in turn affect the test of the target satellite. In this scheme, the onboard launch delay can be taken into account to test the target satellite, which greatly eliminates the impact of the time and frequency deviations between the communication system and the navigation system on satellite testing and improves the accuracy of satellite testing.

[0057] Optionally, the target satellite is tested based on the onboard transmission delay, including obtaining test indicators of the target satellite based on the onboard transmission delay. It should be noted that there are no excessive restrictions on the test indicators, for example, they may include the accuracy of pseudorange observations, timing accuracy, etc. The accuracy of pseudorange observations refers to the accuracy of the pseudorange observations compared to the first theoretical value of the pseudorange observations, which can be referred to as pseudorange observation accuracy. The timing result refers to the result of correcting the clock of the communication and guidance integrated signal receiver based on the communication and guidance integrated signal, that is, the corrected clock of the communication and guidance integrated signal receiver, and the timing accuracy refers to the accuracy of the corrected clock of the communication and guidance integrated signal receiver compared to the standard clock.

[0058] It should be noted that the timing can be achieved by any timing method in the relevant technology, and no excessive restrictions are made here. For example, the spread spectrum component of the integrated communication and conducting signal can be processed to obtain the first deviation between the clock of the integrated communication and conducting signal receiver and the clock of the target satellite, and the clock of the target satellite is corrected based on the second deviation between the clock of the target satellite and the standard clock, and the clock of the integrated communication and conducting signal receiver is corrected based on the first deviation and the corrected clock of the target satellite. It should be noted that there are no excessive restrictions on the standard clock, such as the clock signal, second pulse signal and UTC time information provided by the ground time and frequency reference system.

[0059] Optionally, based on the on-board launch delay, the target satellite is tested, including obtaining a third theoretical value of the test information of the target satellite, obtaining a sixth error of the test information of the target satellite caused by the on-board launch delay, obtaining a third observation value based on the test information of the target satellite and the sixth error, and obtaining the accuracy of the test information of the target satellite based on the third theoretical value and the third observation value. For example, the absolute error, relative error, root mean square error, etc. between the third theoretical value and the third observation value can be obtained as the accuracy of the test information of the target satellite.

[0060] It should be noted that the test indicators include the accuracy of the test information of the target satellite, and there are no excessive restrictions on the test information of the target satellite. For example, it includes pseudorange observations, timing results, etc. The accuracy of the test information of the target satellite includes the accuracy of pseudorange observations, timing accuracy, etc.

[0061] For example, Figure 1 For example, step S201 is executed by the integrated communication and navigation signal receiver, and steps S201-S203 are executed by the ground information processing system.

[0062] In summary, according to the satellite testing method of the embodiment of the present disclosure, the GNSS signal receiver and the integrated communication and navigation signal receiver are juxtaposed according to the zero baseline and have the same clock source, so that time synchronization can be achieved between the two receivers, the ground time and frequency reference can be unified, and the influence of the ground clock drift during the test process is eliminated, thereby improving the accuracy of the satellite test. In addition, based on the integrated communication and navigation signal, the pseudo-range observation between the target satellite and the integrated communication and navigation signal receiver is obtained, and based on the pseudo-range observation and the GNSS signal, the on-board launch delay of the target satellite is obtained. Based on the on-board launch delay, the target satellite is tested, that is, the on-board launch delay is taken into account, and the target satellite is tested, which greatly eliminates the influence of the time and frequency deviation between the communication system and the navigation system on the satellite test, further improving the accuracy of the satellite test, and is particularly suitable for testing scenarios of the accuracy of pseudo-range observations and timing accuracy.

[0063] In addition, the present disclosure can calibrate the on-board launch delay of the target satellite, and proposes an on-orbit unified calibration method for the communication and navigation time and space reference.

[0064] In addition, the present disclosure can eliminate the influence of ground clock drift during the test process. When receiving discontinuous signals, when the signal is interrupted, the ground receiver observation quantity will not be affected by the ground clock drift, which is suitable for the test scenario of short-term discontinuous integrated conduction signal. Since the continuous signal persists, the receiver can continuously receive the signal and continuously output the observation quantity.

[0065] In the above embodiment, in step S202, the onboard transmission delay of the target satellite is obtained based on the pseudorange observation and the GNSS signal, which can be combined with Figure 3 Further understanding, Figure 3 FIG. 1 is a flow chart of another satellite testing method provided by an embodiment of the present disclosure. Figure 3 As shown, the satellite testing method may include the following steps: S301, based on the communication and navigation integrated signal, obtain a pseudo-range observation value between the target satellite and the communication and navigation integrated signal receiver.

[0066] For the relevant contents of step S301, please refer to the above embodiment and will not be described again here.

[0067] S302: Obtain a first atmospheric propagation error of a pseudorange observation based on the GNSS signal.

[0068] It should be noted that the first atmospheric propagation error can be obtained based on the GNSS signal by using any atmospheric propagation error acquisition method in the relevant technology, and no further limitation is made here. For example, the GNSS signal can be processed by using dual-frequency observation and difference technology, Kalman filter and other methods to obtain the first atmospheric propagation error.

[0069] Optionally, based on the GNSS signal, a first atmospheric propagation error of the pseudorange observation is obtained, including constructing an ionosphere zenith model and a troposphere zenith model based on the GNSS signal, and obtaining the first atmospheric propagation error based on the ionosphere zenith model and the troposphere zenith model.

[0070] For example, based on the ionospheric zenith model, the first ionospheric propagation error of the pseudorange observation quantity can be obtained, and based on the tropospheric zenith model, the first tropospheric propagation error of the pseudorange observation quantity can be obtained, and the sum of the first ionospheric propagation error and the first tropospheric propagation error can be obtained as the first atmospheric propagation error.

[0071] It should be noted that the construction of the ionosphere zenith model and the troposphere zenith model based on the GNSS signal can be achieved by using any atmospheric model construction method in the relevant technology, and no excessive restrictions are made here.

[0072] For example, based on the dual-frequency GNSS signal, a dual-frequency carrier phase observation value can be obtained, and based on the dual-frequency carrier phase observation value, the propagation error of the ionospheric slant path can be obtained. The propagation error of the ionospheric slant path can be converted into the propagation error in the ionospheric zenith direction, and the propagation error in the ionospheric zenith direction is interpolated to obtain the propagation error in the entire ionosphere area, so as to obtain the ionospheric zenith model.

[0073] For example, based on GNSS signals and meteorological parameters (such as temperature, humidity, and air pressure), the propagation error of the tropospheric slant path can be obtained, the propagation error of the tropospheric slant path can be converted into the propagation error in the zenith direction of the troposphere, and the propagation error in the zenith direction of the troposphere can be interpolated to obtain the propagation error in the entire troposphere area, so as to obtain the zenith model of the troposphere.

[0074] It should be noted that there are no excessive restrictions on the ionospheric zenith model and the tropospheric zenith model. For example, the ionospheric zenith model includes the Klobuchar model, the NeQuick model, etc., and the tropospheric zenith model includes the Saastamoinen model, the Hopfield model, the VMF (Vienna Mapping Function) model, the GMF (Global Mapping Function) model, etc. The Saastamoinen model and the Hopfield model are both empirical models, and the VMF model and the GMF model are both mapping function models.

[0075] S303, obtaining the total error of the pseudorange observation.

[0076] It should be noted that the total error of the pseudorange observation quantity can be obtained by using any method for obtaining the total error of the pseudorange observation quantity in the related art, and no excessive limitation is made here.

[0077] Optionally, the total error of the pseudorange observation amount is obtained, including obtaining a first theoretical value of the pseudorange observation amount based on the orbit information of the target satellite and the calibration position information of the integrated communication and navigation signal receiver, and obtaining a deviation between the pseudorange observation amount and the first theoretical value as the total error.

[0078] It should be noted that the first theoretical value of the pseudo-range observation amount can be obtained based on the orbital information of the target satellite and the calibrated position information of the integrated communication and navigation signal receiver, and can be implemented by using any distance calculation method between a satellite and a receiver in the relevant technology, and no excessive restrictions are made here. For example, the position information of the target satellite can be obtained based on the orbital information of the target satellite, and the first theoretical value can be obtained based on the position information of the target satellite and the calibrated position information of the integrated communication and navigation signal receiver.

[0079] S304: Based on the total error and the first atmospheric propagation error, a target error of the pseudorange observation amount caused by the on-board transmission delay is obtained.

[0080] It can be understood that the total error is composed of at least the first atmospheric propagation error and the target error.

[0081] Optionally, based on the total error and the first atmospheric propagation error, a target error of the pseudorange observation quantity caused by the on-board transmission delay is obtained, including removing the first atmospheric propagation error from the total error to obtain the target error.

[0082] Optionally, based on the total error and the first atmospheric propagation error, obtaining a target error of the pseudorange observation caused by the on-board transmission delay includes removing only the first atmospheric propagation error from the total error to obtain the target error. It can be understood that, in this embodiment, the remaining errors other than the first atmospheric propagation error and the target error are ignored, and the total error is regarded as consisting only of the first atmospheric propagation error and the target error.

[0083] Optionally, based on the total error and the first atmospheric propagation error, the target error of the pseudorange observation caused by the onboard transmission delay is obtained, including performing clock error solution based on the observation of the onboard orbit determination receiver of the target satellite, obtaining the first clock error between the target satellite and the integrated communication and navigation signal receiver, and obtaining the first error of the pseudorange observation caused by the first clock error, obtaining the second error of the pseudorange observation caused by the relativistic effect, obtaining the third error of the pseudorange observation caused by the equipment error of the integrated communication and navigation signal receiver, removing the first atmospheric propagation error from the total error, and removing at least one of the first error, the second error, and the third error to obtain the target error. It can be understood that in this embodiment, in addition to the first atmospheric propagation error and the target error, at least one of the first error, the second error, and the third error is also considered, and the total error is regarded as consisting of the first atmospheric propagation error, the target error, and at least one of the first error, the second error, and the third error, that is, the influence of at least one factor of the satellite-to-ground clock error, the relativistic effect, and the equipment error on the pseudorange observation is also considered, so that the target error is more accurate.

[0084] S305, obtaining the on-board transmission delay based on the target error.

[0085] S306, testing the target satellite based on the on-board launch delay.

[0086] For the relevant contents of steps S305-S306, please refer to the above embodiment and will not be described again here.

[0087] In summary, according to the satellite testing method of the embodiment of the present disclosure, based on the GNSS signal, the first atmospheric propagation error of the pseudorange observation is obtained, the total error of the pseudorange observation is obtained, based on the total error and the first atmospheric propagation error, the target error of the pseudorange observation caused by the satellite launch delay is obtained, and based on the target error, the satellite launch delay is obtained. Therefore, the influence of atmospheric propagation on the pseudorange observation can be taken into account, and the target error can be obtained based on the total error and the first atmospheric propagation error, and then the satellite launch delay can be obtained.

[0088] In the above embodiment, in step S203, the target satellite is tested based on the on-board transmission delay. Figure 4 Further understanding, Figure 4 FIG. 1 is a flow chart of another satellite testing method provided by an embodiment of the present disclosure. Figure 4 As shown, the satellite testing method may include the following steps: S401, based on the communication and navigation integrated signal, obtain a pseudo-range observation between the target satellite and the communication and navigation integrated signal receiver.

[0089] S402, based on the pseudo-range observation and the GNSS signal, obtain the on-board transmission delay of the target satellite.

[0090] S403, obtaining a first theoretical value of a pseudo-range observation amount based on the orbit information of the target satellite and the calibrated position information of the communication and navigation integrated signal receiver.

[0091] S404, obtaining a target error of a pseudorange observation quantity caused by a satellite transmission delay.

[0092] For the relevant contents of steps S401 - S404 , please refer to the above embodiment and will not be described again here.

[0093] S405, obtaining a first observation value based on the pseudorange observation value and the target error.

[0094] It can be understood that, based on the pseudorange observation and the target error, the first observation is obtained, which can eliminate the influence of the satellite launch delay on the pseudorange observation accuracy, and also greatly eliminate the influence of the time-frequency deviation between the communication system and the navigation system on the pseudorange observation accuracy, thereby improving the accuracy of the pseudorange observation accuracy.

[0095] Optionally, obtaining the first observation amount based on the pseudorange observation amount and the target error includes removing the target error from the pseudorange observation amount to obtain the first observation amount. It is understandable that the target error will cause the pseudorange observation amount to become larger. Removing the target error from the pseudorange observation amount can eliminate the influence of the satellite launch delay on the pseudorange observation accuracy, and also greatly eliminates the influence of the time-frequency deviation between the communication system and the navigation system on the pseudorange observation accuracy, thereby improving the accuracy of the pseudorange observation accuracy.

[0096] Optionally, obtaining the first observation value based on the pseudorange observation value and the target error includes removing only the target error from the pseudorange observation value to obtain the first observation value. It can be understood that in this embodiment, the remaining errors except the target error are ignored.

[0097] Optionally, based on the pseudorange observation amount and the target error, a first observation amount is obtained, including obtaining a first atmospheric propagation error of the pseudorange observation amount based on the GNSS signal, obtaining a second error of the pseudorange observation amount caused by the relativistic effect, removing the target error from the pseudorange observation amount, and removing the first atmospheric propagation error and / or the second error to obtain the first observation amount. It can be understood that in addition to the target error, the first atmospheric propagation error and the second error are also taken into account in this embodiment, that is, the influence of at least one factor of atmospheric propagation and relativistic effect on the pseudorange observation amount is also taken into account, which can not only eliminate the influence of the satellite launch delay on the pseudorange observation accuracy, but also eliminate the influence of atmospheric propagation and / or relativistic effect on the pseudorange observation accuracy, so that the pseudorange observation accuracy is more accurate.

[0098] S406, obtaining the accuracy of the pseudorange observation based on the first observation value and the first theoretical value.

[0099] For example, the absolute error, relative error, root mean square error, etc. between the first observed value and the first theoretical value can be obtained as the accuracy of the pseudorange observation value.

[0100] In summary, according to the satellite testing method of the embodiment of the present disclosure, based on the orbit information of the target satellite and the calibrated position information of the integrated communication and navigation signal receiver, the first theoretical value of the pseudorange observation quantity is obtained, the target error of the pseudorange observation quantity caused by the on-board transmission delay is obtained, and the first observation quantity is obtained based on the pseudorange observation quantity and the target error, and the accuracy of the pseudorange observation quantity is obtained based on the first observation quantity and the first theoretical value. Thus, removing the target error from the pseudorange observation quantity can eliminate the influence of the on-board transmission delay on the pseudorange observation accuracy, and also greatly eliminate the influence of the time-frequency deviation between the communication system and the navigation system on the pseudorange observation accuracy, thereby improving the accuracy of the pseudorange observation accuracy.

[0101] In the above embodiment, in step S203, the target satellite is tested based on the on-board transmission delay. Figure 5 Further understanding, Figure 5 FIG. 1 is a flow chart of another satellite testing method provided by an embodiment of the present disclosure. Figure 5 As shown, the satellite testing method may include the following steps: S501, based on the communication and navigation integrated signal, obtain a pseudo-range observation between the target satellite and the communication and navigation integrated signal receiver.

[0102] S502, based on the pseudo-range observation and the GNSS signal, obtain the on-board transmission delay of the target satellite.

[0103] S503, performing clock error calculation based on the observation amount of the onboard orbit determination receiver of the target satellite to obtain a first clock error between the target satellite and the communication and navigation integrated signal receiver.

[0104] For the relevant contents of steps S501 - S503 , please refer to the above embodiments and will not be described again here.

[0105] S504, performing clock error calculation based on the pseudo-range observation to obtain a second clock error between the target satellite and the communication and navigation integrated signal receiver.

[0106] It should be noted that the first clock error is the theoretical value of the second clock error, and the second clock error refers to the observed clock error between the target satellite and the integrated signal receiver. The clock error solution can be implemented using relevant technologies, and no further restrictions are made here.

[0107] S505: Obtain a third clock difference based on the second clock difference and the on-board transmission delay.

[0108] It can be understood that the third clock error is obtained based on the second clock error and the on-board transmission delay, which can eliminate the influence of the on-board transmission delay on the timing accuracy, and also greatly eliminate the influence of the time and frequency deviation between the communication system and the navigation system on the timing accuracy, thereby improving the accuracy of the timing accuracy.

[0109] Optionally, obtaining a third clock difference based on the second clock difference and the on-board transmission delay includes removing the on-board transmission delay from the second clock difference to obtain the third clock difference. It is understandable that the on-board transmission delay will cause the second clock difference to increase, and removing the on-board transmission delay from the second clock difference can eliminate the influence of the on-board transmission delay on the timing accuracy, and also greatly eliminate the influence of the time-frequency deviation between the communication system and the navigation system on the timing accuracy, thereby improving the accuracy of the timing accuracy.

[0110] S506, based on the third clock difference and the first clock difference, obtain the timing accuracy of the target satellite.

[0111] For example, the absolute error, relative error, root mean square error, etc. between the third clock difference and the first clock difference can be obtained as the timing accuracy.

[0112] In summary, according to the satellite testing method of the embodiment of the present disclosure, the clock error is solved based on the observation quantity of the onboard orbit determination receiver of the target satellite to obtain the first clock error between the target satellite and the integrated communication and navigation signal receiver, and the clock error is solved based on the pseudo-range observation quantity to obtain the second clock error between the target satellite and the integrated communication and navigation signal receiver. Based on the second clock error and the onboard transmission delay, the third clock error is obtained, and based on the third clock error and the first clock error, the timing accuracy of the target satellite is obtained. Therefore, by removing the onboard transmission delay from the second clock error, the influence of the onboard transmission delay on the timing accuracy can be eliminated, and the influence of the time-frequency deviation between the communication system and the navigation system on the timing accuracy can be greatly eliminated, thereby improving the accuracy of the timing accuracy.

[0113] In the above embodiment, the Doppler observation accuracy can be tested by combining Figure 6 Further understanding, Figure 6 FIG. 1 is a flow chart of another satellite testing method provided by an embodiment of the present disclosure. Figure 6 As shown, the satellite testing method may include the following steps: S601, obtaining Doppler observations of the integrated communication and guidance signal.

[0114] It should be noted that the Doppler observation quantity can be obtained by using any Doppler observation quantity obtaining method in the related technology, and no excessive limitation is made here.

[0115] Optionally, obtaining the Doppler observation amount of the communication-conducting integrated signal includes processing the pilot component or the continuous wave component of the communication-conducting integrated signal to obtain the Doppler observation amount. For example, the frequency offset of the pilot component or the continuous wave component of the communication-conducting integrated signal can be obtained, and the frequency offset can be converted into the Doppler observation amount.

[0116] S602, obtaining a second theoretical value of the Doppler observation quantity based on the orbit information of the target satellite and the calibrated position information of the integrated communication and navigation signal receiver.

[0117] It should be noted that the second theoretical value of the Doppler observation quantity is obtained based on the orbit information of the target satellite and the calibrated position information of the integrated communication and navigation signal receiver. This can be achieved by using any calculation method for the theoretical value of the Doppler observation quantity in the relevant technology, and no excessive restrictions are made here.

[0118] For example, the position information and speed information of the target satellite can be obtained based on the orbit information of the target satellite, the line of sight direction can be obtained based on the position information of the target satellite and the calibrated position information of the integrated communication and navigation signal receiver, the speed component of the target satellite in the line of sight direction can be obtained based on the speed information and line of sight direction of the target satellite, and the second theoretical value can be obtained based on the speed component of the target satellite in the line of sight direction and the transmission frequency of the integrated communication and navigation signal (also called carrier frequency).

[0119] S603, obtaining a second observation quantity based on the Doppler observation quantity and the error of the Doppler observation quantity.

[0120] It should be noted that there are no excessive restrictions on the errors of Doppler observations. For example, factors such as atmospheric propagation, satellite-to-ground clock drift, and relativistic effects can cause errors in Doppler observations.

[0121] The Earth's atmosphere (such as the ionosphere and troposphere) will cause changes in the propagation path and propagation speed of the integrated communication and guidance signal, thereby causing a second atmospheric propagation error in the Doppler observation. Exemplarily, the second atmospheric propagation error includes a second ionospheric propagation error, a second tropospheric propagation error, and the like.

[0122] The clock drift between the target satellite and the integrated communication and navigation signal receiver will cause an error in the transmission duration of the integrated communication and navigation signal, which will in turn cause the fourth error in the Doppler observation.

[0123] Due to the influence of the earth's gravitational field and the high-speed movement of the satellite, a relativistic effect will be produced on the received time signal. This effect will cause the satellite clock to deviate from the ground clock, thereby causing the fifth error in the Doppler observation.

[0124] Optionally, obtaining the second observation quantity based on the Doppler observation quantity and the error of the Doppler observation quantity includes removing the error of the Doppler observation quantity from the Doppler observation quantity to obtain the second observation quantity.

[0125] Optionally, based on the Doppler observation quantity and the error of the Doppler observation quantity, a second observation quantity is obtained, including obtaining a second atmospheric propagation error of the Doppler observation quantity based on the GNSS signal, obtaining a fourth error of the Doppler observation quantity caused by the target clock drift, wherein the target clock drift is the clock drift between the target satellite and the integrated signal receiver for communication and navigation, obtaining a fifth error of the Doppler observation quantity caused by the relativistic effect, and removing at least one of the second atmospheric propagation error, the fourth error and the fifth error from the Doppler observation quantity to obtain the second observation quantity. It can be understood that in this embodiment, the influence of at least one factor among atmospheric propagation, satellite-to-ground clock drift and relativistic effect on the Doppler observation accuracy can be taken into account, and the influence of at least one factor among atmospheric propagation, satellite-to-ground clock drift and relativistic effect on the Doppler observation accuracy can be eliminated, thereby improving the accuracy of the Doppler observation accuracy.

[0126] It should be noted that the relevant content of obtaining the second atmospheric propagation error can refer to the relevant content of obtaining the first atmospheric propagation error in the above embodiment, which will not be repeated here. The accuracy of the Doppler observation refers to the accuracy of the Doppler observation compared to the second theoretical value, which can be referred to as the Doppler observation accuracy.

[0127] S604, obtaining the accuracy of the Doppler observation quantity based on the second observation quantity and the second theoretical value.

[0128] For example, the absolute error, relative error, root mean square error, etc. between the second observed value and the second theoretical value can be obtained as the accuracy of the Doppler observation value.

[0129] For example, Figure 1 For example, step S601 is executed by the integrated communication and navigation signal receiver, and steps S602-S604 are executed by the ground information processing system.

[0130] In summary, according to the satellite testing method of the embodiment of the present disclosure, the Doppler observation amount of the integrated communication and navigation signal is obtained, and based on the orbit information of the target satellite and the calibration position information of the integrated communication and navigation signal receiver, the second theoretical value of the Doppler observation amount is obtained. Based on the error between the Doppler observation amount and the Doppler observation amount, the second observation amount is obtained. Based on the second observation amount and the second theoretical value, the Doppler observation accuracy is obtained to realize the test of the Doppler observation accuracy.

[0131] In the above embodiment, the positioning accuracy of the integrated communication and navigation signal receiver can be tested by combining Figure 7 Further understanding, Figure 7 FIG. 1 is a flow chart of another satellite testing method provided by an embodiment of the present disclosure. Figure 7 As shown, the satellite testing method may include the following steps: S701, obtaining Doppler observations of the integrated communication and guidance signal.

[0132] For the relevant contents of step S701, please refer to the above embodiment and will not be described again here.

[0133] S702, positioning the communication and navigation integrated signal receiver based on the Doppler observation quantity to obtain the position observation quantity of the communication and navigation integrated signal receiver.

[0134] It should be noted that positioning the integrated communication and navigation signal receiver based on Doppler observations can be achieved by using any receiver positioning method in the relevant technology, and no excessive restrictions are made here.

[0135] For example, the relative speed of the integrated communication and navigation signal receiver relative to the target satellite can be obtained based on the Doppler observation, and the position observation of the integrated communication and navigation signal receiver can be obtained based on the pseudorange observation and the relative speed.

[0136] For example, a second model can be constructed based on the Doppler frequency shift formula and the orbit model of the target satellite, the Doppler observation quantity and the orbit information of the target satellite are input into the second model, and the second model outputs the position observation quantity of the integrated signal receiver.

[0137] S703, obtaining the positioning accuracy of the communication and navigation integrated signal receiver based on the position observation value and the calibrated position information of the communication and navigation integrated signal receiver.

[0138] It should be noted that the calibrated position information of the integrated communication and navigation signal receiver is the theoretical value of the position observation quantity, and the positioning accuracy of the integrated communication and navigation signal receiver refers to the position observation quantity, which is compared with the accuracy of the calibrated position information of the integrated communication and navigation signal receiver.

[0139] For example, the absolute error, relative error, root mean square error, etc. between the position observation quantity and the calibrated position information of the communication and navigation integrated signal receiver can be obtained as the positioning accuracy of the communication and navigation integrated signal receiver.

[0140] Optionally, the method further includes, in response to the positioning accuracy of the integrated communication and navigation signal receiver reaching the set accuracy, using the current positioning duration of the integrated communication and navigation signal receiver as the convergence time. It should be noted that the convergence time refers to the time required for the receiver to reach the set accuracy from the start of receiving the signal.

[0141] For example, Figure 1 For example, step S701 is executed by the integrated communication and navigation signal receiver, and steps S702-S703 are executed by the ground information processing system.

[0142] In summary, according to the satellite testing method of the embodiment of the present disclosure, the Doppler observation value of the integrated communication and navigation signal is obtained, the integrated communication and navigation signal receiver is positioned based on the Doppler observation value, and the position observation value of the integrated communication and navigation signal receiver is obtained. Based on the position observation value and the position calibration information of the integrated communication and navigation signal receiver, the positioning accuracy of the integrated communication and navigation signal receiver is obtained, so as to realize the testing of the positioning accuracy of the integrated communication and navigation signal receiver.

[0143] Figure 8 A schematic diagram of the structure of a satellite test device provided in an embodiment of the present disclosure is applied to a satellite test system.

[0144] like Figure 8 As shown, the satellite testing device 800 includes: a first acquisition module 801 , a second acquisition module 802 and a testing module 803 .

[0145] A first acquisition module 801 is used to obtain a pseudo-range observation between a target satellite and a communication and navigation integrated signal receiver based on the communication and navigation integrated signal; A second acquisition module 802 is used to obtain the on-board transmission delay of the target satellite based on the pseudorange observation value and the GNSS signal; The testing module 803 is used to test the target satellite based on the on-board transmission delay.

[0146] In some embodiments of the present disclosure, the second acquisition module 802 is further used to: obtain a first atmospheric propagation error of the pseudorange observation amount based on the GNSS signal; obtain a total error of the pseudorange observation amount; obtain a target error of the pseudorange observation amount caused by the on-board transmission delay based on the total error and the first atmospheric propagation error; and obtain the on-board transmission delay based on the target error.

[0147] In some embodiments of the present disclosure, the second acquisition module 802 is further used to: obtain a first theoretical value of the pseudorange observation amount based on the orbit information of the target satellite and the calibration position information of the integrated communication and navigation signal receiver; and obtain a deviation between the pseudorange observation amount and the first theoretical value as the total error.

[0148] In some embodiments of the present disclosure, the second acquisition module 802 is further used to: perform clock error resolution based on the observations of the onboard orbit determination receiver of the target satellite to obtain a first clock error between the target satellite and the integrated communication and navigation signal receiver, and obtain a first error of the pseudorange observation caused by the first clock error; obtain a second error of the pseudorange observation caused by the relativistic effect; obtain a third error of the pseudorange observation caused by the equipment error of the integrated communication and navigation signal receiver; remove the first atmospheric propagation error from the total error, and remove at least one of the first error, the second error, and the third error to obtain the target error.

[0149] In some embodiments of the present disclosure, the device error includes a receiving channel delay of the integrated communication and conduction signal receiver, and / or an antenna phase center error of the integrated communication and conduction signal receiver.

[0150] In some embodiments of the present disclosure, the test module 803 is also used to: obtain a first theoretical value of the pseudorange observation amount based on the orbit information of the target satellite and the calibration position information of the integrated communication and navigation signal receiver; obtain a target error of the pseudorange observation amount caused by the on-board transmission delay; obtain a first observation amount based on the pseudorange observation amount and the target error; and obtain the accuracy of the pseudorange observation amount based on the first observation amount and the first theoretical value.

[0151] In some embodiments of the present disclosure, the test module 803 is further used to: obtain a first atmospheric propagation error of the pseudorange observation quantity based on the GNSS signal; obtain a second error of the pseudorange observation quantity caused by a relativistic effect; remove the target error from the pseudorange observation quantity, and remove the first atmospheric propagation error and / or the second error to obtain the first observation quantity.

[0152] In some embodiments of the present disclosure, the test module 803 is also used to: perform clock error calculation based on the observation quantity of the onboard orbit determination receiver of the target satellite to obtain a first clock error between the target satellite and the integrated communication and navigation signal receiver; perform clock error calculation based on the pseudorange observation quantity to obtain a second clock error between the target satellite and the integrated communication and navigation signal receiver; obtain a third clock error based on the second clock error and the onboard transmission delay; and obtain the timing accuracy of the target satellite based on the third clock error and the first clock error.

[0153] In some embodiments of the present disclosure, the test module 803 is also used to: obtain the Doppler observation value of the integrated communication and navigation signal; obtain a second theoretical value of the Doppler observation value based on the orbit information of the target satellite and the calibration position information of the integrated communication and navigation signal receiver; obtain a second observation value based on the Doppler observation value and the error of the Doppler observation value; obtain the accuracy of the Doppler observation value based on the second observation value and the second theoretical value.

[0154] In some embodiments of the present disclosure, the test module 803 is further used to: obtain a second atmospheric propagation error of the Doppler observation quantity based on the GNSS signal; obtain a fourth error of the Doppler observation quantity caused by a target clock drift, wherein the target clock drift is a clock drift between the target satellite and the integrated communication and navigation signal receiver; obtain a fifth error of the Doppler observation quantity caused by a relativistic effect; and remove at least one of the second atmospheric propagation error, the fourth error and the fifth error from the Doppler observation quantity to obtain the second observation quantity.

[0155] In some embodiments of the present disclosure, the test module 803 is also used to: obtain the Doppler observation value of the integrated communication and conduction signal; locate the integrated communication and conduction signal receiver based on the Doppler observation value to obtain the position observation value of the integrated communication and conduction signal receiver; and obtain the positioning accuracy of the integrated communication and conduction signal receiver based on the position observation value and the calibrated position information of the integrated communication and conduction signal receiver.

[0156] It should be noted that the above explanation of the satellite testing method is also applicable to the satellite testing device of this embodiment and will not be repeated here.

[0157] It should be noted that the beneficial effects achieved by the satellite testing device are the same as the beneficial effects achieved by the satellite testing method in the aforementioned embodiment, and will not be repeated here.

[0158] Fig. 9FIG. 9 is a block diagram of a communication device for implementing a satellite test method according to an exemplary embodiment. It should be noted that the communication device 900 in this embodiment can be used to implement the method described in the above method embodiment. For details, please refer to the description in the above method embodiment. Fig. 9 As shown, the above communication device 900 includes: One or more processors 901. The processor 901 may be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor may be used to process the communication protocol and communication data, and the central processing unit may be used to control the communication device (such as a base station, a baseband chip, a terminal, a terminal chip, a distributed unit (DU) or a centralized unit (CU), etc.), execute a program, and process program data. The processor 901 is used to call instructions so that the communication device 900 executes any of the above methods.

[0159] In some embodiments, the communication device 900 further includes one or more memories 902 for storing instructions. In some embodiments, all or part of the memories 902 may also be outside the communication device 900. In some embodiments, the communication device 900 further includes one or more transceivers 903. When the communication device 900 includes one or more transceivers 903, the communication steps such as sending and receiving in the above method are performed by the transceiver 903, and the other steps are performed by the processor 901.

[0160] In some embodiments, the transceiver 903 may include a receiver and a transmitter, and the receiver and the transmitter may be separate or integrated. In some embodiments, the terms such as transceiver, transceiver unit, transceiver, transceiver circuit, etc. may be interchangeable, the terms such as transmitter, transmission unit, transmitter, transmission circuit, etc. may be interchangeable, and the terms such as receiver, receiving unit, receiver, receiving circuit, etc. may be interchangeable. In some embodiments, the communication device 900 further includes one or more interface circuits 904, and the interface circuit 904 is connected to the memory 902. The interface circuit 904 may be used to receive signals from the memory 902 or other devices, and may be used to send signals to the memory 902 or other devices. For example, the interface circuit 904 may read instructions stored in the memory 902 and send the instructions to the processor 901. The communication device 900 described in the above embodiments may be a network device or a space terminal, but the scope of the communication device 900 described in the present disclosure is not limited thereto, and the structure of the communication device 900 may not be limited thereto. Fig. 9The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit (IC), or a chip, or a chip system or subsystem; (2) a collection of one or more ICs. In some embodiments, the above IC collection may also include a storage component for storing data or programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal, an intelligent terminal, a cellular phone, a wireless device, a handheld device, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0161] It should be noted that the implementation process and technical principles of the communication equipment of this embodiment refer to the aforementioned explanation of the satellite testing method of the embodiment of the present disclosure, which will not be repeated here.

[0162] An embodiment of the present disclosure also provides a chip. Fig.10 The figure is a structural diagram of a chip according to an exemplary embodiment.

[0163] like Fig.10 As shown, the chip 1000 includes a processor 1001 and an interface circuit 1002. The number of the processor 1001 can be one or more, and the number of the interface circuit 1002 can be one or more.

[0164] Optionally, the chip also includes a memory 1003, which is used to store necessary computer programs and data; the interface circuit 1002 is used to receive signals from the memory 1003 and send signals to the processor 1001, and the signals include computer instructions stored in the memory 1003. When the processor 1001 executes the computer instructions, the communication device executes the satellite testing method described in the above embodiments of the present disclosure.

[0165] In order to implement the above embodiments, the present disclosure further proposes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the satellite testing method of the above embodiments is implemented.

[0166] In order to implement the above embodiments, the present disclosure further provides a computer program product. When an instruction processor in the computer program product executes, the satellite testing method of the above embodiments is executed.

[0167] It should be noted that, in the description of the present disclosure, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "plurality" is two or more.

[0168] 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 specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0169] It should be understood that the various parts of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods may 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 may be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on 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.

[0170] 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.

[0171] 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. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0172] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0173] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A satellite test system, characterized in that: include: Target satellite, Global Navigation Satellite System (GNSS) satellite, GNSS signal receiver and integrated communication and navigation signal receiver; among which, The GNSS signal receiver and the integrated communication and navigation signal receiver are juxtaposed according to a zero baseline, the clocks of the GNSS signal receiver and the integrated communication and navigation signal receiver are of the same source, the GNSS signal receiver is used to receive the GNSS signal sent by the GNSS satellite, and the integrated communication and navigation signal receiver is used to receive the integrated communication and navigation signal sent by the target satellite.

2. A satellite testing method, characterized in that: Applied to the satellite test system as claimed in claim 1, the method comprises: Based on the integrated communication and navigation signal, the pseudo-range observation between the target satellite and the integrated communication and navigation signal receiver is obtained; Based on the pseudorange observation and the GNSS signal, obtaining the onboard transmission delay of the target satellite; The target satellite is tested based on the on-board transmission delay.

3. The method according to claim 2, characterized in that The obtaining, based on the pseudorange observation and the GNSS signal, the onboard transmission delay of the target satellite comprises: Based on the GNSS signal, obtaining a first atmospheric propagation error of the pseudorange observation; Obtaining a total error of the pseudorange observation; Based on the total error and the first atmospheric propagation error, a target error of the pseudorange observation amount caused by the on-board transmission delay is obtained; Based on the target error, the on-board transmission delay is obtained.

4. The method according to claim 3, characterized in that The obtaining of the total error of the pseudorange observation comprises: Based on the orbit information of the target satellite and the calibrated position information of the communication and navigation integrated signal receiver, a first theoretical value of the pseudorange observation amount is obtained; A deviation between the pseudorange observation value and the first theoretical value is obtained as the total error.

5. The method according to claim 3, characterized in that: The obtaining, based on the total error and the first atmospheric propagation error, a target error of the pseudorange observation amount caused by the on-board transmission delay comprises: Performing clock error calculation based on the observation amount of the onboard orbit determination receiver of the target satellite to obtain a first clock error between the target satellite and the integrated communication and navigation signal receiver, and obtaining a first error of the pseudorange observation amount caused by the first clock error; Acquire a second error of the pseudorange observation amount caused by a relativistic effect; Acquire a third error of the pseudorange observation caused by a device error of the communication and guidance integrated signal receiver; The target error is obtained by removing the first atmospheric propagation error and at least one of the first error, the second error and the third error from the total error.

6. The method according to claim 5, characterized in that The device error includes a receiving channel delay of the communication and conduction integrated signal receiver and / or an antenna phase center error of the communication and conduction integrated signal receiver.

7. The method according to any one of claims 2 to 6, characterized in that: The testing of the target satellite based on the on-board transmission delay includes: Based on the orbit information of the target satellite and the calibrated position information of the communication and navigation integrated signal receiver, a first theoretical value of the pseudorange observation amount is obtained; Obtaining a target error of the pseudorange observation amount caused by the on-board transmission delay of the satellite; Obtaining a first observation value based on the pseudorange observation value and the target error; Based on the first observed value and the first theoretical value, the accuracy of the pseudorange observation value is obtained.

8. The method according to claim 7, characterized in that The obtaining a first observation value based on the pseudorange observation value and the target error includes: Based on the GNSS signal, obtaining a first atmospheric propagation error of the pseudorange observation; Acquire a second error of the pseudorange observation amount caused by a relativistic effect; The target error is removed from the pseudorange observation amount, and the first atmospheric propagation error and / or the second error are removed to obtain the first observation amount.

9. The method according to any one of claims 2 to 6, characterized in that: The testing of the target satellite based on the on-board transmission delay includes: Performing clock error calculation based on the observation amount of the onboard orbit determination receiver of the target satellite to obtain a first clock error between the target satellite and the communication and navigation integrated signal receiver; Performing clock error calculation based on the pseudo-range observation to obtain a second clock error between the target satellite and the communication and navigation integrated signal receiver; Obtaining a third clock difference based on the second clock difference and the on-board transmission delay; Based on the third clock difference and the first clock difference, the timing accuracy of the target satellite is obtained.

10. The method according to any one of claims 2 to 6, characterized in that: The method further comprises: Acquiring a Doppler observation value of the communication-conduction integrated signal; Based on the orbit information of the target satellite and the calibrated position information of the communication and navigation integrated signal receiver, a second theoretical value of the Doppler observation amount is obtained; Obtaining a second observation value based on the Doppler observation value and an error of the Doppler observation value; Based on the second observed value and the second theoretical value, the accuracy of the Doppler observation value is obtained.

11. The method according to claim 10, characterized in that The obtaining of a second observation quantity based on the Doppler observation quantity and the error of the Doppler observation quantity comprises: Based on the GNSS signal, obtaining a second atmospheric propagation error of the Doppler observation; Acquire a fourth error of the Doppler observation caused by a target clock drift, wherein the target clock drift is a clock drift between the target satellite and the communication and navigation integrated signal receiver; Obtaining a fifth error of the Doppler observation caused by a relativistic effect; At least one of the second atmospheric propagation error, the fourth error and the fifth error is removed from the Doppler observation amount to obtain the second observation amount.

12. The method according to any one of claims 2 to 6, characterized in that: The method further comprises: Acquiring a Doppler observation value of the communication-conduction integrated signal; Positioning the integrated communication and guidance signal receiver based on the Doppler observation amount to obtain a position observation amount of the integrated communication and guidance signal receiver; Based on the position observation amount and the calibrated position information of the communication and navigation integrated signal receiver, the positioning accuracy of the communication and navigation integrated signal receiver is obtained.

13. A satellite testing device, characterized in that: Applied to the satellite test system as claimed in claim 1, the device comprises: A first acquisition module is used to obtain a pseudo-range observation between the target satellite and the communication and navigation integrated signal receiver based on the communication and navigation integrated signal; A second acquisition module is used to obtain the on-board transmission delay of the target satellite based on the pseudorange observation value and the GNSS signal; A test module is used to test the target satellite based on the on-board transmission delay.

14. A communication device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable 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 2 to 12.

15. A computer storage medium, characterized in that The computer storage medium stores computer executable instructions, and after the computer executable instructions are executed by the processor, the method according to any one of claims 2 to 12 can be implemented.

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